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US3794271A
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Self-organizing control system
Assignee: Adaptronics Inc
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Filing: 1972-01-31
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Granted: 1974-02-26
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Expires: 1992-01-31
Abstract
Abstract This disclosure relates to improvements in self-organizing control logic configurations having particular application to automatically or remotely piloted vehicles. The improvements include the use of multiple-point (time-distributed) functions for control system performance assessment, the use of performance assessment value-signal magnitude information to govern parameter step sizes, and means for controlling an object that is rotating with a determinable angular rate but unknown phase angle relative to a fiducial angular position of the object.
Inventors
- 👤 R Barron
- 👤 D Cleveland
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 18:26
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/10; G05D1/107; G05D1/108
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
101 words
In a self-organizing control system for controlling a controllable object which is rotating at a determinable angular rate and unknown phase angle relative to a fiducial angular position of said object, a. first means responsive to variations of control system response for providing an error signal which is computed from said variations of control system response, b. second means responsive to said error signal and changes in the estimated phase angle of said object for estimating the phase angle of said object, and c. third means responsive to said estimated phase angle to provide actuation signals to control said controllable object.
Claim 2
Dependent Claim
101 words
In a self-organizing control system for controlling a controllable object which is rotating at a determinable angular rate and unknown phase angle relative to a fiducial angular position of said object, a. first means responsive to variations of control system response for providing an error signal which is computed from said variations of control system response, b. second means responsive to said error signal and changes in the estimated phase angle of said object for estimating the phase angle of said object, and c. third means responsive to said estimated phase angle to provide actuation signals to control said controllable object.
Claim 3
Dependent Claim
54 words
A self-organizing control system as set forth in claim 1 wherein said first means includes fourth means to compute said error signal by sampling a plurality of time-distributed samples of the response of said control system, said fourth means incorporating the sum of numerically weighted values of said samples taken at finite time intervals.
Claim 4
Dependent Claim
47 words
A self-organizing control system as set forth in claim 1 wherein said second means includes fifth means for incorporating the product of a function of said error signals and the sum of numerically weighted values of samples of said estimated phase angle taken at finite time intervals.
Claim 5
Dependent Claim
47 words
A self-organizing control system as set forth in claim 2 wherein said second means includes fifth means for incorporating the product of a function of said error signals and the sum of numerically wieghted values of samples of said estimated phase angle taken at finite time intervals.
Claim 6
Dependent Claim
37 words
A self-organizing control system as set forth in claim 1 wherein said second means includes means for incorporating the product of a function of changes in said estimated phase angle and a function of said error signal.
Claim 7
Dependent Claim
37 words
A self-organizing control system as set forth in claim 2 wherein said second means includes means for incorporating the product of a function of changes in said estimated phase angle and a function of said error signal.
Claim 8
Dependent Claim
37 words
A self-organizing control system as set forth in claim 3 wherein said fifth means includes a ring counter and sixth means for computing the estimated phase angle as a function of the contents of Said ring counter.
Claim 9
Dependent Claim
37 words
A self-organizing control system as set forth in claim 4 wherein said fifth means includes a ring counter and sixth means for computing the estimated phase angle as a function of the contents of said ring counter.
Claim 10
Dependent Claim
28 words
A self-organizing control system as set forth in claim 5 wherein said second means includes means for computing the numerical difference between said error signal and established thresholds.
Claim 11
Dependent Claim
28 words
A self-organizing control system as set forth in claim 6 wherein said second means includes means for computing the numerical difference between said error signal and established thresholds.
Claim 12
Dependent Claim
51 words
A self-organizing control system as set forth in claim 9 wherein said third means includes means to compute large changes in said estimated value of an unknown parameter under conditions of said numerical difference being small and small changes in said estimated value under conditions of said numerical differences being large.
Claim 13
Dependent Claim
51 words
A self-organizing control system as set forth in claim 10 wherein said third means includes means to compute large changes in said estimated value of an unknown parameter under conditions of said numerical difference being small and small changes in said estimated value under conditions of said numerical differences being large.
Claim 14
Dependent Claim
25 words
A self-organizing control system as set forth in claim 1 further including seventh means including sinusoidal and cosinusoidal wave generators to actuate said controlled object.
Claim 15
Dependent Claim
25 words
A self-organizing control system as set forth in claim 13 including eighth means including means for computing a function of the amplitudes of said waves.
Claim 16
Dependent Claim
25 words
A self-organizing control system as set forth in claim 1 further including eighth means including limit means for limiting the magnitude of said actuation signals.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1977-02-25 | 1977-08-27 | 1978-02-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1981-02-25 | 1981-08-27 | 1982-02-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1985-02-25 | 1985-08-27 | 1986-02-26 | $7700.00 | Window Closed / Lapsed |