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Mobile body controlling gear

  • US 6,088,633 A
  • Filed: 03/09/1999
  • Issued: 07/11/2000
  • Est. Priority Date: 03/27/1998
  • Status: Expired due to Term
First Claim
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1. A mobile body controlling gear comprising:

  • a controller switched to a P control mode or a PID control mode to manipulate a mobile body; and

    memory means for holding a balance reference value of a control signal at a manipulation side in the P control mode;

    wherein said controller controls said mobile body in the PID mode by subtracting the balance reference signal held in said memory means from an error signal input to said controller a when status is switched from the P control mode to the PID control mode, so that an offset due to the balance reference signal of the control signal in said P control mode is canceled.

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