Abstract: Disclosed is an industrial robot having a function for controlling a current of a motor for driving, which comprises a circuit (41) for summing a plurality of input signals to which input signals of speed command, speed feedback, current command and current feedback are supplied, a switching circuit (23) for selectively switching the input of speed command to the inputs of current command and current feedback by a switching command signal and an operational amplifier (38) to which the switched signal is supplied. In this industrial robot, the position control is switched over to the current control by a switching command signal from a robot control device (22), and by the position control, an article to be held is shifted to a predetermined position and by the current control, driving electric motors (Mr, M.theta.

Abstract: An improved plural axis motion controller (34) is disclosed for controlling servos (14, 16) to move an object (18) such as a flame cutter along a predetermined path. A microcomputer (42) periodically reads the location of the object from position counters (56, 58) and recalculates new velocity control signals for application to the servos in order to cause the object to follow the predetermined path. The improvement is wherein the controller automatically modifies the velocity control signals so as to reduce the spurious velocity variations which the object would otherwise experience due to the nonuniform rate responses of the servos. A table of modifiers, determined during a prior calibration procedure, is stored in a calibration memory (60). The microcomputer selects an appropriate modifier for each velocity control signal in accordance with the direction and magnitude of that control signal and the servo to which it is to be directed.

Abstract: A fully reclinable front seat of a vehicle in which one positioning motor controls seat back inclination, and another controls forward and back shifting of the seat, is prevented from malfunction resulting from interference with the rear seat by blocking downward movement of the seat back beyond 30.degree. until the seat has moved fully forward, and by blocking longitudinal movement of the front seat while the seat back is rising and has not yet reached 30.degree. inclination.

Abstract: A controller for an induction motor used as a servo positioner comprises a position control module including a microprocessor with memory for generating a plurality of pulse width modulated waveforms. The module includes an analog to digital converter for converting one of four analog signals into digital signals readable by the microprocessor. The analog signals correspond to a gain signal, a feedback signal, a set point signal and a dead band signal. The module also receives digital signals for programming purposes. The microprocessor is programmed to initialize conditions and convert the analog signals.The module is included in a three phase drive controller which has drivers connected to the module for receiving the waveforms and generating corresponding AC inputs to the three phase motor. An overcurrent detector is provided for sensing overcurrents in the AC signals and for generating an interrupt signal which is applied to the module for interrupting the function thereof.

Abstract: A method for augmenting a noise-adaptive predictive proportional navigation terminal guidance scheme. In a second order configuration with noise adaptive varying gain parameters calculated as a function of time-to-go, this system implements an optimal control law to augment proportional navigation with a missile acceleration feedback term and a navigation ratio to account for first order autopilot time lag. This configuration results in nearly optimal miss distance behavior, with sensitivity to unmodeled errors being substantially less than that in modern guidance systems. The system is particularly useful for high altitude, minimally maneuvering targets.

Abstract: An X-Y positioning system for electron beam lithography employs an adaptive drive system for feedback control. A gradually increasing drive voltage, superimposed upon a step wave, is summed with the position error signal to achieve position within the system deadband zone. The drive voltage, while superimposed upon the error voltage, increases until mechanical friction and drift in the deadband zone are overcome. A function generator alters the error signal such that the combined error signal and drive voltage cause the system to approach the null point minimizing servo oscillations. A limit circuit determines when the system has reached a set of inner limits and generates an operative output signal to the signal controller which continues until the position exceeds a second, outer set of limits.

Abstract: A terminal slowdown apparatus for an elevator which reads in outputs given by contacting a car with terminal detectors placed depending upon a terminal floor to operate a terminal slowdown signal which is reduced depending upon the distance to the terminal floor and to output the lower signal between the normal speed command signal and the terminal slowdown signal, including a first processor which outputs an acceleration command signal increasing from the start of the car at an acceleration lower than an acceleration of the car given in the start of the car during the saturation fault of the normal speed command signal; a terminal detector which is placed at the point wherein the acceleration command signal is equal to the terminal slowdown command signal generated at the position reaching to the normal slowdown starting position in the rated speed running of the car; a second processor which operates the slowdown command reducing depending upon the distance from the terminal floor to the position for operat

Abstract: An improvement in door activating control apparatus including a short delay between the time the door is stopped during its closing direction of travel and starts moving in the opening direction when any one of any switch or button for opening the door is activated, prevents the stress incurred when the door is required to instantly reverse its direction of travel while closing, demonstrates a distinct advantage especially when controlling large heavy doors, or for door openings that require a high volume of traffic and in emergency situations, includes a means to by-pass the delayed reversing when the door is in the closed position. Features a novel means of using a single pole double throw switch which will serve to defeat a safety edge device and by-pass the delayed reversing, embodied in a single enclosure along with the door closing limit switch, all actuated by a single mechanical actuating device at the door closed position, demonstrates distinct advantages in door operator design.

Abstract: A control provision is provided for separating sheets of printed matter. An initiator serves to generate electrical pulses proportional to the transport speed, which are transformed into compensation times depending on the pulses of the operating delay time and of the fall delay time of the servo components, and which are connected to the servo components via coupling elements and following selection or control circuits. A transport means moves the printed material, a distributing guide is operated by the servo components and the sheets to be sorted out are removed independent from the speed of transport and without interference or disturbance of the other sheets.

Abstract: Movable (a head) and stationary (a stator) members are disposed in contiguous relationship. First magnetizable and non-magnetizable zones are alternately disposed on the stator in a particular direction. Second magnetizable and non-magnetizable zones are alternately disposed on the head in the particular direction. The zones on the head and the stator face each other and have substantially equal spacings. First means are associated with the head for producing magnetic fluxes in the magnetizable zones in the head and stator in a particular pattern to obtain incremental relative movements between the head and the stator on a vectorial basis in the particular direction. Second means are associated with the head for compensating for hysteresis effects in the magnetizable zones in the head and stator. The second means may produce magnetic flux of alternating polarity and decaying amplitude near the end of each incremental movement of the head relative to the stator.

Abstract: A brushless D.C. motor which can provide a speed detection signal or position detection signal continuously even when the speed of rotation of the rotor is reduced includes a ring-shaped driving magnet magnetized to develop N and S poles alternatively; a rotary yoke having a plurality of flanges extending from the outer peripheral edge thereof toward a stationary yoke substantially to the middle of the outer peripheral end surface of the driving magnet in such a manner as to embrace the driving magnet, the flanges extending over two adjacent magnetic poles of different polarities at the boundary between these magnetic poles; and a magnetic-electric transducer element disposed at a position spaced from and opposing to the path of rotation of the flange surfaces adjacent to the stationary yoke and spaced from and opposing to the path of rotation of the outer peripheral end surface of the driving magnet.

Abstract: The disclosure describes a device for continuous analog position control of multiple torque receivers by a single low power synchro signal source. The device provides continuous control of the magnitude and direction of current flow between the stators of the controlled torque receiver(s). The current flow produces torque which moves the rotor(s) to the desired position.

Abstract: A transducerless brushless permanent magnet motor in which a signal induced by the rotor in an unexcited winding is used to sense the rotor position. The sensed voltage, induced in the winding by the rotor, is integrated to provide a representation of the magnetic flux coupling the rotor and winding. Before start-up, both the rotor position and the integrator are initialized to align the circuit representation of the flux with the actual flux.In an additional embodiment of the invention, a self-initialization circuit is provided to automatically preset the rotor and flux integrator to pre-determined and corresponding values.

Abstract: A brushless DC motor of the type including a rotor having a magnet for generating magnetic flux of alternating magnetic field polarities in a rotary path about its axis of rotation and a stator coaxial with the rotor and having a plurality of coils of respective phases in linking relation to the magnetic flux and adapted to be energized for the flow of current therethrough so as to produce a rotational torque, is provided with a control circuit in which switching transistors are connected with the coils of respective phases and are selectively turned ON in response to respective switching signals for energizing the respective coils, a switching signal generating circuit is normally responsive to the rotational position of the rotor for periodically changing its condition and thereby providing the switching signals to the switching transistors, and an additional switch device is connected to the switching signal generating circuit and is actuable to fix the condition of the latter so that only one of the switc

Abstract: In a linear motor composed of a propelling coil laid on continuously along a track and a field system mounted on a vehicle for driving it, the propelling coil of an enormous length is sectioned into a number of propelling coil units which are connected alternately to two sets of feeders by means of switches, the feeder sets being supplied with polyphase currents from different power converters, respectively. The propelling coil units are connected in series to one another without any interposed insulation and sectioned by a number of lead conductors so that every pair of the adjacent propelling coil units has a common coil portion shared by them and having a length not smaller than that of the vehicle. A pair of the polyphase lead conductors connected to each of the propelling coil units are connected, respectively, to going feeders and return feeders constituting the set of feeders through switches.

Abstract: A linear electromagnetic machine has a stator with a coil mounted thereon. A reciprocating element has permanent magnet segments of alternating polarity so that reciprocation of said element relative to said stator in an axial direction causes periodic flux reversal through the coil to induce an alternating voltage therein. The magnetized segments are of equal axial extent and are axially spaced by transitional regions that are of axial extent substantially less than that of the magnetized segments. Flux return and core elements associated with the stator provides a relatively low reluctance magnetic path for flux lines resulting from magnetization of the permanent magnets wherein the reluctance is generally independent of the position of the reciprocating element.

Abstract: In the propulsion system of an electric locomotive, a-c wayside power is converted to direct current for the traction motors by means of several phase-controlled rectifying bridges having serially connected outputs. The bridges are controlled sequentially so that their respective output voltages are introduced in stages as increasing amounts of voltage are required at the motors of an accelerating locomotive. Normally certain thresholds of speed need to be attained before the second bridge, and later the third bridge, are permitted to be phased on. Means is provided for changing the bridge control sequence in response to faults in the first or second bridges.

Abstract: The power factor for an AC induction motor (34) is controlled by selectively controlling the firing angle delay of a gate signal to a gate controlled power switch (36) during the cycle of the power source (32). Source voltage zero crossing (66) is sensed and a plurality of consecutively sequenced discreet windows (94, 96, 98, 100) are initiated. If the current zero crossing (68) occurs in the first window (94), then a sudden load on the motor (34) is indicated, and any delay in the firing angle of the power switch (36) is substantially eliminated. This enables conduction of the power switch (36) during substantially the entire cycle of the source voltage (60), thus providing instantaneous full power to the motor (34). If the current zero crossing (68) occurs in the second window (96), then the power factor is too great, and more power is needed at the motor (34).

Abstract: The first and second interpole compensation windings are disposed on the commutation starting side and the commutation ending side of the interpole cores, respectively. The current flowing through the first and second interpole compensation windings are controlled in response to the first and second voltages detected by the first and second brushes disposed on the commutation starting side and the commutation ending side of the brushes.

Abstract: A direct current electric motor marine propulsion system is provided with a pair of shunt wound direct current electric motors which are alternatively connected in a series/parallel circuit configuration. A forward biased diode between the motors in the series circuit, provides for smooth switching characteristics. Fine control of low speed operation is accomplished through the use of a chopper in series with the power source. A contactor connected across the diode provides for reverse current flow during regenerative braking.