Patent ID: 9692323
Date: 2017-06-27
CPC Classifications: H02N

Claim:
1. A method for controlling a multi-actuator device, the method comprising: applying a first signal to a first actuator of the multi-actuator device to drive a runner, the first signal having a waveform that is non-linear during a stick phase of the waveform and is a step during a slip phase of the waveform; applying a second signal to a second actuator of the multi-actuator device to drive the runner, the second signal having a waveform that is non-linear during a stick phase of the waveform and is a step during a slip phase of the waveform; applying a third signal to a third actuator of the multi-actuator device to drive the runner, the third signal having a waveform that is non-linear during a stick phase of the waveform and is a step during a slip phase of the waveform; modifying the waveform of the second and third signals when the first signal is transitioning into a slip phase of the waveform, the modification being to drive the second and third actuators more speedily to assist to compensate for a force variation that will occur when the first actuator enters the slip phase; and modifying the waveform of the second and third signals again when the first signal is transitioning away from the slip phase of the waveform to the stick phase of the waveform, the modification being to reduce drive speed of the second and third actuators from the speed they were being driven at when the first actuator was transitioning into the slip phase.