Electricity: motive power systems – Positional servo systems – With compensating features
Patent
1996-09-12
1998-01-20
Cabeca, John W.
Electricity: motive power systems
Positional servo systems
With compensating features
318631, 31856822, 36457103, G05B 1300
Patent
active
057104980
ABSTRACT:
Compensation for friction affecting motion of moveable machine members is effected in servo control of the member actuators. An estimate of velocity is used in evaluation of a model of frictional force to produce compensation values. Alternative embodiments provide continuous models of estimated velocity and frictional forces and state models of estimated velocity and frictional forces. Compensation values determined according to either embodiment may be produced for application to servo control commands such as position or torque. The compensation accounts for step changes of friction upon reversal of direction of travel.
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Kneifel, II R. William
Walsh Stephen T.
Yutkowitz Stephen J.
Cabeca John W.
Trinova Corporation
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