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Abstract

A feedback servo positioning system for motor 13 is configured under the control of microprocessor 27 either as a position feedback servo for small displacement demands or an acceleration feedback servo for large displacements. In the latter role, the processor determines an intermediate position (e.g. mid point), accelerating the motor at maximum acceleration rate until the intermediate position is reached, and then calculates the deceleration rate required to stop the motor at the demand position. During deceleration the instantaneous position and velocity are monitored to update the optimum deceleration rate to compensate for variations from the initially computed value due to friction and other measurement errors.

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First Claim