Energy balanced system, controller and method for moving a load to a setpoint

A controller for controlling an actuator connected to a load to thereby move the load toward a setpoint, said controller comprising a processing element capable of receiving a command distance based upon the setpoint and a current position of the load, wherein said processing element is also capable of determining a pulse duration based upon the command distance, wherein said processing element is additionally capable of applying an input pulse to the actuator for the pulse duration such that the actuator is capable of generating input energy that is transferred to the load to thereby move the load toward the setpoint, and wherein the input pulse is applied such that the input energy equals an amount of frictional energy produced by the load in moving toward the setpoint.

A controller for controlling an actuator connected to a load to thereby move the load toward a setpoint, said controller comprising a processing element capable of receiving a command distance based upon the setpoint and a current position of the load, wherein said processing element is also capable of determining a pulse duration based upon the command distance and a controller gain, wherein said processing element is additionally capable of applying an input pulse to the actuator for the pulse duration such that the actuator is capable of generating input energy that is transferred to the load to thereby move the load toward the setpoint, and wherein the input pulse is applied such that the input energy equals an amount of energy lost by the load in moving the load toward the setpoint.

A system for moving a load toward a setpoint comprising:

• an actuator connected to the load, wherein said actuator is capable of generating input energy that is transferred to the load to thereby move the load toward the setpoint;
• and
• a controller capable of controlling the operation of said actuator to move the load toward the setpoint, wherein said controller is capable of determining a command distance based upon the setpoint and a current position of the load, wherein said controller is also capable of determining a pulse duration based upon the command distance, wherein said controller is additionally capable of applying an input pulse to said actuator for the pulse duration such that said actuator generates the input energy, wherein the input pulse is applied such that the input energy equals an amount of frictional energy produced by the load in moving toward the setpoint.

A system for moving a load toward a setpoint comprising:

• an actuator connected to the load, wherein said actuator is capable of generating input energy that is transferred to the load to thereby move the load toward the setpoint;
• and
• a controller capable of controlling the operation of said actuator to move the load toward the setpoint, wherein said controller is capable of determining a command distance based upon the setpoint and a current position of the load, wherein said controller is also capable of determining a pulse duration based upon the command distance and a controller gain, wherein said controller is additionally capable of applying an input pulse to said actuator for the pulse duration such that said actuator generates the input energy, wherein the input pulse is applied such that the input energy equals an amount of energy lost by the load in moving the load toward the setpoint.