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US 6,611,119 B2Granted
Switching processes for control of servos
AssigneeLockheed Martin Corporation
InventorJyun-Horng Fu
Life of this patent
Estimating the term…
Abstract
Methods and systems for controlling a servo are provided. One method includes calculating at least a first switching time to change an amplitude of a command signal to a servo, providing a first amplitude to the servo for the first switching time, and switching the amplitude of the command signal to the servo from the first amplitude to a second amplitude at the first switching time. The second amplitude is the command signal amplitude.
Claims49
A method for controlling a servo, comprising:
- calculating at least a first switching time to change an amplitude of a command signal to a servo;
- providing a first amplitude to the servo for the first switching time;
- and
- switching the amplitude of the command signal to the servo from the first amplitude to a second amplitude at the first switching time.
1 more element
A method for controlling a servo, comprising:
- calculating at least a first switching time to change an amplitude of a command signal to a servo;
- providing a first amplitude to the servo for the first switching time;
- switching the amplitude of the command signal to the servo from the first amplitude to a second amplitude at the first switching time;
- calculating a second switching time;
- and
- switching the amplitude of the command signal from the second amplitude to a third amplitude at the second switching time;
- wherein the first amplitude is the command signal amplitude.
4 more elements
A method for controlling a servo, comprising:
- calculating at least a first switching time to change an amplitude of a command signal to a servo;
- providing a first amplitude to the servo for the first switching time;
- switching the amplitude of the command signal to the servo from the first amplitude to a second amplitude at the first switching time;
- and
- wherein calculating comprises solving for unknowns in second order linear servo control equations.
2 more elements
A method comprising:
- calculating at least a first switching time to change an amplitude of a command signal to a servo;
- providing a first amplitude to the servo for the first switching time;
- switching the amplitude of the command signal to the servo from the first amplitude to a second amplitude at the first switching time;
- and
- adjusting the switching times upon receipt of another input command signal.
2 more elements
A method for controlling a servo, comprising:
- calculating a switching time to switch a servo from a first amplitude input to a command input amplitude;
- multiplying the command input amplitude by a predetermined fit factor to obtain the first amplitude input;
- applying the first amplitude input up to the switching time;
- and
- applying the command input amplitude after the first switching time.
2 more elements
A method for controlling a servo, comprising:
- calculating first and second switching times;
- applying a command input amplitude to the servo up to the first switching time;
- applying the negative of the command input amplitude to the servo from the first switching time to the second switching time;
- and
- applying the command input amplitude to the servo after the second switching time.
2 more elements
A method for controlling a servo, comprising:
- calculating first and second switching times;
- calculating a maximum amplitude the servo can accept;
- applying the maximum amplitude to the servo up to the first switching time;
- applying the negative of the maximum amplitude to the servo from the first switching time to the second switching time;
- and
- applying a command input amplitude to the servo after the second switching time.
3 more elements
A servo system, comprising:
- a servo;
- a processor operatively connected to control the servo;
- and
- a timer programmed to time application of input command signal amplitudes to the servo at pre-determined switching time instants.
1 more element
A servo system, comprising:
- a servo;
- a processor operatively connected to control the servo;
- and
- a timer programmed to time application of input command signal amplitudes to the servo at pre-determined switching time instants;
- wherein the processor applies a first amplitude up to a first switching time, a second amplitude from the first switching time to a second switching time, and a third amplitude from the second switching time forward.
2 more elements
A command program for switching a servo without sensors, comprising machine readable instructions for effecting a method, the method comprising:
- calculating at least a first switching time to switch a command amplitude from a first level to a second level;
- and
- switching the amplitude of the command signal to the servo at the switching time.
A method of switching a servo, comprising:
- applying predetermined input values to the servo at selected times;
- and
- settling the servo using only the input values and switching times.
A method of switching a servo, comprising:
- applying predetermined input values to the servo at selected times;
- and
- settling the servo using only the input values and switching times;
- wherein the predetermined times comprise a first and a second switching time, and the predetermined input values comprise first and second input values, and wherein the first input value is applied up to the first switching time and after the second switching time, and the second input value is applied between the first and the second switching times.
1 more element
A method of switching a servo, comprising:
- applying predetermined input values to the servo at selected times;
- and
- settling the servo using only the input values and switching times;
- wherein the predetermined times comprise a first and a second switching time, and the predetermined input values comprise first, second, and third input values, and wherein the first input value is applied up to the first switching time, the second input value is applied between the first and the second switching times, and the third input value is applied after the second switching time.
1 more element
A method for controlling a servomechanism, comprising:
- initiating a servomechanism control command;
- modifying the command based on the type of servomechanism;
- applying the modified command to the servomechanism.
A method for controlling a servomechanism, comprising:
- initiating a servomechanism control command;
- modifying the command based on the type of servomechanism;
- applying the modified command to the servomechanism;
- wherein modifying the command comprises determining a first time and a second time based on the solutions of equations of angular velocity and position.
1 more element
A method for controlling a servomechanism, comprising:
- initiating a servomechanism control command;
- modifying the command based on the type of servomechanism;
- and
- applying the modified command to the servomechanism;
- wherein modifying the command comprises:
- determining a maximum command level amplitude for the system;
- and
- determining a first time and a second time based on the solutions of equations of angular velocity and position.
5 more elements
A method for controlling a servomechanism, comprising:
- pre-processing a servo command according to a predetermined processing protocol;
- generating a new command set from the servo command;
- and
- applying the new command set to the servomechanism;
- wherein pre-processing comprises:
- looking up a type of servo from a lookup table;
- looking up a processing protocol for the type of servo, and
- applying the processing protocol for the type of server.
5 more elements
A method for operating a control system, comprising:
- determining if an explicit solution as a function of the system parameters is available;
- receiving a command for the control system;
- modifying the command according to a predetermined modification protocol;
- and
- applying the modified command to the system.
2 more elements
A method of controlling a servo without sensors that achieves zero overshoot and rapid settling in fulfilling a servomechanism control command, comprising:
- initiating the servomechanism control command;
- modifying the servomechanism control command based on the type of servomechanism;
- wherein modifying the servomechanism control command includes determining up to two switching events based on the solutions of equations of angular velocity and position;
- and
- applying the modified servomechanism control command to the servomechanism.
2 more elements
Dependencies are inferred from the claim text.