Electricity: motive power systems – Plural diverse motor controls – Acceleration control
Reexamination Certificate
2006-11-28
2006-11-28
Donovan, Lincoln (Department: 2837)
Electricity: motive power systems
Plural diverse motor controls
Acceleration control
C318S278000, C318S271000, C318S560000
Reexamination Certificate
active
07141946
ABSTRACT:
A method and apparatus for use with a motor controller that receives a command velocity and that applies voltages to drive a motor at the command velocity, the apparatus comprising a dual inertia lost motion assembly including a motor and a load couplable to the motor, the lost motion assembly characterized by at least some lost motion between the motor and the load, the motor and load together characterized by a total assembly inertia, an acceleration error determiner for generating an acceleration error that is the difference between a derivative of the command velocity and a motor acceleration value and a low pass acceleration error filter filtering the acceleration error and having a gain set as a percentage of the total assembly inertia, the acceleration error filter providing the filtered signal to the controller, the controller using the filtered signal to adjust the applied voltages.
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Acceleration Feedback Implemented Through The Utilization of An Observer As Applied To Robotic Manipulator; Peter B. Schmidt, Thesis—1991.
Golownia John Joseph
Rehm Thomas J.
Schmidt Peter B.
Donovan Lincoln
McCloud Renata
Quarles & Brady LLP
Rockwell Automation Technologies Inc.
Walbrun William R.
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