Integrator management for redundant active hand controllers
US5559415A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 30, 1994 |
| Grant date | Sep 24, 1996 |
| Priority date | — |
| Expiry date | Jun 30, 2014 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0061
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A redundant active hand controller system has first and second motors connected to a common shaft. A compensator which differentiates a motor command signal from a first proportional and integral controller, differentiates a motor command signal from a second proportional and integral controller and subtracts the first differentiated motor command signal from the second differentiated motor command signal to provide a correction signal. The correction signal is summed with the error signal into the first proportional and integral controller to correct for slight differences in the integral control function of the first and second proportional and integral controllers.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.