公开(公告)号：US07345448B2

公开(公告)日：2008-03-18

申请号：US11129059

申请日：2005-05-12

申请人： David Watt ,  Mehmet Alpay ,  Mark Unrath ,  John Wen ,  Ben Potsaid

发明人： David Watt ,  Mehmet Alpay ,  Mark Unrath ,  John Wen ,  Ben Potsaid

IPC分类号： G05B13/02

CPC分类号： G05B13/041

摘要： Preferred embodiments of the invention implement techniques for modifying the command trajectory, the architecture of a servomechanism control system, or both, to reduce the servo error during and/or after the command trajectory. An iterative refinement procedure generates for use by the servomechanism control system a corrective input, du, which significantly reduces the error between the desired and actual servomechanism control system outputs. In one embodiment, a uniquely identified plant model is employed in the iterative refinement procedure to compute an approximate gradient that improves the performance and reliability of the refinement procedure. In another embodiment, the actual plant response is used in place of the identified model in the iterative refinement procedure. This is accomplished by time-reversing the stored error signal from a training run, before applying it to the plant to generate an update to the corrective input signal du.

摘要翻译： 本发明的优选实施例实现了用于修改命令轨迹，伺服机构控制系统的结构或两者的技术，以减少在命令轨迹期间和/或之后的伺服误差。 对伺服机构控制系统产生的迭代精制过程可用于校正输入du，这显着地减少了期望的和实际的伺服机构控制系统输出之间的误差。 在一个实施例中，在迭代细化过程中采用唯一识别的植物模型来计算提高细化过程的性能和可靠性的近似梯度。 在另一个实施例中，在迭代细化过程中使用实际植物响应来代替所识别的模型。 这是通过将训练运行中存储的误差信号时间反转，然后将其应用到工厂来产生对纠正输入信号du的更新来实现的。

公开(公告)号：US20050285558A1

公开(公告)日：2005-12-29

申请号：US11129059

申请日：2005-05-12

申请人： David Watt ,  Mehmet Alpay ,  Mark Unrath ,  John Wen ,  Ben Potsaid

发明人： David Watt ,  Mehmet Alpay ,  Mark Unrath ,  John Wen ,  Ben Potsaid

IPC分类号： G05B13/04 ,  G05D23/275

CPC分类号： G05B13/041

摘要： Preferred embodiments of the invention implement techniques for modifying the command trajectory, the architecture of a servomechanism control system, or both, to reduce the servo error during and/or after the command trajectory. An iterative refinement procedure generates for use by the servomechanism control system a corrective input, du, which significantly reduces the error between the desired and actual servomechanism control system outputs. In one embodiment, a uniquely identified plant model is employed in the iterative refinement procedure to compute an approximate gradient that improves the performance and reliability of the refinement procedure. In another embodiment, the actual plant response is used in place of the identified model in the iterative refinement procedure. This is accomplished by time-reversing the stored error signal from a training run, before applying it to the plant to generate an update to the corrective input signal du.

摘要翻译： 本发明的优选实施例实现了用于修改命令轨迹，伺服机构控制系统的结构或两者的技术，以减少在命令轨迹期间和/或之后的伺服误差。 对伺服机构控制系统产生的迭代精制过程可用于校正输入du，这显着地减少了期望的和实际的伺服机构控制系统输出之间的误差。 在一个实施例中，在迭代细化过程中采用唯一识别的植物模型来计算提高细化过程的性能和可靠性的近似梯度。 在另一个实施例中，在迭代细化过程中使用实际植物响应来代替所识别的模型。 这是通过将训练运行中存储的误差信号时间反转，然后将其应用到工厂来产生对纠正输入信号du的更新来实现的。