Multi axes linear movement positioning system

Claim 2

In combination a first member, a second member disposed in cooperative relationship with the first member for movement relative to the first member, means for providing first and second recurrent analog signals having a particular phase relationship to each other, means operatively coupled to a particular one of the first and second members for energizing the second member in a particular periodic relationship in accordance with the recurrent relationship of the first and second recurrent analog signals to provide a movement of the second member relative to the first member in accordance with such particular relationship, the first and second members being constructed to provide a synchronous movement of the second member relative to the first member in accordance with the particular periodic relationship provided by the energizing means, and the first and second members being constructed to provide an acceleration of the second member relative to the first member in accordance with instantaneous shifts in the phase of each of the first and second signals, means for providing signals representing desired changes in the rate of displacement of the second member relative to the first member, means including a first multiplier and a first adder connected to each other and to the signal means and to the command signal means for shifting the phase of the first recurrent signals through a particular angle dependent upon the characteristics of the command signal, and means including a second multiplier and a second adder connected to each other and to the signal means and to the command signal means for shifting the phase of the second recurrent signals through the particular angle.

Claim 3

The combination set forth in claim 1 wherein the first member is planar and the second member is disposed in displaced but cooperative relationship with the first member for movement relative to the first member in shynchronism with the particular periodic relationship provided by the energizing means and the energizing means is magnetic and the first and second members are constructed to define an open loop synchronous motor.

Claim 4

In combination, a first member, a second member disposed in cooperative relationship with the first member for providing a displacement between the first and second members when one of the first and second members is energized, means disposed in cooperative reLationship with a particular one of the first and second members for energizing the particular member to provide the displacement between the first and second members, first means operatively coupled to the energizing means for providing at least a pair of periodic signals having a particular phase relationship to each other, the first and second means being constructed to provide a displacement between the first and second members in synchronism with the periodic signals, the first and second members being constructed to provide an instantaneous acceleration of the second member relative to the first member in accordance with shifts in the phases of each of the signals introduced to the energizing means, second means for providing a command signal having characteristics representing a desired acceleration in the displacement between the first and second members, third means coupled to the first and second means for instantaneously shifting the phase of at least a first one of the periodic signals through a particular angle dependent upon the characteristics of the command signal, fourth means coupled to the first and second means for instantaneously shifting the phase of at least a second one of the periodic signals through the particular angle, fifth means operatively coupled to the third and fourth means for introducing the phase-shifted periodic signals to the energizing means to provide an instantaneous acceleration between the first and second members in accordance with the instantaneous shifts in the phases of the periodic signals, sixth means responsive to a funciton of the relative displacements between the first and second members for providing signals related to particular function of the instantaneous displacement of the second member relative to the first member, and seventh means responsive to the signals produced by the last mentioned means for introducing such signals to the third and fourth means to control the instantaneous shifts in the phase of the periodic signals produced by the third and fourth means.

Claim 5

In combination, a first member, a second member disposed in cooperative relationship with the first member for providing a displacement between the first and second members when one of the first and second members is energized, means disposed in cooperative reLationship with a particular one of the first and second members for energizing the particular member to provide the displacement between the first and second members, first means operatively coupled to the energizing means for providing at least a pair of periodic signals having a particular phase relationship to each other, the first and second means being constructed to provide a displacement between the first and second members in synchronism with the periodic signals, the first and second members being constructed to provide an instantaneous acceleration of the second member relative to the first member in accordance with shifts in the phases of each of the signals introduced to the energizing means, second means for providing a command signal having characteristics representing a desired acceleration in the displacement between the first and second members, third means coupled to the first and second means for instantaneously shifting the phase of at least a first one of the periodic signals through a particular angle dependent upon the characteristics of the command signal, fourth means coupled to the first and second means for instantaneously shifting the phase of at least a second one of the periodic signals through the particular angle, fifth means operatively coupled to the third and fourth means for introducing the phase-shifted periodic signals to the energizing means to provide an instantaneous acceleration between the first and second members in accordance with the instantaneous shifts in the phases of the periodic signals, sixth means responsive to a funciton of the relative displacements between the first and second members for providing signals related to particular function of the instantaneous displacement of the second member relative to the first member, and seventh means responsive to the signals produced by the last mentioned means for introducing such signals to the third and fourth means to control the instantaneous shifts in the phase of the periodic signals produced by the third and fourth means.

Claim 6

The combination set forth in claim 3 wherein the first member is planar and is provided with a magnetic grid configuration to provide a movement between the first and second members in synchronism with the pair of periodic signals and wherein the energizing means produce magnetic flux for acting on the planar grid member to produce a synchronous displacement of the second member relative to the first member in accordance with the recurrent characteristics of the periodic signals and wherein the sixth means provide signals related to the velocity of the displacement of the second member relative to the first member to damp the displacement of the second member relative to the first member and the first and second members are constructed to define an open loop synchronous motor and wherein means are provided to increase the frequency of the periodic signals to produce a variable rate of displacement of the second member relative to the first member in accordance with the instantaneous accelerations imparted to the second member relative to the first member.

Claim 7

In combination, a first member, a second member disposed in cooperative relationship to the first member for displacement relative to the first member, first means operatively coupled to the second member for energizing a particular one of the first and second members in a periodic relationship to obtain the displacement of the second member relative to the first member in a particular direction to maintain the second member in cooperative relationship with the first member, the first and second members being constructed relative to each other to provide a displacement of the second member relative to the first member in synchronism with the periodic relationship of the energizing by the energizing means, second means for providing first and second trigonometric signals having a particular phase displacement relative tO each other, third means for providing command signals having characteristics dependent upon an instantaneous acceleration to be imparted to the second member relative to the first member in the particular direction, fourth means including a first multiplier and a first adder connected to the second and third means for instantaneously shifting the phase of the first trigonometric signal through a particular angle dependent upon the characteristics of the command signal, fifth means including a second multiplier and a second adder connected to the second and third means for instantaneously shifting the phase of the second trigonometric signal through the particular angle, the first and second members being constructed relative to each other to provide instantaneous accelerations of the second member relative to the first member in accordance with the instantaneous shifts in the phase of the periodic energizing of the particular one of the members relative to the other, sixth means operatively coupled to the fourth and fifth means for introducing the phase-shifted signals from the fourth and fifth means to the energizing means to energize the particular one of the first and second members in the periodic relationship, seventh means responsive to the relative displacements between the first and second members for indicating a particular function of the instantaneous displacement of the second member relative to the first member, and servo means operatively coupled to the last mentioned means for varying the phases of the trigonometric signals from the fourth and fifth means in accordance with the indications from the seventh means to control the instantaneous shifts in phase of the periodic relationship of the energizing of the energizing means.

Claim 8

In combination, a first member, a second member disposed in cooperative relationship to the first member for displacement relative to the first member, first means operatively coupled to the second member for energizing a particular one of the first and second members in a periodic relationship to obtain the displacement of the second member relative to the first member in a particular direction to maintain the second member in cooperative relationship with the first member, the first and second members being constructed relative to each other to provide a displacement of the second member relative to the first member in synchronism with the periodic relationship of the energizing by the energizing means, second means for providing first and second trigonometric signals having a particular phase displacement relative tO each other, third means for providing command signals having characteristics dependent upon an instantaneous acceleration to be imparted to the second member relative to the first member in the particular direction, fourth means including a first multiplier and a first adder connected to the second and third means for instantaneously shifting the phase of the first trigonometric signal through a particular angle dependent upon the characteristics of the command signal, fifth means including a second multiplier and a second adder connected to the second and third means for instantaneously shifting the phase of the second trigonometric signal through the particular angle, the first and second members being constructed relative to each other to provide instantaneous accelerations of the second member relative to the first member in accordance with the instantaneous shifts in the phase of the periodic energizing of the particular one of the members relative to the other, sixth means operatively coupled to the fourth and fifth means for introducing the phase-shifted signals from the fourth and fifth means to the energizing means to energize the particular one of the first and second members in the periodic relationship, seventh means responsive to the relative displacements between the first and second members for indicating a particular function of the instantaneous displacement of the second member relative to the first member, and servo means operatively coupled to the last mentioned means for varying the phases of the trigonometric signals from the fourth and fifth means in accordance with the indications from the seventh means to control the instantaneous shifts in phase of the periodic relationship of the energizing of the energizing means.

Claim 9

The combination set forth in claim 5 wherein the seventh means provides indications of the velocity of the second member relative to the first member and wherein the servo means feeds such indications back to the fourth and fifth means to tend to damp the movements of the second member relative to the first member and wherein the first member is planar and is in the form of a magnetic grid and wherein the second member is provided with magnetic properties to cooperate with the first member in producing a movement between the first and second members in synchronism with the periodic relationship of the energizing by the energizing means and the first and second members are constructed to provide an open loop synchronous motor and wherein means are provided for varying the frequencies of the first and second trigonometric signals to vary the rate of displacement of the second member relative to the first member in accordance with the accelerations imparted to the second member relative to the first member.

Claim 10

In combination, a first member, a second member disposed in contiguous relationship to the first member and cooperative with the first member when energized for providing a movement of the second member relative to the first member, first means for providing at least first and second signals having a particular phase displacement relative to each other, second means disposed relative to a particular one of the first and second members and responsive to the first and second signals for energizing the particular member in a periodic relationship to obtain a movement of the second member relative to the first member, the first and second members being constructed to provide a displacement of the second member relative to the first member in synchronism with the periodic relationship of the energizing means, third means for providing command signals having characteristics dependent upon the instantaneous acceleration to be imparted to the second member relative to the first member, fourth means operatively connected to the first and third means for instantaneously shifting the phase of at least the first signal introduced to the energizing means through A particular angle dependent upon the characteristics of the command signal, fifth means operatively connected to the first and third means for instantaneously shifting the phase of at least the second signal introduced to the energizing means through the particular angle, sixth means responsive to a function of the displacement of the second member relative to the first member for indicating a particular function of the instantaneous displacement of the second member relative to the first member, and servo means connected in a closed loop between the second means and the sixth means and responsive to the indications provided by the indicating means for instantaneously shifting the phases of at least the first and second signals in accordance with the indications from the sixth means to change the natural resonant frequency of the second member relative to the first member to facilitate the displacement of the second member relative to the first member.

Claim 11

In combination, a first member, a second member disposed in contiguous relationship to the first member and cooperative with the first member when energized for providing a movement of the second member relative to the first member, first means for providing at least first and second signals having a particular phase displacement relative to each other, second means disposed relative to a particular one of the first and second members and responsive to the first and second signals for energizing the particular member in a periodic relationship to obtain a movement of the second member relative to the first member, the first and second members being constructed to provide a displacement of the second member relative to the first member in synchronism with the periodic relationship of the energizing means, third means for providing command signals having characteristics dependent upon the instantaneous acceleration to be imparted to the second member relative to the first member, fourth means operatively connected to the first and third means for instantaneously shifting the phase of at least the first signal introduced to the energizing means through A particular angle dependent upon the characteristics of the command signal, fifth means operatively connected to the first and third means for instantaneously shifting the phase of at least the second signal introduced to the energizing means through the particular angle, sixth means responsive to a function of the displacement of the second member relative to the first member for indicating a particular function of the instantaneous displacement of the second member relative to the first member, and servo means connected in a closed loop between the second means and the sixth means and responsive to the indications provided by the indicating means for instantaneously shifting the phases of at least the first and second signals in accordance with the indications from the sixth means to change the natural resonant frequency of the second member relative to the first member to facilitate the displacement of the second member relative to the first member.

Claim 12

In the combination set forth in claim 7, the first and second members being constructed to provide instantaneous changes in the acceleration of the second member relative to the first member in accordance with shifts in the phases of each of the first and second signals and the sixth means being responsive to the acceleration of the second member relative to the first member, the servo means including means operative to shift the phases of the first and second signals through phase angles dependent upon the indications provided by the sixth means, the first and second members being constructed relative to each other to define an open loop synchronous motor, the second means being operative to provide changes in the instantaneous acceleration of the second member relative to the first member in accordance with the shifts in the phases of the first and second signal, and means for varying the frequencies of at least the first and second signals to provide for variations in the rate of displacement of the second member relative to the first member in accordance with the accelerations imparted to the second member relative to the first member.

Claim 13

In combination, a first member, a second member disposed in cooperative relationship with the first member for providing a movement of the second member relative to the first member, first means for providing polyphase signals having recurrent characteristics and having a particular phase displacement relative to each other, second means for providing command signals having characteristics representing instantaneous accelerations to be imparted to the second member relative to the first member, third means responsive to the polyphase signals and to the command signals for providing controlled shifts in the phases of the polyphase signals in accordance with the characteristics of the command signals, fourth means disposed relative to a particular one of the first and second members and responsive to the polyphase phase-shifted signals from the third means for energizing the particular member in a periodic relationship in accordance with the phases of such signals to obtain instantaneous accelerations of the second member relative to the first member in accordance with the instantaneous phase shifts of the polyphase signals, the first and second members being constructed to provide a displacement of the second member relative to the first member in synchronism with the periodic relationship provided by the energizing means, fifth means operatively coupled to the second member for indicating the instantaneous velocity of the second member relative to the first member, and servo means connected in a closed loop between the phase-shifting means and the fifth means for feeding the velocity indications back to the third means in a particular relationship to control the instantaneous shifts in the phases of the polyphase signals in accordance with such velocity indications for damping the diSplacements of the second member relative to the first member.

Claim 14

In combination, a first member, a second member disposed in cooperative relationship with the first member for providing a movement of the second member relative to the first member, first means for providing polyphase signals having recurrent characteristics and having a particular phase displacement relative to each other, second means for providing command signals having characteristics representing instantaneous accelerations to be imparted to the second member relative to the first member, third means responsive to the polyphase signals and to the command signals for providing controlled shifts in the phases of the polyphase signals in accordance with the characteristics of the command signals, fourth means disposed relative to a particular one of the first and second members and responsive to the polyphase phase-shifted signals from the third means for energizing the particular member in a periodic relationship in accordance with the phases of such signals to obtain instantaneous accelerations of the second member relative to the first member in accordance with the instantaneous phase shifts of the polyphase signals, the first and second members being constructed to provide a displacement of the second member relative to the first member in synchronism with the periodic relationship provided by the energizing means, fifth means operatively coupled to the second member for indicating the instantaneous velocity of the second member relative to the first member, and servo means connected in a closed loop between the phase-shifting means and the fifth means for feeding the velocity indications back to the third means in a particular relationship to control the instantaneous shifts in the phases of the polyphase signals in accordance with such velocity indications for damping the diSplacements of the second member relative to the first member.

Claim 15

The combination set forth in claim 9, including, the first member having first and second coordinate axes and the first and second members being constructed to provide simultaneous and independent movements of the second member relative to the first member along the first and second coordinate axes in synchronism with the energizing of the fourth means and the first and second members being constructed to define an open loop synchronous motor and the second means providing first and second command signals respectively for the first and second coordinate axes and the first means providing respectively first and second polyphase signals for the first and second coordinate axes and the third means including first and second phase-shifting means for respectively shifting the phases of the polyphase signals instantaneously for each of the first and second coordinate axes in accordance with the respective characteristics of the first and second command signals and the fourth means including first and second energizing means respectively responsive to the first and second phase-shifted polyphase signals for the first and second axes for energizing the particular member in the particular relationship to respectively obtain the movement of the second member relative to the first member along the first and second coordinate axes and the servo means including first and second servo means respectively connected in closed loops with the first and second energizing means for respectively feeding the velocity indications back to the first and second phase-shifting means in the particular relationships to instantaneously shift the phase of the first and second polyphase signals in accordance with the velocity indications and thereby tend to damp the displacements of the second member relative to the first member respectively along the first and second coordinate axes, the first member being planar and being provided with magnetic properties and the first and second energizing means being provided with magnetic properties for cooperating with the first member to produce a displacement between the first and second members respectively along the first and second axes and the first energizing means having properties of becoming selectively energized and of producing magnetic lines of force, when selectively energized, for cooperating with the first member to produce a displacement between the first and second members along the first coordinate axis and the second energizing means having properties of becoming selectively energized and of producing magnetic lines of force, when selectively energized, for cooperating with the first member to produce a displacement between the first and second members along the second coordinate axis.

Claim 16

In a system for providing a controlled relative movement between two members along first and second coordinate axes, the combination of; a first member, a second member spaced from the first member and movable relative to the first member along the first and second coordinate axes and including means for producing an interaction with the first member to drive the second member relative to the first member along the first axis and including second means for simultaneously obtaining a determination of the position of the second member relative to the first member along the first axis during the displacement of the second member relative to the first member along the first axis and further including third means for producing an interaction with the first member to drive the second member relative to the first member along the second axis and including fourth means for simultaneously obtaining a determination of the position of the second member relative to the first member along the second axis during the displacement of the second member relative to the first member along the second axis, fifth means for respectively providing first polyphase signals having a periodic Relationship and having a particular phase displacement relative to each other, sixth means for respectively providing second polyphase signals having a periodic relationship and having the particular phase displacement relative to each other, seventh means responsive to the first polyphase signals for providing for a selective energizing of the first means in a periodic relationship to obtain a selective driving of the second member relative to the first member along the first axis, eighth means responsive to the second polyphase signals for providing for a selective energizing of the third means in a periodic relationship to obtain a selective driving of the second member relative to the first member along the second axis, the first and second members being constructed to produce a displacement between the first and second members respectively along the first and second axes in synchronism with the periodic relationship of the selective energizings provided by the first and third means, the first and second members being constructed to provide an instantaneous acceleration of the second member relative to the first member along the first axis in accordance with instantaneous shifts in the phase of the first polyphase signals and to provide an instantaneous acceleration of the second member relative to the first member along the second axis in accordance with instantaneous shifts in phase of the second polyphase signals, ninth means for providing first command signals having characteristics representing desired accelerations to be instantaneously provided to the second member relative to the first member along the first axis, tenth means for providing second command signals having characteristics representing desired accelerations to be instantaneously provided to the second member relative to the first member along the second axis, eleventh means responsive to the first polyphase signals and the first command signals for instantaneously shifting the phases of the first polyphase signals through a first particular angle dependent upon the characteristics of the first command signals, twelfth means responsive to the second polyphase signals and the second command signals for instantaneously shifting the phases of the second polyphase signals through a second particular angle dependent upon the characteristics of the second command signal, thirteenth means operatively coupled to the second member for producing signals having characteristics representing a function of the velocity of the second member relative to the first member along the first coordinate axis, fourteenth means responsive to the signals produced by the thirteenth means for producing instantaneous shifts in the phase of the first polyphase signals from the eleventh means in accordance with the signals from the thirteenth means to provide a damping in the displacement of the second member relative to the first member along the first coordinate axis, fifteenth means operatively coupled to the second member for producing signals having characteristics representing a function of the velocity of the second member relative to the first member along the second coordinate axis, and sixteenth means responsive to the signals produced by the fifteenth means for producing instantaneous shifts in the phase of the second polyphase signals in accordance with the signals from the fifteenth means to provide a damping in the displacement of the second member relative to the first member along the second coordinate axis.

Claim 17

In a system for providing a controlled relative movement between two members along first and second coordinate axes, the combination of; a first member, a second member spaced from the first member and movable relative to the first member along the first and second coordinate axes and including means for producing an interaction with the first member to drive the second member relative to the first member along the first axis and including second means for simultaneously obtaining a determination of the position of the second member relative to the first member along the first axis during the displacement of the second member relative to the first member along the first axis and further including third means for producing an interaction with the first member to drive the second member relative to the first member along the second axis and including fourth means for simultaneously obtaining a determination of the position of the second member relative to the first member along the second axis during the displacement of the second member relative to the first member along the second axis, fifth means for respectively providing first polyphase signals having a periodic Relationship and having a particular phase displacement relative to each other, sixth means for respectively providing second polyphase signals having a periodic relationship and having the particular phase displacement relative to each other, seventh means responsive to the first polyphase signals for providing for a selective energizing of the first means in a periodic relationship to obtain a selective driving of the second member relative to the first member along the first axis, eighth means responsive to the second polyphase signals for providing for a selective energizing of the third means in a periodic relationship to obtain a selective driving of the second member relative to the first member along the second axis, the first and second members being constructed to produce a displacement between the first and second members respectively along the first and second axes in synchronism with the periodic relationship of the selective energizings provided by the first and third means, the first and second members being constructed to provide an instantaneous acceleration of the second member relative to the first member along the first axis in accordance with instantaneous shifts in the phase of the first polyphase signals and to provide an instantaneous acceleration of the second member relative to the first member along the second axis in accordance with instantaneous shifts in phase of the second polyphase signals, ninth means for providing first command signals having characteristics representing desired accelerations to be instantaneously provided to the second member relative to the first member along the first axis, tenth means for providing second command signals having characteristics representing desired accelerations to be instantaneously provided to the second member relative to the first member along the second axis, eleventh means responsive to the first polyphase signals and the first command signals for instantaneously shifting the phases of the first polyphase signals through a first particular angle dependent upon the characteristics of the first command signals, twelfth means responsive to the second polyphase signals and the second command signals for instantaneously shifting the phases of the second polyphase signals through a second particular angle dependent upon the characteristics of the second command signal, thirteenth means operatively coupled to the second member for producing signals having characteristics representing a function of the velocity of the second member relative to the first member along the first coordinate axis, fourteenth means responsive to the signals produced by the thirteenth means for producing instantaneous shifts in the phase of the first polyphase signals from the eleventh means in accordance with the signals from the thirteenth means to provide a damping in the displacement of the second member relative to the first member along the first coordinate axis, fifteenth means operatively coupled to the second member for producing signals having characteristics representing a function of the velocity of the second member relative to the first member along the second coordinate axis, and sixteenth means responsive to the signals produced by the fifteenth means for producing instantaneous shifts in the phase of the second polyphase signals in accordance with the signals from the fifteenth means to provide a damping in the displacement of the second member relative to the first member along the second coordinate axis.

Claim 18

In the combination set forth in claim 11, the seventh means being operative to provide for a selective energizing of the first means in a periodic relationship and the eighth means being operative to provide for a selective energizing of the third means in a periodic relationship and the first and second members being constructed to provide simultaneous and independent displacements between the first and second members along the first and seCond coordinate axes in accordance with the periodic energizings of the seventh and eighth means and the first and second members being constructed to define an open loop synchronous motor, the first member being in the form of a magnetic grid and the first and third means being provided with magnetic properties and being disposed for cooperation with the first member to provide simultaneous and independent movements of the second member relative to the first member along the first and second axes and the first and second members being planar and being disposed in contiguous relationship to each other, seventeenth means for varying the frequency of the first polyphase signals to vary the rate of displacement of the second member relative to the first member along the first axis in accordance with the accelerations imparted to the second member relative to the first member along the first axis, and eighteenth means for varying the frequency of the second polyphase signals to vary the rate of displacement of the second member relative to the first member along the second axis in accordance with the accelerations imparted to the second member relative to the first member along the second axis.

Claim 19

In combination, a first member, a second member disposed in cooperative relationship with the first member for instantaneously producing forces between the first and second members in a direction to provide a displacement of the second member relative to the first member, first means for providing first polyphase signals having a periodic function and having a particular phase displacement relative to each other and representing a desired displacement between the first and second members, second means for energizing a particular one of the first and second members for producing instantaneous forces between the first and second members in the direction to provide the displacement of the second member relative to the first member, the first and second members being constructed to provide a displacement between the first and second members in synchronism with the first polyphase signals having the periodic function and to define an open loop synchronous motor, third means for providing command signals having characteristics representing the instantaneous force to be applied to the second member relative to the first member, fourth means for providing second polyphase signals having the particular phase displacement relative to each other, fifth means responsive to the second polyphase signals and to the command signals for instantaneously shifting the phases of the second polyphase signals in accordance with the characteristics of the command signals, the second means being connected to the fifth means for energizing the particular one of the first and second members in accordance with the characteristics of the phase-shifted signals from the fourth means to produce instantaneous forces between the first and second members in accordance with such phase shifts, sixth means responsive to the relative displacement between the first and second members for producing third signals having the periodic function and representing the actual displacement of the second member relative to the first member, seventh means connected in a feedback loop with the first and fifth and sixth means for instantaneously shifting the phases of the second polyphase signals through angles dependent upon the relative differences in the characteristics of the third signals and the second polyphase signals, eighth means responsive to the phase-shifted second polyphase signals for instantaneously controlling the operation of the second means in producing instantaneous forces between the first and second members in accordance with any instantaneous shifts in the phase characteristics of the second polyphase signals, and ninth means responsive to the third signal for producing third polyphase signals having the periodic function and having the Particular phase displacement relative to each other and representing the velocity of the second member relative to the first member, and tenth means responsive to the signals from the ninth means and connected in the feedback loop for introducing such signals to the fifth means to control the instantaneous phase shifts in the second polyphase signals and the instantaneous operation of the second means in accordance with such phase-shifted second polyphase signals for providing damping in the displacement of the second member relative to the first member, the first and second members being constructed to provide a movement of the second member relative to the first member in synchronism with the recurrent characteristics of the second polyphase signals.

Claim 20

In combination, a first member, a second member disposed in cooperative relationship with the first member for instantaneously producing forces between the first and second members in a direction to provide a displacement of the second member relative to the first member, first means for providing first polyphase signals having a periodic function and having a particular phase displacement relative to each other and representing a desired displacement between the first and second members, second means for energizing a particular one of the first and second members for producing instantaneous forces between the first and second members in the direction to provide the displacement of the second member relative to the first member, the first and second members being constructed to provide a displacement between the first and second members in synchronism with the first polyphase signals having the periodic function and to define an open loop synchronous motor, third means for providing command signals having characteristics representing the instantaneous force to be applied to the second member relative to the first member, fourth means for providing second polyphase signals having the particular phase displacement relative to each other, fifth means responsive to the second polyphase signals and to the command signals for instantaneously shifting the phases of the second polyphase signals in accordance with the characteristics of the command signals, the second means being connected to the fifth means for energizing the particular one of the first and second members in accordance with the characteristics of the phase-shifted signals from the fourth means to produce instantaneous forces between the first and second members in accordance with such phase shifts, sixth means responsive to the relative displacement between the first and second members for producing third signals having the periodic function and representing the actual displacement of the second member relative to the first member, seventh means connected in a feedback loop with the first and fifth and sixth means for instantaneously shifting the phases of the second polyphase signals through angles dependent upon the relative differences in the characteristics of the third signals and the second polyphase signals, eighth means responsive to the phase-shifted second polyphase signals for instantaneously controlling the operation of the second means in producing instantaneous forces between the first and second members in accordance with any instantaneous shifts in the phase characteristics of the second polyphase signals, and ninth means responsive to the third signal for producing third polyphase signals having the periodic function and having the Particular phase displacement relative to each other and representing the velocity of the second member relative to the first member, and tenth means responsive to the signals from the ninth means and connected in the feedback loop for introducing such signals to the fifth means to control the instantaneous phase shifts in the second polyphase signals and the instantaneous operation of the second means in accordance with such phase-shifted second polyphase signals for providing damping in the displacement of the second member relative to the first member, the first and second members being constructed to provide a movement of the second member relative to the first member in synchronism with the recurrent characteristics of the second polyphase signals.

Claim 21

The combination set forth in claim 13, including eleventh means for providing fourth polyphase signals having the periodic function and having the particular phase displacement relative to each other and representing the desired velocity of the second member relative to the first member and twelfth means responsive to the signals from the eleventh means for introducing the signals from the eleventh means to the fifth means to obtain the instantaneous shifts in the phases of the second polyphase signals in accordance with the characteristics of the signals from the eleventh means relative to the characteristics of the third polyphase signals from the ninth means.

Claim 22

The combination set forth in claim 3 wherein the energizing means are provided as a spaced pair of energizing means and are included in at least one of the first and second members for inhibiting any rotation of the second member relative to the first member about an axis normal to the displacement of the second member relative to the first member and wherein the third means include a first pair of phase-shifting means each associated with an individual one of the energizing means in the pair and the fourth means include a second pair of phase-shifting means each associated with an individual one of the energizing means in the pair and wherein means are responsive to the signals related to the particular function of the displacement of the second member relative to the first member for providing a pair of feedback signals having a periodic function and the particular phase displacement relative to each other and representing a particular function of the instantaneous rotation of the second member relative to the first member about the axis normal to the movement of the second member relative to the first member and wherein first feedback means are included for introducing such feedback signals to the pair of phase-shifting means in the third means in a first particular relationship to control the instantaneous shifts in the phase of the pair of periodic signals produced by the third means for introduction to one of the energizing means in the pair and wherein second feedback means are included for introducing such feedback signals to the pair of phase-shifting means in each of the fourth means in a second particular relationship to control the instantaneous shifts in the pair of periodic signals produced by the fourth means for introduction to the other one of the energizing means in the pair, thereby to damp any instantaneous rotation of the second member relative to the first member about the axis normal to the displacement of the second member relative to the first member.

Claim 23

The combination set forth in claim 5, including, the energizing means being disposed in a spaced pair on at least one of the first and second members for inhibiting any instantaneous rotation of the second member relative to the first member about an axis substantially normal to the displacement of the second member relative to the first member, eighth means responsive to the indications from the seventh means for providing indications representing a particular function of the instantaneous rotation of the second member relative to the first membEr about the axis substantially normal to the displacement of the second member relative to the first member, the fourth means including a first pair of phase-shifting means each associated with an individual one of the energizing means in the pair, the fifth means including a second pair of phase-shifting means each associated with an individual one of the energizing means in the pair, ninth means responsive to the indications from the eighth means for introducing such indications back to the pair of the phase-shifting means in the fourth means in a first relationship to control the instantaneous shifts in the phases of the first and second trigonometric signals introduced to the first energizing means in the pair and thereby provide a damping of the rotation of the second member relative to the first member about the axis normal to the displacement of the second member relative to the first member, and tenth means responsive to the indications from the eighth means for introducing such indications back to the pair of the phase-shifting means in the fifth means in a second relationship to control the instantaneous shifts in the phases of the first and second trigonometric signals introduced to the second energizing means in the pair and thereby provide a damping of the rotation of the second member relative to the first member about the axis normal to the displacement of the second member relative to the first member.

Claim 24

The combination set forth in claim 7, including, second means being disposed in a spaced pair for inhibiting any instantaneous rotation of the second member relative to the first member about an axis substantially normal to the movement of the second member relative to the first member, the fourth means including a pair of phase-shifting means each associated with an individual one of the second means in the pair, the fifth means including a pair of phase-shifting means each associated with an individual one of the second means in the pair, seventh means responsive to the indications from the sixth means of the particular function of the instantaneous displacement of the second member relative to the first member for providing indications representing a particular function of the instantaneous rotation of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member, eighth means responsive to the indications of the particular function of the instantaneous rotation of the second member relative to the first member for introducing such indications to the pair of the phase-shifting means in the fourth means in a first relationship to obtain instantaneous shifts in the phases of the first and second signals introduced to a first one of the second means in the pair in accordance with such indications to provide a damping of such rotation of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member, and ninth means responsive to the indications of the instantaneous function of the instantaneous rotation of the second member relative to the first member for introducing such indications to the pair of the phase-shifting means in the fifth means in a second relationship to obtain instantaneous shifts in the phases of the first and second signals introduced to the other one of the second means in the pair in accordance with such indications to provide a damping of such rotation of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member.

Claim 25

The combination set forth in claim 9, including, the fourth means being disposed in a spaced pair for inhibiting any rotation of the second member relative to the first member about an axis substantially normal to the displacement of the second member relative to the first member, the thIrd means including a pair of phase-shifting means each associated with an individual one of the fourth means in the pair, sixth means responsive to the indications from the fifth means of the velocity of the second member relative to the first member for providing indications representing the velocity of any instantaneous rotation of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member, and seventh means responsive to the indications from the sixth means of the velocity of rotation of the second member relative to the first member for introducing such indications to a first one of the phase-shifting means in a first relationship to instantaneously shift the phases of the first and second signals introduced to one of the energizing means in the pair in accordance with such indications from the sixth means to provide a damping of such rotation of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member, and eighth means responsive to the indications from the sixth means of the velocity of rotation of the second member relative to the first member for introducing such indications to the other one of the phase-shifting means in a second relationship to instantaneously shift the phases of the first and second signals introduced to the other one of the energizing means in the pair in accordance with the indications from the sixth means to provide a damping of such rotation of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member.

Claim 26

The combination set forth in claim 11, including, the first means being disposed in a pair spaced on opposite sides of the first axis and the third means being disposed in a pair spaced on opposite sides of the second axis for inhibiting any rotation of the second member relative to the first member about an axis substantially normal to the surface defined by the first and second coordinate axes, seventeenth means responsive to the signals from the thirteenth means for producing signals representing a function of any velocity of rotation of the second member relative to the first member about the axis substantially normal to the surface defined by the first and second coordinate axes, the eleventh means including a pair of phase-shifting means each associated with an individual one of the second means in the part, the twelfth means including a pair of phase-shifting means each associated with an individual one of the fourth means in the pair, eighteenth means responsive to the signals from the thirteenth means for introducing such signals to each of eleventh means in the pair to shift instantaneously the phases of the first polyphase signals through angles for providing a damping of any rotation of the second member relative to the first member about the axis substantially normal to the surface defined by the first and second coordinate axes, nineteenth means responsive to the signals from the eighteenth means for introducing such signals to each of the twelfth means in the pair to shift instantaneously the phases of the second polyphase signals in the pair through angles for providing a damping of any rotation of the second member relative to the first member about the axis substantially normal to the surface defined by the first and second coordinate axes, twentieth means responsive to any disposition of the second member in other than a particular plane for providing signals representing such other disposition, and twenty-first means responsive to the signals from the twentieth means for varying the characteristics of the first and second command signals from the ninth and tenth means in accordance with the signals from the twentieth means to compensate for such disposition of the second means in otheR than the particular plane.

Claim 27

The combination set forth in claim 13, including, second means being disposed in a spaced pair for inhibiting any rotation of the second member relative to the first member about an axis substantially normal to the displacement of the second member relative to the first member, eleventh means responsive to the signals from the ninth means for producing signals representing any velocity of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member, the seventh means being provided in a pair each associated with an individual one of the second means in the pair, twelfth means responsive to the signals from the eleventh means for controlling the phase-shifts provided in the second polyphase signals by one of the seventh means in the pair to provide a damping of any rotation of the second member about the axis substantially normal to the displacement of the second member relative to the first member, and thirteenth means responsive to the signals from the eleventh means for controlling the phase shifts provided in the second polyphase signals by the other one of the seventh means in the pair to provide a damping of any rotation of the second member about the axis substantially normal to the displacement of the second member relative to the first member, the first and second members being planar.

Claim 28

In combination, a first member, a second member disposed in cooperative relationship with the first member and constructed relative to the first member to produce forces between the first and second members in a direction to provide a displacement of the second member relative to the first member, first means for producing polyphase signals having a particular phase displacement relative to each other and having a periodic relationship, second means having a periodic function for energizing a particular one of the first and second members in the periodic relationship in accordance with the characteristics of the polyphase signals to produce forces between the first and second members in the direction to provide the displacement of the second member relative to the first member, the first and second members being constructed to provide a displacement between the first and second members in synchronism with the periodic energizings of the particular one of the first and second members, third means including the second means for inhibiting any rotation of the second member relative to the first member about an axis substantially normal to the displacement of the second member relative to the first member, fourth means operatively coupled to one of the first and second members for producing signals representing the rate of the actual displacement of the second member relative to the first member, and fifth means responsive to the signals from the fourth means for instantaneously shifting the phases of the polyphase signals from the first means to damp any rotation of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member.

Claim 29

In combination, a first member, a second member disposed in cooperative relationship with the first member and constructed relative to the first member to produce forces between the first and second members in a direction to provide a displacement of the second member relative to the first member, first means for producing polyphase signals having a particular phase displacement relative to each other and having a periodic relationship, second means having a periodic function for energizing a particular one of the first and second members in the periodic relationship in accordance with the characteristics of the polyphase signals to produce forces between the first and second members in the direction to provide the displacement of the second member relative to the first member, the first and second members being constructed to provide a displacement between the first and second members in synchronism with the periodic energizings of the particular one of the first and second members, third means including the second means for inhibiting any rotation of the second member relative to the first member about an axis substantially normal to the displacement of the second member relative to the first member, fourth means operatively coupled to one of the first and second members for producing signals representing the rate of the actual displacement of the second member relative to the first member, and fifth means responsive to the signals from the fourth means for instantaneously shifting the phases of the polyphase signals from the first means to damp any rotation of the second member relative to the first member about the axis substantially normal to the displacement of the second member relative to the first member.

Claim 30

In combination, a first member, a second member disposed in cooperative relationship with the first member for movement relative to the first member, first means for providing first polyphase signals have a periodic function and a particular phase displacement relative to each other and representing a desired displacement of the second member relative to the first member, second means for providing second polyphase signals having the periodic function and the particular phase relationship, third means for providing a command signal having characteristics representing a desired acceleration of the second member relative to the first member, fourth means responsive to the signals from the second and third means for instantaneously shifting the sIgnals from the second means through a controllable power angle in accordance with the characteristics of the command signal to facilitate the movements of the second member relative to the first member, fifth means responsive to the signals from the fourth means for energizing a particular one of the first and second members in accordance with such signals to provide instantaneous and controlled changes in the acceleration between the first and second members in accordance with the instantaneous shifts in phase of such signals, sixth means operatively coupled to one of the first and second members for producing signals having the periodic function and representing a particular function of the actual displacement between the first and second members, the first and second members being constructed to provide a displacement between the first and second members in synchronism with the periodic function of the signals from the fourth means, the first and second members being constructed to provide an instantaneous acceleration between the first and second members in accordance with the instantaneous shifts in phase of the second polyphase signals, and seventh means responsive to the signals from the sixth means for introducing such signals to the fourth means to vary the instantaneous shift in phase of the second polyphase signals in accordance with the signals from the sixth means to control any rotation of the second member relative to the first member about an axis substantially normal to the displacement between the first and second members.

Claim 31

In combination, a first member, a second member disposed in cooperative relationship with the first member for movement relative to the first member, first means for providing first polyphase signals have a periodic function and a particular phase displacement relative to each other and representing a desired displacement of the second member relative to the first member, second means for providing second polyphase signals having the periodic function and the particular phase relationship, third means for providing a command signal having characteristics representing a desired acceleration of the second member relative to the first member, fourth means responsive to the signals from the second and third means for instantaneously shifting the sIgnals from the second means through a controllable power angle in accordance with the characteristics of the command signal to facilitate the movements of the second member relative to the first member, fifth means responsive to the signals from the fourth means for energizing a particular one of the first and second members in accordance with such signals to provide instantaneous and controlled changes in the acceleration between the first and second members in accordance with the instantaneous shifts in phase of such signals, sixth means operatively coupled to one of the first and second members for producing signals having the periodic function and representing a particular function of the actual displacement between the first and second members, the first and second members being constructed to provide a displacement between the first and second members in synchronism with the periodic function of the signals from the fourth means, the first and second members being constructed to provide an instantaneous acceleration between the first and second members in accordance with the instantaneous shifts in phase of the second polyphase signals, and seventh means responsive to the signals from the sixth means for introducing such signals to the fourth means to vary the instantaneous shift in phase of the second polyphase signals in accordance with the signals from the sixth means to control any rotation of the second member relative to the first member about an axis substantially normal to the displacement between the first and second members.

Claim 32

The combination set forth in claim 22 wherein the sixth means produce signals having characteristics to represent the velocity between the first and second members and wherein the seventh means introduce the signals from the sixth means to the fourth means to vary the phase shift of the second polyphase signals in a manner to damp any rotation of the second member relative to the first member about the axis substantially normal to the displacement between the first and second members and wherein the first member is magnetic and is planar and the first and second members are constructed to define an open loop synchronous motor and the fifth means provide magnetic forces which interact with the first member to provide controlled displacements of the second member relative to the first member.

Claim 33

The combination set forth in claim 13 wherein the fifth means include a first adder and a first multiplier responsive to the second polyphase signals and the command signal for instantaneously shifting the phase of one of the second polyphase signals through the particular angle in accordance with the characteristics of the command signal and further include a second adder and a second multiplier responsive to the second polyphase signals and the command signal for instantaneously shifting the phase of another one of the second polyphase signals through the particular angle in accordance with the characteristics of the command signal.

Claim 34

The combination set forth in claim 9 wherein the third means include a first adder and a first multiplier responsive to the polyphase signals and the command signal for instantaneously shifting the phase of one of the polyphase signals through an angle dependent upon the characteristics of the command signal and further include a second adder and a second multiplier responsive to the polyphase signals and the command signal for instantaneously shifting the phase of another one of the polyphase signals through such angle.