Patent ID: 8090455

Claim:
A motion control servo loop apparatus, capable of compensating a position error for a motor driver, the motion control servo loop apparatus comprising: a feed-forward control module capable of generating a feed-forward compensation; a proportional-integral-derivative (PID) control loop, comprising: a proportional control module capable of generating a position error and processing the position error to generate an proportional compensation; an integral control module capable of receiving the position error and using 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; and a derivative control module capable of receiving the position error and generating a derivative compensation at each derivative sampling clock; and a compensation adder capable of receiving the feed-forward compensation, the proportional compensation, the integral compensation and the derivative compensation to calculate a position error compensation for the motor driver.