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US 10,890,895 B2Granted
Position or velocity control system and method
AssigneeTexas Instruments Incorporated
InventorsRajan Lakshmi Narasimha, David Patrick Magee
Life of this patent
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Abstract
In described examples of methods and control systems to control a position and/or velocity of a machine, control circuitry is coupled to receive and dither a control signal, and to compute a control output value according to the dithered control signal and a control function. An inverter is coupled to the control circuitry, to control the position and/or velocity according to the control output value.
Claims5
A system comprising:
- control circuitry having an inner velocity control loop and an outer position control loop, in which:
- the inner velocity control loop has a reference velocity input and a first control output and is configured to:
- responsive to the reference velocity input, generate a velocity error;
- and
- responsive to the velocity error, control the first control output according to a control function;
- and
- the control circuitry has a second control output and a dithering generator and is configured to control the second control output responsive to a sum of the first control output and an output of the dithering generator;
- and
- an inverter having an input and an output, the input of the inverter coupled to the second control output, the output of the inverter adapted to be coupled to a machine, and the inverter configured to control a position of the machine and a velocity of the machine responsive to the second control output;
- in which the outer position control loop has a reference position input and a machine position input, the machine position input is adapted to be coupled to the machine, and the outer position control loop is configured to control the position of the machine by causing the control circuitry to adjust the second control output responsive to the reference position input and the machine position input;
- and
- in which the control circuitry is configured to:
- responsive to the machine position input, adjust the second control output according to a machine position dependent waveform shaping function.
10 more elements
Dependencies are inferred from the claim text.