Abstract: A novel actuator control system is characterized by displacement sensor fault detection. The system includes linear variable phase transducer (LVPT) displacement sensors. A pair of engine electronic controls (EEC) each determines the actuator position by measuring the phase shift of the corresponding LVPT output signal with respect to the fixed phase of the LVPT excitation signal. The voltage amplitude of the LVPT output signal has a unique relationship with to the phase of the excitation signal, and is more sensitive to sensor failure than is phase shift alone. A computer in the control compares the amplitude of the LVPT output signal to upper and lower voltage limits for that displacement. Should the computer determine that the voltage amplitude of the secondary winding output signal is out of range, the system will adjust the actuator drive circuits accordingly.

Abstract: A system for driving a drum includes a pulse motor including an annular rotor fixedly mounted within the drum for rotation therewith and rotatable relative to a stator disposed within the rotor. The pitches of the rotor teeth and stator teeth are determined in such a manner that a magnetic flux linking each of the coils is changed in a sinusoidal fashion in synchronism with the rotation of the rotor. A pole position-detecting device produces a multi-phase sinusoidal pole position-detecting signal representative of the position of the magnetic poles relative to the rotor. A speed control device produces a current amplitude command signal representative of a desired torque of the rotor. A multiplier multiplies the pole-position detecting signal by the current amplitude command signal to produce a multiplication signal.

Abstract: The invention relates to a switching circuit for a permanently excited five-phase stepping motor with a pentagonal circuit of series-connected stator windings. The junctions between neighboring stator windings are connected by electronic switches to different poles of a voltage source or assume a deactivated or floating position. By means of such switches, one can place adjoining windings in series to achieve a half step operation. In one embodiment, half-step operation is obtained by first supplying four stator windings with current while the fifth winding is shorted and subsequently connecting two windings in series by disconnecting or deactivating the junction between them so that all of the windings are supplied with current. In a further embodiment, at least two junctions are deactivated so that the motor can be operated with double the normal operating voltage.

Abstract: A 3-dimensional form of a sample product constituted by a plurality of parts having known forms is measured by imaging the sample product from a plurality of directions. Arrangement data representing the 3-dimensional positions and orientations of the parts constituting the sample product are obtained, by a construction detecting module, on the basis of the measured 3-dimensional form of the sample product. A task planning module sets a task for moving a part to be used for constructing a product and the sequence of the task by using arrangement data acquired by the construction detecting module. Upon generation of motion command data for controlling a robot for constructing the product in accordance with the task set by the task planning module, the generated motion command is output to a motion control module. The construction robot is controlled by the motion control module, whereby a product the same as the sample product is constructed.

Abstract: A method for the phase synchronization of step-drive-controlled equipment, in particular of optical modulation devices for multiple-beam spectrophotometers.Starting with the phase comparison of a synchronization signal formed from a sensor signal produced by a fixed phase difference from information signals of the device, the phase relationship of the commutator signals of the stepping motor is controlled with a predetermined reference signal.

Abstract: A method for the phase synchronization of equipment controlled by stepping drives, especially optical modulating systems for multiple-beam spectral photometers. Each time that the equipment is started up, a reference signal is made synchronous with a synchronizing signal which is derived from a sensor signal of the apparatus which is locked in phase with the intelligence signal. For a purely electrical correction the phasing between the intelligence signals and the synchronizing signal is set once. In the event of a phasing error between the synchronizing signal and the reference signal the reference signal is reset.

Abstract: A duty factor control method for electromechanical actuators which can take only mutually discrete positions. A required quantity of state R which is in intermediate condition between two discrete positions is given for every upper-level control cycle Tr. According to the R value, the durations Ta and Tb of first and second states (such as ON and OF positions) of the actuator are determined. In order to obtain the required R smoothly and quickly, the sum Tc=Ta+Tb has to be set as small as possible. But the Ta and Tb values have to be larger than their minimum values Tam and Tbm which are determined by the dynamic characteristics of the actuator. Thus, the Ta and Tb values are determined so that either Ta or Tb will be set at its minimum value Tam or Tbm while the other will take a value corresponding to R. Ta, Tb, Tam and Tbm are set as multiples of a unit cycle To so that the duration of state will be measured digitally for every unit cycle To by a counter.

Abstract: Position of an object is detected by a position detector (10) and position data detected by this position detector is stored in a memory circuit (11). A time data supply section (21) supplies time data (.DELTA.t) as a lead compensation parameter. A compensation circuit (22) reads out position data (Dx (-.DELTA.T)) for a preceding time corresponding to the supplied time data (.DELTA.t) from the memory circuit (11) and corrects at least one of present position data (Dx) and target position data (Sx) in accordance with the difference between the read out position data and the present position data detected by the position detector thereby performing lead compensation. A control signal relating to the position of the object is generated in accordance with the present position data corrected by the compensation cirucit and the target position data and the positioning control is made by this control signal.

Abstract: In a method of controlling a servomotor, a high output can be fetched from the servomotor by a motor-current control unit of a simple construction, while protecting switching elements of the control unit against excess current. The deviation between a command current (Ir) for of a plurality of winding portions constituting an armature winding of each phase and a current (Ia, Ib) flowing through each winding portion is integrated by an integrating element (9, 9'). The current (Ia, Ib) is amplified by means of a proportional element (10, 10'), and the individual currents (Ia, Ib) are controlled for substantially independent and equal values by means of one PWM control section (3) operating in response to a control signal which is obtained by adding outputs from both the elements (9.about.10').

Abstract: A control system for an industrial robot having a hand which traces a pre-stored standard course defining its position and posture and which has a foresight function. The hand is provided with a tool and a work shape sensor, where the tool and the work shape sensor have a known spatial relationship. The foresight function is realized by a control system comprising temporary storing means for temporarily storing a future position and/or posture data of the tool calculated from a sensed position and/or posture data of the present sensor position. The stored data is output after a delayed time interval when it is compared with a pre-stored standard data. When the difference is small, the data is used to control the future position and/or posture of the hand. When the difference is great, an abnormality process is started.

Abstract: The invention provides a method for controlling a clutch fitted with motorized actuation by means of a pulse-fed direct-current electric motor. According to the invention, the control system of the electric motor comprises a microcomputer associated with a memory, in which values defining the duration of the control pulses of the clutch are stored, and these values can be updated during the operating life to take into account ageing and wear. The invention is particularly suitable for automatic clutch control in an automobile.

Abstract: A driver circuit is under the control of a microprocessor and in communication with a stepper motor. The stepper motor is in driving communication with a mechanism. A power source having a first and second voltage level is in communication with the stepper motor such that the first voltage level is in direct communication with the power terminal of the stepper motor. The second voltage level can be selectively applied to the power terminal of the stepper motor upon instruction of the microprocessor to a gate circuit of the driver circuit. The driver circuit also includes a gating amplifier having a plurality of stages, each stage in communication with a respective one of the stepping terminals of said stepper motor. A coupling circuit means is provided for receiving a series of step commands from said microprocessor and turning "ON" or "OFF" a respective stage of said gating amplifier in accordance with a respective step command in the form of a binary set number.

Abstract: A digital servo system comprising source means of a clock signal, counter means, latch means which latches a predetermined lower bits of the output of the counter means, means for obtaining a servo control output in response to the latch means, and sequencer means which is applied with a digital data of which the pulse interval or the phase is processed, and controls passing or nonpassing of the clock signal to the counter means in response to the digital data and obtains a latch pulse for the latch device.

Abstract: A rotor rotational position detector for a motor is provided which is capable of detecting an absolute rotation position of a rotor shaft of the motor for one revolution of the rotor shaft. The detector also detects, simultaneously with the absolute detection, a rotor magnetic pole rotational position for motor driving control.The absolute rotational position of the rotor shaft in one revolution of the rotor shaft is detected and a coded signal (a), representative of the detected position, is output. The coded signal (a) is converted into a rotor magnetic position signal (b) for motor driving control by a code converting circuit (5), and is outputted therefrom.

Abstract: A velocity control unit of a detecting head consists of a differentiation circuit for differentiating a reference velocity signal and feeding it via an analog switch to a first-order lag circuit which generates a feedforward signal. The analog switch is controlled by a constant velocity/deceleration detecting circuit so that it may be turned on in the constant velocity/deceleration period of the head.

Abstract: Method and apparatus are disclosed for providing mechanical amplification particularly suited for the driving system of mechanical robots. An electronic control system is provided for interfacing a user with the robot driving system. The robot driving system includes a mechanical motion control system coupled to receive electric control signals from the electronic control system and to provide in response thereto precision linear movement indicative of the movement required of the mechanical driving system. A high-power motor is provided for rotating a cylinder to thereby provide the input driving power to the mechanical amplifier. A linear drive system responds to rotation of the cylinder and the precision movements of the mechanical motion controller to traverse the cylinder and thereby provide the mechanical motion output.

Abstract: A honing machine has a stone expansion system in which the honing stones are expanded radially via wedges by radial movement generated by a d.c. wedge motor. The motor (13) is driven by a constant-current amplifier (50) which provides a driving current according to a required stone pressure (a). This determines the torque of the motor during honing. A speed input (g) sets a required approach speed and from this is derived a control signal which controls an on/off controller (55). This causes the output current of the constant-current amplifier to be choppped, therby controlling speed as the stones approach the wall of the bore while allowing control of torque during honing.

Abstract: A two-dimensional linear motor is provided with sensors respectively capable of detecting only the x and y grid lines arranged in a platen traversed by the linear motor. These signals are accumulated and their counts are compared against the respective x and y distances the linear motor is to be moved in order to move the linear motor to the precise position desired and/or to verify that the desired movement has been accomplished. Differentiation of the mutually orthogonal sets of grid lines is accomplished by providing the grid lines with reflective surfaces which have different reflectivity characteristics or alternatively have a different reflectivity characteristics at with appropriate evaluation devices such as filters or threshold circuits which differentiate between either different wavelengths or different reflectivity characterisitics.

Abstract: A step motor driving device comprises a single control circuit and a single voltage generating circuit for controlling plural step motors, each step motor being connected to a drive circuit. The control circuit outputs a control signal to the voltage generating circuit so that it selectively supplies high voltage and/or low voltage to the step motors. Therefore, the driving device of the present invention can control more than two step motors either jointly or individually by means of a simple circuit structure.

Abstract: Single or multi-track data markings are provided on the shank of a tool bit between a torque transmission region at one end and a working region proper for automatic working data set-up of a driving implement for exchangeable tool bits. The data markings consist of a sequence of notch-like depressions and lands, which are scanned by inductive proximity switch sensors. In case of multi-track codings, one track is used for clock timing. In case of single track codings, an rpm transmitter signal is used as a clock time signal during the information decoding in order to obtain an unequivocal identification signal. Signal evaluation occurs in a microprocessor with at least two counter register combinations, which alternately, in the sequence of the sensor signal, count the pulses of the time clock signal. The respective combination contents are compared in an evaluation unit of the microprocessor with prestored table values.