发明名称 |
CONTROLLER FOR ACTUATION SYSTEM EMPLOYING KALMAN ESTIMATOR INCORPORATING EFFECT OF SYSTEM STRUCTURAL STIFFNESS |
摘要 |
A controller for an electro-mechanical actuation system such as a missile fin actuator includes a Kalman estimator circuit which generates an estimate of operating state including position and velocity of motor, position and velocity of a position-controlled element (PCE), and motor current. The estimate is generated based on a dynamic model explicitly including the effect of structural stiffness and damping in the coupling between the motor and the PCE, for example by treating it as a mechanical oscillator having spring and damping constants. The Kalman estimator operates on a motor drive control signal and a measured position signal which may be from a Hall sensor sensing motor position. A linear quadratic regulator circuit generates a control effort signal by applying a state feedback gain matrix to a state vector. The state feedback gain matrix minimizes a quadratic cost function representing variance of the control effort signal and/or the measured position signal. |
申请公布号 |
US2012001582(A1) |
申请公布日期 |
2012.01.05 |
申请号 |
US20100829523 |
申请日期 |
2010.07.02 |
申请人 |
PARK AUSTIN;WOODWARD HRT, INC. |
发明人 |
PARK AUSTIN |
分类号 |
G05B17/02;G05B5/01;G05B11/01;G05B11/42 |
主分类号 |
G05B17/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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