Electricity: motive power systems – Positional servo systems – Adaptive or optimizing systems including 'bang-bang' servos
Patent
1982-10-05
1984-07-31
Dobeck, B.
Electricity: motive power systems
Positional servo systems
Adaptive or optimizing systems including 'bang-bang' servos
318584, 318580, 318627, 364424, 343457, G05B 1300
Patent
active
044632975
ABSTRACT:
A controller is described for limiting the rate and acceleration of a device positioned by at least one actuator which responds to a sequence of position commands separated by time intervals incorporating a subtractor for taking the difference of two consecutive position commands to provide a difference signal in vector form, means for determining the magnitude of the difference signal, a comparator for comparing the magnitude of the difference signal with a predetermined value, a switch for coupling the desired position command to the actuator at times the magnitude of the difference signal is less than or equal to the predetermined value, two dividers, two multipliers, an adder and normalizer for providing a new position command between the past command and the desired position command at times the magnitude of the difference signal exceeds the predetermined value. The acceleration is limited after the rate is limited by subtracting the latest position command from the prior position command to determine a new difference signal of the latest time interval which is subtracted from the difference signal of the previous time interval to determine the change in difference signal in vector form between two consecutive time intervals indicative of acceleration. A new position command is arithmetically generated by the use of a comparator, divider, two multipliers, two adders and a normalizer at times the magnitude of the change exceeds a predetermined value to provide a new position command which is both rate limited and acceleration limited. The invention overcomes the problem of actuators driving a device into gimbal stops and provides a means for damping device oscillations about a desired position.
REFERENCES:
patent: 4092716 (1978-05-01), Berg et al.
patent: 4123757 (1978-10-01), Lapp et al.
patent: 4132939 (1979-01-01), Kameyama et al.
patent: 4138661 (1979-02-01), McAdams et al.
patent: 4193059 (1980-03-01), Harris
patent: 4196473 (1980-04-01), Chea
patent: 4261537 (1981-04-01), Frosch et al.
patent: 4345195 (1982-08-01), Griffith et al.
Bennett R. James
Phillips Robert A.
Dobeck B.
Sutcliff W. G.
Westinghouse Electric Corp.
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