Digital servo employing switch mode lead/lag integrator
US4893068A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Nov 15, 1988 |
| Grant date | Jan 9, 1990 |
| Priority date | — |
| Expiry date | Nov 15, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42035
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A digital servo system for causing a mechanical element (48) to track a desired path and hold various positions along the path and employing a lead/lag integrator (18) in parallel with a feedback control loop. The input to the integrator (18) is switched between velocity (V.sub.EK) error during pathtracking and position error (E.sub.K) during holding to increase the resistance of the mechanical element (48) to position changes caused by outside forces during both pathtracking and holding. The integrator function employed uses a term (U.sub.integrator(k-1)) representing a previous integrator output value to assist in smoothing perturbations caused by switching between position and velocity error.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.