Velocity sensing pulse pair servo apparatus

Claim 2

Servo apparatus comprising, in combination: amplifier means including first and second input means and first and second output means, the signals output at said second output means, being inverted relative those output at said first output means, said amplifier means providing pulse pair output signals at said output means thereof; load means for providing a mechanical position output in response to an electrical input signal; velocity sensing means, connected to said load means, for sensing position change of said mechanical output of said load means over a predetermined time subsequent to application of the pulse pair output signal to said load means and supplying compensation signals indicative of sensed position change; and summing means, connected between said amplifier means, said velocity sensing means and said load means for supplying compensated pulse pair signals to reposition the mechanical output of said load means in discrete steps whereby the compensation provided is for forces detrimental to predetermined distance movements.

Claim 3

Apparatus as claimed in claim 1 comprising, in addition: integration means connected between said sensing means and said load means for accumulating compensating signals to provide a steady state bias signal to said load means in addition to said compensated pulse pair signals.

Claim 4

Pulse operated position stepping servo apparatus comprising, in combination: motor means including electrical signal input means and mechanical position output means; velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to application of a control drive signal; command signal input means for supplying command signals; and summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means control drive signals comprising pulse pairs, said control signal operating to step position said motor means by a given position increment for each pulse pair, the control signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means for halting in a position dictated by the last applied pulse pair control signal.

Claim 5

Pulse operated position stepping servo apparatus comprising, in combination: motor means including electrical signal input means and mechanical position output means; velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to application of a control drive signal; command signal input means for supplying command signals; and summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means control drive signals comprising pulse pairs, said control signal operating to step position said motor means by a given position increment for each pulse pair, the control signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means for halting in a position dictated by the last applied pulse pair control signal.

Claim 6

Pulse pair operated servo apparatus comprising, in combination: motor means including control signal input means and mechanical position output means; velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to cessation of a control signal used to drive said motor means; command signal input means for supplying command signals; summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means said control signal comprising a pulse pair, said control signal operating to step position said motor means by a given position increment, the control signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means from halting in a position dictated by the last applied pulse signal; and integration means, connected to said operating in conjunction with said summing means, for integrating the difference between signals indicative of commanded and actual positions, and applying the integrated result to the composite for producing said control signal.

Claim 7

Pulse pair operated servo apparatus comprising, in combination: motor means including control signal input means and mechanical position output means; velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to cessation of a control signal used to drive said motor means; command signal input means for supplying command signals; summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means said control signal comprising a pulse pair, said control signal operating to step position said motor means by a given position increment, the control signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means from halting in a position dictated by the last applied pulse signal; and integration means, connected to said operating in conjunction with said summing means, for integrating the difference between signals indicative of commanded and actual positions, and applying the integrated result to the composite for producing said control signal.

Claim 10

Apparatus for compensating for detrimental forces acting to prevent accurate positioning of a mechanical output of a servoed motor loop comprising, in combination: motor means; input means for supplying command signals to control the position of a mechanical output of said motor means; modifying means, connected to said input means and including rate input means, for applying pulse pair waveform signals to said motor means for accelerating and decelerating the mechanical output of said motor means to a new position in response to said command signals; sensing means for sensing rate of movement of the mechanical output of said motor means subsequent to application of said pulse pair waveform signals and supplying a rate output signal indicative of the sensed rate of movement; and connecting means for connecting said sensing means to said modifying means for modifying the waveform of said pulse pair signals toward a waveform which will increment the position of said motor means output by a standardized value in accordance with the rate output signal.

Claim 11

Apparatus for compensating for detrimental forces acting to prevent accurate positioning of a mechanical output of a servoed motor loop comprising, in combination: motor means; input means for supplying command signals to control the position of a mechanical output of said motor means; modifying means, connected to said input means and including rate input means, for applying pulse pair waveform signals to said motor means for accelerating and decelerating the mechanical output of said motor means to a new position in response to said command signals; sensing means for sensing rate of movement of the mechanical output of said motor means subsequent to application of said pulse pair waveform signals and supplying a rate output signal indicative of the sensed rate of movement; and connecting means for connecting said sensing means to said modifying means for modifying the waveform of said pulse pair signals toward a waveform which will increment the position of said motor means output by a standardized value in accordance with the rate output signal.

Claim 12

Apparatus as claimed in claim 6 comprising, in addition: position error signal generating means, comprising a part of said modifying means, for supplying position error signals to be used in the generation of said pulse pair signals; and integration means, comprising a part of said modifying means, for accumulating position error signals to be used in modifying the waveform of said pulse pair signals to increase the rate of servo action in the motor loop for large values of position error signals.

Claim 13

Pulse operated position stepped servo apparatus comprising, in combination: motor means including electrical signal input means and mechanical position output means; velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to application of a control signal to drive said motor means; command signal input means for supplying command signals; and summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means the control signal which control signal comprises at least one pulse, said control signal operating to step position said motor means by a given position increment, the pulse signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means from halting in a position dictated by the last applied pulse signal.

Claim 14

Pulse operated position stepped servo apparatus comprising, in combination: motor means including electrical signal input means and mechanical position output means; velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to application of a control signal to drive said motor means; command signal input means for supplying command signals; and summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means the control signal which control signal comprises at least one pulse, said control signal operating to step position said motor means by a given position increment, the pulse signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means from halting in a position dictated by the last applied pulse signal.