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:
Oct. 07, 2014
Filed:
Apr. 25, 2011
Applicants:
Mouhacine Benosman, Boston, MA (US);
Vijay Shilpiekandula, Belmont, MA (US);
Scott A. Bortoff, Brookline, MA (US);
Inventors:
Mouhacine Benosman, Boston, MA (US);
Vijay Shilpiekandula, Belmont, MA (US);
Scott A. Bortoff, Brookline, MA (US);
Assignee:
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Attorneys:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B 21/00 (2006.01); G01M 1/38 (2006.01); G05B 13/00 (2006.01); G05B 15/00 (2006.01); G05D 23/00 (2006.01); F16F 7/10 (2006.01); F16M 1/00 (2006.01); F16M 13/00 (2006.01); H02P 7/00 (2006.01); G05D 19/02 (2006.01);
U.S. Cl.
CPC ...
G05D 19/02 (2013.01);
Abstract
Vibration in a mechanical system driven by a motor connected to a load is reduced by providing an angular position and an angular velocity of the motor to a linear feedback term and to a nonlinear feedback term. Outputs of the linear feedback term and the nonlinear feed term, and an optimal feedforward term determined off-line are summed to produce a summed signal, which is fed back to control a torque of the motor.