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:
Nov. 10, 2015
Filed:
Apr. 23, 2013
Caterpillar Inc., Peoria, IL (US);
Jonathan W. Anders, Peoria, IN (US);
Brian D. Kuras, East Peoria, IL (US);
Adam M. Nackers, East Peoria, IL (US);
Christopher P. Braet, Washington, IL (US);
Caterpillar Inc., Peoria, IL (US);
Abstract
A system and method are provided for controlling a movable element in accordance with a speed command. The movable element, which may be an excavator swing platform, is moved via an actuator that is driven in accordance with a torque command. The speed of the movable element is sensed, and a torque command is generated via PID control based on the speed command and the sensed speed. The PID control uses a set of gains including a P-gain, an I-gain, and a D-gain. At least one of these gains is set based on a counter, and the counter is set, cleared, incremented, or decremented based on one or more of the speed command, the torque command and the sensed speed. In this way, the movable element responds aggressively to operator input, but stability is maintained.