Motor angular position control
A motor controller to control rotational speed of an output shaft of an electric motor. The motor controller includes a proportional controller and a time-optimal controller. The proportional controller controls the rotational speed when a present rotational position of the shaft is between a target rotational position and a switching point, inclusively. The time-optimal controller controls the rotational speed when the present rotational position is not between the target rotational position and the switching point. Also introduced herein are aspects pertaining to determining the switching point in a manner that minimizes overshooting the target rotational position while maximizing expediency at which the target rotational position is reached.
1. A method comprising:
causing operation of a motor controller operable to control rotational speed of an output shaft of an electric motor, wherein:
the motor controller comprises a proportional controller and a time-optimal controller;
the proportional controller controls the rotational speed when a present rotational position of the shaft is between a target rotational position and a switching point, inclusively; and
the time-optimal controller controls the rotational speed when the present rotational position is not between the target rotational position and the switching point,
wherein the switching point is determined via operation of a processor and a memory storing code executable by the processor, and
wherein operation of the processor determines the switching point by:
determining which one of N curves corresponds to a predetermined system communications delay, wherein N is a positive integer, and wherein each of the N curves relates a counter delay factor β to candidate switching points;
determining a smallest one of the candidate switching points that results in a value of the counter delay factor being less than one; and
selecting the switching point as a rotational position that is larger than the determined smallest one of the candidate switching points.
2. The method of claim 1 wherein the proportional controller controls the rotational speed via linear feedback such that the rotational speed is adjusted in proportion to differences between the target rotational position and the present rotational position.
3. The method of claim 1 wherein the time-optimal controller controls the rotational speed based on maximum system-allowed speed and acceleration/deceleration rates.
4. The method of claim 1 wherein the proportional and time-optimal controllers utilize corresponding gain values that are determined based on the switching point and predetermined acceleration and/or deceleration rates.
5. The method of claim 4 wherein the motor controller comprises the processor and the memory storing code executable by the processor, and wherein causing the motor controller operation causes the processor to determine the gain values.
6. The method of claim 1 wherein the proportional and time-optimal controllers utilize corresponding gain values that are determined based on the switching point and predetermined acceleration and/or deceleration rates such that speed commands from the proportional and time-optimal controllers are equal when control is switched between the proportional and time-optimal controllers.
7. The method of claim 1 wherein:
the processor is a first processor, the memory is a first memory, and the code is first code;
the motor controller comprises a second processor and a second memory storing second code executable by the second processor;
the motor controller does not comprise the first processor or the first memory; and
causing the motor controller operation includes inputting the switching point determined by the first processor.
8. The method of claim 7 wherein the switching point is predetermined prior to commencement of the method.
9. The method of claim 1 wherein the motor controller comprises the processor and the memory, and wherein causing the motor controller operation causes the processor to determine the switching point.
10. The method of claim 1 wherein operation of the processor determines the switching point in a manner that minimizes overshooting the target rotational position while maximizing expediency at which the target rotational position is reached.
11. The method of claim 1 wherein operation of the processor determines the switching point in a manner that accounts for system communication delays.
12. The method of claim 1 wherein the selected switching point is a result of rounding up the determined smallest one of the candidate switching points to a multiple of a rotational positioning precision of the shaft.
13. The method of claim 1 wherein the selected switching point is greater than the determined smallest one of the candidate switching points by an amount that includes a margin to account for unknown factors.
14. A method comprising:
causing operation of a motor controller operable to control rotational speed of an output shaft of an electric motor, wherein:
the motor controller comprises a proportional controller and a time-optimal controller;
the proportional controller controls the rotational speed when a present rotational position of the shaft is between a target rotational position and a switching point, inclusively; and
the time-optimal controller controls the rotational speed when the present rotational position is not between the target rotational position and the switching point,
wherein the switching point is determined via operation of a processor and a memory storing code executable by the processor, and
wherein operation of the processor determines the switching point by:
determining which one of N curves corresponds to a predetermined system communications delay, wherein N is a positive integer, and wherein each of the N curves relates a counter delay factor R to candidate switching points; and
selecting the switching point as a smallest one of the candidate switching points that results in a value of the counter delay factor being less than one for the determined one of the N curves.
15. The method of claim 14 wherein:
the processor is a first processor, the memory is a first memory, and the code is first code;
the motor controller comprises a second processor and a second memory storing second code executable by the second processor;
the motor controller does not comprise the first processor or the first memory; and
causing the motor controller operation includes inputting the switching point determined by the first processor.
16. The method of claim 15 wherein the switching point is predetermined prior to commencement of the method.
17. The method of claim 14 wherein the motor controller comprises the processor and the memory, and wherein causing the motor controller operation causes the processor to determine the switching point.
18. The method of claim 14 wherein operation of the processor determines the switching point in a manner that minimizes overshooting the target rotational position while maximizing expediency at which the target rotational position is reached.
19. The method of claim 14 wherein operation of the processor determines the switching point in a manner that accounts for system communication delays.
20. The method of claim 14 wherein the proportional controller controls the rotational speed via linear feedback such that the rotational speed is adjusted in proportion to differences between the target rotational position and the present rotational position.