| 摘要 |
<p>MICROPROCESSOR CONTROLLED D.C. MOTOR FOR CONTROLLING A LOAD Apparatus is provided for controlling the velocity of a portion of a load in accordance with a trapazoidal-shaped velocity versus time profile. The apparatus includes a d.c. motor having an output shaft for driving the load; instrumentalities for sensing angular displacement of the motor output shaft; a microprocessor including a clock for generating successive sampling time periods, components for providing first counts respectively representative of successive desired angular displacements of the motor output shaft during successive sampling time periods to cause the load portion to be moved in accordance with a predetermined trapezoidal-shaped velocity versus time profile, components responsive to the sensing means for providing second counts respectively representative of actual angular displacements of the motor output shaft during successive sampling time periods, and components for compensating for the difference between the first and second counts during each successive sampling time period and generating a pulse width modulated control signal for controlling the d.c. motor, the motor control signal causing the actual angular displacement of the motor output shaft to substantially match the desired angular displacement of the motor output shaft during successive sampling time periods, whereby the load portion is moved substantially in accordance with the predetermined trapezoidal-shaped velocity versus time profile; and a signal amplifying device for operably coupling the motor control signal to the d.c. motor.</p> |
