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US4733149A
Expired / Lapsed
US
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Adaptive control system
Assignee: Kollmorgen Technologies Corp
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Filing: 1985-05-31
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Granted: 1988-03-22
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Expires: 2005-05-31
Abstract
Abstract A real time adaptive control capable of maintaining stable operation with changing inertia. The controller utilizes a pseudo-derivative feedback (PDF) type control wherein dynamic adjustment is achieved by adjusting only a single variable. The variable can be controlled as a function of the derivation of motor speed divided by motor current for adaptive control with changing inertia. Control may also be achieved as a function of motor speed divided by the integral of motor current over the same interval. In a digital implementation the integral of motor current the time required for a predetermined speed change provides effective control.
Inventors
- 👤 Wayne T. Culberson
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 20:00
CPC Classifications
H; H02; H02P; H02P7/00; H02P23/00; H02P23/0077; G; G05; G05B; G05B13/00; G05B13/02; G05B13/0205; G05B13/024; G05B13/0245; Y; Y10; Y10S; Y10S388/00; Y10S388/90; Y10S388/902; Y10S388/906; Y10S388/923; Y10S388/93
Claims Analysis
Total Claims: 23
Claim 1
Independent Claim
115 words
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising: providing a command signal which is a velocity command for a controlled parameter; providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor; using a controller including integration in the forward loop thereof, comparison of said command signal and said feedback signal prior to said integration; and summation with said feedback signal in said forward loop after said integration; and dynamically controlling the forward loop gain for said integration as a function of the derivative of motor velocity divided by motor current.
Claim 2
Independent Claim
115 words
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising: providing a command signal which is a velocity command for a controlled parameter; providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor; using a controller including integration in the forward loop thereof, comparison of said command signal and said feedback signal prior to said integration; and summation with said feedback signal in said forward loop after said integration; and dynamically controlling the forward loop gain for said integration as a function of the derivative of motor velocity divided by motor current.
Claim 3
Independent Claim
118 words
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising: providing a command signal which is a velocity command for a controlled parameter; providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor; using a controller including integration in the forward loop thereof, comparison of said command signal and said feedback signal prior to said integration; and summation with said feedback signal in said forward loop after said integration; and dynamically controlling the forward loop gain for said integration as a function of the change in motor velocity divided by the integral of motor current.
Claim 4
Independent Claim
118 words
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising: providing a command signal which is a velocity command for a controlled parameter; providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor; using a controller including integration in the forward loop thereof, comparison of said command signal and said feedback signal prior to said integration; and summation with said feedback signal in said forward loop after said integration; and dynamically controlling the forward loop gain for said integration as a function of the change in motor velocity divided by the integral of motor current.
Claim 5
Independent Claim
120 words
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising: providing a command signal which is a velocity command for a controlled parameter; providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor; using a controller including integration in the forward loop thereof, comparison of said command signal and said feedback signal prior to said integration; and summation with said feedback signal in said forward loop after said integration; and dynamically controlling the forward loop gain for said integration as a function of motor current integrated over a time interval producing a predetermined change in motor velocity.
Claim 6
Independent Claim
120 words
A method for adaptive control in a system including a controller, control elements and controlled elements including an electric motor, comprising: providing a command signal which is a velocity command for a controlled parameter; providing a feedback signal indicating the actual value of the controlled parameter and which is the actual velocity of said electric motor; using a controller including integration in the forward loop thereof, comparison of said command signal and said feedback signal prior to said integration; and summation with said feedback signal in said forward loop after said integration; and dynamically controlling the forward loop gain for said integration as a function of motor current integrated over a time interval producing a predetermined change in motor velocity.
Claim 7
Independent Claim
109 words
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising: providing a velocity command signal indicating a desired motor speed; providing a velocity feedback signal indicating the actual motor speed; using PDF control in the controller including integration in the forward loop to provide an integrated signal, comparison of said velocity command and said velocity feedback prior to said integration, summation of said integrated signal and said velocity feedback after said integration, and proportioning of said integration signal; and dynamically controlling said proportioning of said integrated signal as a function of the derivative of motor velicity divided by motor current.
Claim 8
Independent Claim
109 words
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising: providing a velocity command signal indicating a desired motor speed; providing a velocity feedback signal indicating the actual motor speed; using PDF control in the controller including integration in the forward loop to provide an integrated signal, comparison of said velocity command and said velocity feedback prior to said integration, summation of said integrated signal and said velocity feedback after said integration, and proportioning of said integration signal; and dynamically controlling said proportioning of said integrated signal as a function of the derivative of motor velicity divided by motor current.
Claim 9
Independent Claim
112 words
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising: providing a velocity command signal indicating a desired motor speed; providing a velocity feedback signal indicating the actual motor speed; using PDF control in the controller including integration in the forward loop to provide an integrated signal, comparison of said velocity command and said velocity feedback prior to said integration, summation of said integrated signal, and said velocity feedback after said integration, and proportioning of said integration signal; and dynamically controlling said proportioning of said integrated signal as a function of the change in motor velocity divided by the intregal of motor current.
Claim 10
Independent Claim
112 words
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising: providing a velocity command signal indicating a desired motor speed; providing a velocity feedback signal indicating the actual motor speed; using PDF control in the controller including integration in the forward loop to provide an integrated signal, comparison of said velocity command and said velocity feedback prior to said integration, summation of said integrated signal, and said velocity feedback after said integration, and proportioning of said integration signal; and dynamically controlling said proportioning of said integrated signal as a function of the change in motor velocity divided by the intregal of motor current.
Claim 11
Independent Claim
114 words
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising: providing a velocity command signal indicating a desired motor speed; providing a velocity feedback signal indicating the actual motor speed; using PDF control in the controller including integration in the forward loop to provide an integrated signal, comparison of said velocity command and said velocity feedback prior to said integration, summation of said integrated signal and said velocity feedback after said integration, and proportioning of said integration signal; and dynamically controlling said proportioning of said integrated signal as a function of motor current integrated over a time interval producing a predetermined change in motor velocity.
Claim 12
Independent Claim
114 words
A method for adaptive velocity control of a controller for an electric motor coupled to a variable load comprising: providing a velocity command signal indicating a desired motor speed; providing a velocity feedback signal indicating the actual motor speed; using PDF control in the controller including integration in the forward loop to provide an integrated signal, comparison of said velocity command and said velocity feedback prior to said integration, summation of said integrated signal and said velocity feedback after said integration, and proportioning of said integration signal; and dynamically controlling said proportioning of said integrated signal as a function of motor current integrated over a time interval producing a predetermined change in motor velocity.
Claim 13
Independent Claim
81 words
A method for adaptive control of an electric motor, comprising providing a command signal for a controlled parameter; providing a feedback signal indicating the actual value of said parameter; using a controller for controlling said parameter; determining a sample interval in accordance with the time required to achieve a predetermined change in motor velocity; integrating motor current for the duration of said sample interval; and dynamically adjusting the compensation of said controller as a function of said integral of motor current.
Claim 14
Independent Claim
81 words
A method for adaptive control of an electric motor, comprising providing a command signal for a controlled parameter; providing a feedback signal indicating the actual value of said parameter; using a controller for controlling said parameter; determining a sample interval in accordance with the time required to achieve a predetermined change in motor velocity; integrating motor current for the duration of said sample interval; and dynamically adjusting the compensation of said controller as a function of said integral of motor current.
Claim 15
Dependent Claim
28 words
The method according to claim 7 wherein said command signal is a velocity command, said feedback signal indicates actual motor velocity and said controlled parameter is motor velocity.
Claim 16
Dependent Claim
27 words
The method according to claim 8 wherein said compensation is adjusted only if said predetermined change in velocity is achieved in less than a predetermined time interval.
Claim 17
Dependent Claim
27 words
The method according to claim 8 wherein said compensation is adjusted only if the intergral of motor current for said sample interval is within a predetermined range.
Claim 18
Dependent Claim
158 words
An adaptive control system for an electric motor coupled to a variable load, comprising: command means for providing a command signal indicating the desired value for an operating parameter of the motor; feedback means for providing a feedback signal indicating the actual value of said parameter of said motor; a controller including an integrator in the forward loop to provide an integrated signal, a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator, a summing circuit for summing said integrated signal and said feedback signal, and means for proportioning the signal being integrated by said integrator; adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of load inertia and which means for proportioning includes means for measuring motor current, means for measuring motor speed, and means for adjusting said proportioning as a function of said measured current and speed.
Claim 19
Dependent Claim
158 words
An adaptive control system for an electric motor coupled to a variable load, comprising: command means for providing a command signal indicating the desired value for an operating parameter of the motor; feedback means for providing a feedback signal indicating the actual value of said parameter of said motor; a controller including an integrator in the forward loop to provide an integrated signal, a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator, a summing circuit for summing said integrated signal and said feedback signal, and means for proportioning the signal being integrated by said integrator; adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of load inertia and which means for proportioning includes means for measuring motor current, means for measuring motor speed, and means for adjusting said proportioning as a function of said measured current and speed.
Claim 20
Dependent Claim
164 words
An adaptive control system for an electric motor coupled to a variable load, comprising: command means for providing a command signal indicating the desired value for an operating parameter of the motor; feedback means for providing a feedback signal indicating the actual value of said parameter of said motor; a controller including an integrator in the forward loop to provide an integrated signal, a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator, a summing circuit for summing said integrated signal and said feedback signal, and means for proportioning the signal being integrated by said integrator; adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of the derivative of speed divided by motor current and which means for proportioning includes means for measuring motor current, means for measuring motor speed, and means for adjusting said proportioning as a function of said measured current and speed.
Claim 21
Dependent Claim
164 words
An adaptive control system for an electric motor coupled to a variable load, comprising: command means for providing a command signal indicating the desired value for an operating parameter of the motor; feedback means for providing a feedback signal indicating the actual value of said parameter of said motor; a controller including an integrator in the forward loop to provide an integrated signal, a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator, a summing circuit for summing said integrated signal and said feedback signal, and means for proportioning the signal being integrated by said integrator; adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of the derivative of speed divided by motor current and which means for proportioning includes means for measuring motor current, means for measuring motor speed, and means for adjusting said proportioning as a function of said measured current and speed.
Claim 22
Dependent Claim
167 words
An adaptive control system for an electric motor coupled to a variable load, comprising: command means for providing a command signal indicating the desired value for an operating parameter of the motor; feedback means for providing a feedback signal indicating the actual value of said parameter of said motor; a controller including an integrator in the forward loop to provide an integrated signal, a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator, a summing circuit for summing said integrated signal and said feedback signal, and means for proportioning the signal being integrated by said integrator; adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of the change in speed divided by the integral of motor current and which means for proportioning includes means for measuring motor current, means for measuring motor speed, and means for adjusting said proportioning as a function of said measured current and speed.
Claim 23
Dependent Claim
167 words
An adaptive control system for an electric motor coupled to a variable load, comprising: command means for providing a command signal indicating the desired value for an operating parameter of the motor; feedback means for providing a feedback signal indicating the actual value of said parameter of said motor; a controller including an integrator in the forward loop to provide an integrated signal, a summing circuit for comparing said command signal with said feedback signal to derive a signal supplied to said integrator, a summing circuit for summing said integrated signal and said feedback signal, and means for proportioning the signal being integrated by said integrator; adaptive control means coupled to the motor and operative to adjust said means for proportioning as a function of the change in speed divided by the integral of motor current and which means for proportioning includes means for measuring motor current, means for measuring motor speed, and means for adjusting said proportioning as a function of said measured current and speed.
References Cited (Backward Citations)
US4498037A
Cited
US4540923A
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1991-03-22 | 1991-09-21 | 1992-03-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-03-22 | 1995-09-21 | 1996-03-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-03-22 | 1999-09-21 | 2000-03-22 | $7700.00 | Window Closed / Lapsed |