Patent US4609855A successfully refreshed from Google Patents.
US4609855A
Expired / Lapsed
US
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Adaptive servomotor control
Assignee: NXP USA Inc
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Filing: 1984-11-09
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Granted: 1986-09-02
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Expires: 2004-11-09
Abstract
Abstract A servomotor controller provides high speed servomotor positioning be means of an on line adaptive state-feedback control algorithm. Servomotor position and velocity are the feedback states and each has an associated gain selected by means of a servomotor characterization scheme. The mechanical break frequency is used to select optimum gains and a high speed estimation technique is used to determine the mechanical break frequency. Position step change may also be used to select optimum gains. Gain tables are produced by an off-line simulation technique.
Inventors
- 👤 Nicholas W. Andrews
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 04:50
CPC Classifications
G; G05; G05B; G05B13/00; G05B13/02; G05B13/0205; G05B13/024; G05B13/0245; G05B2219/00; G05B2219/30; G05B2219/41; G05B2219/41028; G05B2219/41086; G05B2219/42; G05B2219/42155
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
105 words
In a servomotor apparatus of the type comprising a servomotor, a servomotor controller and feedback means for providing feedback from said servomotor to said servomotor controller, the improvement comprising: characterization means for periodically evaluating the equation: ##EQU18## where Wm is mechanical break frequency, θ (t) is motor shaft position with time, K mv Ω is the back EMF constant of the servomotor, E is the voltage input to the servomotor, and t is time; and gain selection means for selecting one of a plurality of gain sets in response to said characterization of said servomotor, said selected gain set being supplied to said servomotor controller.
Claim 2
Dependent Claim
105 words
In a servomotor apparatus of the type comprising a servomotor, a servomotor controller and feedback means for providing feedback from said servomotor to said servomotor controller, the improvement comprising: characterization means for periodically evaluating the equation: ##EQU18## where Wm is mechanical break frequency, θ (t) is motor shaft position with time, K mv Ω is the back EMF constant of the servomotor, E is the voltage input to the servomotor, and t is time; and gain selection means for selecting one of a plurality of gain sets in response to said characterization of said servomotor, said selected gain set being supplied to said servomotor controller.
Claim 3
Dependent Claim
134 words
A servomotor apparatus comprising: a servomotor; means for selectively applying a drive voltage to said servomotor; feedback means for providing indications of a shaft position and a shaft velocity of said servomotor; characterization means for periodically evaluating the equation: ##EQU19## where W m is mechanical break frequency, θ (t) is motor shaft position with time, K mv Ω is the back EMF constant of the servomotor, E is the voltage input to the servomotor, and t is time; gain selection means for responding to said characterization means to select one of a plurality of gain sets; and controller means for receiving said indications of servomotor shaft position and shaft velocity, said selected gain set and a desired servomotor shaft position and for controlling said means for selectively applying a drive voltage in response thereto.
Claim 4
Dependent Claim
134 words
A servomotor apparatus comprising: a servomotor; means for selectively applying a drive voltage to said servomotor; feedback means for providing indications of a shaft position and a shaft velocity of said servomotor; characterization means for periodically evaluating the equation: ##EQU19## where W m is mechanical break frequency, θ (t) is motor shaft position with time, K mv Ω is the back EMF constant of the servomotor, E is the voltage input to the servomotor, and t is time; gain selection means for responding to said characterization means to select one of a plurality of gain sets; and controller means for receiving said indications of servomotor shaft position and shaft velocity, said selected gain set and a desired servomotor shaft position and for controlling said means for selectively applying a drive voltage in response thereto.
Claim 5
Independent Claim
135 words
A method of controlling a servomotor comprising the steps of: monitoring a difference between an actual state of said servomotor and a desired state thereof; estimating a mechanical break frequency of said servomotor by evaluating the equation: ##EQU20## where W m is the mechanical break frequency, θ (t) is motor shaft position with time, K mv Ω is the back EMF constant of the servomotor, E is the voltage input to the servomotor, and t is time; selecting a gain set from a plurality of gain sets responsive to said estimation of said mechanical break frequency; applying said gain set to said difference between said desired and actual states of said servomotor; determining a drive signal responsive to said application of said gain set to said difference; and applying said drive signal to said servomotor.
Claim 6
Independent Claim
135 words
A method of controlling a servomotor comprising the steps of: monitoring a difference between an actual state of said servomotor and a desired state thereof; estimating a mechanical break frequency of said servomotor by evaluating the equation: ##EQU20## where W m is the mechanical break frequency, θ (t) is motor shaft position with time, K mv Ω is the back EMF constant of the servomotor, E is the voltage input to the servomotor, and t is time; selecting a gain set from a plurality of gain sets responsive to said estimation of said mechanical break frequency; applying said gain set to said difference between said desired and actual states of said servomotor; determining a drive signal responsive to said application of said gain set to said difference; and applying said drive signal to said servomotor.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-09-01 | 1990-03-03 | 1990-09-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-09-01 | 1994-03-03 | 1994-09-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-09-01 | 1998-03-03 | 1998-09-02 | $7700.00 | Window Closed / Lapsed |