Method and system for controlling mechanical systems exhibiting discontinuity in inertial loading

摘要

A technique is provided for adapting feedback control system performance to applications involving changing inertial loads. A modified gain profile is applied for a control system block that includes isolated torque scaling. The torque scaling block facilitates the generation of gain profiles specifically adapted to the changing inertial conditions of the load. Dilatory effects of backlash and similar load discontinuity can be avoided, therefore, by appropriately applying gain profiles to reduce gain within a region of reduced load.