Boots – shoes – and leggings
Patent
1988-07-08
1990-04-17
Lastova, John R.
Boots, shoes, and leggings
364161, 364165, 318621, 318561, G05B 1300, G05F 100
Patent
active
049185845
ABSTRACT:
This invention is a method and apparatus for automatically adjusting the command signal of a servomechanism, to improve the accuracy of control over the motion of an object. In one embodiment, the command signal is advanced in time, to compensate for the delayed response of the servo. The time advance is repeatedly and automatically adjusted so as to minimize the magnitude of the tracking error. Each adjustment of the time advance is based on the value of a sampled error signal, taken at selected points in time. Other parameters of the command signal, such as the amplitude and average level, can also be adjusted, and the adjustments for all parameters can be done simultaneously. For a given parameter, the error signal is sampled at those points at which misadjustment of that parameter is most likely to contribute to the error of the system. Thus, in general, different parameters of the command signal are adjusted based on different sets of sampled points of the signal. The adjustment of one parameter can therefore be done without interfering with the adjustment of the others.
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Eilberg William H.
Lastova John R.
Performance Controls, Inc.
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