Boots – shoes – and leggings
Patent
1985-02-07
1986-04-08
Smith, Jerry
Boots, shoes, and leggings
364149, G05B 1500, G05B 300
Patent
active
045816999
ABSTRACT:
An electro-hydraulic servo control system which has N dynamic state variables and includes a servo actuator adapted to variably position a load mass. An actuator control system includes sensors coupled to the actuator for providing indications of X measured state variables, such as actuator position and/or velocity, and a digital observer responsive to the X measured actuator variables for estimating the remaining N-X variables at the actuator such as velocity and/or acceleration. Signals indicative of measured and estimated state variables are fed to a comparator together with a state command signal, for obtaining a difference or error signal to provide a control input to the actuator. The observer electronics include digital computation means suitably programmed to estimate N state variables as solutions to N linear equations for N unknowns. Equation constants, which are functions of actuator and driven mass physical characteristics, are entered through operator-adjustable resistors or are down-loaded from a remote system into storage registers.
REFERENCES:
patent: 3673395 (1972-06-01), Tripp
patent: 3967515 (1976-07-01), Nachtigal et al.
patent: 4396975 (1983-08-01), Kurakake
patent: 4502109 (1985-02-01), Delmege et al.
Delmege Arthur H.
El-Ibiary Yehia
Rode Melvin A.
Taplin Lael B.
MacDonald Allen
Smith Jerry
Vickers Incorporated
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