Title: Non-minimum phase linear controller for hydraulic mechanisms

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Claims: What is claimed is:

1. A control system employing positive rate feedback for controlling a plant where the positive feedback is indicated by a right half plane zero of the S-plane in a root-locus system analysis, wherein the predominant plant characteristics are described by a transfer function of the form ##EQU3## where K, .delta., and .omega..sub.n are either constant or vary only a small amount around nominal values, and where s is the Laplace operator, comprising

a. means responsive to command plant response minus measured plant response to provide a plant error signal,

b. means for providing a plant rate response signal, and

c. control means for controlling said plant, said control means comprising:

d. means responsive to said plant error signal to provide a signal indicative thereof multiplied by a positive constant,

e. means responsive to said plant rate response signal to provide a signal indicative thereof multiplied by a positive constant, and

f. means for summing the signal provided in (d) plus the signal provided in (e) to provide a control signal for said plant said plus defining a zero in the right half portion of the S-plane when analyzing the system by the root-locus method.

2. A control system as set forth in claim 1, futher including:

a. a second control means providing a second control signal for said plant,

b. means for multiplying said control signal and said second control signal by constants to provide a weighted control signal and a second weighted control signal, and

c. means for summing said weighted control signal and said second weighted control signal to provide a total control signal to said plant.

3. A control system as set forth in claim 1 wherein the plant to be controlled is a servo-valve actuated hydraulic motor, wherein the plant response is measured by a position synchromechanism, and wherein the plant rate response is measured by a tachometer.

4. A control system as set forth in claim 2 wherein the plant to be controlled is a servo-valve actuated hydraulic motor, wherein the plant response is measured by a synchromechanism, and wherein the plant rate response is measured by a tachometer.

Other info:

Inventors: Cleveland, Dixon (Annandale, VA, US)
Derrick, Milford R. (Falls Church, VA, US)

Application Number: 462901
Filing Date: 1974-04-22
Publication_date: 1976-01-27
Assignee: Adaptronics, Inc. (McLean, VA)
Primary Class(es): 318/609 318/610, 318/616, 318/618, 318/635, 700/68
Other Classes:
US Patent Ref:

2946943	Jul, 1960	Nye et al.	318/610.
3510737	May, 1970	Brown et al.	318/635.
3523193	Aug, 1970	Hutcheon	318/609.
3533236	Oct, 1970	Cottington	318/609.

Other Refs:
Primary Examiner: Scott, James R.
Assistant Examiner:
Attorney: Cantor; Jay M.