Apparatus and method for positioning control
AssigneeWah Hong Industrial Corp.
InventorsChih-Ru Lien, Li-Te Kuo
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Abstract
The present invention discloses a positioning control apparatus which receives a moving command and a feedback signal outputted from a controlled device, and controls the controlled device for moving and positioning. The positioning control apparatus includes a first control loop, a second control loop and an arbitration module with a dead point default value, wherein the first control loop is used to control the controlled device moving in response to the error of the moving command and the feedback signal, on the other hand, the second control loop is used to control the controlled device positioning. Furthermore, the arbitration module compares the default value of dead point with the moving command so as to enable either the first control loop or the second control loop.
Claims22
An apparatus for positioning control, which receives a moving command and a moving feedback signal outputted by a controlled device, in order to control the moving and positioning of the controlled device, the said apparatus comprising:
- an arbitration module, which has a dead point default value, and the arbitration module compares the moving command and a moving feedback signal with the dead point default value to output a control signal, and converts the moving command into a moving signal;
- a first driving module, which is connected to the arbitration module and the controlled device, in which the first driving module receives the said moving signal and a moving feedback signal to output a first driving signal for controlling the moving of the controlled device;
- a second driving module, which outputs a second driving signal for controlling the positioning of the controlled device;
- and
- a switching module, which is connected to the arbitration module, the first driving module, the second driving module and the controlled device, in which the switching module is controlled by the control signal so as to send either the first driving signal or the second driving signal to the controlled device.
An apparatus for positioning control, which receives a moving command and a moving feedback signal, outputted by a controlled device, in order to control the moving and positioning of the controlled device, the said apparatus comprising:
- a first control loop for outputting a first driving signal, which is used to control the moving of the controlled device according to the moving command and the moving feedback signal;
- a second control loop for outputting a second driving signal, which is used to control the positioning of the controlled device;
- and
- an arbitration module, which has a dead point default value, wherein the arbitration module compares the moving command and the moving feedback signal with the dead point default value, and determines either the first control loop or the second control loop to control the controlled device based on the comparison.
A method for positioning control, which is applicable to an apparatus for positioning control for controlling the moving and positioning of a controlled device, wherein the method comprises the following steps:
- providing a first driving signal for controlling the moving of the controlled device through a first driving module;
- providing a second driving signal for controlling the positioning of the controlled device through a second driving module;
- receiving a moving command, and determining whether the moving command can be interpreted;
- if it is interpretable, then determining whether the moving command has been processed;
- if not yet being processed, then acquiring a dead point default value based on the moving command;
- determining whether the moving command and a moving feedback signal and the dead point default value match;
- and
- if they match, then using the second driving signal to control the controlled device to be positioned, if they do not, then using the first driving signal to control the controlled device to be moved.
Dependencies are inferred from the claim text.