Rockwell Automation Technologies Incorporated

Bohumir Sladek

Jatin P Bhatt

Bhanu K Gouda

William C Schwarz

Frederick Michael Discenzo

Peter J Unsworth

Kenneth Alan Loparo

Jan Bezdicek

Jacob Strickler Baker

Petr Horacek

Dukki Chung

Ondrej Flek

Joseph K Zevchek

Sarat Babu Vetcha

Dragica Kostic Perovic

Jesse R Dunham

Muslum Arkan

Jiri Ryba

Petr Tusla

Burton K Au

Miroslav Kes

Srdjan Perovic

Jesse Dunham

A runtime coordination subsystem allows programmers of multi-mover, linear motion systems to provide simple commands to the movers without concern for the presence of other movers on the track. The runtime coordination subsystem manages proper separation distances to prevent collisions and automatically queue movers in contention situations. In addition the runtime coordination subsystem permits a specialized multi-mover command controlling movers in unison with constant separation.

Multi-mover linear motor controller providing shared coordination subsystem

The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.

Blending algorithm for trajectory planning

A method is employed to eliminate undesired velocity reversal in a motion profile. A start speed, a start acceleration, a speed limit, an acceleration limit, a deceleration limit, an acceleration jerk limit, and a deceleration jerk limit are programmed for the motion profile. A critical jerk value needed to avoid velocity reversal associated with the motion profile is calculated. The critical jerk value is compared to the programmed deceleration jerk limit. The larger of the critical jerk value and the programmed deceleration jerk limit is set as a computed maximum deceleration jerk limit for use with the motion profile. In this manner, the computed maximum deceleration jerk limit will never be lower than the critical jerk and undesired velocity reversal is eliminated.

Elimination of unintended velocity reversals in s-curve velocity profiles

Systems and methods are disclosed for controlling, diagnosing and prognosing the health of a motorized system. The systems may comprise a diagnostics system, a prognostic system and a controller, wherein the diagnostics system and/or prognostic system employs a neural network, an expert system, and/or a data fusion component in order to assess and/or prognose the health of the motorized system according to one or more attributes associated therewith. The controller may operate the motorized system in accordance with a setpoint and/or a diagnostics signal from the diagnostics system and/or prognostic information. Also disclosed are methodologies for controlling, diagnosing and prognosing the health of a motorized system, comprising operating a motor in the motorized system in a controlled fashion, diagnosing and/or prognosing the health of the motorized system according to a measured attribute associated with the motorized system, wherein the motor may be operated according to a setpoint and/or the diagnostics signal and/or prognosis.

Motorized system integrated control and diagnostics using vibration, pressure, temperature, speed, and/or current analysis

A control system for an actuator employs a number of discrete feedback controllers each tuned to different operating conditions or parameters. The competing outputs of the feedback controllers are combined using fuzzy logic which dynamically effects a combination depending on the output values. One set of rules in the preferred embodiment gives greater weighting to the output having relatively lower effect on the control process.

Hydraulic controller using multiple regime specific controllers combined with fuzzy logic

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Prague, Czechia

Bohumir Sladek