Abstract: This invention relates to a bi-polar power supply regulator. A regulator is shown and described which prevents undesirable and potentially dangerous power supply build-up in a power amplifier of the standard totem pole configuration. The regulator also enables one to construct a multi-amplifier system in a cost effective manner since the regulator controls the build-up in the bi-polar power supply which is used to drive several power amplifiers in the totem pole configuration.

Abstract: A phase analog encoding system with compensation for the phase shift error inherent in a resolver position transducer. The inherent phase shift error in a resolver position transducer is compensated independent of a resolver position in a time multiplexed fashion by periodically applying a known reference signal to the resolver and measuring the electrical phase shift across only the resolver. The newly measured value of the inherent electrical phase shift is compared with the last measured value of the inherent electrical phase shift and any deviation is calculated. This deviation is used to determine the appropriate compensation value for the inherent electrical phase shift. The compensation value is subtracted from the resolver phase shift during normal operation resulting in an output signal which is independent of the inherent electrical phase shift error in the resolver position transducer. Additionally, compensation for encoding errors is developed in a calibration mode.

Abstract: The present invention provides a high response inexpensive microprocessor based digital control system. The digital control system uses only one detector that detects only one motion characteristic of the device controlled by the system. In the preferred embodiment, the digital control system controls the field orientation, the position and the velocity of a movable member of a brushless motor by creating commands that represent the desired position of the movable member 1024 times per second. The system also provides methods for improving the accuracy and precision of the system.

Abstract: A movable carriage which is connected to a smooth actuating rod for movement therewith to a desired position where it is locked to a fixed bridge permitting the actuating rod to move with respect thereto. The movable carriage or head is clamped to the actuating rod with a continual friction force which is easily overcome by the force with which the carriage is locked to the fixed bridge. The actuating rod is movable back and forth along its longitudinal axis by manual or automatic positioning apparatus. By successive moving and locking operations for the carriage, the carriage can be moved along the entire bridge while the movement of the actuating rod is more limited. The actuating rod can be a smooth metallic rod with the carriages permanently clamped thereto with a determinable friction force, alternately the carriage can be clamped to the actuating rod until the carriage is clamped to the fixed bridge. A drive motor is used for moving the actuating rod back and forth.

Abstract: Apparatus for generating synchronized multi-axis intermittent motion utilizing electronic encoding, memory and a position control system having feed-forward control. A plurality of slave shafts are rapidly and accurately positioned in response to the positioning of a rotatable master shaft, without mechanical interconnections therebetween. An analog transducer is attached to the master shaft providing an analog position output which is fed to a master encoder which feeds a digital output to a plurality of independent digital memory devices. Each digital memory device provides, in response, an output digital signal indicative of the desired position of an associated slave shaft. The output of each memory device, through an appropriate digital-to-analog converter, is fed to a position controller which positions the associated slave shaft as desired. The servo controller includes a feedforward input to speed positioning and reduce system lag.

Abstract: Apparatus for generating synchronized multi-axis intermittent motion utilizing electronic encoding, memory and a servo controlled positioning system. A plurality of mechanically independent slave shafts are positioned in response to the position of a rotatable master shaft. An analog transducer is attached to the master shaft providing an analog output signal which is fed through an analog-to-digital converter. A digital representation of the master shaft position is provided by the analog-to-digital converter. The digital indication of master shaft position is fed to a plurality of independent digital memory devices each of which provides, in response, a digital position signal indicative of the desired position of an associated slave shaft. The output of each independent digital memory device is fed to a digital-to-analog converter which provides an analog output representative of the desired slave shaft position. A servo controller positions the associated slave shaft in response to the analog signal.

Abstract: Isolating apparatus is disclosed which provides electrical isolation between an analog signal input and an equivalent analog signal output. The input analog signal is converted to a series of positive and negative pulses. Optical coupling devices are responsive to the series of positive and negative pulses for providing a series of similar positive and negative pulses which are electrically isolated but optically coupled. These isolated pulses are then converted to the equivalent analog signal output. The optical coupling comprises photo emitters one of which is activated when the analog to pulse converter output is positive and another of which is activated when it is negative. The photo emitters are operably associated with photo detectors which are operable in a switching mode. Feedback is not required around the optical coupling devices. An averaging circuit at the output provides an analog representation of the input signal.

Abstract: An absolute positioning servo for positioning a shaft in response to a digital command input which utilizes a resolver, for providing an analog position indication of the shaft, an analog to digital converter, which provides a digital indication of the shaft position, a comparator for comparing the digital command input signal with the digital indication signal and providing a differential digital error signal which is converted to an analog signal and fed back to position the shaft so that the differential digital error is 0. An analog fine control positioning means is provided which positions and maintains the shaft near the center point of the position represented by the digital command input signal when the digital differential error is 0. A signal representing the difference between the exact analog position of the shaft and the digital approximate position of the shaft is provided at the output of the translator.

Abstract: A method and apparatus for synchronizing the digitized position output of a multispeed system having overlapping position indications. The output of the multispeed position indicating system is a digital output word which is a combination of the individual outputs of the various transducers. For a two speed system a digital fine position having a high degree of accuracy is provided, and a digital coarse position indication of a lesser precision is also provided wherein the least significant coarse position digit overlaps the most significant fine position digit. An adjustment is provided for adjusting the coarse digital output as a function of the most significant digit of the fine transducer output so that nonambiguous synchronized position information is provided at all times.

Abstract: A tracking digital angle encoder utilizing a translator, for providing the difference between an analog angle input and a digital angle input, a counter, which feeds the digital angle input to the translator, a detector, which controls the counter and is connected to the output of the translator to be activated by the output of the translator exceeding a predetermined trigger value, all of which are connected to cause the counter to count to a position where the output of the translator is less than the predetermined trigger level. When the output of the translator is less than the predetermined trigger value, the output of the counter provides a digital signal which closely approximates the analog angle input to the translator.