Velocity Raptor LX665 Manual do Utilizador descarregar pdf (Página 6)

U.S.

Patent

0a.

30,

2001

Sheet

4

0f

18

US

6,311,264

B1

401

403

405

406

\

/

/ /

REFERENCE

r(IT)

DIGITAL

u(n)_

ZOH

HIT)~

(DC

SERVO)

y(il)_

DISK‘

INPUT

CONTROLLER

(D/A)

(MOTOR)

DRIVE

A

/"

W

400

SAMPLER

(A/D)

*

SENSOR

\

FIG.

4

407

421

423

\ /

REFERENCE

STATE

“(0)

_

T

INPUT

_’

CONTROLLER

MOTOR

‘

“

L

TORQUE,

X

4

_I

CURRENT,

x

3

SPEED,

x

2

POSITION,

X

1

FIG.

5

441 451

\

D/A

/

A/D

U(n)

ZERO

f433

‘

ORDER

~

MOTOR

=

40/0

435

HOLD

SAMPLER

\

STATE

_

VELOCITY

WT

REFERENCE

‘

CONTROLLER

‘

POSITION

ESTIMATOR ‘

INPUT

459

_

CURRENT

4L7

_

VELOCITY

FIG.

6

1 2 3 4 5 6 7 8 9 10 11 ... 50 51

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