Patent ID: 6640162
Filing Date: 2003-10-28
Classification: G05B

Abstract:
A method of controlling the operation of a manipulator that is part of a control system where said control system adjusts said manipulator to cause a system variable to achieve a desired value, said method of controlling comprising the steps of:a. selecting said desired value for said system variable prior to manipulator adjustment, b. selecting a desired direction of adjustment for said manipulator prior to said manipulator adjustment, c. selecting a reset value for said manipulator from which said manipulator can adjust in said desired direction of adjustment to cause said system variable to achieve said desired value, d. forbidding said manipulator to adjust contrary to said desired direction of adjustment except when said manipulator is being adjusted to achieve said reset value, e. adjusting said manipulator to achieve said reset value when said manipulator needs to be adjusted contrary to said desired direction of adjustment in order to enable said control system to cause said system variable to achieve said desired value, and f. allowing said control system to adjust said manipulator in said desired direction of adjustment so that said system variable achieves said desired value as a direct result of said manipulator adjusting in said desired direction of adjustment.