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US 6,597,145 B1Granted
Motion controlling
AssigneeBose Corporation
InventorsRobert L. Maresca, Thomas L. Aho
Life of this patent
Estimating the term…
Abstract
Motion controlling includes a combining network having an acceleration input for receiving an acceleration signal representative of acceleration of a movable element and a position input for receiving a position signal representative of position of the movable element and an output for providing an inferred position signal representative of an inferred position of the movable element. The network includes a first signal processor for processing the acceleration signal to provide modified acceleration signal, a second signal processor for processing the position signal to provide a modified position signal and a combiner for combining the modified acceleration signal with the modified position signal to provide the inferred position signal.
Claims29
A motion control method for processing an acceleration signal and a measured position signal representative of acceleration and position, respectively, of a movable element to provide an inferred position signal comprising:
- low-pass filtering said acceleration signal;
- and
- additively combining the low-pass filtered acceleration signal with said position signal to provide said inferred position signal.
Apparatus for providing an inferred position signal representative of the position of a movable element comprising,
- an accelerometer for providing an acceleration signal representative of the acceleration of said movable element,
- a position sensor for providing a position signal representative of the position of said movable element,
- a first signal processor for processing said acceleration signal to provide a modified acceleration signal, and
- a combiner for combining said modified acceleration signal and said position signal to provide said inferred position signal.
1 more element
Motion control apparatus comprising,
- a movable element,
- an input for receiving a desired position signal representative of a desired position of said movable element,
- a position sensor for providing a position signal representative of the position of said movable element, an accelerometer for providing an acceleration signal representative of the acceleration of said movable element,
- a combining network for combining said position signal and said acceleration signal to provide an inferred position signal,
- said signal combining network comprising,
- a first signal processor for processing said acceleration to provide a modified signal,
- a combiner for additively combining said modified acceleration signal and said position signal to provide said inferred position signal,
- a summer for combining said inferred position signal with a signal on said input to provide a control signal, and
- a mover responsive to said control signal for moving said movable element.
6 more elements
Apparatus for combining an acceleration signal and a position signal representative of the acceleration and position respectively of a movable element to provide an inferred position signal comprising,
- an acceleration input for receiving said acceleration signal;
- a first resistor having an input and an output,
- said input of said first resistor connected to said acceleration input;
- a first capacitor having an input and an output,
- said input of said first capacitor connected to said output of said first resistor and said output of said capacitor being grounded;
- a second resistor having an input and an output,
- said input of said second resistor connected to said input of said first capacitor and said output of said first resistor;
- a position input for receiving said position signal;
- a third resistor having an input and an output,
- said input of said third resistor connected to said position input;
- a second capacitor having an input and an output,
- said input of said second capacitor connected to said output of said third resistor and said output of said second capacitor being grounded;
- a fourth resistor having an input and an output,
- said input of said fourth resistor connected to said input of said second capacitor and said output of said third resistor;
- an operational amplifier having an inverting input, a noninverting input, and an output,
- said inverting input connected to said output of said second resistor and said output of said fourth resistor,
- said noninverting input being grounded;
- a fifth resistor having an input and an output,
- said input of said fifth resistor coupled to said output of said second resistor and said output of said fourth resistor;
- an output for said inferred position signal coupled to said output of said fifth resistor and to said output of said operational amplifier;
- and
- a third capacitor, connected in parallel with said fifth resistor.
19 more elements
Motion controlling apparatus comprising,
- a combining network having an acceleration input for receiving an acceleration signal representative of acceleration of a movable element and a position input for receiving a position signal representative of position of said movable element and an output for providing an inferred position signal representative of an inferred position of said movable element,
- said network including a first signal processor for processing said acceleration signal to provide a modified acceleration signal,
- a second signal processor for processing said position signal to provide a modified position signal,
- a combiner for combining said modified acceleration signal with said modified position signal to provide said inferred position signal,
- a reconstruction filter for processing said inferred position signal to provide a modified inferred position signal, wherein said reconstruction filter is characterized by a transfer characteristic 1/A(s) where A(s) is the quantity ( s 2 + ( α - 1 ) ω 0 s + ω 0 2 s 2 + ( α + ( 1 / α ) ) ω 0 s + ω 0 2 ) ,
- ω0 is a predetermined crossover frequency, ω1 and ω2 are predetermined frequencies with the relationship ω1ω2=ω02, α is ω1/ω2, and s is a Laplace operator.
3 more elements
A motion control method for processing an acceleration signal and a measured position signal representative of acceleration and position, respectively, of a movable element to provide an inferred position signal comprising,
- low-pass filtering the acceleration signal;
- combining the low-pass filtered acceleration signal with said position signal to provide said inferred position signal,
- and processing said inferred position signal in accordance with a transfer characteristic 1/A(s) where A(s) is ( s 2 + ( α - 1 ) ω 0 s + ω 0 2 s 2 + ( α + ( 1 / α ) ) ω 0 s + ω 0 2 ) ,
- ω0 is a predetermined crossover frequency, ω1 and ω2 are predetermined frequencies with the relationship ω1ω2=ω02, α is ω1/ω2 and s is a Laplace operator, to provide a modified inferred position signal.
1 more element
Apparatus for providing an inferred position signal representative of the position of a movable element comprising,
- an accelerometer for providing an acceleration signal representative of the acceleration of said movable element,
- a position sensor for providing a position signal representative of the position of said movable element,
- a first signal processor for processing said acceleration signal to provide a modified acceleration signal,
- a combiner for combining said modified acceleration signal and said position signal to provide said inferred position signal,
- a second signal processor characterized by a transfer characteristic ω0/s+ω0 for processing said inferred position signal to provide a first modified inferred position signal,
- and a reconstruction filter characterized by a transfer characteristic 1/A(s) where A(s) is ( s 2 + ( α - 1 ) ω 0 s + ω 0 2 s 2 + ( α + ( 1 / α ) ) ω 0 s + ω 0 2 ) ,
- frequency, ω1ω2=ω02, α is ω2/ω1 and s is a Laplace differential operator.
4 more elements
Motion control apparatus comprising,
- a movable element,
- an input for receiving a desired position signal representative of a desired position of said movable element,
- a position sensor for providing a position signal representative of the position of said movable element,
- an accelerometer for providing an acceleration signal representative of the acceleration of said movable element,
- a signal combining network for combining said position signal and said acceleration signal to provide an inferred position signal,
- said signal combining network comprising,
- a first signal processor for processing said acceleration signal to provide a modified acceleration signal,
- a combiner for combining said modified acceleration signal and said position signal to provide said inferred position signal, and
- a summer for combining said inferred position signal with a signal on said input to provide a control signal,
- a mover responsive to said control signal for moving said movable element,
- a second signal processor characterized by a transfer characteristic ω1/(s+ω0) where s is a Laplace operation and ω0 is a predetermined crossover frequency for processing said inferred position signal to provide a first modified position signal,
- wherein said second signal processor comprises a reconstruction filter characterized by a transfer characteristic 1/A(s) where A(s) is ( s 2 + ( α - 1 ) ω 0 s + ω 0 2 s 2 + ( α + ( 1 / α ) ) ω 0 s + ω 0 2 ) ,
- ω1 and ω2 are predetermined frequencies with the relationship ω1ω2=ω02, α is ω2/ω1 and s is a Laplace differential operator for processing said first modified inferred position signal to provide a second modified inferred position signal.
10 more elements
Motion controlling apparatus comprising:
- a combining network having an acceleration input for receiving an acceleration signal representative of acceleration of a movable element and a position input for receiving a position signal representative of position of said movable element and an output for providing an inferred position signal representative of an inferred position of said movable element,
- said network including a first signal processor for processing said acceleration signal to provide a modified acceleration signal,
- a second signal processor for processing said position signal to provide a modified portion signal,
- a combiner for additively combining said modified acceleration signal with said modified position signal to provide said inferred position signal, and
- wherein said first signal processor comprises a first low-pass filter.
2 more elements
Motion controlling apparatus comprising:
- a combining network having an acceleration input for receiving an acceleration signal representative of acceleration of a movable element and a position input for receiving a position signal representative of position of said movable element and an output for providing an inferred position signal representative of an inferred position of said movable element,
- said network including a first signal processor for processing said acceleration signal to provide a modified acceleration signal,
- a second signal processor for processing said portion signal to provide a modified position signal,
- a combiner for additively combining said modified acceleration signal with said modified position signal to provide said inferred position signal,
- and further comprising a third signal processor for processing said inferred position signal to provide a process inferred position signal.
2 more elements
Motion controlling apparatus comprising,
- a combining network having an acceleration input for receiving an acceleration signal representative of acceleration of a movable element and a position input for receiving a position signal representative of position of said movable element,
- said network including a first signal processor for processing said acceleration signal to provide a modified acceleration signal,
- a second signal processor for processing said position signal to provide a modified position signal,
- a combiner for additively combining said modified acceleration signal with said modified position signal to provide said inferred position signal,
- and further comprising a reconstruction filter for processing said inferred position signal to provide a modified inferred position signal.
2 more elements
Motion controlling apparatus comprising,
- a combining network having an acceleration input for receiving an acceleration signal representative of acceleration of a movable element and a position input for receiving a position signal representative of position of said movable element and an output for providing an inferred position signal representative of an inferred position of said movable element,
- said network including a first signal processor for processing said acceleration signal to provide a modified acceleration signal,
- a second signal processor for processing said position signal to provide a modified position signal,
- a combiner for additively combining said modified acceleration signal with said modified position signal to provide said inferred position signal,
- wherein said combining network includes weighing circuity that selectively weighs an acceleration signal in said acceleration input and a position signal on said position input in providing said inferred position signal.
2 more elements
Dependencies are inferred from the claim text.