Frequency-selective command profile motion control
AssigneeExelis, Inc.
InventorsDavid A. Smith, Patrick J. Argento
Life of this patent
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Abstract
A motion command is constructed based on an optimized acceleration pulse designed to control the spectral content of the commanded acceleration. By way of judicious design of the pulse shape, the majority of the energy in the command is contained in a narrow baseband and rolls off rapidly in frequencies outside that band. Additionally, the command can be constructed to suppress selected frequency content in one or more attenuation bands outside the baseband. The resulting motion command permits rapid motion control, while avoiding the excitation of unwanted resonant response in the system while remaining tolerant of system uncertainty.
Claims25
An apparatus to control a transient response of a mechanical system to a motion command signal, the apparatus comprising:
- a command generator to:
- receive data defining an initial state and a final state in the mechanical system and a time interval within which a change of state from the initial state to the final state is to complete;
- and
- generate a command profile from one or more copies of a previously specified prototype pulse, each copy of the prototype pulse being independently scaled in amplitude by a scaling factor computed from the initial and final states in the mechanical system, the prototype pulse having a prototypical pulse width and a prototypical pulse shape that define at least one attenuation band in a frequency spectrum thereof so as to inhibit an undesired frequency-dependent response in the mechanical system to acceleration of at least one component thereof that effects the change of state in the mechanical system within the time interval;
- and
- a controller to generate the motion control signal from the command profile in response to which the component effects the change of state in the mechanical system within the time interval.
A method of controlling a transient response of a mechanical system to a motion command signal, the method comprising:
- generating data by which a prototype pulse is attributed a prototypical pulse width and a prototypical pulse shape that define an attenuation band in a frequency spectrum of the prototype pulse;
- generating a command profile from one or more copies of the prototype pulse, each copy of the prototype pulse being independently scaled in amplitude by a scaling factor computed from initial and final states in the mechanical system, the attenuation band being established so as to inhibit an undesired frequency-dependent response in the mechanical system to acceleration of at least one component thereof that effects a change of state in the mechanical system from the initial state to the final state;
- and
- generating the motion command signal from the command profile by which the component effects the change in state of the mechanical system within a selected time interval.
A non-transitory computer readable medium encoded with software comprising processor-executable instructions that, when executed by a processor, cause the processor to:
- generate data by which a prototype pulse is attributed a prototypical pulse width and a prototypical pulse shape that define an attenuation band in a frequency spectrum of the prototype pulse;
- generate a command profile from one or more copies of the prototype pulse, each copy of the prototype pulse being independently scaled in amplitude by a scaling factor computed from initial and final states in the mechanical system, the attenuation band being established so as to inhibit an undesired frequency-dependent response in the mechanical system to acceleration of at least one component thereof that effects the change of state therein;
- and
- generate a motion command signal from the command profile by which the component effects the change in state of the mechanical system within a selected time interval.
Dependencies are inferred from the claim text.