Inertia identification for electric actuators with observer based controls
AssigneeWoodward Governor Company
InventorGregory A. Molenaar
Life of this patent
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Abstract
A method to automatically identify the inertia of an actuator (and the like) and load for tuning an observer-based controller is presented. The tuning is a one-time process that is initiated by a user when the actuator is installed. The control includes a model of the actuator with state feedback to set the desired dynamics.
Claims28
A computer-implemented method to determine an inertia parameter for an observer-based control, the method comprising the steps of:
- a) determining an initial value for the inertia parameter;
- b) running the actuator with predetermined position commands using the initial value for the inertia parameter;
- c) integrating an expected acceleration signal to form an integrated expected acceleration;
- d) integrating a corrected acceleration signal to form an integrated corrected acceleration;
- e) calculating an acceleration ratio using the integrated expected acceleration and the integrated corrected acceleration;
- f) comparing the acceleration ratio to a predetermined value;
- and
- g) setting the inertia parameter to the initial value if the acceleration ratio is within a specified tolerance of the predetermined value.
A computer-readable medium having computer executable instructions for determining an inertia parameter for an observer-based control, the computer executable instructions performing the steps of:
- a) determining an initial value for the inertia parameter;
- b) running the actuator with predetermined position commands using the initial value for the inertia parameter;
- c) integrating an expected acceleration signal to form an integrated expected acceleration;
- d) integrating a corrected acceleration signal to form an integrated corrected acceleration;
- e) calculating an acceleration ratio using the integrated expected acceleration and the integrated corrected acceleration;
- f) comparing the acceleration ratio to a predetermined value;
- and
- g) setting the inertia parameter to the initial value if the acceleration ratio is within a specified tolerance of the predetermined value.
Dependencies are inferred from the claim text.