Patent ID: 9181682
Filing Date: 2015-11-10
Classification: E02F,G05B

Abstract:
1. A speed control system for controlling a movable element in keeping with a speed command representing a desired speed, wherein control of the movable element is via an actuator responsive to a torque command, the speed control system comprising: a speed command input for receiving the speed command; a torque output for outputting the torque command; a speed input for receiving a sensed speed of the movable element; a PID control module configured to convert a speed error, representative of the difference between the desired speed and the sensed speed, to the torque command through a PID control process applying a set of gains including a P-gain, an I-gain, and a D-gain; and a gain modifier configured to increment or decrement a counter based on at least one of the speed command, the torque command and the sensed speed, and to provide at least one gain to the PID control module based on a value of the counter wherein the gain modifier is configured to determine that the speed command is constant and, in response, to enable the counter and is further configured to determine when the speed command is changing and, in response, to clear the counter.