Systems and methods for controlling motors using fusions of motor encoder and resolver feedback

A system, comprising:

• a processor;
• a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for operating a motorized system, wherein the programming instructions comprise instructions to:
• receive a first position signal generated by a resolver coupled to a load, a second position signal generated by a first motor encoder coupled to a shaft of a first motor, and a third position signal generated by a second motor encoder coupled to a shaft of a second motor;
• convert the second and third position signals into a velocity signal specifying a scaled velocity of the load;
• convert the velocity signal into a fourth position signal specifying a position of the load;
• combine the first position signal and the fourth position signal to generate a fifth position signal representing a stable position of the load;
• and
• use the fifth position signal to control operations of the first and second motors.

An antenna system, comprising:

• a gimbal;
• a resolver coupled to the gimbal;
• first and second motors configured to cause movement of the gimbal in azimuth and elevation;
• first and second motor encoders respectively coupled to shafts of the first and second motors;
• and
• a position reference generator configured to:
• receive a first position signal generated by the resolver, a second position signal generated by the first motor encoder, and a third position signal generated by the second motor encoder;
• convert the second and third position signals into a velocity signal specifying a scaled velocity of the gimbal;
• convert the velocity signal into a fourth position signal specifying a position of the gimbal;
• combine the first position signal and the fourth position signal to generate a fifth position signal representing a stable position of the gimbal;
• and
• a controller configured to use the fifth position signal to control operations of the first and second motors.

An antenna system, comprising:

• a gimbal;
• a resolver coupled to the gimbal;
• a motor configured to cause movement of the gimbal in one of an azimuth and an elevation;
• at least one motor encoder coupled to a shaft of the motor;
• and
• a position reference generator configured to:
• receive a first position signal generated by the resolver and a second position signal generated by the at least one encoder;
• convert the second signal into a velocity signal specifying a scaled velocity of the gimbal;
• convert the velocity signal into a third position signal specifying a position of the gimbal;
• combine the first position signal and the third position signal to generate a fourth position signal representing a stable position of the gimbal;
• and
• a controller configured to use the fourth position signal to control operations of the motor.