Adaptive control system

Claim 3

The invention as defined in claim 1 including the step of producing an error value corresponding to the difference between the desired motion and the actual motion and wherein the step of storing a correction value is performed by storing a value corresponding to the error value which remains at the end of the given interval.

Claim 4

The invention as defined in claim 2 including the step of modifying said error value in accordance with a predetermined function whereby said correction value is different from said error value.

Claim 5

The invention as defined in claim 2 including the step of comparing said error value with a predetermined maximum allowable error value and causing a signal if the former exceeds the latter.

Claim 8

The invention as defined in claim 5 including the step of initiating successive intervals after equal time periods.

Claim 9

The invention as defined in claim 6 including the step of storing the command signals for each increment of said path before the movement of said member is initiated and then initiating successive intervals after the lapse of equal time periods.

Claim 10

The invention as defined in claim 7 including the step of modifying said error signal in accordance with a predetermined function which results in a correction signal less than said error signal.

Claim 11

The invention as defined in claim 8 including the step of comparing said error signal with a predetermined maximum allowable error value and producing an indication when the error signal exceeds the error value.

Claim 12

The invention as defined in claim 6 including the steps of generating a feedback signal corresponding to the actual motion of the member during said interval, algebraically combining said feedback signal with said command signal to produce said error signal.

Claim 13

The invention as defined in claim 10 wherein said step of moving said member is performed in accordance with the value of the algebraic summation of said command signal and said last correction signal.

Claim 14

Apparatus for reducing the deviation of a controlled member from a desired path in successive excursions of the path, said path being made up of plural successive increments, said apparatus comprising means for generating a command signals corresponding to the desired successive increments of motion of said member, servo means for moving said member in response to a control signal, last correction signal storage means, first adding Means having one input connected to the said command signal generating means and another input connected with said correction signal storage means and having an output connected with the input of said servo means, feedback signal generating means connected with said servo means for producing a signal corresponding to the actual position of said member, second adding means having one input connected with said feedback signal generating means and another input connected with said command signal generating means and being adapted to develop an error signal corresponding to the difference of said inputs, third adding means having one input connected with the output of said second adding means and another input connected with the output of said correction signal storage means for algebraically combining said inputs to develop a next correction signal, the output of said third adding means being connected with the input of said correction signal storage means, timing means connected with the output of said command signal generating means and the output of said storage means, said timing means being adapted to apply succeeding values of said command signals and said correction signals to said first and third adding means respectively during successive time intervals whereby the output of said first adding means applies the algebraic sum of the command signal and the last correction signal to said servo means, and whereby a next correction signal is developed by said third adding means and applied to said storage means for each interval to be used as the last correction signals for the respective intervals during the next excursion of said path.

Claim 15

Apparatus for reducing the deviation of a controlled member from a desired path in successive excursions of the path, said path being made up of plural successive increments, said apparatus comprising means for generating a command signals corresponding to the desired successive increments of motion of said member, servo means for moving said member in response to a control signal, last correction signal storage means, first adding Means having one input connected to the said command signal generating means and another input connected with said correction signal storage means and having an output connected with the input of said servo means, feedback signal generating means connected with said servo means for producing a signal corresponding to the actual position of said member, second adding means having one input connected with said feedback signal generating means and another input connected with said command signal generating means and being adapted to develop an error signal corresponding to the difference of said inputs, third adding means having one input connected with the output of said second adding means and another input connected with the output of said correction signal storage means for algebraically combining said inputs to develop a next correction signal, the output of said third adding means being connected with the input of said correction signal storage means, timing means connected with the output of said command signal generating means and the output of said storage means, said timing means being adapted to apply succeeding values of said command signals and said correction signals to said first and third adding means respectively during successive time intervals whereby the output of said first adding means applies the algebraic sum of the command signal and the last correction signal to said servo means, and whereby a next correction signal is developed by said third adding means and applied to said storage means for each interval to be used as the last correction signals for the respective intervals during the next excursion of said path.

Claim 16

The invention as defined in claim 12 wherein said means for generating command signals comprises an interpolator and a cut path memory.

Claim 17

The invention as defined in claim 12 including means for storing a value corresponding to a maximum allowable error value, comparator means connected with the last mentioned means and said third adder, and alarm means connected with said comparator.

Claim 18

The invention as defined in claim 13 including first gate means connected between said cut path memory and one input of said first and second adders, and second gate means connected between said correction memory and one input of said third adder, said timing means being connected to said first and second gate means.