Control mechanism employing internal model coordination feedforw

Details Control mechanism employing internal model coordination feedforw Control mechanism employing internal model coordination feedforw

1988-10-06

1990-02-27

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Adaptive or optimizing systems including 'bang-bang' servos

318618, 318621, 364149, 364150, 364165, G05B 1300

Patent

active

049049127

ABSTRACT:
A control mechanism employing an internal model coordination method according to the present invention is arranged to obtain a manipulation variable by comparing a desired value or a reference value with a feedback variable into which a controlled variable is transformed to provide an error, sequentially transmitting the error to an internal model which is composed of the same number of elements as its order, adding the outputs of a plurality of gain controllers into which the state variables of the respective elements are input, and comparing the result of the addition with another feedback variable supplied from a conventional regulator. The control mechanism is characterized by a new regulator arranged to receive as its input a branched signal of the desired value or the reference value and a path arranged to cause a signal obtained by addition of the output of the new regulator to the final state variable of the internal model to be input to a corresponding one of the gain controllers.

REFERENCES:
patent: 3758762 (1973-09-01), Littman et al.
patent: 4679136 (1987-07-01), Shigemasa
"The Multivariable Servomechanism Problem from the Input-Output Viewpoint", Bruce A. Francis, IEEE Trans. Automatic Control, vol. AC-22, No. 3, Jun. 1977, pp. 322-328.

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