Non-linear compensation of a control system having an actuator and a method therefore
First Claim
1. A control system comprising a nominal state actuator model of an actuator, said nominal state actuator model in communication with an uncompensated actuator command;
- an unlimited dynamics actuator model of said actuator, said unlimited dynamics actuator model in communication with said uncompensated actuator command; and
a filter communicating with said nominal state actuator model and said unlimited dynamics actuator model to filter a difference therebetween to generate a filtered difference and add said filtered difference to said uncompensated actuator command to generate a rate limited actuator command.
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Abstract
A control system compensation algorithm which operates as a comparator of a nominal state and unlimited dynamic state of an actuator. Upon reaching either rate or position saturation, the difference between the nominal state actuator model and the unlimited dynamics actuator model is the excess command signal of an uncompensated actuator command which would put the actuator into saturation. The excess command is then filtered to the designed system bandwidth. The filtered excess servo command from filter is then subtracted from the original uncompensated actuator command signal to generate the rate limited actuator command.
23 Citations
22 Claims
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1. A control system comprising
a nominal state actuator model of an actuator, said nominal state actuator model in communication with an uncompensated actuator command; -
an unlimited dynamics actuator model of said actuator, said unlimited dynamics actuator model in communication with said uncompensated actuator command; and
a filter communicating with said nominal state actuator model and said unlimited dynamics actuator model to filter a difference therebetween to generate a filtered difference and add said filtered difference to said uncompensated actuator command to generate a rate limited actuator command. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of controlling an actuator comprising the steps of:
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(1) modeling a nominal state of the actuator;
(2) modeling an unlimited dynamic state of the actuator; and
(3) filtering a difference between said step (1) and said step (2) for an uncompensated actuator command; and
(4) summing the filtered difference from said step (3) with the uncompensated actuator command to generate a rate limited actuator command. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of controlling a flight control system actuator comprising the steps of:
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(1) modeling a nominal state of the actuator;
(2) modeling an unlimited dynamic state of the actuator; and
(3) filtering a difference between said step (1) and said step (2); and
(4) summing the filtered difference from said step (3) with the uncompensated actuator command to generate a rate limited actuator command. - View Dependent Claims (18, 19)
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20. A computer readable storage medium containing a plurality of executable instructions for controlling an actuator, comprising:
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a first set of instructions directing the computer to model a nominal state of the actuator;
a second set of instructions directing the computer to model an unlimited dynamic state of the actuator;
a third set of instructions directing the computer to filter a difference between the nominal state of the actuator and the unlimited dynamic state of the actuator for an uncompensated actuator command; and
a fourth set of instructions directing the computer to sum the filtered difference between the nominal state of the actuator and the unlimited dynamic state of the actuator for the uncompensated actuator command with the uncompensated actuator command to generate a rate limited actuator command. - View Dependent Claims (21, 22)
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Specification