System and method for controlling movement
View Patent ↗A system and method for controlling movement of a body includes a position-based velocity profile, at least one mover, a data processor for calculating a next position of the at least one mover using data from the position-based velocity profile and passing a next position signal to the at least one mover, and an actuator for moving the mover to the next position.
1. A method for controlling the movement of a body, the method comprising:
providing a current position and a target position for at least one mover;
retrieving a desired mover velocity from a position-based velocity profile based on the current position and target position for the at least one mover;
calculating a next position of the at least one mover using the desired mover velocity;
passing a next position signal to the at least one mover; and
moving the mover to the next position.
2. The method of claim 1 , wherein retrieving a desired mover velocity comprises indexing the position-based velocity profile using the current position and target position.
3. The method of claim 2 , wherein indexing the position-based velocity profile includes moving the mover any distance within the mover's operational range.
4. The method of claim 1 , further comprising updating the current position with the next position.
5. The method of claim 4 , further comprising:
retrieving a new desired mover velocity from the position-based velocity profile;
calculating a new next position of the at least one mover using the new desired mover velocity;
passing a new next position signal to the at least one mover; and
moving the mover to the new next position.
6. The method of claim 5 , further comprising:
achieving a constant mover velocity by repeatedly updating the current position with the new next position, retrieving a new desired mover velocity from the position-based velocity profile, calculating a new next position of the at least one mover using the new desired mover velocity, passing a new next position signal to the at least one mover, and moving the mover to the new next position.
7. The method of claim 1 , wherein moving the mover to the next position comprises accelerating the mover.
8. The method of claim 1 , wherein moving the mover to the next position comprises decelerating the mover.
9. The method of claim 1 , further comprising filtering the next position signal to remove energy at the at least one mover's resonant frequency before moving the at least one mover to the next position.
10. The method of claim 9 , wherein filtering the next position signal comprises integrating filter characteristics into the position-based velocity profile.
11. The method of claim 1 , further comprising deriving the position-based velocity profile from a sine-shaped acceleration profile.
12. The method of claim 1 , further comprising providing closed-loop feedback to control the velocity and position of the at least one mover.
13. The method of claim 1 , wherein moving the mover to the next position comprises actuating an electrostatic drive to move the mover to the next position.
14. A movement control system comprising:
a position-based velocity profile;
at least one mover;
a data processor for calculating a next position of the at least one mover using data from the position-based velocity profile and passing a next position signal to the at least one mover; and
an actuator for moving the mover to the next position.
15. The movement control system of claim 14 , wherein the position-based velocity profile is a velocity table stored in random access memory accessible by the data processor.
16. The movement control system of claim 14 , further comprising a filter for removing energy at the at least one mover's resonant frequency from the next position signal.
17. The movement control system of claim 16 , wherein the filter comprises a digital notch filter.
18. The movement control system of claim 14 , further comprising a closed-loop position feedback system coupled to the actuator for controlling velocity and position of the at least one mover.
19. The movement control system of claim 18 , wherein the closed-loop position feedback system is a capacitive position sensing system.
20. The movement control system of claim 14 , wherein the actuator for moving the mover comprises an electrostatic drive.
21. A system for controlling movement of a body, the system comprising:
means for determining a next position of a body using data from a position-based velocity profile;
means for moving the body to the next position; and
means for removing energy at a resonant frequency of the body.
22. A system for controlling movement of a body, the system comprising:
means for determining a next position of a body using data from a position-based velocity profile; and
means for moving the body to the next position, wherein the means for moving the body to the next position comprises an electrostatic drive.