Adaptive control system
AssigneeKollmorgen Technologies Corporation
InventorWayne T. Culberson
Life of this patent
Estimating the term…
Abstract
A real time adaptive control capable of maintaining stable operation with changing inertia. The controller utilizes a pseudo-derivative feedback (PDF) type control wherein dynamic adjustment is achieved by adjusting only a single variable. The variable can be controlled as a function of the derivation of motor speed divided by motor current for adaptive control with changing inertia. Control may also be achieved as a function of motor speed divided by the integral of motor current over the same interval. In a digital implementation the integral of motor current the time required for a predetermined speed change provides effective control.
Claims13
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising:
- providing a command signal which is a velocity command for a controlled parameter;
- providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor;
- using a controller including
- integration in the forward loop thereof,
- comparison of said command signal and said feedback signal prior to said integration;
- and
- summation with said feedback signal in said forward loop after said integration;
- and
- dynamically controlling the forward loop gain for said integration as a function of the derivative of motor velocity divided by motor current.
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising:
- providing a command signal which is a velocity command for a controlled parameter;
- providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor;
- using a controller including
- integration in the forward loop thereof,
- comparison of said command signal and said feedback
- signal prior to said integration;
- and
- summation with said feedback signal in said forward loop after said integration;
- and
- dynamically controlling the forward loop gain for said integration as a function of the change in motor velocity divided by the integral of motor current.
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising:
- providing a command signal which is a velocity command for a controlled parameter;
- providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor;
- using a controller including
- integration in the forward loop thereof,
- comparison of said command signal and said feedback signal prior to said integration;
- and
- summation with said feedback signal in said forward loop after said integration;
- and
- dynamically controlling the forward loop gain for said integration as a function of motor current integrated over a time interval producing a predetermined change in motor velocity.
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising:
- providing a velocity command signal indicating a desired motor speed;
- providing a velocity feedback signal indicating the actual motor speed;
- using PDF control in the controller including
- integration in the forward loop to provide an integrated signal,
- comparison of said velocity command and said velocity feedback prior to said integration,
- summation of said integrated signal and said velocity feedback after said integration, and
- proportioning of said integration signal;
- and
- dynamically controlling said proportioning of said integrated signal as a function of the derivative of motor velicity divided by motor current.
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising:
- providing a velocity command signal indicating a desired motor speed;
- providing a velocity feedback signal indicating the actual motor speed;
- using PDF control in the controller including
- integration in the forward loop to provide an integrated signal,
- comparison of said velocity command and said velocity feedback prior to said integration,
- summation of said integrated signal, and said velocity feedback after said integration, and
- proportioning of said integration signal;
- and
- dynamically controlling said proportioning of said integrated signal as a function of the change in motor velocity divided by the intregal of motor current.
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising:
- providing a velocity command signal indicating a desired motor speed;
- providing a velocity feedback signal indicating the actual motor speed;
- using PDF control in the controller including
- integration in the forward loop to provide an integrated signal,
- comparison of said velocity command and said velocity feedback prior to said integration,
- summation of said integrated signal and said velocity feedback after said integration, and
- proportioning of said integration signal;
- and
- dynamically controlling said proportioning of said integrated signal as a function of motor current integrated over a time interval producing a predetermined change in motor velocity.
A method for adaptive control of an electric motor, comprising
- providing a command signal for a controlled parameter;
- providing a feedback signal indicating the actual value of said parameter;
- using a controller for controlling said parameter;
- determining a sample interval in accordance with the time required to achieve a predetermined change in motor velocity;
- integrating motor current for the duration of said sample interval;
- and
- dynamically adjusting the compensation of said controller as a function of said integral of motor current.
An adaptive control system for an electric motor coupled to a variable load, comprising:
- command means for providing a command signal indicating the desired value for an operating parameter of the motor;
- feedback means for providing a feedback signal indicating the actual value of said parameter of said motor;
- a controller including
- an integrator in the forward loop to provide an integrated signal,
- a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator,
- a summing circuit for summing said integrated signal and said feedback signal, and
- means for proportioning the signal being integrated by said integrator;
- adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of load inertia and which means for proportioning includes
- means for measuring motor current,
- means for measuring motor speed, and
- means for adjusting said proportioning as a function of said measured current and speed.
An adaptive control system for an electric motor coupled to a variable load, comprising:
- command means for providing a command signal indicating the desired value for an operating parameter of the motor;
- feedback means for providing a feedback signal indicating the actual value of said parameter of said motor;
- a controller including
- an integrator in the forward loop to provide an integrated signal,
- a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator,
- a summing circuit for summing said integrated signal and said feedback signal, and
- means for proportioning the signal being integrated by said integrator;
- adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of the derivative of speed divided by motor current and which means for proportioning includes
- means for measuring motor current,
- means for measuring motor speed, and
- means for adjusting said proportioning as a function of said measured current and speed.
An adaptive control system for an electric motor coupled to a variable load, comprising:
- command means for providing a command signal indicating the desired value for an operating parameter of the motor;
- feedback means for providing a feedback signal indicating the actual value of said parameter of said motor;
- a controller including
- an integrator in the forward loop to provide an integrated signal,
- a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator,
- a summing circuit for summing said integrated signal and said feedback signal, and
- means for proportioning the signal being integrated by said integrator;
- adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of the change in speed divided by the integral of motor current and which means for proportioning includes
- means for measuring motor current,
- means for measuring motor speed, and
- means for adjusting said proportioning as a function of said measured current and speed.
Dependencies are inferred from the claim text.