Electronic motor controller
OwnerChristopher P. Culleninventor
Life of this patent
Estimating the term…
Abstract
A control system for any type of electric motor that automatically learns the characteristics of the motor and computes a motor model for the motor. The control system uses the computed motor model to produce a closed-loop control design that achieves a particular resolution. The control system also uses the motor model to automatically construct efficient motion profiles for a variety of motion commands. The control system may also include an encoder interface device that provides highly accurate motor position information.
Claims11
A method for determining a plurality of gains associated with a plurality of variables of a closed-loop controller, the method comprising the computer-implemented steps of:
- assigning a gain associated with one of the controller variables to a desired resolution value;
- calculating a frequency value for the gain set to the desired resolution value;
- computing the remaining gains of the controller;
- and
- supplying the computed gains to the closed-loop controller.
A method for designing a closed-loop controller having a state variable and a gain associated the state variable, the method comprising the computer-implemented steps of:
- selecting a desired resolution value for the state variable;
- and
- computing a gain associated with the state variable that achieves the desired resolution.
A method for calculating a derivative term in a closed-loop controller that receives position error information at each servo processing interval, the method comprising the computer-implemented steps of:
- recording three or more position error readings at different servo processing intervals;
- computing a derivative estimate by:
- summing two or more of the position error readings;
- and
- subtracting an equal number of different position error readings than were used in the summing step;
- and then
- computing the derivative term based on the derivative estimate.
Dependencies are inferred from the claim text.