Adaptive feedback system for controlling head/arm position in a

Details Adaptive feedback system for controlling head/arm position in a Adaptive feedback system for controlling head/arm position in a

1995-06-14

1996-08-20

Sircus, Brian

Electricity: motive power systems

Positional servo systems

318561, 318609, 364151, 364159, 364165, G05B 1900

Patent

active

055481922

ABSTRACT:
A method for adjusting a compensator in a feedback control system for a coupled plant, derives a plurality of forward error values from position error signals that are sensed as outputs from the plant in response to a disturbance of the plant's operation. The position error signals are determined over plural, increasingly forward, time segments. A plurality of compensator output values are also determined over predetermined plural increasing forward, time segments. The derived forward error values are applied as inputs to the plant in a back propagation order, that order being in reverse time order to the time order in which the forward position error values were derived. Plural back propagation error values result in response to the back propagation application of the forward position error values. The back propagation error values are derived from within a portion of the compensator which has been configured as a Direct Form II filter function. The plural back propagation error values are then utilized in conjunction with the compensator output values and the forward position error values to derive altered compensator gain stage values to enable a reduction of the forward error values. To provide increased correction capability, the forward position error signals are altered by weighting functions before being employed as inputs to achieve the back propagation error values.

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