Hybrid sample rate servo motor controller

Details Hybrid sample rate servo motor controller Hybrid sample rate servo motor controller

1988-09-19

1990-01-09

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Digital or numerical systems

318632, 318636, 318594, 318569, G05B 1929

Patent

active

048930660

ABSTRACT:
A hybrid sample rate servo motor employing rate feedback compensation is disclosed. The system employs a shaft encoder having a predetermined resolution to provide position data which are pulses indicating the shaft has moved another resolution unit. Under high motor velocity conditions the rate compensation feedback loop is operated at a conventional constant sample rate. Under low velocity conditions, the sample rate at which the rate compensation feedback loop is operated is modified so that rate samples are taken and calculated only when new position data are available from the motor encoder. Rate quantization error is substantially reduced, thereby leading to more robust controller operation.

REFERENCES:
patent: 4529325 (1985-07-01), Moon
patent: 4642542 (1987-02-01), McKeant
Linear Control System Analysis and Design (Conventional and Modern), McGraw Hill, Inc., 1975, John J. D'Azzo, Constantine H. Houpis.

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