Positioning system employing feedforward and feedback control
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United States of America Patent
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Apr 29, 1980
Grant Date -
N/A
app pub date -
Jun 29, 1977
filing date -
Jun 29, 1977
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A positioning system for moving a member between positions in time optimal fashion employs concurrent 'feedforward' and 'feedback' control. The feedforward control system provides major control and the feedback control system provides minor control to correct for deviations between the actual and a nominal system. The feedback loop may thus be of low bandwidth permitting desensitization to high frequency disturbances or the employment of inherently low bandwidth controlled variables. The 'feedforward' control function includes successive portions of opposite polarity corresponding to acceleration and deceleration of the member and also includes a subtractive velocity related component. This function represents the approximate current input to an electromagnetic coil actuator of a nominal system required to move such a member between positions in time optimal fashion.
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