General purpose position control system having recursive profile generator

摘要

The recursive profile generator of a general purpose position control system relies only upon current state and target state information in generating the path of movement for the armature of the servomotor. The profile generator employs a convergent algorithm for calculating the acceleration necessary to reach each control point or target position. By ignoring previous state information, the profile generator makes the use of reduced computing power possible and readily accommodates changing target state conditions.