US 12,341,451 B2
Disturbance compensating electric actuator position and speed controller
Richard A. Hull, Kissimmee, FL (US)
Assigned to Simmonds Precision Products, Inc., Vergennes, VT (US)
Filed by Simmonds Precision Products, Inc., Vergennes, VT (US)
Filed on Apr. 20, 2023, as Appl. No. 18/137,185.
Prior Publication US 2024/0356471 A1, Oct. 24, 2024
Int. Cl. H02P 27/06 (2006.01); H02P 21/22 (2016.01)
CPC H02P 21/22 (2016.02) 20 Claims
OG exemplary drawing
 
1. A method of controlling an actuator comprising:
receiving surface position and surface speed commands for an actuator motor;
receiving motor position feedback for the actuator motor;
receiving direct current feedback from the actuator motor;
receiving quadrature current feedback from the actuator motor;
using a high gain observer receiving the motor position feedback and quadrature current feedback to determine a position estimate, a torque estimate, and a speed estimate;
using a surface position/speed controller receiving the position estimate, the torque estimate, the speed estimate, and the surface position and surface speed commands to determine a quadrature current command;
using a d-q current controller receiving the quadrature current command, the speed estimate, the quadrature current feedback, and the direct current feedback to output a command for direct current voltage and a command for quadrature voltage for controlling the actuator motor; and
transmitting the command for the direct current voltage and the command for the quadrature voltage as a drive signal to an actuator motor to move a device, including automatically compensating for and rejecting uncertain and unmodeled torque disturbances of the actuator motor.