Optimization of gimbal control loops using dynamically measured friction
AssigneeBAE Systems Information and Electronic Systems Integration Inc.
InventorsClifford D. Caseley, Austin J. Dionne, Paul F. Messier
Life of this patent
Estimating the term…
Abstract
A method to slew a gimbal axis in an infrared countermeasures system (IRCM) comprising the steps of driving the motors up to the peak currents allowed by the servo amplifiers, moving the profile generator from firmware to software for design flexibility, forcing high torque by manipulating the angle waveform sent to hardware, measuring friction during acceleration of each slew, providing a dynamic rate limit for receding or advancing angle goals is presented in this application.
Claims20
A method to slew a gimbal axis in an infrared countermeasure system comprising the steps of:
- providing a motor with a high torque;
- driving the motor to the peak current by a servo amplifier;
- generating a maximum acceleration of a gimbal axis in a profile generator using a loop controlling current;
- measuring friction of the gimbal axis during acceleration of the gimbal axis;
- applying the measured friction to calculation of an optimum deceleration rate for the gimbal axis;
- selecting a dynamic rate limit for a target angle based on a polarity of an angle change and a direction of a predicted angular rate at an end of a slew event;
- and
- providing the dynamic rate limit to the gimbal axis to slew the gimbal axis.
A method to slew a gimbal axis in an infrared countermeasure system comprising the steps of:
- engaging a latch set to a loop rate;
- measuring an estimated friction during acceleration of a gimbal axis;
- calculating a threshold rate of the gimbal axis;
- comparing a gimbal rate of the gimbal axis with the calculated threshold rate;
- switching from a current loop to a rate loop;
- and
- forcing a profile angle to follow an angle from a target tracker.
Dependencies are inferred from the claim text.