Circuit for controlling the motion of a moving object

摘要: A circuit is disclosed for controlling the position or velocity of a moving object. The motion object may be linear rotational. moved by an electric motor, actuator, which driven power amplifier. current output amplifier, drives motor controlled input signal based at least in part on estimated control includes pair integrators connected series, inputs to being dependent both from and difference between second integrator actual sensed estimation thus form Kalman filter. estimator uses model extremely simple, contains only constants. can very accurately without detailed knowledge motor. present invention replaces relatively expensive device, such as tachometers, with comparatively inexpensive electronic circuity. also method apparatus enable device calculate automatically constants needed efficient operation. therefore has advantage that it calibrate itself. implemented either analog digital form.