| 摘要 |
A motion and position control for use in a system that includes a motor or other prime mover for moving a tool or other device and a sensor that generates a signal representative of the position of the device; the control comprises a sensor signal processor circuit producing a sequence of pulse position count signals. Each pulse position count signal, which identifies the position of the device at a given instant, is recorded in an up-down counter circuit that operates conjointly with a CPU to generate a sequence of command signals, at a given sequence frequency, that are applied to the prime mover. Each command signal is determined by the difference between the desired pulse position value and the current pulse position signal, plus a drift factor representative of system inertia, and the last previous command signal, all divided by two. The control is applicable to a wide variety of motors and other prime movers in almost any kind of controlled movement system. It reacts almost exclusively to the sensor input and does not compute conventional "error" signals; its accuracy is a function of the sensor accuracy and system inertia. |
