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US 2011/0089884 A1Published application
Multi-actuator motion control system
AssigneeHamilton Sundstrand Corporation
InventorMichael C. Harke
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Abstract
A multi-actuator motion control system includes a control methodology that coordinates the motion of multiple actuators while limiting the force-fight between the actuators. Control logic is provided in a relative coordinate system that allows control of the mean actuator position. Force-fight between the actuators is decoupled from the actuator position by estimating load forces on the actuator using reduced-order observers.
Claims15
A motion control system comprising:
- first and second actuators operatively coupled to a common drive element and respectively configured to provide first and second actuator forces to the common drive element;
- and
- a controller configured to include relative motion state control logic providing mean and differential motion state regulators of the first and second actuators for providing first and second actuator force command signals respectively to the first and second actuators, the controller configured to include reaction force observer logic providing estimated mean and differential reaction force observers respectively in communication with the mean and differential motion state regulators for estimating first and second actuator forces, the mean and differential motion state regulators minimizing a differential between the first and second actuator forces.
Dependencies are inferred from the claim text.