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Jerk Reduction for Bang Bang Servos

IP.com Disclosure Number: IPCOM000075739D
Original Publication Date: 1971-Nov-01
Included in the Prior Art Database: 2005-Feb-24
Document File: 2 page(s) / 39K

Publishing Venue

IBM

Related People

Stephens, HC: AUTHOR

Abstract

This system provides a method for minimizing the jerk (the second derivative of velocity with respect to time) encountered at the curve switch point for bang-bang and time-optimal servos.

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Jerk Reduction for Bang Bang Servos

This system provides a method for minimizing the jerk (the second derivative of velocity with respect to time) encountered at the curve switch point for bang- bang and time-optimal servos.

With reference to Fig. A, the input to the system is an analog signal indicative of the distance required to reach the desired position. The input signal is fed into a curve generator 1 which generates a nonlinear output as a function of the analog signal input. The output of curve generator 1 would normally be the ideal velocity curve, as shown in Fig. B. The system, however, modifies the ideal velocity curve to the lowered velocity curve as shown in Fig. B as a function of the actual velocity, as measured by the velocity circuit 5, by the curve-control circuit 7. Sensing circuit 2 generates an error signal, which is fed to the amplifier and power driver 3 for controlling the speed of motor 4.

The modification of the ideal velocity curve occurs until the actual velocity becomes greater than the output of the curve generator 1. Sign detector 6 recognizes the first crossing of the actual velocity as measured by velocity circuit 5 and the output of curve generator 1, and causes the curve-control circuit 7 to cease modification of the ideal velocity curve.

It should be noted that the magnitude of the error generated by sensing circuit 2 at the crossover point between the actual velocity and the output of the curve generator 1 is a function of the angle of intersection. In operation, when a command is given to change position, an analog signal is fed into curve generator 1 indicative of t...