Abstract:
A force generating apparatus (10) for providing a force to a moving element based upon receipt of an electrical force signal includes a force applying element (33) coupled to the moving element for applying the force to the moving element and an actuator (21) coupled to the force applying element (33) for actuation thereof in response to receiving the electrical force signal. The force generating apparatus (10) further includes a controller (18) for determining when the force applying element (33) is in an apply mode, determining the elapsed time until reversion to a normal mode, determining when the elapsed time is greater than a predefined minimum, modifying the value of the electrical force signal sent to the actuator (21), and modifying a stored control parameter.
Abstract:
The problem of maintaining fluid modulus during a fast mode release of fluid pressure in a force generating apparatus having a force generating actuator fluidically coupled to a force generating device is solved by limiting the rate at which the actuator can reduce fluid pressure in an apply chamber of the actuator to a rate low enough to preclude a change in modulus of the fluid during the fast mode release.
Abstract:
A N-mode control method for providing an input control signal to control an output of a plant is disclosed. First, one or more error control signals and one or more output control signals are determined. Each error control signal is a function of one or more error output signals with each error output signal being indicative a differential between one or more measured output signals of the plant and one or more commanded output signals of the plant. Each output control signal is as a function of the one or more measured output signals. Second, the input control signal is determined as a function of a N dynamics control law when the error control signal(s) and the output control signal(s) collectively indicate the plant is operating in a 1st or 2nd or 3rd or . . . (Nnull1)th or Nth region of operation.