Motion control servo loop apparatus
US8090455B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 15, 2009 |
| Grant date | Jan 3, 2012 |
| Priority date | — |
| Expiry date | Aug 3, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41434
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A motion control servo loop apparatus, comprising: a feed-forward control module, and a proportional-integral-derivative (PID) control loop and a compensation adder. The feed-forward control module is capable of generating a feed-forward compensation. The PID control loop further comprises: a proportional control module, an integral control module and a derivative control module. The proportional control module is capable of generating a proportional compensation. The derivative control module is capable of generating a derivative compensation. The integral control module uses a digital differential analyzer (DDA) algorithm to perform integration for accumulated errors with respect to each sampling clock at each DDA pulse and thus output an accumulated error, which is then processed to generate an integral compensation. Thereafter, the compensation adder receives the feed-forward compensation, the proportional compensation, the integral compensation and the derivative compensation to calculate a position error compensation for a motor driver.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.