Controller and method of controlling an apparatus using predictive filters
First Claim
1. A controller, comprising:
- circuitry to receive a first input signal representative of a measured state of an apparatus;
circuitry to generate a control signal to alter the measured state of the apparatus to maintain a desired state;
circuitry to receive a second input signal representing at least one additional measurement of the state of the apparatus;
circuitry to correct said generated control signal in response to said second signal; and
circuitry to condition said corrected control signal based at least in part on temporal cross-correlation between said second input signal and said generated control signal.
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0 Petitions
Accused Products
Abstract
In the field of electronic or computerized control apparatuses, known methods of compensating for disturbance signals rely on less than ideal analytical or empirical models. There is provided a controller (200) or method of controlling which observes and learns the correlation between various measured signals and automatically learns how to control the apparatus. It has a primary input (xR) for the measured state of the apparatus, and signal processing means (604, 606) responsive to the input signal for generating a control signal (V) to maintain the apparatus in a desired state, the controller (200) having further input(s) (X1, Xa) for additional measurements of the apparatus or its environment the signal processing means using a weighted average (606) of results of different fixed impulse responses (611-615) to each input to modify the control signal, and means (630, 800, 802) for conditioning the response automatically in response to temporal cross-correlation observed between the measurement signal(s) and the control signal. The controller can be pre-taught with an appropriate response, or it can learn it during initial operation.
51 Citations
41 Claims
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1. A controller, comprising:
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circuitry to receive a first input signal representative of a measured state of an apparatus; circuitry to generate a control signal to alter the measured state of the apparatus to maintain a desired state; circuitry to receive a second input signal representing at least one additional measurement of the state of the apparatus; circuitry to correct said generated control signal in response to said second signal; and circuitry to condition said corrected control signal based at least in part on temporal cross-correlation between said second input signal and said generated control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus, comprising:
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means for receiving a primary input signal representing a measured state of the apparatus; means for generating a control signal to alter the state of the apparatus in response to said primary input signal; means for receiving at least one further input signal representing one or more additional measurements of the apparatus; means for including corrections in said control signal in response to said additional measurement signal; and means for conditioning the corrected control signal of said means for including corrections based at least in part on temporal cross-correlation between said additional measurement signal and said control signal. - View Dependent Claims (13, 14, 15, 16)
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17. A controller, comprising:
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means for receiving an input signal; means for generating a control signal based at least in part on said input signal; means for receiving a disturbance signal; and means for conditioning the control signal based at least in part on temporal cross-correlation between said control signal and said disturbance signal. - View Dependent Claims (18, 19, 20, 21)
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22. A controller, comprising:
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an input to receive at least an input signal and a disturbance signal; circuitry to generate a control signal in accordance with said input signal; and circuitry to condition the control signal based at least in part on temporal cross-correlation between said control signal and said disturbance signal. - View Dependent Claims (23, 24, 25, 26, 27)
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28. A system, comprising:
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a controlled apparatus; circuitry to receive a first and second signal representative of a set value of the apparatus and a measured value of the apparatus respectively; circuitry to compare the first and second signal to generate an error signal; circuitry to generate a control signal for the controlled apparatus in response to said error signal; circuitry to receive at least one disturbance signal; and circuitry to condition the control signal based at least in part on temporal cross-correlation between said control signal and said at least one disturbance signal. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A robot comprising:
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one or more sensors adapted to generate one or more measurement signals; and a controller, said controller being adapted to; receive a state signal representative of a state of said robot; generate an error signal based, at least in part, on at least one of said measurement signals and said state signal; generate a control signal based, at least in part, on said error signal; and condition the control signal based at least in part on temporal cross-correlation between said control signal and said at least one of said measurement signals, wherein said robot is adapted to change said state in response to said control signal. - View Dependent Claims (40, 41)
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Specification