Hybrid sample rate servo motor controller

Details Hybrid sample rate servo motor controller Hybrid sample rate servo motor controller

G - Physics

05

D

341/107

G05D 13/62 (2006.01) G05B 19/23 (2006.01)

Patent

CA 1335304

A hybrid sample rate servo motor employing rate feedback compensation is disclosed. The system employs a shaft encoder having a predetermined resolution to provide position data which are pulses indicating the shaft has moved another resolution unit. Under high motor velocity conditions the rate compensation feedback loop is operated at a conventional constant sample rate. Under low velo- city conditions, the sample rate at which the rate compen- sation feedback loop is operated is modified so that rate samples are taken and calculated only when new position data are available from the motor encoder. Rate quan- tization error is substantially reduced, thereby leading to more robust controller operation.

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