| 摘要 |
A circuit is disclosed for controlling the position or velocity of a moving object. The motion of the object may be linear or rotational. The object is moved by an electric motor, or linear actuator, which is driven by a power amplifier. The current output of the amplifier, which drives the motor or linear actuator, is controlled by an input signal based at least in part on the estimated velocity of the object. The control circuit includes a pair of integrators connected in series, the inputs to the integrators being dependent both on the current output from the amplifier, and on the difference between the output of the second integrator and the actual sensed position of the object. The velocity estimation circuit is thus based on a form of Kalman filter. The velocity estimator uses a model of the motor which is extremely simple, and which contains only constants. The velocity estimator can control the motor very accurately without detailed knowledge of the model of the motor. The present invention replaces relatively expensive device, such as tachometers, with comparatively inexpensive electronic circuity. The invention also includes a method and apparatus which enable the device to calculate automatically the constants needed for efficient operation. The device therefore has the advantage that it can calibrate itself. The circuit can be implemented in either analog or digital form.
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