Servocontrol methods and apparatus for complex systems

Claim 3

The method deScribed in claim 1, wherein said first command signal is maintained at said constant magnitude while said gain-dependent characteristic of said second signal is matched with said gain-dependent characteristic of said operating system.

Claim 4

Control apparatus for adjusting a selected parameter of an operating system having a gain-dependent characteristic, comprising a command signal source for deriving first and second command signals each having a gain-dependent characteristic and each in response to a control signal functionally related to the magnitude of said parameter sought to be established, a first comparator responsive to said control signal and said function means for generating said first and second command signals and holding means responsive to said first timing means for maintaining said first command signal at a constant magnitude, gain-function means responsive to the actual magnitude of said parameter for causing the gain-dependent characteristic of said second command signal to substantially match said gain-dependent characteristic of said operating system, timing means interconnected with said command signal source and said gain-matching means, said timing means generating a first time signal holding said first command signal at a constant magnitude which said function means causes said gain-dependent function of said second command signal to match said gain-dependent function of said operating system, said timing means further generating a second timing signal actuating said function means, and said second timing signal being generated during said first timing signal.

Claim 5

Control apparatus for adjusting a selected parameter of an operating system having a gain-dependent characteristic, comprising a command signal source for deriving first and second command signals each having a gain-dependent characteristic and each in response to a control signal functionally related to the magnitude of said parameter sought to be established, a first comparator responsive to said control signal and said function means for generating said first and second command signals and holding means responsive to said first timing means for maintaining said first command signal at a constant magnitude, gain-function means responsive to the actual magnitude of said parameter for causing the gain-dependent characteristic of said second command signal to substantially match said gain-dependent characteristic of said operating system, timing means interconnected with said command signal source and said gain-matching means, said timing means generating a first time signal holding said first command signal at a constant magnitude which said function means causes said gain-dependent function of said second command signal to match said gain-dependent function of said operating system, said timing means further generating a second timing signal actuating said function means, and said second timing signal being generated during said first timing signal.

Claim 6

The apparatus described in claim 3, wherein said gain-function means further comprises a gain-varying means connected to receive said second timing signal, a function generator actuated by said gain-varying means and said first command signal for generating a function signal having a gain-dependent characteristic substantially matching said gain-dependent characteristic of said system, and a second comparator means responsive to said function signal and a measurement signal functionally related to the actual magnitude of said gain-dependent characteristic of said system for actuating said gain-varying means in cooperation with said second timing signal.

Claim 7

The apparatus described in claim 4, wherein said first comparator is responsive to said control signal and said function signal.

Claim 8

The apparatus described in claim 5, wherein said timing means is further adapted to generate said second timing signal after a delay interval commencing with the generation of said first timing signal and substantially corresponding to a time-dependent characteristic of said operating system.

Claim 9

The apparatus described in claim 6, wherein said delay interval is a preselected interval terminating after the receipt of said measurement signal by said second comparator and at least as great as any time-discontinuity characteristic of said operating system.

Claim 10

The apparatus described in claim 7, wherein said function generator comprises. an operational amplifier having a positive feedback loop interconnected and responsive to said first command signal and also having a negative feedback loop, and a control network responsive to said gain-varying means and interconnected with said negative feedback for varying the gain of said amplifier in a nonlinear manner approximating a logarithmic function.

Claim 13

The method described in claim 9, wherein said first command signal is held at a constant value during a period of time corresponding to that required by the variable-gain element to change from said initial gain characteristic to said adjusted gain characteristic.

Claim 14

The method described in claim 10, wherein said first command signal is held at a constant value for an additional period of time corresponding to an operational delay interval of said operating system.

Claim 15

The method described in claim 11, wherein said measurement signal and said second gain characteristic are generated after a period of time corresponding to a time-dependent transient-gain characteristic of said operating system.

Claim 18

The apparatus described in claim 13, including timing means and signal holding means causing the said first command signal to be held at a constant value in response to a first timing signal from said timing means for a period of time corresponding to the time required for said adjusted gain signal of said variable-gain element to match the gain of said operating system, and means generating a second command signal subsequent to matching of said signal from said variable-gain element and the gain of said operating system and for a suitable period of time, said second command signal being functionally related to said primary signal and to said matched gain of said variable-gain element.

Claim 19

The apparatus described in claim 14, wherein said timing means further causes the said first command signal to be held at a constant value for an additional period of time corresponding to any other time-dependent characteristic of said operating system.

Claim 20

The apparatus described in claim 15, wherein said timing means generates a second timing signal which causes the said variable-gain element to adjust to match the gain of said operating system after a period of time corresponding to any time-dependent characteristic of the said operating system.

Claim 21

The apparatus described in claim 16, wherein said command signal-generating means further comprises first comparator and amplifier means responsive to said primary signal and a function signal from said variable gain element, and holding means responsive to said first timing signal for maintaining said first command signal at a constant magnitude.

Claim 22

The apparatus described in claim 17, wherein said variable gain element further comprises gain-varying means being responsive to said second timing signal, said variable-gain element being actuated by said gain varying means and generating a function signal dependent on said first command signal and gain characteristic of said variable-gain element, and second comparator means being responsive to said function signal and said measurement signal and causing said gain-varying means in cooperation with sAid second timing signal to adjust said variable-gain element to match the gain of said operating system.

Claim 23

The apparatus described in claim 18, wherein said timing means is further adapted to generate said second timing signal after a delay interval commencing with the generation of said first timing signal and substantially corresponding to a time-dependent characteristic of said operating system.

Claim 24

The apparatus described in claim 19, wherein said delay interval is a preselected interval terminating after the receipt of said measurement signal by said second comparator and at least as great as any time-discontinuity characteristic of said operating system.

Claim 25

The apparatus described in claim 18, wherein said variable-gain element comprises an operational amplifier having positive feedback loop and a negative feedback loop, and a control network as part of the negative feedback loop responsive to said gain-varying means, the gain characteristics of said amplifier varying in response to said positive feedback and controlled negative feedback in a nonlinear manner approximating an exponential function.