Boots – shoes – and leggings
Patent
1983-10-14
1986-03-25
Atkinson, Charles E.
Boots, shoes, and leggings
364155, 364157, 364165, 318561, G05B 1304
Patent
active
045787476
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
This invention relates to the control of a process using a control system having therein a characterization of the process.
BACKGROUND ART
A control method facilitates human control over natural and engineered mechanisms in order to regulate, command, direct and modify the behavior of these mechanisms.
The mechanism to be controlled is called the "plant". A plant is controllable when one or more known inputs to the plant can be manipulated in order to obtain consistent and predictable changes in one or more outputs of the plant. Unknown inputs to the plant have only minor effects on the controlled outputs and other outputs of the systems have only minor side effects on the environment. Controllers are required because the manipulated inputs usually are not suitable to accept the desired commands. These techniques are embodied in the mechanism known as "control systems" or "controllers".
The control systems are additions to the plants and the combination may be called a controlled system. The entire controlled system may be regarded as a signal follower system where desired output signals should be followed, with a certain degree of fidelity, by the controlled outputs in time, direction and magnitude. The physical type and dimensions of the desired output signal and the controlled output may or may not be the same. In general, the controlled output is related to the desired output by a proportionality constant which may be dimensionless or, usually, serve also as a dimensional conversion factor between the desired output and the controlled output.
Various types of control systems are known. The simple open loop control systems of the prior art include a desired output signal as input to a controller. The controller includes a mathematical model of the controlled system and defines the relationship between the desired output signal and the required manipulated input to the plant. The controller also includes means to generate the correct type and magnitude of the manipulated input signal. The manipulated input signal is directly applied to the plant which, in turn, produces the controlled output. The simple open loop system is shown on FIG. 1. Accuracy of this system primarily depends on the correctness of the control model. In general, the open loop systems tend to provide rapid response to changes in the desired output.
A control system using feedback takes into account the effect of the actual controlled system on the system input and can develop an error to correct variations of the actual system output from the desired system output. However, attempts to make such corrections can lead to dynamic problems due to instability and system response time.
The simple feedback control systems of the prior art have a feedback sensor that measures the current value of the controlled output. The feedback signal is converted to have the same physical units as the desired output signal. Both the desired output signal and the actual output feedback signal are applied to a comparator which generates an output error signal as the difference between the two signals. The error signal is the input to the controller. The controller includes an algorithm which computes values for the manipulated input to the plant proportional to the error signal or to some time dependent function of the error signal. The factor of proportionality is known as the system gain. The controller also includes means to generate the actual manipulated input. The manipulated input is directly applied to the plant which, in turn, generates the controlled output.
Accuracy of the feedback control systems fundamentally depends on the accuracy of the feedback sensor. It also depends on proper selection of the gain factor and the error function according to characteristics of the plant and the frequency domain of the desired output.
One disadvantage of the closed loop system is the time dependency of the system accuracy. The feedback signal, if improperly applied or if the feedback loop includes time delay, may induce system output ins
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Hideg Laszlo
Koller Paul L.
Abolins Peter
Atkinson Charles E.
Ford Motor Company
Lastova John R.
Sanborn Robert D.
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