Patent ID: 6189836
Filing Date: 2001-02-20
Classification: G05D

Abstract:
A system for controlling the effects of destabilizing forces comprising:a vehicle having an adjustable actuator;an accelerometer mounted on the vehicle for generating at least one acceleration feedback signal, the acceleration feedback signal being a function of vehicle motion;a command signal circuit, coupled to the vehicle for receiving pilot command signals and producing command signals that are a function of the pilot command signals;an accumulation circuit, coupled to the command signal circuit and the accelerometer for receiving a first command signal and at least one acceleration feedback signal and for summing the first command signal with at least one acceleration feedback signal thereby producing an acceleration error signal, that represents the difference between roll acceleration response of the vehicle and the pilot command signals;an amplifier, having a predetermined gain, coupled to the accumulation circuit, for multiplying the acceleration error signal by the predetermined gain thereby producing an amplified acceleration error signal that represents the compensation necessary to cancel undesired roll motion of the vehicle;a first summing circuit, coupled to the amplifier and to the command signal circuit for summing the amplified acceleration error signal from the amplifier with a second command signal that is output from the command signal circuit thereby producing a composite output signal;a feedforward command circuit coupled to the command signal circuit for generating a feedforward command signal; anda second summing circuit coupled to the feedforward command circuit that combines the feedforward command signal and the composite output signal to produce a corrective signal that is transmitted to the actuator.