Boots – shoes – and leggings
Patent
1983-01-26
1985-10-22
Smith, Jerry
Boots, shoes, and leggings
364157, 364602, 318600, 318652, G06F 1546
Patent
active
045492611
ABSTRACT:
A control system having the structure of a loop controls the shaft angular position of a motor driving a load in the situation wherein the inertia of the load, as referred back to the rotational axis of the motor, is variable. The system includes a computer providing values of gain, damping, and inertia which are used as multiplicative factors in processing a loop error signal. The error signal is the difference between a desired motor shaft position and the actual shaft position. Parallel multiplying branches, one of which includes a derivative circuit, are utilized for forming products of error signal and the derivative thereof by the gain and damping factors provided by the computer. The products are summed and provided as a drive signal to the motor. The drive signal may also include a second derivative of the desired shaft position, and may be scaled by the computed inertia.
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Commissariat a l''Energie Atomique
Harkcom Gary V.
Smith Jerry
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