Discontinuity compensation for motor driver servos
AssigneeStorage Technology Corporation
InventorsTrace A. Baker, Bruce M. Davis, Chester L. Rebman
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Abstract
This improved signal discontinuity compensation method compensates for discontinuity in the relationship between motor position commands received by a motor driver, and motor current signals sent to a motor by the motor driver. A best fit approximation of the signal discontinuity is generated based on median data points which provides resistance to anomalous data points. The compensation is accomplished by adding an offset to specific motor position commands sent to the motor driver based on the best fit approximation. The offset command maximizes accuracy and control over motor motion by avoiding the motor driver's motor current signal discontinuity.
Claims10
A method for compensating for a discontinuity of motor current signals in a motor driver servo having a motor position microprocessor, a motor driver, a motor, a means for receiving a plurality of motor position commands by said motor driver, and a means for sending a plurality of motor current signals to said motor from said motor driver, said method comprising the steps of:
- (a) collecting data indicative of a correspondence between said plurality of motor position commands and said plurality of motor current signals;
- (b) generating a best fit approximation of said plurality of motor position commands around said discontinuity of motor current signals;
- and
- (c) compensating for said discontinuity of motor current signals by adding an offset based on said best fit approximation to at least one selected command among said plurality of motor position commands.
A method for compensating for a discontinuity of motor current signals in a motor driver servo having a motor position microprocessor, a motor driver, a motor, a means for receiving a plurality of motor position commands by said motor driver, and a means for sending a plurality of motor current signals to said motor from said motor driver, said method comprising the steps of:
- (a) collecting data indicative of a correspondence between said plurality of motor position commands and said plurality of motor current signals;
- (b) generating a best fit approximation of said plurality of motor position commands around said discontinuity of motor current signals by linear regression resistive of anomalous data points;
- and
- (c) compensating for said discontinuity of motor current signals by adding an offset based on said best fit approximation to each of said plurality of motor position commands plus adding an offset to at least one selected command among said plurality of motor position commands.
Apparatus for compensating for a discontinuity of motor current signals in a motor driver servo having a motor position microprocessor, a motor driver, a motor, a means for receiving a plurality of motor position commands by said motor driver, and a means for sending a plurality of motor current signals to said motor from said motor driver, said apparatus comprising:
- (a) means for collecting data indicative of a correspondence between said plurality of motor position commands and said plurality of motor current signals;
- (b) means for generating a best fit approximation of said plurality of motor position commands around said discontinuity of motor current signals;
- and
- (c) means for compensating for said discontinuity of motor current signals by adding an offset based on said best fit approximation to at least one selected command among said plurality of motor position commands.
Apparatus for compensating for a discontinuity of motor current signals in a motor driver servo having a motor position microprocessor, a motor driver, a motor, a means for receiving a plurality of motor position commands by said motor driver, and a means for sending a plurality of motor current signals to said motor from said motor driver, said apparatus comprising:
- (a) means for collecting data indicative of a correspondence between said plurality of motor position commands and said plurality of motor current signals;
- (b) means for generating a best fit approximation of said plurality of motor position commands around said discontinuity of motor current signals by linear regression resistive of anomalous data points;
- and
- (c) means for compensating for said discontinuity of motor current signals by adding an offset based on said best fit approximation to each of said plurality of motor position commands plus adding an offset to at least one selected command among said plurality of motor position commands.
Dependencies are inferred from the claim text.