Direct command generation methods for servo-motor drives

This study focuses on advanced direct command generation paradigms that can be easily incorporated to modern servo-motor drive systems. As an alternative to conventional methods, two new command generation techniques are proposed in this paper. In the first method, higher-order differences of a given trajectory (i.e. position) are computed and the resulting data are compressed via lossless data compression techniques. Besides conventional approaches, a novel compression algorithm is also introduced in the paper. With respect to the second method, the command trajectory is first divided into segments according to the inflection points. The segments are then approximated using various polynomial techniques. The sequence originating from modeling error is included to the generated series. These two command generation techniques are then implemented using field programmable gate arrays (FPGAs) and their performances are evaluated according to the resources used in FPGAs and the speed of computation.