Increased bandwidth for plants with resonant modes using nonlinear notch filters
First Claim
1. A control system comprising:
- a plant having resonant modes; and
a controller which receives a plant output signal and a command signal and provides a controller output signal which controls said plant, said controller comprising;
a non-linear notch filter which provides a filter output signal and receives a filter input signal, said filter input signal being a function of said plant output signal and said command signal, said non-linear notch filter comprising;
linear notch filter logic responsive to said filter input signal and having a linear notch transfer function, which provides a linear notch filtered signal;
zero-cross logic responsive to said filter input signal and said linear notch filtered signal, which monitors said filter input signal and which provides a square wave signal which crosses zero at the same time and in the same direction as said filter input signal and has an amplitude proportional to the value of said linear notch filtered signal when said filter input signal crosses zero;
complementary notch filter logic responsive to said square wave signal and having a complementary transfer function which is complementary to said linear notch transfer function, which provides a complementary notch filtered signal; and
said complementary notch filtered signal and said linear notch filtered signal being added together to provide said filter output signal which exhibits less phase shift between said filter input signal and said filter output signal over certain frequency bands than that of said linear notch transfer function.
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Accused Products
Abstract
A control system includes a plant 56 having resonant modes and a controller 5 which receives plant input signals on lines 14,24 from the plant 56 and provides a controller output signal I, related to a filter output signal V, which controls the plant 6. The controller is provided with a non-linear notch filter 30 which receives a filter input signal x related to the plant input signals and provides the filter output signal V. The notch filter has at least one notch frequency near one of the resonant modes so as to attenuate one of the modes by a predetermined amount and has a phase lag a decade below the lowest notch frequency of said notch filter which is less than that of a corresponding linear notch filter, thereby allowing the control system 7 to exhibit faster time response and increased bandwidth than a system employing linear notch filters.
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Citations
20 Claims
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1. A control system comprising:
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a plant having resonant modes; and a controller which receives a plant output signal and a command signal and provides a controller output signal which controls said plant, said controller comprising; a non-linear notch filter which provides a filter output signal and receives a filter input signal, said filter input signal being a function of said plant output signal and said command signal, said non-linear notch filter comprising; linear notch filter logic responsive to said filter input signal and having a linear notch transfer function, which provides a linear notch filtered signal; zero-cross logic responsive to said filter input signal and said linear notch filtered signal, which monitors said filter input signal and which provides a square wave signal which crosses zero at the same time and in the same direction as said filter input signal and has an amplitude proportional to the value of said linear notch filtered signal when said filter input signal crosses zero; complementary notch filter logic responsive to said square wave signal and having a complementary transfer function which is complementary to said linear notch transfer function, which provides a complementary notch filtered signal; and said complementary notch filtered signal and said linear notch filtered signal being added together to provide said filter output signal which exhibits less phase shift between said filter input signal and said filter output signal over certain frequency bands than that of said linear notch transfer function. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A control system comprising:
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plant means having resonant modes; and controller means for receiving a plant output signal and a command signal and for providing a controller output signal which controls said plant, said controller means including non-linear notch filter means for providing a filter output signal and for receiving a filter input signal, said filter input signal being a function of said plant output signal and said command signal, said non-linear notch filter means comprising; linear filter means responsive to a filter input signal and having a linear transfer function, for providing a linear filtered signal; zero-cross means responsive to said filter input signal and said linear filtered signal, for monitoring said filter input signal, and for providing a square wave signal which crosses zero at the same time and in the same direction as said filter input signal and has an amplitude proportional to the value of said linear filtered signal when said filter input signal crosses zero; complementary filter means responsive to said square wave signal and having a complementary transfer function which is complementary to said linear transfer function, for providing a complementary filtered signal; and summing means responsive to said complementary filtered signal and said linear filtered signal for adding together said complementary filtered signal and said linear filtered signal and for providing a filter output signal which exhibits less phase shift between said filter input signal and said filter output signal over certain frequency bands than that of said linear transfer function. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification