Servo control system operable on digital basis with limit cycle

Electricity: motive power systems – Positional servo systems – Pulse-width modulated power input to motor

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Details

318603, 318608, G05B 1128

Patent

active

042596262

ABSTRACT:
In a digital servo control system (31) for a carriage of a serial printer or a like movable element, a control signal (125) digitally represents a reference angular velocity for a motor (26) until an instant at which a displacement from a current position of the element to a commanded position decreases to a predetermined value, a positional error during a preselected interval following the instant, and an integrated value (52) of a position error between the current and the commanded positions to suppress limit cycle after the interval. A PWM signal (56-57) is derived from the control signal and position pulses (62 or 63) representative of a variation in the current position. Preferably, small-amplitude limit cycle is forced to occur during the interval with the positional error indicated by a modified signal (182) derived by adding unity to positive and zero position errors.

REFERENCES:
patent: 3954163 (1974-09-01), Gabor
patent: 4146922 (1979-03-01), Brown et al.
patent: 4169991 (1979-10-01), Ross
patent: 4194144 (1980-03-01), Reynolds

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