Sperry Marine Inc.

Barron Associates, Inc.

Rebecca A Bird

Jeffrey C Johnson

David A Bennett

Eldon John Thompson

Gregory Schluge

Ronald K Richey

Albert L Coleman

John F Yancey, Jr

Jeffrey F Monaco

Roger L Barron

David G Ward

Steven E Schubert

A system for adaptive and reconfigurable control of aircraft and other complex objects and processes, herein referred to collectively as controlled &ldquo;plants.&rdquo; A modified form of sequential least-squares estimation is used to obtain near-real-time estimates of the values of plant parameters. The parameter estimates are used in a novel piecewise-linear optimal receding-horizon sampled-data controller in which internal controller parameters, known in the art as Riccati gains, are propagated from their current values using the most recent plant parameter estimates. This method of updating Riccati gains is a major departure from the prior art in receding-horizon control, where the Riccati gains (or equivalent) are re-initialized at each control update using terminal boundary conditions. The present invention provides improved robustness of control, lessened need for re-tuning control-effort penalties when operating conditions change, and significantly reduced computational burden. The control system of this disclosure is suitable for on-line adaptation to changing plant and control effector parameter values, including possible large and abrupt changes requiring controller reconfiguration for damage to or malfunction of the plant and/or control effectors.

System for improved receding-horizon adaptive and reconfigurable control

A ship steering system has a multiplicity of selectable steering stations. A continuously rotating helm at each steering station generates digital rudder control signals which cause a predetermined rudder movement for each 360.degree. of helm rotation. Steering stations are selected through a multiplexer controlled at a command steering station. The steering system is operable from the command steering station in a plurality of modes, which includes auto-pilot, helm (full-follow-up), and tiller (non-follow-up). Helm and/or tiller modes of operation are available at steering stations remote from the command steering station. The system provides for an emergency takeover from the helm or autopilot modes by automatically establishing the tiller mode when the tiller stick is moved. When in the autopilot mode an alarm system provides an alert should the course deviate from a selected course tolerance.

Configurable marine steering system

The rudder order bias integrator of a marine autopilot is reactivated upon substantial completion of a turning maneuver in response to heading error, heading rate and the derivative portion of the rudder order signal. Upon reactivation, the integrator time constant is ramped from a predetermined small value to the normal large time constant of the integrator.

Enhanced performance bias integrator for marine automatic pilot system

A sensor input/output system in a main radar system maintains continuous power to the compass interface when the main radar system is shut down. A single level of interrupt handlers is utilized without interrupt nesting or control by task executive software. The sensor input/output system is functionally partitioned such that all of the service required by an interrupt is continuously provided until the service is completed. A digital processor for providing the interrupt servicing and control and PROM firmware for storing the interrupt handlers also have backup power continuously applied. Since the processor compass interrupt handler and compass interface are continuously powered, heading synchronization is maintained by the main radar system during power down conditions.

Sensor input/output system with continuous compass interface

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Earlysville, VA, United States of America

Rebecca A Bird