Electricity: motive power systems – Positional servo systems – Adaptive or optimizing systems including 'bang-bang' servos
Patent
1995-02-24
1996-12-24
Sircus, Brian
Electricity: motive power systems
Positional servo systems
Adaptive or optimizing systems including 'bang-bang' servos
31856822, 318632, 364151, 364164, G06F 1546
Patent
active
055876366
ABSTRACT:
In a motor system controlled by a central processing unit, an observer-compensator is provided which modifies the command signal being applied to the actual motor system to be controlled. The observer-compensator comprises in the observer portion, a simulated ideal motor system without disturbance forces. The velocity output of the simulated ideal motor system is compared to the velocity output of the actual system to produce a velocity error signal (Verr). A feedback compensator in the simulated ideal motor system is adjusted to compensate for the velocity error signal without disturbance forces.
After disturbance forces are introduced into the actual motor system, a comparison of the output of the actual motor system with the output of the simulated ideal motor system produces a position error signal (P.sub.D --P.sub.A) which is applied to the compensator portion of the observer-compensator. The compensator portion comprises a disturbance reconstruction device which is coupled to the position error signal. The disturbance reconstruction device is adjusted until the position error signal is compensated for in the simulated ideal motor system and then the output of the reconstruction device is applied to the actual motor system. When the output of the compensation device is further adjusted so that the force output of the observer-compensator (F.sub.R) is equal to the unmeasurable disturbance forces (F.sub.U), the actual motor system performs as if the unmeasurable disturbance forces did not exist.
REFERENCES:
patent: 4943759 (1990-07-01), Sakamoto et al.
patent: 5057992 (1991-10-01), Traiger
patent: 5352961 (1994-10-01), Tajima et al.
patent: 5396414 (1995-03-01), Alcone
patent: 5442544 (1995-08-01), Jelinek
patent: 5459381 (1995-10-01), Itoh
Bar-Kana Izhak
Filipovic Predrag
Kulicke and Soffa Investments, Inc.
Sircus Brian
Sowell John B.
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