| 摘要 |
A method for controlling end stop collisions in electro-mechanical systems including dampers or actuators. In a first aspect, a velocity-squared control method determines an end stop control signal (Vend stop) based, at least in part, upon a square of the relative velocity (Vinst). Preferably, the displacement ( delta end) to the end stop is also used to derive the end stop control signal (Vend stop). In another aspect, a snubber control method is employed which produces a snubber control signal (Vsnub) based, at least in part, upon a continuous function of a snubber incursion distance ( delta z) within a snubber zone (Z). Preferably, the velocity-squared end stop and the snubber control methods operate together. When used in conjunction with an end stop control method, the snubber control method prevents end stop collisions for cases where the end stop control algorithm alone would not. Either of the end stop methods (the velocity-squared end stop control method or the snubber control method) may be used alone, in combination with each other, or in combination with a primary control method.
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