Patent ID: 8855826
Filing Date: 2014-10-07
Classification: G05D

Abstract:
1. A controller for reducing vibration and positioning a load in a mechanical system driven by a motor connected to the load, comprising: an optimal feedforward module designed according to a model of the system; a linear feedback module; and a nonlinear feedback module, wherein inputs to the linear feedback module and the nonlinear feedback module are an angular position and an angular velocity of the motor, and outputs of the optimal feedforward module, the linear feedback module, and the nonlinear feedback module are summed and fed back to control a torque of the motor, wherein the model is a 3-mass lumped parameters model, wherein the load is represented by a mass m where {dot over (x)} and {umlaut over (x)} are the first and second derivative of x with respect to time t, and wherein the position of the motor is x M , the load is represented by an inertia J L , the motor is represented with an inertia J M , the base is represented with an inertia J B , and the motor is controlled by a torque u, and K B , and D B represent linear spring coefficient and the linear damping coefficient of the base, respectively.