Apparatus and methods for synchronized distributed controllers

Abstract

Intelligent servomotor controller, including integrated servomotor controller having motor with rotor in first housing; rotor position encoder producing measured position of rotor; microprocessor within second housing mating to first housing, electrically connected to rotor position encoder, serial communications port connecting to another integrated servomotor controller communicating desired rotor position command using serial digital data, microprocessor having software receiving desired position commands through communications port, computing error between desired position command and encoder-transmitted measured rotor reducing error signals to zero. Microprocessor is a position based servo system within second housing and rotor within first housing to desired position defined by communication with another integrated servo element. Microprocessor produces actuation signal to direct PID filter connected to microprocessor, PID filter providing drive amplifier servo control of supplying current to the motor. Cooperative communication facilitates synchronized action with integrated servo element. Embodiments also include method of operating IISMC group, including setting combined path target acceleration for IISMC; setting combined target velocity for IISMC; setting individual target position for IISMC; and initiating synchronized motion in the IISMC.

Dependencies are inferred from the claim text.