Abstract: A motor-controlling circuit for an optical-axis-adjusting unit of an illuminating device. The motor-controlling circuit ensures smooth control of a motor, which adjusts an optical axis, and ensures accurate repetition of a motor-stop position by way of PID and PWM control. The motor-controlling circuit 9 includes a motor 7 and a position detecting portion 6b. Feedback control is performed whereby an error between the motor's present position information, and the target value of position control, becomes zero. The motor-controlling circuit also includes a calculation portion 14 including a proportional-calculation portion 11, an integration-calculation portion 12, a differential-calculation portion 13, and a PID-calculation-processing portion 15 that calculates control by adding weighted respective outputs of the calculation portion 14.

Abstract: Motor control of a variable reluctance motor is obtained by providing a periodic voltage waveform to a coil of a motor. No coil current control or current or flux feedback is needed to obtain flux waveforms that allow for low-distortion or distortion-free operation of the motor. The periodic voltage waveform may be a sinusoidal or sawtooth signal, for example, and has a substantially zero mean for each cycle of the signal. The periodic voltage waveform may be offset to compensate for the resistance of the coil, and the coil current may be monitored in order to determine the amount of offset required. By providing a zero-mean or substantially zero-mean periodic voltage waveform, the coil current and flux in the gap between the core and the moving part are guaranteed to reach a zero value at some point during each period (or cycle) of the periodic voltage waveform.

Abstract: An object of the present invention is to provide a motor control system comprising an R/D converter which is capable of outputting a good phase signal without being affected by the switching noise due to a PWM signal of an inverter and a motor control method. A motor control system comprising a motor 3 having a resolver 8 as a rotary sensor; an inverter 10 for driving the motor; and a control unit 11 for controlling the inverter, the control unit executing phase calculation processing based on a phase signal which is an output of the resolver converted by an R/D converter 15, calculating a voltage reference based on a current reference and a current value of the motor detected by a current sensor 12, generating a PWM signal for controlling the inverter based on the voltage reference, wherein a PWM synchronism signal 212 in synchronism with the PWM signal is generated in the control unit, and the R/D converter 15 is driven using the PWM synchronism signal.

Abstract: A system for providing DC current to a rotating superconducting winding is provided. The system receives current feedback from the superconducting winding and determines an error signal based on the current feedback and a reference signal. The system determines a control signal corresponding to the error signal and provides a positive and negative superconducting winding excitation voltage based on the control signal.

Abstract: In a propulsion system for hybrid vehicles, etc., a failure detection system that detects the occurrence of failure that obstructs a phase current supplied to an electric motor for propulsion. The direct current of the battery is converted to three-phase alternating current by an inverter and supplied to the electric motor. The controller drive controls the inverter so that the output torque of the electric motor attains a target torque. Each of the phase currents supplied to the electric motor are detected by a current sensor, and provided to a comparator. The comparator compares the value of each of the detected phase currents and the current limit value calculated by the current limit value calculation circuit, and outputs a signal showing that a current phase has abnormally risen. This signal is counted by the counter, and the occurrence of failure is identified based on this count value.

Abstract: In a FLIR/laser based targeting and imaging system, the ability to recognize, detect, locate, and/or track targets in an area of interest is significantly improved by reducing the fixed and dynamic alignment errors between the IR LOS and the laser LOS. Fixed alignment errors are reduced with an improved internal boresight module and corresponding boresight method. Dynamic alignment errors are reduced with an opto-electric subsystem that employs a single pitch bearing and a common pitch/yaw afocal for both the laser energy and the IR energy. A segmented window in the system housing includes a circular EMI grid pattern which significantly reduces the amount of off-axis EMI entering the optical pathways, and improved signal processing techniques are employed to enhance the quality of the IR image after the image has been digitized.

Abstract: An industrial machine in which vibration exerted on a position detector provided for an axis of the machine is detected and countermeasures against the vibration can be swiftly taken. A ball screw is driven by a servo motor MZ supplied with power from a servo amplifier via a power line so that a cutting unit is advanced and retracted. A spindle motor MS above the cutting unit rotates a cutting tool via a spindle shaft and a workpiece W on an XY table is machined. An acceleration detection element is built in a position detector attached to a motor shaft of the servo motor MZ. An angle detection signal for servo control and a vibration level signal outputted by the acceleration detection element are converted into serial signals and are transmitted to a controller (axis control circuit of Z-axis) via the common signal line. The controller takes measures of changing the machining condition (for example, change of spindle rotational speed) and stopping the machine in accordance with a rank of the vibration.

Abstract: In a rotation sensor having a resolver attached to a rotor and a signal processing unit for angle detection for supplying a reference signal having a predetermined periodic waveform to the resolver, allowing the resolver to generate a sin signal having a waveform obtained by amplitude-modulating the reference signal by sin &thgr; and a cos signal having a waveform obtained by amplitude-modulating the reference signal by cos &thgr;, and detecting the angle &thgr; on the basis of the sin signal and cos signal, there are provided a signal processing unit for rotation detection for outputting a rotation pulse signal and a reference position signal on the basis of the angle &thgr; and a signal process abnormality detecting unit for detecting the presence or absence of an abnormality in the signal processing unit for angle detection on the basis of the angle &thgr; and an angle &thgr;′ calculated from both of the rotation pulse signal and the reference position signal of the signal processing unit for rotatio

Abstract: A rising saw tooth signal generating circuit generates a rising saw tooth signal having a constant amplitude and a constant period which corresponds to a frequency being slightly higher than the human audible frequency range. The rising saw tooth signal generating circuit also generates a binary signal which generates a reference chopping timing synchronizing with the rising saw tooth signal. The rising saw tooth signal is inverted and a descending saw tooth signal is generated. The descending saw tooth signal is added to the reference current signal and a binary signal is generated by the result of the comparison between the addition signal and the actual current signal. A flip-flop generates a signal which reaches a low level whenever the binary signal is descended and which reaches a high level whenever the reference chopping timing comes. A further binary signal which moves to the high level at the feeding of the current and the signal are supplied to the AND gate.

Abstract: A disk drive has a servo controller that regulates the velocity of a data-transducing head as the head is moved between a parked position and a data-transducing position within the drive. The head is coupled to a suspension arm. The suspension arm is coupled to an actuator motor that produces an output. This output moves the head between the above-noted positions. The suspension arm engages a head-loading ramp within the drive as the head is moved between its parked and data-transducing positions. This engagement generates a frictional force. The controller attenuates variations in the velocity of the head caused by variations in the frictional force. This is accomplished by varying the motor output based on a predetermined relationship between the head velocity and the frictional force.

Abstract: A speed and phase controller for a motor includes detecting and servo system for detecting a speed and a phase of the motor and for outputting a speed and phase control signal corresponding to the detected speed and phase of the motor, load detector for detecting a load on the motor and for outputting a determination value corresponding to the detected load on the motor, gain controller for variable-amplifying the speed and phase control signal of the detector and servo system according to the determination value of the load detector, motor driving controller for outputting a driving control signal according to the variable-amplified speed and phase control signal, and a motor driver for driving the motor according to the driving control signal of the motor driving controller.

Abstract: In a rotation detection apparatus, a magnetism pattern section provided with plural magnetic poles and a FG (frequency generating) pattern section provided with plural toothed wire circuits are located so as to face each other. When either one of the magnetism pattern section and the FG pattern section is rotated together with a rotating member, plural wave signals are electrically induced in the plural toothed wire circuits. A signal processing cicuit synthesizes the plural wave signals so as to output a multiplication signal and detects the rotation of the rotating member based on the multiplication signal.

Abstract: A tilt servo controlling apparatus is provided with: an optical pickup for emitting a light beam onto an optical record medium and detecting a reflection light from the optical record medium to thereby output a detection signal; a level detecting device for detecting a level of the detection signal outputted by the optical pickup; a tilt error correcting device for correcting a tilt error due to an aberration, which is generated by a tilt angle between (i) a normal line of a surface of the optical record medium at a position irradiated with the light beam and (ii) an optical axis of the light beam; and a tilt error correction controlling device for outputting a control signal to control a correction amount of the tilt error correcting device, by giving a variation to the control signal on a time base and adjusting the control signal so that the level detected by the level detecting device be optimized with respect to the variation of the control signal.

Abstract: A motor having a power switching circuit adapted to be connected between a power source and its winding for selectively energizing the winding to generate a magnetic field which causes a rotating assembly to rotate. A position sensing circuit provides a position signal representative of the position of the rotating assembly and a commutating circuit controls the power switching circuit to commutate the power switching circuit at a commutating angle to achieve a desired rotating speed of the rotating assembly. The commutating circuit varies the commutating angle in response to the position signal to maintain the substantially constant rotating speed of the rotating assembly. As result, the efficiency of the motor is varied to maintain the substantially constant rotating speed.

Abstract: In a magnetic disk device that retries to start a motor, a CPU increments an I1 counter if the motor can be started at an initial current value, an I5 counter if the motor can be started in the first trial at a maximum current value, and increments an I5R counter if the motor can be started in the second and subsequent trials at the maximum current value. The CPU adds the counter values to the recording values in recording areas assured on the system area of a disk in monitor value storage processing. Upon reception of a specific command from a host unit, the CPU determines based on the numbers of motor start times in units of start current values recorded in the recording areas whether or not the device is in the risky state, and informs the host unit of the determination result.

Abstract: A time-based control system (10) for controlling a process incorporating external devices using a predefined response profile (13). The response profile (13) is continuously compared to the actual response of the controlled device (11). A plurality of sensor modules (24) is used to monitor the actual magnitude and direction of change of selected quantities during the process. If the response it outside the user-defined maximum allowable error, appropriate measures are taken to either correct the error, halt the process, or proceed with the process in a time-based mode. The proper response and detection of errors of the controlled device (11) is independent of load, rate, temperature and other external stimuli. The time-based control system (10) can detect errors caused by higher level equipment such as the sensor modules (24). Thus, the time-based control system (10) can detect when any portion of the time-based control system (10) or the controlled device (11) malfunctions.

Abstract: A method of and an apparatus for controlling the drive of a machine element of a spinning or twisting machine for exact positioning of the machine element at setpoint positions within a certain tolerance limit using motors which are not speed variable and are controlled by an on-off switch. The overshooting of the setpoint position can be detected and the measure of overshoot used as correction values for subsequent approaches to the setpoint position or to allow reverse approach to the setpoint with detection of overshoot beyond the tolerance and then a new approach with the iteration to a deviation less than the tolerance limit or a maximum number of cycles.

Abstract: A method and apparatus for controlling a hydraulic manipulator defines a position error signal (.theta..sub.e), defining a first control signal (U.sub.P, U.sub.PD) based on the position error (.theta..sub.e) and generating an improved position error integral signal (.theta..sub.I) based on a product of the position error (.theta..sub.e) integral signal and a velocity factor F.sub.V. The velocity factor F.sub.V is based on a derivative of the position error (.theta..sub.e) and a nonlinear function. An integral control signal (U.sub.I) is produced based on the improved position error integral signal (.theta..sub.I) and is combined with the first signal (U.sub.P, U.sub.PD) to provide an output control signal U to control the manipulator. The invention also preferably includes a system to further reduce overshoot by further modifying the position error signal (.theta..sub.

Abstract: A motor servo system includes a microcomputer which obtains FG period data in response to an FG signal outputted from a capstan motor, and calculates rotation unevenness associate data D1 by totalizing (a hundred) absolute values of differences between each of respective FG period data and theoretical values. The microcomputer adjusts a gain of a servo circuit by comparing the rotation unevenness associate data D2 calculated at the last time and the rotation unevenness associate data D1 calculated at this time. That is, if D1>D2, a corrective gain .DELTA.G is inverted and stored into a memory as data D3. A new gain is determined by adding the data D3 and a present gain G.

Abstract: A tuning method and apparatus are provided for tuning gain values in a motion control system. The system is of the type including an input device for generating position command signals, an actuator for displacing a physical element to a desired location in response to control signals, a sensor for generating feedback signals representative of the position of the physical element and a controller coupled to the input device, the sensor and the actuator for processing the command and feedback signals and generating control signals for driving the actuator in response to the command and feedback signals. The controller multiples at least one parameter error signal derived from the command and feedback signals by a gain value to generate the control signals. The technique includes the steps of accelerating and decelerating the actuator and monitoring the feedback signals during the acceleration and deceleration phases of motion.

Abstract: Method and system are provided for controllably driving a rotary drive of a rotary index table assembly utilizing a PLC which receives various sensor signals including a feedback signal from a resolver to generate a reference central signal which, in turn, is used by a positioning drive including an electric servomotor to drive the rotary drive. The positioning drive includes a servoamplifier and a microprocessor for generating commands for controlling the servoamplifier in response to the reference central signal. The PLC also controls a hydraulic control unit which controls the axial position of the index table relative to a base of the assembly.

Abstract: A servomotor control system is set forth that assists in overcoming the problem of servomotor shut down during a failure of the programmable control system and/or servo-amplifier. The presently disclosed servomotor control system includes a programmable control system having one or more output signals connected to control a servo-amplifier. The system further includes a servomotor that is connected for control by the servo-amplifier. A safety switch is connected for detection by the programmable control system, the programmable control system controlling the servo-amplifier to brake the servomotor upon detection of the actuation of the safety switch. A delayed braking apparatus is disposed between the servo-amplifier and the servomotor. The delayed braking mechanism is also connected to detect the actuation of the safety switch, and acts to brake the servomotor after a predetermined time period from the detection of such actuation has lapsed.

Abstract: An electric vehicle having a computer for controlling the charging of its battery includes a probe adapted to connect with a receptacle on a charging station which has a computer for controlling the charging voltage provided over the connection to the vehicle. In response to the vehicle announcing its presence with a broadcast signal, the charge station receptacle may be raised until it senses a laser signal presented by the vehicle to indicate alignment of the receptacle with the vehicle probe. The vehicle and station communicate over a current loop to establish battery type and voltage, method of payment and credit card number, as well as the cost basis for the power. When communications are complete, the system switches over to utilize the same connections for the charging current. The computers include stop modes which they rest in, and to which they return if performance of vehicle and station diagnostics (respectively) indicate inoperability or if other faults occur.

Abstract: A method of and an apparatus for controlling the drive of a machine element of a spinning or twisting machine for exact positioning of the machine element at setpoint positions within a certain tolerance limit using motors which are not speed variable and are controlled by an on-off switch. The overshooting of the setpoint position can be detected and the measure of overshoot used as correction values for subsequent approaches to the setpoint position or to allow reverse approach to the setpoint with detection of overshoot beyond the tolerance and then a new approach with the iteration to a deviation less than the tolerance limit or a maximum number of cycles.

Abstract: A travelling robot body carries a first detector which is turnable with the body for sensing changes in direction of travel of the robot body. In order to compensate for errors by the first detector, the robot body carries a compensation system for determining an error compensation factor that can be applied to signals emitted by the first detector. That system which performs its function prior to operation of the robot, comprises a drive mechanism for turning the first detector relative to the robot body while the body is stationary, whereby the first detector emits a first signal representative of a sensed turning angle of the first detector. A second detector is mounted on the robot body for determining the actual turning angle of the first detector which occurred. By comparing the sensed turning angle from the first detector with the actual turning angle from the second detector, an error connecting factor can be calculated by a control mechanism.

Abstract: A method for the adjustment of a disk cam, whereby an electric motor turns the disk cam out of a prescribed initial position by a prescribed rotational angle, comprising the steps of providing a disk cam having two markings in a prescribed angle from one another defining a target sector; sensing said two markings during the rotational motion of the disk cam by a sensor stationarily arranged outside the disk cam; in the initial position of the disk cam arranging the sensor having an angular spacing from a target radius of the target sector in rotational direction that is aligned to the rotational angle; identifying the running time of the passage of the markings at the sensor; and arresting the motor in response to the sensing of the second marking and supplying the motor with electrical energy for turning it in the opposite rotational sense, the amount of this energy dependent on the respectively identified running time, being taken from an energy/running time characteristic for the return of the disk cam to

Abstract: In a servo system using a discrete signal relative to a position, a time delay and an error upon detecting a speed due to lack of positional information are eliminated to achieve a positioning to a target position in a short time. A pulse signal X.sub.P relative to a position is used to establish synchronization with an observer which is adjusted to match with an actual apparatus comprising a load, a motor and so on, and an estimated speed value or an estimated position value generated by the observer are used to determine an operating signal for the servo system.

Abstract: An oscillatory servo-valve fault monitor is provided for identifying faults attributable to servo-control system components. In particular, both low frequency and high frequency (oscillatory) fault responses are identified. Such oscillatory fault responses are distinguished from normal position control adjustments and transient responses. As the reaction to a fault condition is to shut down the faulty actuator and corresponding servo-control, such capability avoids inadvertent shut-downs. Independent detection paths are provided for sensing low frequency responses and high frequency responses. Each path includes a respective window comparator and up-down counter. For a given path, the window comparator defines two thresholds--in effect, a window. If the monitored signal amplitude is outside the window, then a counter or count signal is incremented. If the signal amplitude is within the window, then the counter or count signal is decremented.

Abstract: The invention relates to a monitor system for a servo controller used in connection with servo motors utilized in multivarious machines, such as machine tools. In addition to detecting a servo system fault when the difference between the commanded position and the actual position exceeds a predetermined value, the system monitors several servo system parameters to distinguish between different causes of servo faults. Identifying the source of the fault leads to improved maintenance and decreased system down time when a fault occurs.

Abstract: A apparatus is provided for estimating the position of a rotor of a commutated brushless motor operating without a shaft position sensor. The apparatus includes a tank circuit that incorporates a phase winding of the motor. A low-power signal of a frequency F.sub.1 is injected into the tank circuit. The frequency F.sub.1 is much greater than the switching frequency F.sub.s of the phase winding. Because the effective inductance (L) of the phase winding incorporated into the tank circuit changes in a cyclic manner in response to changes in the mechanical angle .THETA. of the rotor, the characteristic resonant frequency F.sub.0 of the tank circuit varies between maximum and minimum values. The effect of the variation of the resonant frequency F.sub.0 on the output characteristics of the tank circuit are used by a detection circuit to resolve the mechanical angle .THETA. of the rotor and, thereby, control the timing of the phase firing sequence.

Abstract: A zero error digital servo system where positioning is achieved by minimizing the positioning error value to zero. Stable logic states of sensors is used to achieve positioning instead of zero crossing of the error signal value. The magnitude of positioning error is reduced to a zero value by unique design of the digital encoder and positioning of the sensors. Stable logic states of the sensors indicates true position of the encoder with reference to the encoder sensors. Any deviation of the encoder from the true position is immediately detected by change in the logic states of the sensors. The technique can be used for both rotary as well as linear encoders.

Abstract: A computer winding control and operator display for winding complex coils is programmed to control stepper motors connected to an arbor and a coil filament laying head. The computer program generates a series of commands to move the arbor and the head. The commands specify acceleration, velocity, extent of movement, and deceleration. The program at certain program steps stops the motion and generates operator display messages.

Abstract: A machine position detecting apparatus according to the invention detects the absolute position of a machine by a pulse coder or the like attached to a movable element. Whenever the movable element of the machine is stopped, a check is performed to determine whether the detected position of the movable element is accurate. This is accomplished by a counter for counting the amount of shift of an absolute position detector circuit in one revolution based on a rotational position signal, and a collator for collating contents of the counting means with contents of position memory means and checking the stored contents of the position memory means when the movable element is stopped.

Abstract: A current carrying drive coil in a magnetic field is moved by the field. An attached tachometer coil, passing through the same field, produces a voltage from which the speed of the coils may be calculated. Changes in the drive coil current produce noise in the tachometer coil. This noise is offset by combining the tachometer voltage with the voltage produced by a stationary pickup coil, which picks up only the noise.

Abstract: A deviation comparator (10) compares an output signal of a deviation detector (6) with a set limit value to anticipates a runaway, and if the runaway is judged thereby, an object unit (12) is isolated by a switch circuit (11), thereby to prevent destruction of a driving amplifier (9) and the object unit (12).

Abstract: A linear encoder has a plurality short main scales arranged separately in their longitudinal direction and plural sliders situated in parallel with the longitudinal direction so as to more along these main scales. In operation, data obtained through these sliders are joined and processed in a signal processor in order to get position data of a table. Consequently, any position along a long movement stroke of the table can be detected easily and at a low cost.

Abstract: An ultrasonic servo controller circuit is disclosed which is used to detect the edge of a web and adjust the web position as it is dispensed from a pay-off roll to packaging machinery. The circuit is utilized to control a motor which operates a linear actuator to "de-oscillate" the web thereby providing the packaging machinery with a steady, non-oscillating sheet of material.

Abstract: The positioning control apparatus includes a feedback compensatory compensatory system for performing high-accurate positioning and a feedforward compensatory system for carrying out high-speed output response. The feedforward compensatory system is provided with a dynamic characteristic of an object to be controlled and a dynamic characteristic reverse to that of a control system by a feedback compensation. Transfer characteristic from a position command to an output of the object is assumed to be 1. As a result, there can be easily obtained a desired output response as well as a desired control input.

Abstract: A position servo system is described for positioning a member mounted on a spring. The spring provides a force opposing the motion of the member from an initial position. A position actuator, for example a motor, applies a force in response to a position request signal for moving the member to a desired position. A portion of the position feedback signal is applied from a position sensor to the motor as a positive feedback signal to compensate for the force of the spring. A steady state position error of the servo system is thereby substantially reduced to zero. A circuit and method for calibrating the positive feedback signal are also described.

Abstract: A system for controlling a rotating mechanism of a robot, press or the like wherein malfunction of the robot, press or the like is prevented by a circuit including a rotational angle detector for detecting the rotational angle when the rotating mechanism is rotated and for generating an output signal representative of the detected angle, and a control circuit which generates a drive control signal for controlling the movement of the robot, press or the like.

Abstract: In a control system for a robotic gripper a processing circuit (10) controls movement of the gripper (20) on a prearranged path. An article (A) held by gripper (20) comes into contact with the probe member (32) of a "known-down" sensor (30). A support assembly (33), on which the probe member (32) is mounted, is displaced with respect to a base member (31) allowing a continuous, uninhibited movement of the gripper along the path, even after contact has been established. In an alternative arrangement the sensor is mounted on the gripper and establishes contact with an article located at a fixed work station.

Abstract: A fine positioning device is constructed of a parallel flexible-beam displacement mechanism and/or a radial flexible-beam displacement mechanism. The former displacement mechanism comprises a first rigid portion rigid against forces, a second rigid portion rigid against forces, plural parallel flexible beams connecting the first and second rigid portions together, and a first actuator adapted to have the plural flexible beams undergo bending deformation. The latter displacement mechanism comprises a third rigid portion rigid against torques, a fourth rigid portion rigid against torques, plural radial flexible beams connecting the third and fourth rigid portions together, and a second actuator adapted to have the plural flexible beams undergo bending deformation. The fine positioning device can obtain fine linear displacements and/or fine angular displacement with good accuracy. This invention also facilitates the construction of multi-axis positioning devices.

Abstract: The invention relates to a control device for synchronizing a plurality of driving units, the speed thereof controlled by a time-variable desired signal which is common for all units. For each driving unit a positional control means in combination with a speed control means is provided. The positional control means receives a signal for the desired position of the correlated driving unit which signal is produced in an integrating means from the desired speed signal and further receives a signal representing the actual position of the unit. The output signal of the speed control means is added to the desired speed signal modified in an amplifying network. The gain control of the amplifying network is selected such that the transient response of the compensating means is inversely proportional to the transient response of the actuating means and the drive unit. This allows for a high synchronizing accuracy.

Abstract: A novel method and apparatus for dynamically monitoring the friction associated with an electromechanical system including a motor. The apparatus includes a closed loop servo with a unique filtering means in the feed forward loop for controlling the phase and magnitude of a "digital" ramp function used to drive the electromechanical system. The value of the filtered error signal outputted from the filtering means correlates with the friction in said electromechanical system.

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 sampled data positioning system for moving a member between positions in a minimum time employs a model of the physical system to overcome the low bandwidth constraints of fed back position and velocity samples. The model system is an approximate analog of the physical system and provides continuous pseudo position and velocity signals of high bandwidth. These are applied to a seek controller which generates an error signal between a desired reference velocity trajectory and the pseudo velocity signal. The error signal is fed back to the model system input and is also applied to control the physical system. The model velocity and position outputs are reset at sampling times to the values of the sampled velocity and position in the physical system.