Aggressive and stable speed control
US9181682B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 23, 2013 |
| Grant date | Nov 10, 2015 |
| Priority date | — |
| Expiry date | Sep 16, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B13/02
- WIPO fieldCivil engineering
- WIPO sectorOther fields
Abstract
A system and method are provided for controlling a movable element in accordance with a speed command. The movable element, which may be an excavator swing platform, is moved via an actuator that is driven in accordance with a torque command. The speed of the movable element is sensed, and a torque command is generated via PID control based on the speed command and the sensed speed. The PID control uses a set of gains including a P-gain, an I-gain, and a D-gain. At least one of these gains is set based on a counter, and the counter is set, cleared, incremented, or decremented based on one or more of the speed command, the torque command and the sensed speed. In this way, the movable element responds aggressively to operator input, but stability is maintained.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.