Controller for an electromechanical transducer
View Patent ↗A controller for an electromechanical transducer is provided. The controller comprises driving means operable to actuate a mechanical output of the transducer; impedance cancelling means operable to at least partially cancel an electrical impedance of the transducer; and linearising means between an input of the controller and the driving means. The linearising means are operable to generate an output signal by modifying an input signal of the linearising means to compensate for nonlinear behaviour of the transducer. The linearising means are operable to receive one or more state signals indicative of one or more state variables of the transducer, the one or more state signals comprising a velocity signal indicative of a velocity of the mechanical output of the transducer.
1. A controller for an electromechanical transducer, the controller comprising:
driving means operable to actuate the mechanical output of the transducer;
impedance cancelling means operable to at least partially cancel an electrical impedance of the transducer, the impedance cancelling means being operable to apply positive feedback by feeding a feedback signal to the driving means based on a current signal indicative of a current in the transducer; and
linearising means between the input of the controller and the driving means, the linearising means being operable to:
receive state signals indicative of state variables of the transducer, the state signals comprising a velocity signal indicative of a velocity of the mechanical output of the transducer and a displacement signal indicative of a displacement of the mechanical output of the transducer; and
generate an output signal by modifying an input signal to the linearising means to at least partially cancel nonlinearity of the transducer, the output signal being generated based at least in part on:
determining a first signal by applying a nonlinear pre-distortion filter to the input signal;
determining a second signal by applying a nonlinear feedback synthesis filter to the state signals; and
summing, as the output signal, the first signal and the second signal.
2. The controller of claim 1 , wherein the state signals further comprise a current signal indicative of a current in the transducer.
3. The controller of claim 1 , wherein the modifying is dependent on the input signal of the linearising means.
4. The controller of claim 1 , wherein at least one of the state signals is determined by measurement.
5. The controller of claim 4 , wherein the at least one of the state signals that is determined by feedback is determined using a sensor coupled to the transducer.
6. The controller of claim 5 , wherein negative feedback is applied to an input of the linearising means or the input of the controller based on a measurement of the sensor.
7. The controller of claim 1 , wherein at least one of the state signals is determined based on the input signal of the linearising means or the input signal of the controller.
8. The controller of claim 1 , wherein at least one of the state signals is determined based on a current signal indicative of a current in the transducer.
9. The controller of claim 1 , wherein the output signal of the linearising means is based on a model of the transducer, and wherein the model is adapted based on the state variables.
10. The controller of claim 1 , wherein the linearising means are operable to modify the input signal of the linearising means to at least partially cancel nonlinearity caused by variations in a force factor of the transducer.
11. The controller of claim 1 , wherein the linearising means are arranged to modify the input signal of the linearising means to at least partially cancel nonlinearity caused by variations in an inductance of the transducer.
12. The controller of claim 1 , further comprising an equalising filter between the input of the controller and the transducer.
13. The controller of claim 12 , wherein the equalising filter is operable to increase its lower cut-off frequency based on at least one of the state variables.
14. The controller of claim 1 , wherein the impedance cancelling means are operable to derive the feedback signal based on the current signal by applying a feedback filter to the current signal.
15. The controller of claim 1 , wherein the impedance cancelling means are operable to decrease an amount of positive feedback applied based on at least one of the state variables.
16. The controller of claim 1 , wherein the impedance cancelling means are operable to at least partially cancel the electrical impedance of the transducer by providing the driving means with a negative output impedance.
17. The controller of claim 16 , wherein the impedance
cancelling means are operable to match the negative output impedance to the electrical impedance of the transducer.
18. The controller of claim 14 , wherein the impedance cancelling means are operable to at least partially cancel the electrical impedance of the transducer by providing the driving means with a negative output impedance and wherein the impedance cancelling means are operable to adapt the negative output impedance by adjusting a zero frequency gain of the feedback filter.
19. The controller of claim 1 , wherein at least one of:
the impedance cancelling means are embodied in a programmed computer processor;
the linearising means are embodied in a programmed computer processor; or
the driving means comprise an amplifier.