Method for controlling pivoting machine member
AssigneeUnova IP Corp.
InventorsSteven E. Alverson, Kirby L. Stone
Life of this patent
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Abstract
A method and apparatus for control of pivoting machine members propelled by linear actuators so as to permit coordinated motion of the pivoting members with translating machine members. Position commands for the pivoting machine members are given in angular units. The propelling linear actuators are controlled by servomechanism control providing position and velocity control. Position measurements for the pivoting members measure linear displacement of the propelling actuator. Position commands for the pivoting members are compensated according to the non-linear relationship between displacement of the propelling actuator and the angular displacement of the pivoting member.
Claims18
A method for control of motion of a machine member pivotable about a pivot point and propelled by a linear actuator with a translating component displaceable from a first point at a first distance from the pivot point and applying a torque to the member at a second point a second distance from the pivot point, the method comprising the steps of:
- generating position commands defining angular displacement of the machine member;
- determining an equivalent linear displacement required of the linear actuator to place the machine member at the position defined by the position command;
- and,
- controlling motion of the machine member in response to the equivalent linear displacement.
An apparatus for control of motion of a machine member pivotable about a pivot point and propelled by a linear actuator with a translating component displaceable from a first point at a first distance from the pivot point and connected to the member at a second point a second distance from the pivot point, the apparatus comprising:
- a numerical controller for generating position commands defining angular displacement of the machine member;
- a data processor responsive to the position commands for determining an equivalent linear displacement required of the linear actuator to place the machine member at the position defined by the position command;
- and,
- a servomechanism control for controlling motion of the machine member in response to the equivalent linear displacement.
Dependencies are inferred from the claim text.