Fused Resolver and Encoder Feedback for Stable Gimbal Motor Control
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Solution Overview
Problem
Motorized pedestal antenna systems exhibit undesirable stiffness, which conventional approaches such as reducing dynamics, feedback linearization, and notch filters are unable to adequately address for certain applications.
Innovation Solution
The solution involves combining dynamic responses from a gimbal resolver and motor encoders to generate a stable position estimate for the gimbal, allowing for higher dynamics in motor control without inducing resonance issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If conventional approaches (reducing dynamics, feedback linearization, notch filters) are used to address stiffness, then stability is improved, but dynamic performance deteriorates
Solution Approach 1:
The patent combines feedback from multiple sensors (encoders and resolvers) to create a fused position estimate that leverages the strengths of each sensor type, enabling improved dynamic performance while maintaining stability through complementary measurement fusion
2Speed
If higher dynamics are enabled in motor control, then dynamic performance is improved, but resonance issues are induced
Solution Approach 1:
The patent employs multiple feedback mechanisms including encoder feedback for precise position sensing and resolver feedback for robust position estimation, with the fused feedback signal enabling high-dynamic control while compensating for resonance through accurate real-time position information
Data Source
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AI summary
Systems and methods for operating a motorized system. The methods comprise by a circuit: receiving a first position signal generated by a gimbal resolver coupled to a load, a second position signal generated by a first motor encoder coupled to a shaft of a first motor, and a third position signal generated by a second motor encoder coupled to a shaft of a second motor; converting the second and third position signals into a velocity signal specifying a scaled velocity of the load; converting the velocity signal into a fourth position signal specifying a position of the load; combining the first position signal and the fourth position signal to generate a fifth position signal representing a stable position of the load; and using the fifth position signal to control operations of the first and second motors.