초록 ▼

An improved electromechanical actuator controller or system, counteracting the control stability degradation caused by motor interaction with the load dynamics (actuator compliance), having decreased sensor noise sensitivity responses and minimal compensation implementation requirements. The control

An improved electromechanical actuator controller or system, counteracting the control stability degradation caused by motor interaction with the load dynamics (actuator compliance), having decreased sensor noise sensitivity responses and minimal compensation implementation requirements. The controller includes a motor rate sensor and an actuator position sensor, whose signal outputs are combined in a complimentary filter to blend the dissimilar sensor signals to achieve the desired control signal. The complementary filter time constant is chosen to result in a stabilizing quadratic phase lead which allows the controller bandwidth to be increased to provide the desired faster electromechanical actuator controller time responses.

대표청구항 ▼

A method of controlling a motor driven electromechanical actuator for driving a compliant load, said method comprising the steps of: generating a position signal representative of said motor driven electromechanical actuator; generating a rate signal representative of a rate of a motor of said motor

A method of controlling a motor driven electromechanical actuator for driving a compliant load, said method comprising the steps of: generating a position signal representative of said motor driven electromechanical actuator; generating a rate signal representative of a rate of a motor of said motor driven electromechanical actuator; applying a frequency dependent weight to said position signal and said rate signal utilizing complementary filters; summing said weighted position signal and said weighted rate signal utilizing said complementary filters to generate a combined estimated position actuator signal having a positive phase lead; and comparing said combined estimated position actuator signal to a command position signal to generate a motor control signal for control of said motor.