Mark R Webb

US Patent:

58699457, Feb 9, 1999

Filed:

Jan 10, 1997

Appl. No.:

8/781706

Inventors:

Humphrey Wing-Hong Ha - Plano TX
Mark A. Gohlke - Plano TX
Mark G. Webb - Dallas TX
Keith R. Kuemmerle - Richardson TX
Michael R. Thering - Rowlett TX
Steven Jenkins - Plano TX
Gary R. Herrington - Plano TX

Assignee:

Raytheon TI Systems, Inc. - Lewisville TX

International Classification:

G05B 100

US Classification:

318600

Abstract:

A scanner which includes a motor for driving a load and circuitry for providing a position error signal responsive to the difference between a predicted position of the load and the actual position of the load, preferably a mirror scanning a scene. The motor is driven in response to the position error signal. The position error signal is provided plural times during a single scanning of the scene. The circuitry for providing a position error signal includes a closed loop filter system for filtering the error signal to provide a filtered error signal, an adaptive filter system for operating on the filtered error signal to provide an adaptively filtered error signal and summing circuitry for summing signals indicative of the predicted position, the filtered error signal and the adaptively filtered error signal. The closed loop filter system includes, in series, at least one first order lead lag filter and a double integral plus proportional filter. The adaptive filter system includes, in series, a low pass filter, a register and an integrator.