| 摘要 |
A method and apparatus for the control of electric motors comprised of: (1) a digital circuit for receiving the desired value of position, velocity, acceleration, or rate of change of acceleration for the motor; (2) a digital circuit to determine the actual position, velocity, acceleration, or rate of change of acceleration for the motor; (3) a digital circuit to determine the difference between the desired and the actual position, velocity, acceleration, and rate of change of acceleration for the motor; (4) a digital circuit that generates an error correction value based upon PID control methods; and (5) a digital circuit for generating drive signals for the motor that correct for any difference between the specified value and the measured value of position, velocity, acceleration and rate of change of acceleration for the motor. Further, the invention has a digital auto tuning capability to optimize the accuracy of the position, velocity, acceleration, or rate of change of acceleration operations for a particular motor so that the size of future error correction values needed for adjusting motor performance is minimized.
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