Boots – shoes – and leggings
Patent
1982-09-14
1985-02-26
Smith, Jerry
Boots, shoes, and leggings
364149, G05B 1500, G05D 300
Patent
active
045021090
ABSTRACT:
An electro-hydraulic servo control system which includes a servo actuator adapted to variably position a load mass, and an actuator control system which includes a sensor coupled to the actuator for providing an indication of measured actuator position and a digital observer responsive to measured actuator position for estimating velocity and acceleration at the actuator. Signals indicative of measured actuator position, estimated velocity and estimated acceleration are fed to a comparator, together with a position command signal, for obtaining a difference or error signal to provide a control input to the actuator. The observer electronics includes digital computation means suitably programmed to estimate position, velocity and acceleration as solutions to three linear equations with three unknowns. Equation constants, which are functions of actuator and driven mass physical characteristics, are entered through operator-adjustable resistors. The actuator position and error input signals are periodically sampled and stored as inputs to the observer electronics. The observer electronics also embodies a self-test feature to facilitate maintenance in the field.
REFERENCES:
patent: 3673395 (1972-06-01), Tripp
patent: 3967515 (1976-07-01), Nachtigal et al.
patent: 4164167 (1979-08-01), Imai et al.
patent: 4243923 (1981-01-01), Whitney et al.
patent: 4262336 (1981-04-01), Pritchard
patent: 4396975 (1983-08-01), Kurakake
Lindorff, Theory of Sampled-Data Control Systems, Ch. 7, "Introduction to State Variables", (1965), pp. 191-219.
Merritt, Hydraulic Control Systems, (1967), pp. 294-310.
Wierschem, "Positioning Control of Weakly-Damped Drive Systems by State Feedback", Regelungstechnik, (1981), pp. 11-19, (w/translation).
Delmege Arthur H.
El-Ibiary Yehia M.
Rode Melvin A.
Taplin Lael B.
MacDonald Allen
Smith Jerry
Vickers Incorporated
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