Patent ID: 7424337
Filing Date: 2008-09-09
Classification: G05B,H02P

Abstract:
1. A method for increasing the control dynamics of a load driven by a driveshaft directly connecting the load to a direct drive without an interposed gear, comprising the steps of: arranging the direct drive between a first transducer and a second transducer, said first transducer being disposed proximate to the direct drive and said second transducer being disposed proximate to the load; measuring an output signal from the first transducer to indicate a first rotation speed of the driveshaft; measuring an output signal from the second transducer to indicate a second rotation speed of the driveshaft; multiplying the first rotation speed with a first factor and the second rotation speed with a second factor to provide weighted first and second rotation speeds, wherein the first factor is a parameter α and the second factor is a difference parameter 1−α, wherein the parameter α is determined by solving an equation wherein ∥ ∥ represents a distance function computed as a square of a magnitude or as a magnitude of a complex expression (α·G Path1 (j2πf i )+(1−α)·G Path2 (j2πf i )), with G Path1 (j2πf) representing a frequency response of the controller at α=1, and G Path2 (j2πf) representing a frequency response of the controller at α=0, and with f i representing support points in frequency space; adding the weighted first and second rotation speeds; determining from the added weighted rotation speeds a mixed rotation speed; and transmitting the mixed rotation speed as a controlled actual value to a controller that controls the direct drive.