Patent ID: 6300738
Filing Date: 2001-10-09
Classification: G05B

Abstract:
A method of controlling a motor comprising:(A) providing a motion control system, the motion control system including the motor and a motion control loop, the motion control loop being operative to control a shaft of the motor based on a reference value;(B) causing the shaft of the motor to move from an initial state to a new state, the shaft of the motor having a non-zero initial velocity when the motor is at the initial state, including(1) determining coefficients for each of a plurality of polynomial segments of a motion profile, the plurality of polynomial segments and the corresponding coefficients for each respective segment characterizing planned movement of the shaft through each respective segment, and(2) controlling the shaft of the motor using the motion control loop, the shaft being controlled by the motion control loop based on reference values generated using the plurality of polynomial segments and the corresponding coefficients for each respective segment, the shaft being controlled such that the shaft moves from the initial state to the new state, and the controlling step including producing a non-negative jerk, the non-negative jerk causing the shaft to accelerate to a peak velocity that is less than a predetermined maximum velocity of the shaft.