Abstract: An improved system for tuning a motor controller is disclosed. The controller gains are initially set based on the measured frequency response for the controlled system. A desired level of performance is defined by setting a desired phase margin and a desired gain margin to be observed in the frequency response. An improved method of determining the frequency response provides for a reduced computational intensity. The initial tuning routine uses the frequency response to set not only controller gains, but also settings for filters in the control module. Having obtained the desired level of performance from the initial tuning, the motor drive executes an adaptive tuning routine while controlling the motor. The adaptive tuning routine tracks changes in the operating performance and adjusts the filter settings or the controller gains to return operation to within the desired level of performance while the motor continues to operate.

Abstract: An improved system for controlling operation of a motor with a motor drive is disclosed. The motor drive includes a control module having an inner control loop operable to generate a torque reference signal and a load observer operable to generate an estimate of the torque present on the motor. The torque estimate is summed with the torque reference signal to generate a modified torque reference. The bandwidth of the load observer is set wide enough to generate the estimated torque over a desired operating range of the motor. The control module may also include a low pass filter and at least one tracking notch filter. The low pass filter suppresses vibrations at high frequencies, and the tracking notch filter suppresses resonances present at frequencies above the bandwidth of the load observer and within the pass band of the low pass filter.

Abstract: A system for generating electronic cam profiles mimicking the action of mechanical cams operates on a variety of different cam profile inputs and converts them into a common form, for example, expressed as a polynomial spline and modifies that common form by predetermined adjustment relationships, for example by scaling coefficients of the common form cam profile according to desired changes in cam function and/or limitations in dynamic cam values input by a user. The common form of the cam profile may be obtained from a table of cam values by spline interpolation of those data values.

Abstract: A motor drive is provided with integrated frequency response analysis tools for generating drive performance metrics that are independent of motion profile and tuning. The metrics are broadly applicable to a wide range of applications, tunings, and load types, and can be used to fairly compare performance across different drives models and assist in drive selection. The frequency analysis tools include a transformation algorithm that reduces or eliminates spectral leakages, a signal generation component that scales the test input signal as a function of frequency avoid saturation based on defined limits of the controlled system, and a phase unwrapping algorithm that correctly unwraps the phase of open-loop and closed-loop response curves. The frequency response analysis tools yield an open-loop response, a closed-loop response, a tracking error response, and a disturbance rejection response, which are used to derive performance metrics for the drive.

Abstract: A system for generating electronic cam profiles mimicking the action of mechanical cams operates on a variety of different cam profile inputs and converts them into a common form, for example, expressed as a polynomial spline and modifies that common form by predetermined adjustment relationships, for example by scaling coefficients of the common form cam profile according to desired changes in cam function and/or limitations in dynamic cam values input by a user. The common form of the cam profile may be obtained from a table of cam values by spline interpolation of those data values.

Abstract: A process for locating data fields on electronic images of complex-structured forms or documents. with the steps of: locating the approximate location of one field of data, of establishing the precise location of data based upon the approximate location, of establishing the approximate locations of a plurality of fields of data based upon the precisely located data, and of establishing the precise location of data for a plurality of the fields based upon the approximate locations.

Abstract: A process for validating groups of machine-read data fields in electronic images of documents with the steps of: A group of data fields, each containing an image, at least one perceived value, A relationship relating each field to the others, A of establishing whether the relationship is met, and of calculating a perceived value which fulfills the relationship, A of presenting the image, one of the perceived values and the calculated value for each of the fields to a human operator., A of allowing the human operator to edit one of the percieved values, and A of allowing the human operator to select one of the calculated values as being correct.