Digital servo employing switch mode lead/lag integrator
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United States of America Patent
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-
Jan 9, 1990
Grant Date -
N/A
app pub date -
Nov 15, 1988
filing date -
Nov 15, 1988
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A digital servo system for causing a mechanical element (48) to track a desired path and hold various positions along the path and employing a lead/lag integrator (18) in parallel with a feedback control loop. The input to the integrator (18) is switched between velocity (V.sub.EK) error during pathtracking and position error (E.sub.K) during holding to increase the resistance of the mechanical element (48) to position changes caused by outside forces during both pathtracking and holding. The integrator function employed uses a term (U.sub.integrator(k-1)) representing a previous integrator output value to assist in smoothing perturbations caused by switching between position and velocity error.
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