The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 14, 2000
Filed:
Apr. 30, 1998
Robert T Bupp, Rancho Palos Verdes, CA (US);
Dewey Hobson Lane, Hermosa Beach, CA (US);
TRW Inc., Redondo Beach, CA (US);
Abstract
A high precision pointing mechanism (10), particularly for use in space applications. The precision mechanism includes a motor assembly (26) connected to a displaceable elbow (24). A controller (166) determines a motor torque command (170) in accordance with a position error (168). The position error is used to generate proportional gain (172), derivative gain (182), and integral gain (194) compensation terms. The sum of the proportional compensation component (172) and derivative compensation component (182) is used to generate a proportional-derivative compensation component. The proportional-derivative compensation component is input to a hyperbolic tangent function (188), which substantially models the friction characteristic of the high precision pointing mechanism (10). The output from the hyperbolic tangent function (188) is used in combination with the proportional-derivative compensation component and the integral compensation component to generate the motor torque command (170).