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US 6,477,433 B1Granted
Control of velocity limited systems
AssigneeHoneywell International Inc.
InventorDavid A. Bailey
Life of this patent
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Abstract
In a position in control, a velocity error is compared to a limit that is a non-linear, continuous and differentiable function of the position error. If the position error is greater than a limit or magnitude, the velocity limit is used for the velocity command; otherwise the position error is used.
Claims6
A control system characterized by:
- an actuator;
- an object connected to the actuator;
- a velocity feedback loop that provides a velocity signal that represents a velocity of the object;
- a position feedback loop that provides a position signal that represents a change in position of the object;
- a position control that provides a force signal to f said actuators to produce a commanded force on the object from the actuator in response to a difference between a velocity limit signal and said velocity signal;
- means for producing a position error signal as a function of the difference between a commanded position signal and the position signal provided by the position feedback loop;
- and
- means for producing said velocity limit signal with a continuous, differentiable, non-linear value that is a function of the position error signal if said position error signal is greater than a first magnitude and is said position error signal if the magnitude of said position error signal is less than said first magnitude.
5 more elements
A control system characterized by:
- a plurality of actuators;
- an object connected to each of said plurality of actuators;
- a velocity feedback loop that provides a velocity signal that represents a velocity of the object in each of n axis;
- a position feedback loop that provides a position signal that represents a change in position of the object in each of said n axis;
- a position control that provides a force signal to each of the plurality of actuators to produce a commanded force on the object from the actuator in response to a difference between a velocity limit signal and said velocity signal;
- means for producing a position error signal manifesting the difference between a commanded position signal and the position signal provided by the position feedback loop;
- and
- means for producing said velocity limit signal with a continuous differentiable, non-linear value that is a function of the position error signal in each of said n axis if said position error signal is greater that a first magnitude and is said position error signal if the magnitude of said position error signal is less than said first magnitude.
5 more elements
Dependencies are inferred from the claim text.