Adaptive control servosystems
US5268625A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Nov 25, 1991 |
| Grant date | Dec 7, 1993 |
| Priority date | — |
| Expiry date | Nov 25, 2011 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B13/042
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A servosystem comprising an adaptive digital controller (1) with an input signal (r.sub.t), an output control signal (u.sub.t) to the system (2) being controlled, and an input feedback signal (y.sub.t) from the system being controlled, the controller (1) incorporating an estimator (3) which operates recursively in response to the output control signal (u.sub.t) and feedback signal (y.sub.t) to estimate the values of parameters of a predetermined mathematical model (4) of the system being controlled and which makes use of a forgetting factor (.lambda.) to weight previous values of said parameters before these values are used in combination with current values of said output control and feedback signals (u.sub.t, y.sub.t) in each recursive estimation cycle, said output control signal (u.sub.t) being adapted in accordance with said estimated values of the parameters; characterised in that the controller (1) further incorporates an excitation monitor (3) which is responsive to the dynamic variability of the input demand and feedback signals (r.sub.t, y.sub.t) and operates to suspend adaptation of said output control signal (u.sub.t) below a predetermined lower threshold of dynamic vari…
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