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| OF THE DRAWINGS FIG. 1 shows the aircraft of the present invention, generally designated by 1, in ... |
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| Rear spoiler mounting structure for an automatic vehicle and vehicle so equipped |
| OF THE PREFERRED EMBODIMENT Referring initially to FIG. 1, there is shown a perspective view of a ... |
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| Power source control apparatus for hybrid vehicles |
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| Shock strut with managed damping and force characteristics |
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| Traveling safety device for motor vehicle |
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| Thrust reverser system with a pass-through torque activated brake |
| The present invention provides a torque activated brake assembly, and a thrust reverser system that ... |
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| Thrust reverser system with sequential torque decoupler |
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| Method for the classification of an occupancy status of a vehicle seat |
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| Torque magnitude control using electrorheological fluids |
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| Ferrofluidic, electromagnetic power generator |
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Band limited control of a flexible structure using piecewise trigonometric input signals
| Details |
Inventors: Scaramuzzo, Jr., John A.; Brockett, Roger W.;
Assignee: Quantum Corporation (Milpitas, CA)
Primary Examiner: Shoop, Jr.; William M.
Assistant Examiner: Sircus; Brian
Attorney, Agent or Firm: Harrison; David B.
A method and apparatus for moving a member provides parameters related to a given destination position of the member and corresponding to a switch time, a final time, an acceleration amplitude, and a deceleration amplitude. These parameters are used to specify a piecewise continuous function of time as an input signal. The input signal feeds a motor to move the member. The final time, switch time, acceleration amplitude, and deceleration amplitude are specified by iteratively providing minimal values for the switch time and final time while providing maximum acceptable values for the acceleration amplitude and deceleration amplitude for each possible given change in a characteristic of the movable member. A pre-shaped input signal is thereby provided which is bandwidth limited such that its energy is concentrated below the frequency of the lowest system resonance, since the signal is a piecewise continuous function comprising concatenated raised cosine and constant functions. The input signal may be asymmetrical and may have acceleration and deceleration amplitudes which differ in magnitude, and thus is useful in systems where it is desirable to the limit frequency content of an input signal while compensating for the effects of back EMF voltage. Since only four parameters are needed to specify the input signal, the signal is easy to construct, and it thus practical for use in high density disk drive applications. |
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DETAILED DESCRIPTION In accordance with the present invention, a method of moving a member includes the steps of providing parameters related to a given desired position of the member, the parameters corresponding to a switch time, a final time, an acceleration amplitude, and a deceleration amplitude; using the parameters to specify a piecewise continuous function of time for an input signal; and feeding the input signal to a motor to move the member.
With such an arrangement, a parametrized family of pre-shaped input signals is provided to move the member.
The family of signals is has an energy distribution which is concentrated below the frequency of the lowest system resonance.
Because only four parameters are needed to specify the input signal for a given move, the signal is easy to compute and convert to an input signal practical for use, illustratively in moving an actuator arm in a disk drive application, or in moving a robotic arm in a robotic application.
In accordance with a further aspect of the present invention, apparatus for moving a member includes means for providing parameters related to a given destination position of the member and corresponding to a switch time, a final time, an acceleration amplitude, and a deceleration amplitude of a signal used to control movement of the member.
The apparatus further includes means responsive to said parameters for generating an input signal which is a piecewise continuous function of time, and means for feeding the input signal to a motor for moving the member.
In accordance with a further aspect of the present invention, a method includes the steps of configuring a processor to provide a piecewise continuous function of time specified by a final time, a switch time, an acceleration amplitude, and a deceleration amplitude.
In a preferred embodiment this method includes the steps of providing a memory containing values representing a final time, a switch time, an acceleration amplitude, and a deceleration amplitude, and configuring a processor to provide a piecewise continuous function of time specified by the final time, the switch time, the acceleration amplitude, and the deceleration amplitude
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