公开(公告)号：US6037735A

公开(公告)日：2000-03-14

申请号：US260615

申请日：1999-03-01

申请人： Mark S. Janosky ,  Kenneth A. Lindsay

发明人： Mark S. Janosky ,  Kenneth A. Lindsay

IPC分类号： G05B11/18

CPC分类号： G05B19/404 ,  G05B2219/41122 ,  G05B2219/41385

摘要： A slow-speed servomechanism includes a motor for driving a load; a direct drive transmission between the motor and the load; an incremental optical encoder connected to the load, the encoder having analog sine and cosine outputs; an analog to digital converter for converting the sine and cosine analog values to digital values; and a digital controller, connected to the motor and the analog to digital converter, for controlling the motor. The digital controller includes an angle decoder responsive to the sine and cosine digital values from the analog to digital converter to produce a relative position count indicating a position within one sine and cosine signal pair, a cycle counter responsive to the relative position count for producing an absolute position count within the operating range of the servomechanism by determining which sine cosine pair is being measured, the angle decoder and cycle counter performing at least four angle decodes within each encoder sine and cosine cycle; a command generator responsive to a user defined desired motion of the load to output a desired count; a phase detector responsive to the absolute position count from the cycle counter and the desired count from the command generator to produce an error signal, and a compensation filter responsive to the error signal for generating a motor driving command.

摘要翻译： 慢速伺服机构包括用于驱动负载的电动机; 电机和负载之间的直接驱动传动; 连接到负载的增量光学编码器，编码器具有模拟正弦和余弦输出; 用于将正弦和余弦模拟值转换成数字值的模数转换器; 以及连接到电动机和模数转换器的数字控制器，用于控制电动机。 数字控制器包括响应来自模数转换器的正弦和余弦数字值的角度解码器，以产生指示一个正弦和余弦信号对内的位置的相对位置计数，响应于相对位置计数的周期计数器，用于产生 通过确定正在测量哪个正弦余弦对，伺服机构的操作范围内的绝对位置计数，角度解码器和循环计数器在每个编码器正弦和余弦周期内执行至少四个角度解码; 响应于用户定义的所述负载的期望运动以输出所需计数的命令发生器; 相位检测器响应来自循环计数器的绝对位置计数器和来自命令发生器的期望计数以产生误差信号，以及响应于用于产生电机驱动命令的误差信号的补偿滤波器。

公开(公告)号：US5446355A

公开(公告)日：1995-08-29

申请号：US127844

申请日：1993-09-28

申请人： Mark S. Janosky ,  David A. Johnson ,  Kenneth A. Lindsay ,  James T. Stoops

发明人： Mark S. Janosky ,  David A. Johnson ,  Kenneth A. Lindsay ,  James T. Stoops

IPC分类号： B41J11/42 ,  B41J19/76 ,  B65H7/08 ,  G05B1/06

CPC分类号： B41J11/42

摘要： A media transport system for controlling the position and velocity of media in a document production apparatus marking engine having a media positioning system driven by a motor, includes a motion control loop to control the motor; a sensor adapted to detect the position of the media and to create a trigonometric signal characteristic of the position of the media, the trigonometric signal comprising frequency and phase components; a resolver electronics subsystem adapted to trigonometrically process the trigonometric signal to create a resolved signal; and means for comparing the resolved signal to a reference clock signal of predetermined frequency and phase to provide an error signal used to control the motor that drives the media positioning system. The trigonometric signal may include a sine portion and a cosine portion. The sine portion of the trigonometric signal is sin(.omega..sub.e *t+.phi..sub.e) and the cosine portion of the trigonometric signal is cos(.omega..sub.e *t+.phi..sub.e); where .omega..sub.e is the trigonometric signal frequency component, .phi..sub.e is the trigonometric signal phase component, and t is the time. The resolver electronics subsystem may include a first multiplier adapted to output the product of the sine portion of the trigonometric signal and a reference cosine command cos(.omega..sub.r *t+.phi..sub.r); a second multiplier adapted to output the product of cosine portion of the trigonometric signal and a reference sine command sin(.omega..sub.r *t+.phi..sub.r), where .omega..sub.r is the frequency of the reference command and .phi..sub.r is the phase of the reference command; and means to add the outputs of the first and second multipliers.

摘要翻译： 一种用于控制具有由电动机驱动的介质定位系统的文件生产设备标记引擎中的介质的位置和速度的介质传送系统，包括用于控制电动机的运动控制回路; 传感器，其适于检测介质的位置并且产生介质位置的三角信号特征，所述三角信号包括频率和相位分量; 旋转变压器电子系统子系统，用于三角地处理三角信号以产生分辨的信号; 以及用于将分辨的信号与预定频率和相位的参考时钟信号进行比较以提供用于控制驱动媒体定位系统的电动机的误差信号的装置。 三角信号可以包括正弦部分和余弦部分。 三角信号的正弦部分为sin（ωe * t + phi e），三角信号的余弦部分为cos（ωe * t + phi e）; 其中，ωe是三角信号频率分量，phi是三角信号相位分量，t是时间。 解算器电子子系统可以包括适于输出三角信号的正弦部分和参考余弦指令cos（ωr * t + phi r）的乘积的第一乘法器; 适于输出三角信号的余弦部分的乘积和参考正弦指令sin（ωr * t + phi r）的第二乘法器，其中ωr是参考命令的频率，并且phi是参考命令的相位 ; 以及用于添加第一和第二乘法器的输出的装置。