US 11,874,644 B2
Position or velocity control system and method
Rajan Lakshmi Narasimha, Dallas, TX (US); and David Patrick Magee, Allen, TX (US)
Assigned to TEXAS INSTRUMENTS INCORPORATED, Dallas, TX (US)
Filed by Texas Instruments Incorporated, Dallas, TX (US)
Filed on Jan. 11, 2021, as Appl. No. 17/146,083.
Application 17/146,083 is a continuation of application No. 15/841,575, filed on Dec. 14, 2017, granted, now 10,890,895.
Prior Publication US 2021/0132585 A1, May 6, 2021
Int. Cl. G05B 19/416 (2006.01); G05B 19/29 (2006.01); G05B 19/414 (2006.01); G05B 19/39 (2006.01); G05B 19/25 (2006.01); H02K 29/10 (2006.01); G02B 26/00 (2006.01); H02P 27/08 (2006.01); H02P 6/16 (2016.01); H02P 6/15 (2016.01); H02P 6/182 (2016.01); G05B 19/23 (2006.01)
CPC G05B 19/416 (2013.01) [G02B 26/008 (2013.01); G05B 19/237 (2013.01); G05B 19/258 (2013.01); G05B 19/291 (2013.01); G05B 19/39 (2013.01); G05B 19/414 (2013.01); H02K 29/10 (2013.01); H02P 6/15 (2016.02); H02P 6/16 (2013.01); H02P 6/182 (2013.01); H02P 27/08 (2013.01); G05B 2219/41293 (2013.01); G05B 2219/42237 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A circuit to control a position and velocity of a machine, the circuit comprising:
an electronic memory; and
a processor configured to execute program instructions stored in the electronic memory to:
control the position according to a reference position pulse signal;
compute a parameter according to a velocity error value and a control function;
compute a control output value as a sum of the parameter and a dithering signal value, including by:
adjusting the parameter according to a machine position dependent waveform shaping function and a machine position feedback signal; and
computing the control output value as a sum of the adjusted parameter and the dithering signal value; and
control the position and velocity according to the control output value.