Abstract: An autopilot with long term yaw coordination capabilities which utilizes lateral acceleration to generate a rudder force command which is combined with the sensed rudder force to create an error signal which is combined with a rudder servo velocity signal and then integrated to create a virtual rudder position feedback signal for combination with the rudder position commands, generated from yaw rate information.

Abstract: A method and apparatus are provided for simultaneously controlling a plurality of stepper motors. Addressing circuitry generates address data for each motor in a periodic address sequence. Memory circuits respond to the address data for each motor by accessing a corresponding memory location containing a first operational data set functionally related to a direction for moving the motor, speed data, and rate of speed change. First logic circuits respond to the first data set to generate a motor step command. Second logic circuits respond to the command from the first logic circuits to generate a third data set for replacing the first data set in memory with a current operational motor status, which becomes the first data set when the motor is next addressed.

Abstract: Aircraft attitude along the pitch axis is controlled by inputting a velocity command to a pitch control subsystem that includes a velocity side channel and a gain side channel of a pitch servo amplifier. An output from each channel of the pitch servo amplifier is applied to a pitch servo motor for positioning a primary control surface. The velocity of the pitch servo motor is detected by a velocity detector that generates a velocity feedback signal and control signals for each channel of the pitch servo amplifier. Also responsive to the velocity signal of the detector is a pre-flight test circuit for pre-flight checkout of the pitch control subsystem. In each line from the output of the channels of the pitch servo amplifier is a current detector that is part of a pitch trim control subsystem that responds to the current through the pitch servo motor to generate a trim velocity command signal. This velocity command signal is input to a velocity side channel and a gain side channel of a trim servo amplifier.

Abstract: In a control apparatus controlling point-to-point movement of arms of a robot, stepping motors are used to drive the shafts of the robot arms respectively, and motor drivers drive the stepping motors according to a 1-2-phase excitation mode in a low speed range but according to a 2-phase excitation mode in an intermediate and a high speed range.

Abstract: The discharge of a capacitor energizes a relay to actuate the dump valve of a braking system to interrupt braking action upon the occurrence of wheel slide.