FULLY ADAPTIVE VELOCITY TRACKING DRIVE CONTROL POSITIONING SYSTEM

摘要

A velocity curve (26) is calculated while tracking deceleration and acceleration before and after application of a power pulse (38, 40, 42, e.g.) so as to anticipate movement for continuing adjustable power cycles. Up to seven phases occur in any positioning move, consisting of drive cycles when the motor receives power and then is void of power. During each drive cycle, and 'ideal speed' is calculated based upon the system response, actual speed, previously used power, and the distance still required to reach the target. A power computing equation is selected based upon a combination of factors: comparison of actual speed to 'ideal' speed; pattern of speed change during the previous cycles; previous powers used; the velocity error; proximity to a phase transition; and the general trend of the mechanism response. The final target approach (50) uses current position, speed, and deceleration to project the stopping point if no more power is supplied (52).