Method and apparatus to convert a minimally controlled pulse stream into a proper mechatronic trajectory
AssigneeTeknic, Inc.
InventorsThomas John Bucella, David W. Sewhuk, Scott M. Mayne
Life of this patent
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Abstract
An apparatus or method which accepts a burst of pulses at a frequency which may not be tightly controlled and converts this into a trajectory command that is a suitable motion profile for an incremental motor control application. The output of the invention can be a pulse stream that can be fed to an existing incremental pulse input motor drive or the invention can be embedded into a motor drive where its output is a numerical sequence that defines a physically realizable trajectory to be fed to the control circuits and software within the motor drive.
Claims8
A device comprising:
- an incremental pulse input for receiving incoming incremental pulses at an average rate;
- an input accumulator coupled to the incremental pulse input;
- a trajectory regulator for coupling to a motor, having an input coupled to the input accumulator, an output accumulator, and a position command output representing an accumulated value in the output accumulator;
- and
- a position command output coupled to the trajectory regulator;
- wherein:
- the input accumulator stores pulses received at the incremental pulse input;
- the trajectory regulator removes position increments from the input accumulator and adds them to a value in the output accumulator at an average rate below the average rate of the incoming incremental pulse input until the input accumulator becomes empty;
- and
- the position command output of the trajectory regulator, representing the value in the output accumulator, is used to command the motion of a motor.
The device of claim one where the trajectory regulator begins adding to the output accumulator only after pulses on the incremental pulse input have ceased for a period of time.
Dependencies are inferred from the claim text.