Method for actuating a multi-actuator drive device
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United States of America Patent
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Jun 27, 2017
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N/A
app pub date -
Mar 1, 2012
filing date -
Mar 30, 2011
priority date (Note) -
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Abstract
A method is disclosed for controlling a linear or rotary multi-actuator drive device having a stationary and a movable part. Relative movement between the stationary and the movable parts is generated via actuators having limited strokes, which are in substantially continuous frictional contact with the movable part either directly or via a force-transmitting mechanism, wherein control signals having a timing offset are used therefor, which force alternation between the slip phase and the stick phase for each actuator. Speed variations and vibrations of the device are reduced or prevented by utilizing the elasticity in the drive components, by building up, between the points of friction of the actuators by means of control waveforms adapted to the respective situation for the various actuators, suitable mechanical tensions which prevent undesired variation in the force exerted by the actuators on the movable part, above all when an actuator transitions from the stick phase to the slip phase, or when one or more actuators reverse direction.
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