Methods for adaptative feedforward control in surgical system

In some embodiments, a method of using feedforward to control a system component may include determining if a feedforward term exists in a feedforward table for a received operating set point. If a feedforward term does not exist, the system component may be incremented until the system to within a...

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Bibliographic Details
Main Author AGAHI DARYUSH
Format Patent
LanguageChinese
English
Published 29.08.2012
Subjects
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
DIAGNOSIS
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PHYSICS
REGULATING
SURGERY
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Summary:In some embodiments, a method of using feedforward to control a system component may include determining if a feedforward term exists in a feedforward table for a received operating set point. If a feedforward term does not exist, the system component may be incremented until the system to within a first acceptable tolerance of the desired set point. In some embodiments, a measure of steady state error may be determined and compared to a second acceptable tolerance. If within the acceptable tolerance, the corresponding feedforward term may be recorded in the feedforward table. In some embodiments, if the feedforward term exists for the operating set point, the system component may be controlled using controller output that corresponds to the feedforward term. When a change to the system is detected that is associated with possible changes to the feedforward values, new feedforward values may be generated for the feedforward table.
Bibliography:Application Number: CN201080055615