Method and system for controlling mechanical systems exhibiting discontinuity in inertial loading
AssigneeRockwell Automation Technologies, Inc.
InventorMark A. Chaffee
Life of this patent
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Abstract
A technique is provided for adapting feedback control system performance to applications involving changing inertial loads. A modified gain profile is applied for a control system block that includes isolated torque scaling. The torque scaling block facilitates the generation of gain profiles specifically adapted to the changing inertial conditions of the load. Dilatory effects of backlash and similar load discontinuity can be avoided, therefore, by appropriately applying gain profiles to reduce gain within a region of reduced load.
Claims21
A method for controlling a mechanical system exhibiting backlash, the method comprising:
- generating control signals for application to an actuator in accordance with a first gain level when a normal inertial load is applied to the actuator;
- and
- reducing the gain level to a second level when a reduced inertial load is applied to the actuator within a backlash range of motion.
A method for controlling a mechanical system exhibiting backlash behavior, the method comprising:
- determining a backlash range of motion;
- determining a first gain level to be applied to an actuator during normal loading;
- determining a second gain level to be applied to the actuator during backlash loading, the second gain level being less than the first gain level;
- and
- generating a gain profile to be applied to the actuator within the backlash range of motion based upon the first and second gain levels.
A system for controlling a machine, the system comprising:
- an actuator coupled to the machine and configured to drive the machine in response to control signals;
- and
- a controller coupled to the actuator and configured to apply control signals to the actuator, the controller applying control signals based upon a first gain level when a normal inertial load is coupled to the actuator, and reducing the gain level to a second level when a reduced inertial load is applied to the actuator within a backlash range of motion.
Dependencies are inferred from the claim text.