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 |
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.
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