Abstract An electro-hydraulic servo control system which has N dynamic state variables and includes a servo actuator adapted to variably position a load mass. An actuator control system includes sensors coupled to the actuator for providing indications of X measured state variables, such as actuator position and/or velocity, and a digital observer responsive to the X measured actuator variables for estimating the remaining N-X variables at the actuator such as velocity and/or acceleration. Signals indicative of measured and estimated state variables are fed to a comparator together with a state command signal, for obtaining a difference or error signal to provide a control input to the actuator. The observer electronics include digital computation means suitably programmed to estimate N state variables as solutions to N linear equations for N unknowns. Equation constants, which are functions of actuator and driven mass physical characteristics, are entered through operator-adjustable resistors or are down-loaded from a remote system into storage registers.
A power servo system which includes an actuator adapted to variably position a load, means for receiving a state command signal, means for providing an error signal to control said actuator as a combined function of said state command signal and N dynamic state variable signals indicative of state conditions at said actuator and load, with N being an integer greater than one, and means responsive to state conditions at said actuator and load for providing said N variable signals comprising sensor means responsive to said actuator and load for providing first signals as a function of X dynamic state variables at said actuator, with X being an integer greater than zero but less than N; and observer means responsive to said first signals for estimating the remaining N-X of said N dynamic state variable signals at said actuator and load as a function of a mathematical model of dynamic behavior at said actuator and load, said observer means comprising means for periodically sampling said error signal and said first signals, adjustable means for selective adjustment as a function of said dynamic behavior at said actuator and load, and programmed digital computation means for selectively and periodically operating said sampling means, and responsive to the sampled error and first signals and to said adjustable means for estimating said N-X dynamic state variable signals.
Claim 2
Dependent Claim
223 words
A power servo system which includes an actuator adapted to variably position a load, means for receiving a state command signal, means for providing an error signal to control said actuator as a combined function of said state command signal and N dynamic state variable signals indicative of state conditions at said actuator and load, with N being an integer greater than one, and means responsive to state conditions at said actuator and load for providing said N variable signals comprising sensor means responsive to said actuator and load for providing first signals as a function of X dynamic state variables at said actuator, with X being an integer greater than zero but less than N; and observer means responsive to said first signals for estimating the remaining N-X of said N dynamic state variable signals at said actuator and load as a function of a mathematical model of dynamic behavior at said actuator and load, said observer means comprising means for periodically sampling said error signal and said first signals, adjustable means for selective adjustment as a function of said dynamic behavior at said actuator and load, and programmed digital computation means for selectively and periodically operating said sampling means, and responsive to the sampled error and first signals and to said adjustable means for estimating said N-X dynamic state variable signals.
Claim 3
Dependent Claim
58 words
The system set forth in claim 1 wherein said adjustable means comprises a plurality of digital storage means for receiving and storing signals indicative of dynamic behavior at said actuator and load, and wherein said observer means further comprises multiplexer means for selectively connecting outputs of said plurality of digital storage means to said programmed digital computation means.