US4600870A
Expired / Lapsed
US
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Dual controller position control system
Assignee: RTX Corp
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Filing: 1983-11-17
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Granted: 1986-07-15
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Expires: 2003-11-17
Abstract
Abstract A position control system having dual controllers, each capable of operating in either a proportional or a proportional plus integral gain mode, is normally operated with one controller in the proportional plus integral mode and the other in the proportional mode, each controller contributing its proportionate part of the output position control signal to the position controlled device, and each controller capable of operating alone in the proportional plus integral mode in the event of a failure.
Inventors
- 👤 Anthony N. Martin
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 02:35
CPC Classifications
G; G05; G05B; G05B9/00; G05B9/02; G05B9/03
Claims Analysis
Total Claims: 14
Claim 1
Independent Claim
252 words
Apparatus, responsive to a parameter actual value signal and a parameter reference value signal, for providing a position control signal for controlling the position of a controlled device in regulating the value of the parameter, comprising: dual controller means, each having summing means responsive to the parameter actual value signal and to the parameter reference value signal for providing a difference signal value therebetween, each of said controller means further including proportional gain function apparatus and proportional plus integral gain function apparatus, said controller means each operating, alternatively, in either a first selected mode for multiplying said difference signal value by said proportional plus integral gain function to provide a proportional plus integral position control signal, or a second selected mode for multiplying said difference signal value by said proportional gain function to provide a proportional position control signal, one of said controller means being selected for operation in said first selected mode at all times, the other one of said controller means operating in said second selected mode in the presence of said one of said controller means operating in said first mode and in said first selected mode at all other times, said controller means each providing said proportional plus integral position control signal and said proportional position control signal at a signal output of each; and coupling means, responsive to said proportional plus integral and said proportional position control signals from each of said controller means, for combining both to provide the position control signal to the controlled device.
Claim 2
Dependent Claim
252 words
Apparatus, responsive to a parameter actual value signal and a parameter reference value signal, for providing a position control signal for controlling the position of a controlled device in regulating the value of the parameter, comprising: dual controller means, each having summing means responsive to the parameter actual value signal and to the parameter reference value signal for providing a difference signal value therebetween, each of said controller means further including proportional gain function apparatus and proportional plus integral gain function apparatus, said controller means each operating, alternatively, in either a first selected mode for multiplying said difference signal value by said proportional plus integral gain function to provide a proportional plus integral position control signal, or a second selected mode for multiplying said difference signal value by said proportional gain function to provide a proportional position control signal, one of said controller means being selected for operation in said first selected mode at all times, the other one of said controller means operating in said second selected mode in the presence of said one of said controller means operating in said first mode and in said first selected mode at all other times, said controller means each providing said proportional plus integral position control signal and said proportional position control signal at a signal output of each; and coupling means, responsive to said proportional plus integral and said proportional position control signals from each of said controller means, for combining both to provide the position control signal to the controlled device.
Claim 3
Dependent Claim
13 words
The apparatus of claim 1, wherein each of said dual controller means includes:
Claim 4
Dependent Claim
116 words
built-in test means, alternately responsive to actual operating signals of the selected one of said first and said second modes, and having means for storing reference signals having magnitudes indicative of corresponding desired operating signal magnitudes, said built-in test means comparing said reference signal magnitudes to said actual operating signal magnitudes of the selected mode of the associated controller means for determining a divergence therebetween and for providing a failure signal in the presence of said divergence; and mode-select means, responsive to said failure signal provided by said one of said controller means operating in said first mode, for causing in response thereto said other one of said controller means to operate in said first mode.
Claim 5
Dependent Claim
116 words
built-in test means, alternately responsive to actual operating signals of the selected one of said first and said second modes, and having means for storing reference signals having magnitudes indicative of corresponding desired operating signal magnitudes, said built-in test means comparing said reference signal magnitudes to said actual operating signal magnitudes of the selected mode of the associated controller means for determining a divergence therebetween and for providing a failure signal in the presence of said divergence; and mode-select means, responsive to said failure signal provided by said one of said controller means operating in said first mode, for causing in response thereto said other one of said controller means to operate in said first mode.
Claim 6
Dependent Claim
32 words
The apparatus of claim 2, wherein each of said dual controller means include controller output disabling means responsive to said failure signal for disabling said signal output of said associated controller means.
Claim 7
Dependent Claim
55 words
The apparatus of claim 2, wherein said dual controller means each include multiplier means responsive to said failure signal for amplifying the magnitude of said first and second mode position control signals in the presence of said failure signal and for not amplifying said first and second mode position control signals at any other time.
Claim 8
Dependent Claim
74 words
The apparatus of claim 1, wherein said dual controller means each include: bias source means for providing a bias signal at an output thereof; and summing means, responsive to said bias signal and to said difference signal, for providing a biased difference signal to said proportional gain function apparatus of the associated controller means for causing the associated mode position control signal to be at a nonzero value, whereby mode select transients are lessened.
Claim 9
Dependent Claim
234 words
A digital position control system, responsive to a parameter actual value signal and a parameter reference value signal, for providing a position control signal for controlling the position of a controlled device in regulating the value of the parameter, comprising: dual controller means, each having signal processor means responsive to the parameter actual value signal and to the parameter reference value signal for calculating and storing therein the difference signal value therebetween, said controller means each operating, alternately, in either a first selected mode for multiplying and integrating said stored difference signal value to provide a proportional plus integral position control signal, or a second selected mode for multiplying said stored difference signal value to provide a proportional position control signal, one of said controller means being selected for operation in said first selected mode at all times, the other one of said controller means operating in said second selected mode in the presence of said one of said controller means operating in said first mode, and in said first selected mode at all other times, said controller means each providing said first mode position control signal and said second mode position control signal at a signal output of each; and coupling means, responsive to said proportional plus integral and said proportional position control signals from each of said controller means, for combining both to provide the position control signal to the controlled device.
Claim 10
Dependent Claim
234 words
A digital position control system, responsive to a parameter actual value signal and a parameter reference value signal, for providing a position control signal for controlling the position of a controlled device in regulating the value of the parameter, comprising: dual controller means, each having signal processor means responsive to the parameter actual value signal and to the parameter reference value signal for calculating and storing therein the difference signal value therebetween, said controller means each operating, alternately, in either a first selected mode for multiplying and integrating said stored difference signal value to provide a proportional plus integral position control signal, or a second selected mode for multiplying said stored difference signal value to provide a proportional position control signal, one of said controller means being selected for operation in said first selected mode at all times, the other one of said controller means operating in said second selected mode in the presence of said one of said controller means operating in said first mode, and in said first selected mode at all other times, said controller means each providing said first mode position control signal and said second mode position control signal at a signal output of each; and coupling means, responsive to said proportional plus integral and said proportional position control signals from each of said controller means, for combining both to provide the position control signal to the controlled device.
Claim 11
Dependent Claim
127 words
The apparatus of claim 1, wherein each of said dual controller means include: test means, alternately responsive to actual operating signals of the selected one of said first and said second modes, and having means for storing reference signals having magnitudes indicative of corresponding desired operating signal magnitudes, said test means comparing said reference signal magnitudes to said actual operating signal magnitudes of the selected mode of the associated controller means for determining a divergence therebetween and for providing a failure signal in the presence of said divergence; and mode-select means, responsive to said failure signal provided by said one of said controllers means operating in said first mode, for causing in response thereto said other one of said controller means to operate in said first mode.
Claim 12
Dependent Claim
32 words
The apparatus of claim 2, wherein each of said dual controller means include controller output disabling means responsive to said failure signal for disabling said signal output of said associated controller means.
Claim 13
Dependent Claim
55 words
The apparatus of claim 2, wherein said dual controller means each include multiplier means responsive to said failure signal for multiplying the magnitude of said first and second mode position control signals in the presence of said failure signal and for not multiplying said first and second mode position control signals at any other time.
Claim 14
Dependent Claim
75 words
The apparatus of claim 1, wherein said dual controller means each include: bias source means for providing a bias signal at an output thereof; and summing means, responsive to said bias signal and to said difference signal, for providing a biased difference signal to be multiplied proportionally in the selected mode of the associated controller means for causing the associated position control signal to be at a nonzero value, whereby mode select transients are lessened.
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) | 1989-07-14 | 1990-01-13 | 1990-07-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-07-14 | 1994-01-13 | 1994-07-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-07-14 | 1998-01-13 | 1998-07-15 | $7700.00 | Window Closed / Lapsed |