Boots – shoes – and leggings
Patent
1984-09-19
1987-05-26
Smith, Jerry
Boots, shoes, and leggings
364157, 318610, G05B 1300
Patent
active
046690409
ABSTRACT:
Method and apparatus for self-tuning a Proportional Integral-Derivative controller for controlling at least one load characteristic to a predetermined setpoint from calculated values of Proportional Band (PB), Integral Time Constant (ITC) and Derivative Time Constant (DTC) by application of power to the load, establishing a cut-off point to remove power to the load, determining the slope of a measured value of the at least one load characteristic and starting an integral time counter upon detection of the power cut-off point, determining at least one value X.sub.min at which the value of the measured value decreases by a fixed percentage, determining the maximum value X.sub.max of the at least one load characteristic, calculating the values of the PB, ITC and DTC by determining the rise X.sub.r =X.sub.max -X.sub.min and determining PB and ITC from a stored table relating X.sub.r to PB and the value incremented in the integral counter, determining the DTC value from the value incremented in the integral counter, storing the values of PB, ITC and DTC in a non-volatile storage and controlling the load with the aforementioned calculated values of PB, ITC and DTC.
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patent: 4549123 (1985-10-01), Hagglund
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"Optimum Settings for Automatic Controllers"; Ziegler and Nichols; Transactions of the A.S.M.E.; Nov. 1942, pp. 759-768.
Carr Douglas M.
Pettit John W.
Eurotherm Corporation
MacDonald Allen
Smith Jerry
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