General Electric Company

Ming H Kuo

John Norton Park

Michael Joseph Schutten

Kenneth B Haefner

Larry M Sweet

A series resonant inverter is controlled to maintain a substantially constant gain and a substantially constant bandwidth, thereby ensuring stable operation under all operating conditions. A load compensating gain control circuit generates a unique gain or attenuation factor for each unique set of output load conditions. To maintain constant gain, inverter gain for each set of operating conditions is multiplied by the corresponding gain or attenuation factor. Bandwidth is increased (or decreased) and maintained constant to ensure stable operation.

Load compensating gain control for a series resonant inverter

A series resonant inverter is controlled to provide a substantially constant output voltage to a load. The control utilizes a combination of optimal control methods and phase modulation to enable time optimal responses to changes in state of the system. State determinants (including resonant capacitor voltage, resonant inductor current, source voltage, and output load voltage) are continuously monitored, and an optimal control signal is generated therefrom. When operating within the operable frequency range of the inverter's controllable switch means, frequency is varied to maintain proper operation. When operating at an extremity of the operable frequency range, phase modulation is employed.

Resonant inverter employing frequency and phase modulation using optimal

A real time steering capability is provided to permit robot motion to be modified continuously in three dimensions as the robot is moving along a taught path. An arc welding robot or other taught path robot has a sensor located on the robot arm to sense the position of a desired path. The tracking control provides real time steering commands to the standard robot taught path and are calculated based on maintaining a constant, preprogrammed velocity along the desired path and coordination with the taught path. Offsets to the robot taught path are computed in a manner that allows the robot to smoothly follow the actual path as measured by the look ahead path sensor. The offsets are determined as separate x, y, z and twist integrations for the end effector and represent the total deviations from the robot taught path.

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Fort Wayne, IN, United States of America

Ming H Kuo