Electricity: motive power systems – Positional servo systems – Pulse-width modulated power input to motor
Patent
1994-05-26
1996-05-14
Sircus, Brian
Electricity: motive power systems
Positional servo systems
Pulse-width modulated power input to motor
318606, 318808, 318810, H02P 541
Patent
active
055170994
ABSTRACT:
Method and apparatus for robust integral-pulse control of servodrives of unknown dynamics. According to the current value of the controlled object position, a microprocessor controller presets the current values of pulse duration and pulse amplitude as functions of the position control or velocity control error. The current value of the pulse period is a function of the sum of (difference between) the current values of orthogonality and robustness parameters when the object moves with acceleration (when the object moves with deceleration). The orthogonality parameter is calculated in proportion to the current value of pulse duration under the condition of orthogonality of the adjacent pulses and the Indeterminacy Principle. The robustness parameter is a function of the current object acceleration/deceleration. Throughout each control period, additional modulations of pulse amplitude and pulse duration are employed whose frequencies are preset by a microprocessor controller for each control period as functions of the controlled object's current acceleration/deceleration and which are limited by these parameters' values in the current and previous control periods calculated as functions of the position control or velocity control error. The modulation steps of the pulse amplitude and pulse duration derived from additional modulation are calculated in proportion to the difference between the current position value of the controlled object and this parameter's value in the previous control period. The microprocessor outputs codes of current values of pulse amplitude, duration and period and transmits them to the amplifier. The pulse sequence is performed and applied to the electromotor.
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Physical Review Letters, vol. 64, No. 8, Feb. 19, 1990.
Horowitz Steven
International Modern Technologies, Inc.
Sircus Brian
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