US3906196A
Expired / Lapsed
US
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Non-linear feedback controller
Assignee: Industrial Nucleonics Corp
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Filing: 1973-10-17
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Granted: 1975-09-16
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Expires: 1993-10-17
Abstract
Abstract A feedback system provides control for an actuator in a range of error signals wherein deadband is otherwise frequently provided to reduce noise content of a parameter controlled by the actuator. A signal indicative of the magnitude of the controlled parameter is compared with a setpoint for the controlled parameter to derive an error signal having a magnitude and polarity equal to the difference between the parameter and the setpoint. For error signals within assigned limits, a control signal for the actuator is derived by feeding the error signal to a network which generates an output signal having a magnitude directly proportional to the square of the error signal and a polarity that is the same as the polarity of the error signal. For error signals beyond assigned limits for the error signal, the control signal is linearly related to the error signal.
Inventors
- 👤 David Allan Spitz
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 02:01
CPC Classifications
F; F26; F26B; F26B25/00; F26B25/22; D; D21; D21F; D21F5/00; G; G05; G05B; G05B11/00; G05B11/01; G05B11/06; G05B11/10; G05D; G05D22/00; G05D22/02
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
267 words
A System for controlling an output of an actuator, said output controlling a parameter to a setpoint value, comprising a feedback loop having an input responsive to a first signal indicative of the magnitude of the controlled parameter, said feedback loop including means for deriving an error signal indicative of the polarity and magnitude of the deviation of the first signal from the setpoint value, means responsive to the error signal for deriving a control signal having a magnitude that is a nonlinear continuous function of the deviation indicated by the error signal magnitude and has a polarity determined by the error signal indication of the polarity deviation, said control signal having a magnitude less than the magnitude indicated by the error signal for all error signal magnitudes indicative of the magnitude of the deviation being less than an assigned limit value except in response to the indicated deviation being equal to zero at which the control signal is zero, and means for energizing the actuator in response to the control signal, whereby noise normally introduced by the feedback means on the controlled parameter is substantially reduced by the nonlinear function, said control signal deriving means including means for maintaining the control signal a linearly increasing function of the deviation indicated by the error signal magnitude, instead of the nonlinear function, for error signal magnitudes indicating that the deviation is greater than the assigned limit value, said control signal deriving means including means for deriving the control signal with a magnitude directly proportional to the square of the deviation indicated by the error signal within the deadband.
Claim 2
Independent Claim
267 words
A System for controlling an output of an actuator, said output controlling a parameter to a setpoint value, comprising a feedback loop having an input responsive to a first signal indicative of the magnitude of the controlled parameter, said feedback loop including means for deriving an error signal indicative of the polarity and magnitude of the deviation of the first signal from the setpoint value, means responsive to the error signal for deriving a control signal having a magnitude that is a nonlinear continuous function of the deviation indicated by the error signal magnitude and has a polarity determined by the error signal indication of the polarity deviation, said control signal having a magnitude less than the magnitude indicated by the error signal for all error signal magnitudes indicative of the magnitude of the deviation being less than an assigned limit value except in response to the indicated deviation being equal to zero at which the control signal is zero, and means for energizing the actuator in response to the control signal, whereby noise normally introduced by the feedback means on the controlled parameter is substantially reduced by the nonlinear function, said control signal deriving means including means for maintaining the control signal a linearly increasing function of the deviation indicated by the error signal magnitude, instead of the nonlinear function, for error signal magnitudes indicating that the deviation is greater than the assigned limit value, said control signal deriving means including means for deriving the control signal with a magnitude directly proportional to the square of the deviation indicated by the error signal within the deadband.
Claim 3
Independent Claim
286 words
A system for controlling an output of an actuator, said output controlling a parameter to a setpoint value, comprising a feedback loop having an input responsive to a first signal indicative of the magnitude of the controlled parameter, said feedback loop including means for deriving an error signal having a value indicative of the polarity and magnitude of the first signal relative to a setpoint value, said error signal having a magnitude directly proportional to the difference between the first signal and the setpoint value, means responsive to the error signal for deriving a control signal having a magnitude that is a nonlinear continuous function of the error signal magnitude and a polarity determined by the error signal polarity, said control signal monotonically increasing in magnitude for all magnitudes of the error signal less than an assigned limit value, said control signal having a magnitude less than the error signal magnitude for all error signal magnitudes less than the assigned limit value except in response to the error signal value being equal to zero wherein the control signal magnitude equals zero, and means for energizing the actuator in response to the control signal, whereby noise normally introduced by the feedback means on the controlled parameter is substantially reduced by the nonlinear function, wherein the said control signal deriving means includes means for maintaining the control signal as a linear, increasing function of the error signal magnitude, instead of the nonlinear function, for error signal magnitudes greater than the assigned limit value, said control signal deriving means including means for deriving the control signal with a magnitude directly proportional to the square of the error signal magnitude within the assigned limit value of the error signal values.
Claim 4
Independent Claim
286 words
A system for controlling an output of an actuator, said output controlling a parameter to a setpoint value, comprising a feedback loop having an input responsive to a first signal indicative of the magnitude of the controlled parameter, said feedback loop including means for deriving an error signal having a value indicative of the polarity and magnitude of the first signal relative to a setpoint value, said error signal having a magnitude directly proportional to the difference between the first signal and the setpoint value, means responsive to the error signal for deriving a control signal having a magnitude that is a nonlinear continuous function of the error signal magnitude and a polarity determined by the error signal polarity, said control signal monotonically increasing in magnitude for all magnitudes of the error signal less than an assigned limit value, said control signal having a magnitude less than the error signal magnitude for all error signal magnitudes less than the assigned limit value except in response to the error signal value being equal to zero wherein the control signal magnitude equals zero, and means for energizing the actuator in response to the control signal, whereby noise normally introduced by the feedback means on the controlled parameter is substantially reduced by the nonlinear function, wherein the said control signal deriving means includes means for maintaining the control signal as a linear, increasing function of the error signal magnitude, instead of the nonlinear function, for error signal magnitudes greater than the assigned limit value, said control signal deriving means including means for deriving the control signal with a magnitude directly proportional to the square of the error signal magnitude within the assigned limit value of the error signal values.
Claim 5
Dependent Claim
45 words
The system of claim 2 wherein the assigned limit value has a magnitude of approximately 6 sigma , where sigma is approximately the standard deviation of the controlled parameter, and wherein the control signal has a magnitude of 6 sigma at the assigned limit values.
Claim 6
Independent Claim
290 words
A system for controlling an output of an actuator, said output controlling a parameter to a setpoint value, comprising a feedback loop having an input responsive to a first signal indicative of the magnitude of the contRolled parameter, said feedback loop including means for deriving an error signal having a value indicative of the polarity and magnitude of the first signal relative to a setpoint value, said error signal having a magnitude directly proportional to the difference between the first signal and the setpoint value, means responsive to the error signal for deriving a control signal having a magnitude that is a nonlinear continuous function of the error signal magnitude and a polarity determined by the error signal polarity, said control signal monotonically increasing in magnitude for all magnitudes of the error signal less than an assigned limit value, said control signal having a magnitude less than the error signal magnitude for all error signal magnitudes less than the assigned limit value except in response to the error signal value being equal to zero wherein the control signal magnitude equals zero, and means for energizing the actuator in response to the control signal, whereby noise normally introduced by the feedback means on the controlled parameter is substantially reduced by the nonlinear function, wherein the said control signal deriving means includes means for maintaining the control signal as a linear, increasing function of the error signal magnitude, instead of the nonlinear function, for error signal magnitudes greater than the assigned limit value, said assigned limit value has a magnitude of approximately 6 sigma , where sigma is approximately the standard deviation of the controlled parameter, and wherein the control signal has a magnitude of 6 sigma at the assigned limit values.
Claim 7
Independent Claim
290 words
A system for controlling an output of an actuator, said output controlling a parameter to a setpoint value, comprising a feedback loop having an input responsive to a first signal indicative of the magnitude of the contRolled parameter, said feedback loop including means for deriving an error signal having a value indicative of the polarity and magnitude of the first signal relative to a setpoint value, said error signal having a magnitude directly proportional to the difference between the first signal and the setpoint value, means responsive to the error signal for deriving a control signal having a magnitude that is a nonlinear continuous function of the error signal magnitude and a polarity determined by the error signal polarity, said control signal monotonically increasing in magnitude for all magnitudes of the error signal less than an assigned limit value, said control signal having a magnitude less than the error signal magnitude for all error signal magnitudes less than the assigned limit value except in response to the error signal value being equal to zero wherein the control signal magnitude equals zero, and means for energizing the actuator in response to the control signal, whereby noise normally introduced by the feedback means on the controlled parameter is substantially reduced by the nonlinear function, wherein the said control signal deriving means includes means for maintaining the control signal as a linear, increasing function of the error signal magnitude, instead of the nonlinear function, for error signal magnitudes greater than the assigned limit value, said assigned limit value has a magnitude of approximately 6 sigma , where sigma is approximately the standard deviation of the controlled parameter, and wherein the control signal has a magnitude of 6 sigma at the assigned limit values.
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) | 1978-09-15 | 1979-03-17 | 1979-09-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-09-15 | 1983-03-17 | 1983-09-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-09-15 | 1987-03-17 | 1987-09-16 | $7700.00 | Window Closed / Lapsed |