Positional control method and system utilizing same
US4727303A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | May 22, 1986 |
| Grant date | Feb 23, 1988 |
| Priority date | — |
| Expiry date | May 22, 2006 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B5/01
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A control system and method including an integrator coupled with a rate-varying multiplier which operate in parallel with a conventional controller. Because the integration is rate-variable, the resulting control system has the benefits of an integral position control without the problems of integral windup and subsequent overshoot. The system and method have less following and steady state error, faster settling time and better tolerance to noise than traditional PD and PID controls in controlling dynamic manipulators such as robots. Also, because the integrations are performed in a rate-variable manner, errors due to mechanical static friction, i.e. "sticktion", are substantially reduced without sacrificing dynamic performance of the system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.