Method of actuating a system, apparatus for modifying a control signal for actuation of a system and method of tuning such an apparatus
First Claim
1. A method of actuating a system comprising a movable component and an actuator configured to move said movable component, comprising:
- providing a control signal representative of a desired motion of said movable component;
supplying said control signal to one or more resonators, each of said one or more resonators having a mode of oscillation representative of at least one elastic mode of oscillation of said system, at least one first resonator of said one or more resonators being tuned to have a resonance frequency within a frequency band comprising two or more of said elastic modes of oscillation and to have a bandwidth equal to or greater than a width of said frequency band;
modifying said control signal by subtracting from said control signal one or more signals representative of a response of said one or more resonators to said control signal; and
operating said actuator in accordance with said modified control signal.
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Accused Products
Abstract
A method of actuating a system comprising a movable component and an actuator configured to move the movable component comprises providing a control signal representative of a desired motion of the movable component. The control signal is supplied to one or more resonators. Each of the one or more resonators has a mode of oscillation representative of at least one elastic mode of oscillation of the system. The control signal is modified by subtracting from the control signal a signal representative of a response of the one or more resonators to the control signal. The actuator is operated in accordance with the modified control signal. Thus, undesirable elastic oscillations of the system which might occur if the system were operated with the original control system can be reduced.
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Citations
15 Claims
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1. A method of actuating a system comprising a movable component and an actuator configured to move said movable component, comprising:
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providing a control signal representative of a desired motion of said movable component; supplying said control signal to one or more resonators, each of said one or more resonators having a mode of oscillation representative of at least one elastic mode of oscillation of said system, at least one first resonator of said one or more resonators being tuned to have a resonance frequency within a frequency band comprising two or more of said elastic modes of oscillation and to have a bandwidth equal to or greater than a width of said frequency band; modifying said control signal by subtracting from said control signal one or more signals representative of a response of said one or more resonators to said control signal; and operating said actuator in accordance with said modified control signal. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus for modifying a control signal for actuation of a system comprising a movable component and an actuator configured to move said movable component, said apparatus comprising:
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one or more resonators, each of said one or more resonators being tunable to have a mode of oscillation representative of at least one elastic mode of oscillation of said system, at least one of said one or more resonators being tuned to have a resonance frequency within a frequency band comprising two or more of said elastic modes of oscillation and to have a bandwidth equal to or greater than a width of said frequency band; an input section adapted to receive said control signal and to supply said control signal to said one or more resonators; a subtractor adapted to create a modified control signal by subtracting from said control signal one or more signals representative of a response of said one or more resonators to said control signal; and an output section adapted to output said modified control signal. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13)
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14. A method of actuating a system comprising a movable component and an actuator configured to move said movable component, comprising:
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providing a control signal representative of a desired motion of said movable component; supplying said control signal to one or more resonators, each of said one or more resonators having a mode of oscillation representative of at least one elastic mode of oscillation of said system, wherein at least one of said one or more resonators is tuned to have a resonance frequency within a frequency band comprising two or more of said elastic modes of oscillation and to have a bandwidth equal to or greater than a width of said frequency band; modifying said control signal by subtracting from said control signal one or more signals representative of a response of said one or more resonators to said control signal; and operating said actuator in accordance with said modified control signal, wherein an amplitude and a phase of an output signal of each of said one or more resonators are adjusted to create an adjusted output signal of each of said one or more resonators and said adjusted signals are subtracted from said control signal to create said modified control signal.
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15. An apparatus for modifying a control signal for actuation of a system comprising a movable component and an actuator configured to move said movable component, said apparatus comprising:
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one or more resonators, each of said one or more resonators being tunable to have a mode of oscillation representative of at least one elastic mode of oscillation of said system, wherein at least one of said one or more resonators is tuned to have a resonance frequency within a frequency band comprising two or more of said elastic modes of oscillation and to have a bandwidth equal to or greater than a width of said frequency band; an input section adapted to receive said control signal and to supply said control signal to said one or more resonators; a subtractor adapted to create a modified control signal by subtracting from said control signal one or more signals representative of a response of said one or more resonators to said control signal; an output section adapted to output said modified control signal; and a regulating section adapted to receive an output signal from each of said one or more resonators, the regulating section being adapted to adjust an amplitude and a phase of said output signal and to supply said adjusted output signals to said subtractor.
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Specification