Sampled data servo control system with deadband compensation
AssigneeInternational Cybernetics Corporation
InventorsDonald H. Jones, Spencer W. Allen, Philip R. Chimes
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Abstract
The present invention provides a high response inexpensive microprocessor based control system. The system uses only one detector that detects only one motion characteristic of the object controlled by the system. In the preferred embodiment, the system controls the position and velocity of the movable member of the motor by creating commands that represent the desired position of the movable member 1024 times per second. The system also provides methods for improving the accuracy and precision of the system.
Claims21
A sampled data system for controlling the motion of an object, said system including means for generating a command representative of the motion desired of said object, comprising;
- means for processing said command by generating at least one series of subcommands, each subcommand representing a segment of said desired motion over a time period;
- means for detecting at least one motion characteristic of the actual motion of said object and providing a signal representative thereof;
- means for comparing at least one of said subcommands to at least one of said signals representative of said actual motion characteristic of the object and generating at least one error signal representative of the variation of a characteristic of the actual motion of the object from the corresponding characteristic of the motion represented by said subcommands;
- means for so modifying said error signal that said system exhibits a set of desired performance characteristics, said modifying means including means for reducing the effect that said error signals have on a motion characteristic of the motion of the object by performing on said error signals a function that includes a division of said error signals by a predetermined number accomplished in integer fashion, said reducing means so increasing the values of some of said error signals that the average value of said divided error signals approximates the value each said divided error signal would have had if said division had been performed in floating point fashion;
- and
- means for converting a said modified error signal to a signal suitable for application to a prime mover which causes said object to exhibit said desired motion.
Dependencies are inferred from the claim text.