System and method for position and speed feedback control
AssigneeThe Boeing Company
InventorsDouglas C. Cameron, Dwayne C. Merna
Life of this patent
Estimating the term…
Abstract
Feedback control circuitry includes rate limiter circuitry configured to generate a rate limited position command based on a position command for a controlled component and based on a speed command for the controlled component. The feedback control circuitry also includes error adjustment circuitry configured to apply a control gain to an error signal to generate an adjusted error signal. The error signal is based on position feedback and the rate limited position command, and the position feedback indicates a position of the controlled component. The feedback control circuitry further includes an output terminal configured to output a current command generated based on the adjusted error signal.
Claims20
Feedback control circuitry comprising:
- rate limiter circuitry configured to generate a rate limited position command based on a position command for a controlled component and based on a speed command for the controlled component;
- error adjustment circuitry configured to apply a control gain to an error signal to generate an adjusted error signal, the error signal based on position feedback and the rate limited position command, the position feedback indicating a position of the controlled component;
- dampening circuitry configured to:
- differentiate speed feedback to generate differentiated speed feedback;
- generate a damping value based on the differentiated speed feedback and a second control gain;
- and
- generate a damped error signal based on the damping value and the adjusted error signal;
- and
- an output terminal configured to output a current command generated based on the damped error signal.
A method for feedback control, the method comprising:
- receiving a position command for a controlled component and a speed command for the controlled component;
- generating a rate limited position command based on the speed command and the position command;
- receiving position feedback indicating a position of the controlled component;
- applying a control gain to an error signal to generate an adjusted error signal, the error signal based on the position feedback and the rate limited position command;
- differentiating speed feedback to generate differentiated speed feedback;
- generating a damping value based on the differentiated speed feedback and a second control gain;
- and
- generating a damped error signal based on the damping value and the adjusted error signal;
- and
- outputting a current command based on the damped error signal.
A system comprising:
- a motor;
- and
- feedback control circuitry coupled to the motor, the feedback control circuitry comprising:
- rate limiter circuitry configured to generate a rate limited position command based on a position command for the motor and based on a speed command for the motor;
- error adjustment circuitry configured to apply a control gain to an error signal to generate an adjusted error signal, the error signal based on position feedback and the rate limited position command, the position feedback indicating a position of the motor;
- dampening circuitry configured to:
- differentiate speed feedback to generate differentiated speed feedback;
- generate a damping value based on the differentiated speed feedback and a second control gain;
- and
- generate a damped error signal based on the damping value and the adjusted error signal;
- and
- an output terminal configured to output a current command generated based on the damped error signal.
Dependencies are inferred from the claim text.