Abstract: A device for controlling the phase of an output pulse sequence relative to an input pulse train of the same frequency comprises a multiplier receiving the pulse train from a frequency generator and emitting to a divider a rectangular waveform having a frequency m times that of the pulse train. The divider is controlled by a comparator to divide the frequency of the rectangular waveform by a factor of m.div.1, m-1, or m, depending on whether the actual phase difference between the pulse train and the sequence is less than, greater than, or equal to a predetermined phase angle, the actual phase difference being communicated to the comparator by a counter registering during each cycle of the pulse train a number of pulses proportional to the phase difference.

Abstract: A variable frequency power supply device supplies an AC power to a squirrel-cage motor through an AC parameter control. The control receives a command active current resulting from a command torque and a command exciting current to generate a resultant current and its phase. The command torque is produced from the actual and command motor speeds and the exciting current is caused from the actual motor speed. The control also receives a command frequency determined by the actual motor frequency and a command slip frequency also resulting from the command torque. The control controls the firing phases of thyristors in the power supply device in response to the command current, phase and frequency. The control may generate a voltage for supplying the active current and an exciting voltage to similarly control the firing phases of the thyristors. In the latter case, the exciting voltage may be added with its differential to compensate for a rapid change in active current.

Abstract: An AC motor having AC windings with an internal electromotive force is driven by an electric valve feeding apparatus having electric valves commutated by the internal electromotive force of the AC windings. The commutation of the electric valve is carried out under the condition of U>.pi./m where m designates the number of commutation times per AC cycle of the electric valve feeding apparatus and U designates a commutation overlapping angle of the electric angle to feed the current to the AC windings whereby the motor is driven by the electric valve feeding apparatus.

Abstract: An instantly variable constant current control is interposed between a bank of batteries and a motor. The variable constant current control comprises a series pass transistor operating in a linear mode and controlled by a reference voltage from a potentiometer coupled to an accelerator pedal. Correction voltage from the series pass transistor circuit is proportional to current. The accelerator reference voltage and the current correction voltage are compared in a linear operational amplifier which controls the "on" resistance of the series pass transistor.

Abstract: A drive circuit for an inductive load such as a synchronous motor responds to an analog signal representing a desired load current and an actual load current and selectively applies first and second potentials to the load. The circuit includes transistor switches for selectively connecting the load to the potentials in desired polarity and diode circuits for maintaining current flow through the load when the transistor switches are opened, thereby decaying the load current.

Abstract: A system for evaluating whether a work-performing robot can perform a series of programmed motions is disclosed which includes means for continuously comparing the velocity of the various links of a robot simulator, which is manually moved through the sequence of motions to be programmed, against predetermined velocity limits associated with the corresponding links of the work-performing robot which will reproduce the programmed steps, and providing humanly perceptible alarm indications uniquely identifiable with the various robot links when the motions manually programmed on the robot simulator exceed the velocity limits of the work-performing robot. Additionally, the individual velocities of the various robot simulator links are summed, and the sum continuously compared against the power limit of the hydraulic pump driving the link actuators of the work-performing robot.

Abstract: A device for the remote control of the angular position of an aerial rotor comprising a d.c. motor for the rotation of the rotor and a drive circuit adapted to cause the rotation of the motor in one direction when it receives as input a d.c. voltage higher than a reference value and in the opposite direction when it receives as input a d.c. voltage lower than the reference value. The device provides for a feeder, in proximity of the receiver, for generating at least one d.c. control voltage and comprising a regulator of the value of the voltage as a function of the desired angular position of the rotor of the aerial, and a regulator and stabilizor of the d.c. control voltage, located in proximity of the drive circuit of the motor, to obtain from the d.c. control voltage a stabilized constant voltage of a value lower than the minimum value of the d.c. control voltage, for the feeding of the drive circuit and the motor.

Abstract: To provide for improved starting and rapid supply of power from a generator coupled to an internal combustion engine, typically an automotive-type engine, a connection is provided between the starter network and the field of the generator coupled to the internal combustion engine to supply power from the on-board battery network of the vehicle to the field winding of the generator upon starting so that the field will be externally excited during starting, the generator thereby being provided immediately with field current and not relying on remanent magnetism for supply of power therefrom.

Abstract: In a pulse-width-modulated servo motor control system, a signal indicative of the average terminal voltage of the servo motor is fed back to stabilize the response of the control system. Under normal conditions the feedback signal is representative of the velocity of the servo motor output shaft and thereby operates to stabilize the control system response as a function of the output shaft velocity. Under adverse conditions tending to increase the power supplied to a motor, the feedback signal increases in a manner to limit the power supplied to the motor and to maintain the control system bandwidth substantially constant.

Abstract: A shift register is described particularly adapted for selectively controlling the energization of the windings of a stepping motor so as to provide selective overlapping phase energization. The shift register consists of four stages each having master and slave sections with each stage controlling the energization of an associated motor winding. A shift register control unit, responsive to stepping and directional signals, directs the shifting of information between the various stages of the shift register. In response to a step high input signal, a high level of one shift register stage is shifted in a selected direction to the adjacent stage with both stages directing the energization of their respective motor windings. Similarly, in response to a step low signal the low levels of the shift register stages are shifted in a selected direction to their adjacent stages causing the deenergization of the respective motor windings.

Abstract: A power driver control circuit (38) provides control signals (44, 46, 48, 50, 52, 54) for switching transistors in a power driver (56) for an electromagnetic actuator (11) of the type used for controlling a servo head (12) in a closed loop servo system. The control circuit includes variable time delay circuits (70, 71) connected to threshold detectors (74, 84) so that dead zones can be created when the servo error signal changes polarity thereby isolating the switches and preventing switch burn-out.

Abstract: Apparatus for damping operator induced oscillations of a controlled system responding to an operator controlled signal (DEP) utilizing a lag-lead filter (14) for frequency and amplitude estimation of the control input, and a rectification and smoothing filter (16) for producing a signal proportional to the absolute value of the frequency and amplitude estimate for use in suppression of the control system output signal (DEC). In one embodiment, this is accomplished by computing a correction signal in a correction generating section (18). In a second embodiment, a second rectification and smoothing filter (21) produces a signal proportional to the absolute value of the controlled input signal. A ratio of the outputs of the first and second rectification and smoothing filters is then used in a generator (24) to generate a gain factor k.sub.

Abstract: A spindle control system which is provided with a first motor for rotating a spindle, a second motor for positioning the spindle, a pulse generator for generating pulses proportional in number to the rotational angle of the spindle, a counter for counting the pulses from the pulse generator in order to detect the rotational position of the spindle, and circuitry response to the counter means to control positioning of the spindle by the second motor.

Abstract: Apparatus for electronically dividing the primary step of a stepping motor to provide an increased number of steps per revolution of the motor. Integrated circuit counters operate in an incremental or decremental mode to sequentially access data words in a sine memory and a cosine memory. Digital-to-analog converters apply the digital data words of the sine and cosine memories to operate phase power transitors and to thereby generate corresponding amplitude changes in the controlled driving current of two associated active phase windings of the stepping motor. An incrementally increasing controlled current signal is applied to one activated phase winding and a corresponding incrementally decreasing controlled current signal is applied to the other of the activated phase windings to smoothly step the motor in angular increments corresponding to the increasing or decreasing amplitudes of current, as defined by the data words of the sine and cosine memories.

Abstract: When machining with a numerical-controlled machine tool, both a command value providing the configuration of a finished product and a compensation value depending on the tool are needed, and tool compensation data must be corrected in response to tool wear. The present invention, taking notice of the fact that correction data corresponding to tool wear can be predetermined from the frequency or time of tool use and the fact that the amount of tool wear can be unequivocally determined by the quality of materials of the tool and work, provides circuitry for counting the frequency or time of use of the tool and circuitry for correcting by a predetermined value the content of a compensation value register having tool compensation date when the number of times a tool has been used or when the duration of tool use has reached a predetermined value.

Abstract: A motor servo circuit is disclosed. The motor in the motor servo circuit is driven by an output which is obtained by logically adding output pulses of a pulse stretcher circuit which stretches a pulse width of error pulses generated from an OR circuit when pulses inputted to the motor servo circuit and pulses outputted from a pulse generator in response to the input pulses are different in the pulse width to pulses having a predetermined pulse width which are generated at intervals of a predetermined member of the error pulses synchronizing therewith.

Abstract: A phase lock loop commutation position control and method for a drive system for a DC field motor having a rotor and a plurality of stator windings is disclosed. Electric power is supplied to the stator windings in accordance with gating signals. The gating signals are generated in accordance with timing signals, which are provided in response to a clocking signal. A position signal is furnished as a function of the position of the rotor with respect to a preselected stator position. An error signal is generated proportionally to the phase difference between a preselected timing signal and the position signal. The clocking signal is produced as a function of the error signal. The invention also can include a shift signal produced as a function of the rotation of the rotor. The shift signal is added to the error signal effectively to cause the preselected timing signal to be advanced with respect to the position signal.

Abstract: A cycle control device employing a parallel switching circuit to control a single or a predetermined number of cycles of a motor driven output shaft. A latching and a cycle switch in the parallel circuit are providing an overlapping switching sequence which is initiated by a latchable pushbutton and controlled further by the motor driven output shaft to the end of the cycle. An indexing arrangement is functioning to delay the unlatching and keeping the motor circuit energized until the unlatching and motor stopping can take place in a home position after a dial readable predetermined number of ratcheting steps have been completed. The control principle is applicable to a countdown version, a memory version with an automatic return or to a unit with a shaft mechanism to one or the other mode.

Abstract: Apparatus is provided for sensing a location on a commutator and, in response thereto, actuating a tool for performing an operation on the commutator. The apparatus includes a device for mounting the commutator for rotation so that it may be indexed to successive commutator bars which are to be worked on. There is also a light source and a device for directing light from the source to the surface of the commutator, and a device for directing the reflection of light from the commutator surface to a sensing device. When the light beam impinges on a non-reflective area of the commutator so that the sensing device is not actuated, the sensing device signals a control circuit for stopping the rotation of said commutator and for actuating a tool for performing an operation on the commutator. In order to prevent the interference of ambient light with the operation of the sensing apparatus, a protective housing is provided for at least partially enclosing the light-directing devices.

Abstract: A method of aligning an x-ray mask to a pattern on a semiconductor slice utilizing an infrared light source and an alignment pattern pair on the mask and slice to automatically and precisely position the x-ray mask on the semiconductor slice.