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1. 发明授权

US08090455B2 Motion control servo loop apparatus 有权
标题翻译：运动控制伺服回路装置
公开(公告)号：US08090455B2
公开(公告)日：2012-01-03
申请号：US12466912
申请日：2009-05-15
申请人： Ying-Min Chen , Wen-Chuan Chen , Jing-Yi Huang , Cheng-Xue Wu , Chia-Ching Lin , Wan-Kai Shen
发明人： Ying-Min Chen , Wen-Chuan Chen , Jing-Yi Huang , Cheng-Xue Wu , Chia-Ching Lin , Wan-Kai Shen
IPC分类号： G06F19/00
CPC分类号： G05B11/42 , G05B2219/41199 , G05B2219/41434
摘要： A motion control servo loop apparatus, comprising: a feed-forward control module, and a proportional-integral-derivative (PID) control loop and a compensation adder. The feed-forward control module is capable of generating a feed-forward compensation. The PID control loop further comprises: a proportional control module, an integral control module and a derivative control module. The proportional control module is capable of generating a proportional compensation. The derivative control module is capable of generating a derivative compensation. The integral control module uses a digital differential analyzer (DDA) algorithm to perform integration for accumulated errors with respect to each sampling clock at each DDA pulse and thus output an accumulated error, which is then processed to generate an integral compensation. Thereafter, the compensation adder receives the feed-forward compensation, the proportional compensation, the integral compensation and the derivative compensation to calculate a position error compensation for a motor driver.
摘要翻译：一种运动控制伺服环路装置，包括：前馈控制模块和比例积分微分（PID）控制回路和补偿加法器。前馈控制模块能够产生前馈补偿。 PID控制回路还包括：比例控制模块，积分控制模块和微分控制模块。比例控制模块能够产生比例补偿。微分控制模块能够产生微分补偿。积分控制模块使用数字差分分析器（DDA）算法对每个DDA脉冲处的每个采样时钟执行累积误差的积分，从而输出累积误差，然后对其进行处理以产生积分补偿。此后，补偿加法器接收前馈补偿，比例补偿，积分补偿和微分补偿，以计算电机驱动器的位置误差补偿。

2. 发明申请

US20100152868A1 MOTION CONTROL SERVO LOOP APPARATUS 有权
标题翻译：运动控制伺服电机
公开(公告)号：US20100152868A1
公开(公告)日：2010-06-17
申请号：US12466912
申请日：2009-05-15
申请人： Ying-Min Chen , Wen-Chuan Chen , Jing-Yi Huang , Cheng-Xue Wu , Chia-Ching Lin , Wan-Kai Shen
发明人： Ying-Min Chen , Wen-Chuan Chen , Jing-Yi Huang , Cheng-Xue Wu , Chia-Ching Lin , Wan-Kai Shen
IPC分类号： G05B13/02
CPC分类号： G05B11/42 , G05B2219/41199 , G05B2219/41434
摘要： A motion control servo loop apparatus, comprising: a feed-forward control module, and a proportional-integral-derivative (PID) control loop and a compensation adder. The feed-forward control module is capable of generating a feed-forward compensation. The PID control loop further comprises: a proportional control module, an integral control module and a derivative control module. The proportional control module is capable of generating a proportional compensation. The derivative control module is capable of generating a derivative compensation. The integral control module uses a digital differential analyzer (DDA) algorithm to perform integration for accumulated errors with respect to each sampling clock at each DDA pulse and thus output an accumulated error, which is then processed to generate an integral compensation. Thereafter, the compensation adder receives the feed-forward compensation, the proportional compensation, the integral compensation and the derivative compensation to calculate a position error compensation for a motor driver.
摘要翻译：一种运动控制伺服环路装置，包括：前馈控制模块和比例积分微分（PID）控制回路和补偿加法器。前馈控制模块能够产生前馈补偿。 PID控制回路还包括：比例控制模块，积分控制模块和微分控制模块。比例控制模块能够产生比例补偿。微分控制模块能够产生微分补偿。积分控制模块使用数字差分分析器（DDA）算法对每个DDA脉冲处的每个采样时钟执行累积误差的积分，从而输出累积误差，然后对其进行处理以产生积分补偿。此后，补偿加法器接收前馈补偿，比例补偿，积分补偿和微分补偿，以计算电机驱动器的位置误差补偿。

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