Abstract: A governor is disclosed for governing engine and load speed and which is especially adapted for use with motor vehicles. It comprises an overriding throttle closing device with a linear actuator for moving the device to a position for limiting the engine speed and load speed to governed values. An electronic control circuit comprising a microprocessor operating under program control produces motor control signals for a reversible electric motor which drives the actuator means through a gear train and lead screw. An engine speed signal generator provides an electrical speed signal to the control circuit and a road speed signal generator supplies a load speed signal to the control circuit. When the speed signal exceeds a predetermined value, the control circuit produces motor control signals for operating the motor at full speed to move the actuator to a reference position causing operation in a reference point governing mode.

Abstract: Control apparatus comprising a lever, foot pedal or other operating member which is coupled to an electrical stepper motor operable, under the control of a computer say, to generate detents and feel forces resisting the movement of the member and thereby impart information to the operator. For example, a detent or position of marked resistance can be introduced into the movement range of say a car throttle pedal to indicate to the driver a pedal position giving optimum economy of fuel. The detent position can be changed within the overall range of pedal movement in dependence upon instant driving parameters such as speed. As well as detents, programmed and/or external condition dependent feel forces can be generated.

Abstract: Control apparatus of the kind disclosed in our U.K. patent application No. 2173887 wherein the `mover` or rotor of a linear or rotary electrical stepper motor is coupled to a manual operating member so that, not only can the motor drive the operating member to give an automatic mode of the apparatus, but can exert a controlled resistance to manual movement of the operating member thereby giving a degree of `feel` to the operator and/or one or more electrically generated discreet detent positions within the range of movement. Herein the apparatus incorporates an improvement whereby the movable operating member is pivotably mounted so that the manual movement is arcuate--flexible cables connected to the drive motor mover and/or control switches incorporated in the operating member can pass from the operating member to a fixed part of the apparatus at or near the pivotable mounting where the movement to be taken up is less.

Abstract: The electric wheelchair includes a battery pack (A), a right drive motor (B), a left drive motor (C), and a control circuit for controlling the amount of power supplied from the battery to the left and right control motors. A speed potentiometer (24) and a direction potentiometer (26) are connected with a joystick (22) for producing a selected vehicle speed signal and a selected vehicle direction signal, respectively. A right speed control circuit (E) and a left speed control circuit (F) receive the selected vehicle speed and direction signals and control the right and left motors in accordance with them. Each speed control circuit includes a reference signal circuit (90) which receives the selected vehicle speed and direction signals and produces a reference signal whose magnitude varies with the speed selected for its motor. The voltage and current across the armature of the motor are detected as measures of the motors actual speed.

Abstract: A force return servosystem between a master actuator and a slave actuator connected by transmission lines, which introduce a delay, .tau..At the master actuator, the servocontrol is realized by means of two devices supplying force signals, where the smaller is applied to the master actuator, but having the polarity of the signal supplied by a first servocontrol device. The latter compares, in a known manner the position signal .theta.(t) of the master actuator with the delay position signal .theta.'(t-.tau.) of the slave actuator, whereas a second servocontrol device compares the delayed position signal .theta.(t-2.tau.) with signal .theta.'(t-.tau.).The invention may be used in manipulators, the control of the flying of a missile and any other control requiring the proportioning of the force controlling a movement of a machine.

Abstract: Control apparatus, for example a thrust demand unit or "throttle box" for an aircraft, comprises a manually movable control grip coupled to drive motor means comprising twin magnetically interactive components and operable for automatic movement of the control grip, e.g. under autopilot control, while allowing override by the operator e.g. the pilot of an aircraft. The drive motor may be a linear motor, particularly a motor comprising a rod and rider each having pole teeth defining relative positions of minimum magnetic reluctance between the rod and rider, and winding means for moving the rider stepwise between said positions.

Abstract: An electronically controlled apparatus for controllably positioning pneumatic actuators includes, in a first embodiment, first means for selectively flowing compressed fluid to the actuator and valve means for selectively exhausting compressed fluid from the actuator. An electronic control panel is adapted to receive digital command signals from a computerized controller and is coupled to the first means and to the valve means for actuation thereof in response to the command signals. Means are included for isolating electrical switching transients from the controller.In a second preferred embodiment, the positioner also includes transducer means for generating a feedback signal representative of the position of the actuator piston assembly. A third preferred embodiment is similar to that of the second embodiment and incorporates a control adapted to receive analog rather than digital command signals. An optional high limit pressure switch may be used with any embodiment.

Abstract: A remote controller is disclosed for controlling the throttle, brake and steering mechanism of a conventional motor vehicle, with the remote controller being particularly advantageous for use by severely handicapped individuals. The controller includes a remote manipulator which controls a plurality of actuators through interfacing electronics. The remote manipulator is a two-axis joystick which controls a pair of linear actuators and a rotary actuator, with the actuators being powered by electric motors to effect throttle, brake and steering control of a motor vehicle adapted to include the controller. The controller enables the driver to control the adapted vehicle from anywhere in the vehicle with one hand with minimal control force and range of motion. In addition, even though a conventional vehicle is adapted for use with the remote controller, the vehicle may still be operated in the normal manner.

Abstract: A transducer for generating a feedback signal representative of the position of a movable member includes a signal generating mechanism for providing an electrical feedback signal representative of the position of the movable member. The signal generating mechanism includes a first shaft portion having a first longitudinal centerline and a drive mechanism having a shaft member coupled in driving engagement to the first shaft portion. The drive mechanism is adapted to be cable connected to one of a plurality of movable members having maximum travel spans different one from the other. The shaft member has a shaft longitudinal centerline which is concentric with the first centerline, the centerlines defining a first axis. An alignment mechanism is coupled to the drive mechanism and the signal generating mechanism and permits limited movement of the first axis with respect to a reference axis. The alignment mechanism thereby isolates the signal generating mechanism from misalignment reaction forces.

Abstract: An anti-log power amplifier for energizing a reversible electric motor of an electrically assisted power steering system for an automotive vehicle. The power amplifier has a preamplifier which amplifies the output signal of a torque sensor detecting the torque applied to the vehicle's steering wheel, an anti-log signal generator exponentially modifying the amplified output signal, a pulse width modulator converting the exponentially modified signal to a pair of complementary pulse width signals, and a pair of bridged power amplifiers for energizing the reversible electric motor in response to the complementary pulse width signal. The bridged power amplifiers are further responsive to the exponentially modified signal for increasing the electrical power delivered to the reversible electric motor under high torque loads.

Abstract: In a servoactuator system for an aircraft, a strapdown series servoactuator having an external linkage assembly is coupled between the pilot's control stick and a control surface member. The external linkage assembly includes a differential link and servo link having specially tapered stop surfaces adapted to be varied in dimensions to accommodate a wide variety of installations, which stop surfaces cooperate with fixed stops on the servoactuator housing whereby to provide a variety of pilot authority limits and series servo authority limits depending upon particular installation requirements.

Abstract: A pair of input sense signals are processed and passed to inputs of two servo amplifiers. The amplifier outputs are summed and converted to a corresponding hydraulic pressure in a T-valve. Transducers monitor the produced pressure and provide feedback signals to the servo amplifiers. A comparator compares the servo amplifier outputs and activates a warning device if the signal difference therebetween exceeds a threshold level. Equalizer circuitry processes the comparator output and provides correction signals to the servo amplifier inputs to wash-out offset effects.

Abstract: In a solenoid actuated device for controlling the oil supplied to a power steering unit of a motor car, a driving circuit is provided to pass current through the solenoid. The driving circuit comprises a comparator supplied with an analogue control signal proportional to the running speed of the motor car, a power amplifier including an output transistor which supplies exciting current to the solenoid coil in response to the output of the comparator. A positive feedback resistor is connected between the output of the comparator and the input thereof to which the analogue signal is applied, and a negative feedback resistor is connected between the output of the power amplifier another input of the comparator thereby ON-OFF controlling the output transistor to pass pulse current through the solenoid coil.

Abstract: A robot is disclosed having a plurality of movable links or members interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other links or members, namely those constituting the wrist, are relatively lightweight which permits movement thereof without power assistance during manual programming. A force transducer is connected in series with the output element of the robot in association with one of the massive links located between the wrist and the stationary base on which the robot is mounted. The transducer senses forces during programming applied to the massive links via the wrist when manual programming forces are applied to the robot output. The force transducer provides an output signal for each of the massive links correlated to the component of the manual programming force transmitted thereto via the wrist.

Abstract: Active manual designation system combining the inertial stability of velocity loop systems with the use of the reflex movement of the operator for control purposes. It comprises a control member fixed to a support of the sight unit parallel to the aiming line and whose output signals are the nominal information values for the loops for regulating the rotation velocities about the azimuth and elevation axes. The operator holds the member in his right hand, places his right eye on the aiming line and keeps himself against the turret by means of a handle on which there is a correct sighting button.

Abstract: Strapdown, multifunction actuator apparatus comprising one or two integral units adapted for installation in an aircraft, particularly a helicopter, and coupled between the pilot's control stick linkage and the aircraft control surface (or surface servo boost) linkage to perform the functions of series actuation, trim actuation, artificial feel, control position sensing, and control authority limits. The apparatus includes a series actuator installed in the vehicle and connected to the vehicle control linkages in the conventional parallel actuator manner; that is, it is secured directly or strapped down to the airframe and therefore greatly simplifies control system installation and reduces problems such as those associated with control rod vibration resonances normally encountered with conventional integral-with-linkage series actuator installations.

Abstract: The invention contemplates a micromanipulator as for the manipulation of a vitrectomy instrument, wherein a single remotely operable control means is effective through three independent spherical-coordinate servoelectric drives to selectively control the operative end of the instrument, within an operating volume defined by spherical coordinates centered at a fixed point of origin; in a vitrectomy, the fixed point of origin is illustratively the point of surgical entry through the pars plana of the eye.

Abstract: Variations of the speed of a video disc mastering turntable which lie within the lock range of a phase-lock-loop turntable speed control servo are detected by sensing variations of the loop phase detector waveform symmetry. Speed error limits are established by pulse forming circuitry which continuously restarts a timing circuit in one mode of operation and allows the timing circuit to complete a timing cycle in another mode of operation. A further timing circuit is arranged to reject multiple indications of the same speed error whereby a single output indication is provided for all speed errors occurring in a certain time period.

Abstract: A system which provides feel-force to the control stick of an aircraft by means of hydraulic pressure is provided with non-nulling, proportional, direct feedback loop, and a limited integral feedback loop in the drive of the pressure control servo valve that commands the pressure-generating hydraulic force actuator. Static nulls are compensated in the integral path; integration is corrected when the static null and integral output exceed a limiting value. Embodiments include software and/or hardware portions.

Abstract: A robot is disclosed having a plurality of movable links interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other links, namely those constituting the wrist, are relatively lightweight which permits movement thereof without power assistance during manual programming. A force transducer is connected in series with the output element of the robot in association with one of the massive links located between the wrist and the stationary base on which the robot is mounted. The transducer senses forces during programming applied to the massive links via the wrist when manual programming forces are applied to the robot output. The force transducer provides an output signal for each of the massive links correlated to the component of the manual programming force transmitted thereto via the wrist.

Abstract: A program controlled workpiece manipulator has a load cell supported between the manipulator clamp and the positioning elements which generate signals proportional to the various components of the forces exerted on the workholder by external instrumentalities. To generate a desired control program for the manipulator the outputs of the load cell and of the position transducers for the manipulator drive servos are used to generate command signals for the drive servos which urge motion of the clamp to reduce the externally imposed forces. The clamp is then manually grasped and urged toward the desired motion and the outputs of the position sensors are recorded during the motion to create a control program which may be replaced to control the manipulator to duplicate the motion.

Abstract: A servo system includes a servo loop incorporating an articulated mechanical arm or other controllable element, resolved motion rate control apparatus or other coordinate transformation apparatus, and an accommodation branch. The transfer characteristics may be readily adjusted to constrain the controllable element to accomplish a desired task, and the accommodation branch transfer characteristics may be readily modified to accomplish the performance of many different tasks without modifications to other portions of the system.

Abstract: A single actuator unit is installed in an aircraft, for example, a helicopter, and is coupled to the control linkage from the pilot's stick to perform the functions of series actuation, trim actuation, artificial feel, control position sensing, control limits and, if needed, force boost. Although the device performs as a series actuator, it is installed in and connected to the vehicle surface control linkages in the conventional parallel actuator manner and therefore greatly simplifies control system installation and reduces problems associated with control rod vibration resonances normally encountered with series actuator installations.

Abstract: Apparatus for copy machining provided with two motor driven carriage saddles, and with a steering disc, the latter being connected to sliding contacts of two potentiometers having several tappings through a control disc and a transmission mechanism. The potentiometers are divided in four equal parts by five tappings. In each potentiometer the first, middle and the last tapping are connected to each other, and the remaining two are also connected.The potentiometers occupy a phase position complying with the angular displacement of the steering disc, whereas the terminals are connected to the motors. The potentiometers determine the ratio of the revolution numbers of the motors to each other, i.e. the direction of tool movement. A third potentiometer controls the speed of the tool movement.

Abstract: A handle apparatus is for use with a device which has a movable component and a variable speed motor system which is responsive to an error signal for driving the movable component to desired positions corresponding to the error signal. The handle apparatus includes a central stationary support member which can be mounted to the movable component. The support member is adapted to receive a miniature force sensor which includes a linear variable differential transformer having an operative axis. The member receives one force sensor for each axis in which power-assist is desired; with the axis of each force sensor positioned corresponding to each axis of power-assist.

Abstract: In apparatus wherein a massive component, such as the spot film device of an x-ray table, is driven to various positions with an electric motor drive, a handle is attached to the component for urging it in the desired direction. The handle is attached to the component with beams that flex slightly. A piezoresistive strain gage assembly is mounted on one of the beams for developing an error signal in response to the handle being urged in either direction. The signal is amplified and used to control the power assist driving motor. Means are provided for compensating the vertical component of gravitational force when the handle and the object to which it is attached are angulated. Means are also provided for disabling the drive motor if an electronic element fails.

Abstract: A force feel system for an aircraft having a control member or stick connected to a boost actuator for positioning an aircraft control surface and a variable force gradient spring mechanism for providing a feedback of artificial forces to the control stick, and which includes non-linear or irreversible linkage apparatus coupled between the stick and the variable force gradient spring such that the force feel system does not require the implementation of monitoring or redundant systems to provide fail safe operation in the event of failure of said force feel system. In addition, the "hands off" stability of the aircraft is not affected by the system because in this "hands off" mode of operation the non-linear linkage apparatus prevents the force actuator from moving the control stick out of the trim position.

Abstract: In a hydraulic actuator such as those used in multiple degree freedom motion bases for aircraft simulators, a secondary force sensitive hydraulic servo loop is added in parallel to the primary position feedback servo loop with the secondary loop having a servo valve possessing substantially greater band pass and less capacity than the main valve used in the first servo loop. Force feedback from the control actuator is applied degeneratively to the smaller servo valve, thereby reducing noise and jitter caused by responses of the system outside the response of the primary servo loop. The response of the main servo loop which control the position of the actuator is low pass and restricts response to the full desired band pass of operational frequencies. The secondary loop is high pass and is shaped to prevent degeneration of operational frequencies while providing optimum gain and phase for the degeneration of the unwanted high frequency portion of the band wherein noise and jitter reside.

Abstract: A reversible mechanical unit of the "slave" type comprising a motor element and position detector is controlled by an assembly which delivers command signals relating to the positions of the motor element. Means are provided for delivering an error signal .epsilon. which is proportional to the difference between the signals delivered respectively by the detector and the control assembly. A signal delivered by a generator and having an amplitude which is proportional to the signal .epsilon. produces direct action on the torque of the motor element; the error signal and the torque are thus in one-to-one correspondence, the error signal being fed back into the control assembly.

Abstract: A reversible mechanical assembly is remote-controlled in displacements and in efforts by means of a device comprising a motion detector which delivers a pulse each time a driving shaft associated with a motor rotates by one step, the sign of the pulses being dependent on the direction of rotation of the motor. One input of a summing device is driven by the pulses delivered by the detector and the other input is driven by pulses delivered by an assembly for controlling the motor. The output signal of the summing device is fed back into the control assembly so as to constitute an effort return and also fed to the input of an amplifying circuit for controlling the torque produced by the motor.

Abstract: A motor drive for an X-ray examination apparatus, in particular for the displacement of an auxiliary apparatus (imaging section). The motor has coupled thereto a tachometer, the output signal of which is differentiated and fed back to the motor control system such that a positive loop gain < 1 arises. The drive system delivers a torque which is proportional to the force delivered by the operator when a linear relationship exists between the control quantity of the motor and the torque thereof. In the case of a collision with the patient, the force exerted by the imaging section on the patient substantially does not exceed the manual force exerted by the operator, not even if the motor force amounts to a multiple of the force delivered by the operator.

Abstract: The servo drive according to the invention includes a force transducer which is disposed so as to sense all the forces which act on the image-forming section (the weight of the section, the manual force of the user, frictional forces and acceleration forces). On the signal from the transducer there is superposed a signal which corresponds to the weight of said section and to the speed variations dn/dt, i.e., to the acceleration forces. Thus the influence of these forces on the output signal is compensated for. The resulting signal serves as the desired value for a speed or acceleration control.

Abstract: An interactive graphics system in which plotting, digitizing and other related capabilities are performed is described in which complex graphics may be generated, edited and developed at a plurality of terminals, independently, with a minimum of hardware and in which precision control of the motion of a plotting table at each location is achieved in response to simplified input commands. Additionally, a novel floating cursor is described by which an operator may control the motion of the carriages of a plotting table or other positioning system actuated during plotting on the table, and digitize various coordinate locations with corresponding storage in a central computer of such locations, all by manually positioning the cursor at the desired locations. The floating cursor is connected with an energy sensor and both the cursor and the sensor are mechanically movable relative to or independently of the carriage.