Fluid-pressure and analogous brake systems – Speed-controlled – Braking pressure demand or braking force desire
Reexamination Certificate
2005-07-05
2005-07-05
Williams, Thomas (Department: 3683)
Fluid-pressure and analogous brake systems
Speed-controlled
Braking pressure demand or braking force desire
C303S020000, C188S156000
Reexamination Certificate
active
06913327
ABSTRACT:
The present invention provides a method and control scheme to operate a motor-driven actuator. This includes determining actuator force on an external device, determining a command force, and monitoring actuator position. A determination is made whether to operate in a force-control mode or a position-control mode. Both the force-control mode and the position-control mode employ a common feedback control method (e.g. PI or PID). The system operates the actuator in the force-control mode, using actuator force as feedback to the control scheme when the controller determines that the force sensor is operating in its linear range. When the force sensor is operating outside or near the limits of its linear range, the control scheme determines a pseudo-force, comprising estimated force based upon measured position. The pseudo-force is input to the common feedback control method to control the actuator.
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Smith Michael D.
Williams Thomas
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