Control method utilizing directionally based control constraints
OwnerEric Swansoninventor
Life of this patent
Estimating the term…
Abstract
An improved control method that constrains the operation of a manipulator in a control system is provided. Modifying a conventional control system to conform to this new method requires the selection of a preferred or desired direction of adjustment for the manipulator and the selection of a reset value for the manipulator. The conventional control system, which normally adjusts the manipulator as necessary to achieve a desired value for a system variable, is constrained by this new method so that the system variable achieves the desired value as a final or direct result of using manipulator adjustments that are in the selected desired direction of adjustment.
Claims7
A method of controlling the operation of a manipulator that is part of a control system where said control system adjusts said manipulator to cause a system variable to achieve a desired value, said method of controlling comprising the steps of:
- a. selecting said desired value for said system variable prior to manipulator adjustment,
- b. selecting a desired direction of adjustment for said manipulator prior to said manipulator adjustment,
- c. selecting a reset value for said manipulator from which said manipulator can adjust in said desired direction of adjustment to cause said system variable to achieve said desired value,
- d. forbidding said manipulator to adjust contrary to said desired direction of adjustment except when said manipulator is being adjusted to achieve said reset value,
- e. adjusting said manipulator to achieve said reset value when said manipulator needs to be adjusted contrary to said desired direction of adjustment in order to enable said control system to cause said system variable to achieve said desired value, and
- f. allowing said control system to adjust said manipulator in said desired direction of adjustment so that said system variable achieves said desired value as a direct result of said manipulator adjusting in said desired direction of adjustment.
Dependencies are inferred from the claim text.