Digital servo employing switch mode lead/lag integrator

Details Digital servo employing switch mode lead/lag integrator Digital servo employing switch mode lead/lag integrator

1988-11-15

1990-01-09

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

With stabilizing features

318618, 318610, 318561, G05B 501

Patent

active

048930687

ABSTRACT:
A digital servo system for causing a mechanical element (48) to track a desired path and hold various positions along the path and employing a lead/lag integrator (18) in parallel with a feedback control loop. The input to the integrator (18) is switched between velocity (V.sub.EK) error during pathtracking and position error (E.sub.K) during holding to increase the resistance of the mechanical element (48) to position changes caused by outside forces during both pathtracking and holding. The integrator function employed uses a term (U.sub.integrator(k-1)) representing a previous integrator output value to assist in smoothing perturbations caused by switching between position and velocity error.

REFERENCES:
patent: 3633086 (1972-01-01), Speth
patent: 4713596 (1987-12-01), Bose
patent: 4754208 (1988-06-01), Nakajima et al.
patent: 4816734 (1989-03-01), Kurakake et al.
patent: 4843293 (1989-06-01), Futami

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