Patent ID: 11952107
Assignee: EATON INTELLIGENT POWER LIMITED
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. An actuator control system comprising:
(a) a plurality of electro-mechanical actuators for operating one or more end effectors;
(b) a plurality of position sensors associated with the plurality of electro-mechanical actuators, each of the plurality of position sensors providing an output indicating an actual position value; and
(c) a control system comprising:
(i) a virtual EMA controller that continuously calculates a virtual position value of the one or more end effectors;
(ii) a plurality of EMA controllers, wherein each of the plurality of EMA controllers is associated with a corresponding electro-mechanical actuator, each of the plurality of EMA controllers receiving the actual position value of the one or more end effectors,
wherein the virtual position value and the actual position value are compared to determine an angle error value and an output is provided to one of the EMA controllers to adjust the speed of the plurality of electro-mechanical actuators.