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US 12,676,570 B2Granted
Missile servo actuation system and method of controlling a servo actuation system in a missile
AssigneeMbda UK Limited
InventorDavid Mark Lynn
Life of this patent
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Abstract
A method of controlling a servo actuation system in a missile is disclosed. The method comprises estimating a temperature of a motor comprised in the servo actuation system from a plurality of motor parameters; and controlling the motor based at least in part on the estimated motor temperature.
Claims11
A method of controlling a servo actuation system in a missile, the method comprising the steps of:
- estimating a temperature of a motor comprised in the servo actuation system from a plurality of motor parameters including at least one of a motor resistance or a torque constant;
- wherein the at least one of the motor resistance or the torque constant are estimated by:
- introducing high frequency current pulses;
- measuring motor current;
- estimating motor voltage and motor velocity;
- and
- determining using a recursive least squares algorithm the at least one of the motor resistance or the torque constant based on the motor current measured, the motor voltage and the motor velocity estimated;
- estimating motor inertia and friction from the estimated motor temperature from the plurality of motor parameters;
- and
- controlling the motor in the missile based at least in part on the estimated motor temperature to maintain target performance criteria for current, velocity and position when the estimated motor temperature is less than a temperature threshold and the estimated motor temperature has changed from a prior estimated motor temperature,
- wherein the high frequency current pulses are arranged to have negligible effect on a motor torque or a motor acceleration.
8 more elements
A servo actuation system in a missile, the system comprising:
- a motor configured to control a mechanical component in the missile;
- a controller;
- a parameter estimator comprising a comparator, a first estimator and a second estimator, the parameter estimator configured to estimate motor temperature in the missile from a plurality of motor parameters including a motor resistance and a torque constant, the parameter estimator including the first estimator configured to estimate the motor resistance and the torque constant by:
- introducing high frequency current pulses;
- measuring motor current;
- estimating motor voltage and motor velocity;
- and
- determining using a recursive least squares algorithm the motor resistance and the torque constant based on the motor current measured, the motor voltage and the motor velocity estimated, wherein the motor temperature is inferred by the comparator from the estimated motor resistance and torque constant and the second estimator is configured to estimate motor inertia and friction from the inferred motor temperature,
- wherein the high frequency current pulses are arranged to have negligible effect on a motor torque or a motor acceleration.
6 more elements
Dependencies are inferred from the claim text.