Abstract: Presence/absence of a failure in a feedback control system of a motor is monitored. When a failure is detected in the feedback control system, the motor is driven by switching to an open-loop control. During the open-loop control, the motor is rotated by sequentially switching the motor current supply phase without feeding back encoder count information. The position count is incremented or decremented every time the current supply phase is switched. When the position count has reached a target count, it is determined that the rotor has reached a target position, whereupon the open-loop control is finished.

Abstract: An apparatus includes a multi-phase inverter, a fault detector to indicate a detection of a fault, a sensor to provide a speed signal indicative of whether a speed of a PM motor is greater than a transition speed, and a controller. The controller is operable to apply either an open-circuit response or a short-circuit response to the multi-phase inverter. The open-circuit response is applied when the speed of the PM motor is greater than the transition speed and a fault is detected. The short-circuit response is applied when the speed of the PM motor is less than the transition speed and the fault is detected. The transition speed is either a fixed predetermined speed or an adjusted predetermined speed.

Abstract: An electric device includes a motor and a motor drive for commanding a torque generated by the motor. A fault control circuit detects a fault condition associated with the motor drive. Upon detection of the fault condition, the fault control circuit adjusts the torque commanded by the motor drive.

Abstract: An object of the present invention is to provide a controller for an electric power steering apparatus which has a function capable of detecting abnormality of motor current detection circuits even while a steering operation is being executed and can execute alternate control when a failure is detected. This object is achieved by a controller for an electric power steering apparatus for controlling a motor so that a steeling assist power is applied to a steering mechanism based on a current command value calculated from a steering assist command value calculated based on a steering torque, which is generated in a steering shaft, and from a motor current detection value. The controller has a function for determining a failure of a plurality of motor current detection circuits by detecting a current flowing in the motor by a single current detecting resistor, inputting the detected signal to the of motor current detection circuits in parallel, and comparing outputs from the motor current detection circuits.

Abstract: The system is operable to control a robotized gearbox which includes control levers which can be displaced along at least one working line along which a plurality of nominal operating positions are defined which correspond to the speed ratios or gears and to a neutral position. The control system includes electro-mechanical actuators coupled to the control levers and operable to displace them along the said at least one working line, and an electronic control unit operable to control these actuators to operate in a predetermined manner, so as to position the control levers selectively in one of the operating positions. The control levers have associated sensors operable to supply the control unit with signals which together indicate that the levers have reached predetermined positions along the said at least one operating line.

Abstract: A system for controlling a regulator equipped with an electric servomotor in a motor vehicle. With reference to an example of an electronic steering system that has an electric-motor steering regulator, output parameters are generated by a model-assisted monitor for evaluating the suitability of a correction for the regulator, and thus criteria for a possible shutdown or to initiate emergency action, as a function of setpoint parameters for the electric servomotor, of instantaneous parameters measured by individual sensors, and of the driving state, and, based on a setpoint behavior of the regulator and on a model simulating the control sections it contains.

Abstract: The present invention relates to a device in an electronic driving dynamics control system, comprising an electromechanic transducer, especially an electric motor, a hydraulic pump, and an electric actuating unit for the transducer, said transducer including a magnetic or magnetizable stator and a rotor, as well as connections for connecting the actuating unit, and a commutation device for the actuation of electromagnetic windings of the rotor, said invention inhering the special feature that the commutation device comprises three or more commutating elements that are electrically connected to the respective connections so that the windings of the rotor can be actuated individually by the actuating unit, with at least one commutating element being connected to a change-over element that provides for an additional connection for connecting a rotational speed measurement devices.

Abstract: A fault-tolerant electromechanical actuating device for converting an electrical actuating signal into a mechanical output actuating value for use in vehicles, having two mutually independent control loops. Each loop has at least one controller and at least one electric motor which is driven by this controller and which, in each case via a self-locking transmission, drives the input to a summing transmission, which superimposes the actuating values of the actuating motors to form the output actuating value. The fault tolerance or reliability of the actuating device is ensured by a comparator controller, which monitors the functions of the other controllers. Interfaces between the controllers and between the subsystems ensure stringent isolation of electrical potential.

Abstract: An object of the present invention is to provide a control system and a control method for servo valve which can stably continue to control a servo valve when a break occurs in servo coils of a servo valve having a plurality of servo coils. In the present invention, voltages of a plurality of servo coils 3A, 3B, 3C are detected by wire break detecting means individually provided to servo amplifiers 2A, 2B. 2C. The servo amplifiers 2A, 2B. 2C performs wire break detection and wire break compensation.

Abstract: The present invention provides apparatus, systems and methods for fail passive servo controllers. In accordance with an exemplary embodiment of the present invention, servo controller is used with an ALS to control an aircraft during landing procedures. In accordance with one aspect of this exemplary embodiment, upon a failure (e.g., of one of the components of ALS) servo controller fails passively rather than actively. In an exemplary embodiment, the fail passive nature of the servo unit is accomplished by providing at least two independent signal and drive current paths for controlling the servo motor. As such, the servo motor will not generate torque unless the two independent signal lanes agree. For example, when a component such as processor, difference amplifier, or PWM fails or otherwise ceases to function properly, servo motor will not runaway, but rather will fail with only minor transient movement, or alternatively, servo unit will lock at its current position.

Abstract: A prone positioning therapeutic bed comprises a base frame and a patient support platform rotatably mounted on the base frame for rotational movement about a longitudinal rotational axis and a drive system for rotating the patient support platform on the base frame. A special head restraint apparatus maintains proper patient alignment during rotation. A weight monitoring system monitors a patient's weight over time. A touch screen user interface provides programmable therapy settings and displays statistics about past treatment. Circuitry is provided to minimize the risk that the failure of any single device or software program could endanger a patient. A “CPR” button is provided to arrest any program of therapy and return the patient support platform to a supine position.

Abstract: A device for monitoring operation of a driving arrangement including at least a servo-mechanism, which includes a regulator, a driving motor controlled by the regulator, and an element which can be set in motion by the driving motor. A detection arrangement detects deviations between intended and actual movement positions of the element and an operation inhibiting and/or alarming arrangement inhibits operation of the driving arrangement and/or starts an alarm when impermissible deviations are detected. The monitoring device includes a redundant driving arrangement, which include at least one auxiliary servomechanism including a redundant regulator, a redundant driving motor controlled by the redundant regulator, and a redundant element which can be set in motion by the redundant driving motor.

Abstract: A controller capable of monitoring a receiving circuit for receiving machine information. Machine information from a machine is received by a plurality of independent systems and the external signals received by the plurality of systems are compared, thereby, a receiving state of the receiving circuit is monitored. The controller includes a plurality of independent receiving units for receiving the external signal and monitoring units for comparing signals received by the plurality of receiving units, to monitor the receiving units based on a result of the comparison.

Abstract: Motion of a substrate-transporting robot arm is controlled in order to compensate for inaccuracies and deflections encountered during operation. The compensation is effected by synchronizing elevational and planar motions of the robot arm such that the trajectory of the substrate is made coincident with the object axis of the substrate. The substrate may be a semiconductor wafer, an LCD panel or an end effector of the robot arm. The synchronized motion is achieved using a controller issuing control signals to arm actuating means based on synchronization algorithms developed during analytical or experimental robot learning sessions.

Abstract: The present invention is a method that allows controllable devices attached to a vehicle's surface (such as, for example, controllable actuators on an aircraft) to be controlled by a processor or like device in an active-active mode and when a malfunction is detected in one of the controllable devices, the processor will switch to control the controllable devices in an active-standby mode.

Abstract: A plural motor assembly includes a first motor generating a parameter, a control circuit electrically connected to the first motor for detecting the parameter and outputting a switch signal while the parameter is abnormal, and a second motor electrically connected to the control circuit and operating in response to the switch signal. Thus, when one motor is damaged, the speed of rotation of the other motor is increased to maintain normal operation.

Abstract: First and second stator circuitry for respective use with first and second stators in a multi-stator motor are configured so that the first stator circuitry is substantially unaffected by a failure of the second stator circuitry to energize a second winding in the second stator. To that end, the motor includes a rotor that rotates through a plurality of rotational positions, the first stator having the first stator circuitry and a first winding, and the second stator having the second stator circuitry and a second winding. The first stator circuitry energizes the first winding in response to the rotational position of the rotor. In a similar manner, the second stator circuitry energizes the second winding in response to the rotational position of the rotor.

Abstract: A numerical control apparatus for the numerical control of a roll grinding machine comprises a flaw detecting means for scanning the entire surface of a roll (11), provided with an ultrasonic detecting head (23) for detecting flaws formed in the surface of the roll (11), a command generating means for generating cross-feed commands to repair detected flaws on the basis of flaw information about the positions and levels of the detected flaws, a control means for executing a first shaft position control operation on the basis of the cross-feed command to position the grinding wheel at a position with respect to a Z-axis corresponding to the position of the flaw by moving the wheel spindle stock in parallel to the axis of the roll and a second shaft positioning control operation to cross-feed the grinding wheel in parallel to an X-axis, and a decision means for deciding whether or not the flaw has been completely repaired and invoking the next cross-feed command if the flaw has been completely repaired.

Abstract: A servo system controller which has a sequence controlling section 2 and a servo controlling section 3, employs not only a current position of a servo motor but also other servo control data or a sequencer device as comparison data, and executes a comparing process for compares whether or not respective comparison data are in respective detection ranges to then output respective comparison results, increase and variation of a response time can be prevented until the comparison results are output from the change of the comparison data. A comparing process table memory 14 is provided in the servo controlling section 3, and the comparing process is executed in synchronism with a calculation period of the servo controlling section 3, and a detection signal is output while the comparison data is within a detection range. In a machining apparatus utilizing the servo system controller, a tact time can be reduced without large increase of a cost.

Abstract: There have been cases wherein the program itself does not operate normally and only continues to output the monitoring pulse so that racing cannot be detected, or due to electromagnetic waves or noise a pulse signal being outputted normally is measured erroneously and a mis-detection is made. In a control apparatus of an electric power steering system for, on the basis of a current command value computed from a current detected value of a motor and a steering assist command value computed on the basis of a steering torque arising in a steering shaft, controlling the motor, which applies a steering assist force to a steering mechanism, a control apparatus of an electric power steering system characterized in that it comprises a first control part and a second control part each inputting at least a torque signal, a vehicle speed signal, the motor current detected value and a motor terminal voltage, and the motor is controlled with the first control part and the second control part.

Abstract: An apparatus and method for providing redundant power and redundant fan speed control to a plurality of fans is provided. A first power supply input is electrically connected to a second power supply input to provide a combined power supply input. First and second fan speed controllers each having an input and an output are provided, along with first and second power converters each having an input and an output. The combined power supply input is electrically connected to the input of the first fan speed controller and the input of the first power converter. The combined power supply input is also electrically connected to the input of the second fan speed controller and the input of the second power converter. The output of the first fan speed controller is electrically combined with the output of the second fan speed controller to provide a combined fan speed control signal. The combined fan speed control signal is electrically connected to the plurality of fans.

Abstract: A history of function values of a spindle rotation frequency in each time period from present to past is stored in a data table 22D and corrective coefficients are stored in advance in a corrective coefficient table 22C relating the coefficients to the location in the data table 22D. Each location and corrective coefficient are read out from the corrective coefficient table 22C and the function value of the spindle rotation frequency corresponding to the location is read out from the data table 22D. The compensation value is calculated from the total sum of each product of the function value and the corrective coefficient in each location and compensate the NC command position with the compensation value.

Abstract: A servo actuator apparatus has: an actuator which relatively displaces an operation unit on the basis of an input signal E1; a position sensor which detects a relative position of the operation unit and outputs a detection signal D1; an actuator which relatively displaces an operation unit on the basis of an input signal E2; a position sensor which detects a relative position of the operation unit and outputs a detection signal D2; a difference calculation unit which subtracts the detection signal D2 from a command signal C1 supplied from a flight control computer, to output the input signal E1; and a difference calculation unit which subtracts the detection signal D1 from a command signal C2 supplied from a flight control computer, to output the input signal E2, where a positive displacement direction of the operation unit is reverse and series to that of the operation unit, and the body units of the actuators are integrally movable, and the actuators can always operate while mutually monitoring the actual o

Abstract: A controller for an industrial machine capable of monitoring a receiving circuit for receiving position information. A receiving circuit and an additional receiving circuit receive the same position information from a detector, and a monitoring circuit monitors a receiving state of the receiving circuit using position information received by the additional receiving circuit. A plurality of receiving circuits may be provided for respectively receiving different position information, and a plurality of additional receiving circuits and a plurality of monitoring circuits may be provided in a manner such that each additional receiving circuit and each monitoring circuit is associated with each receiving circuit. A single additional receiving circuit and a single monitoring circuit may be common to a plurality of receiving circuits.

Abstract: In accordance with the described invention, a stepper motor that drives a printer's movable subsystem, e.g. a sled-mounted ink-jet service station, is replaced with a less expensive and quieter DC motor, and continuous positional feedback is obtained via a fixed subsystem-mounted optical sensor array in cooperation with a movable subsystem-mounted code strip that includes a home-position encoding region. The code strip produces in the optical sensor array, in reflective response to a fixed subsystem-mounted light source, a plurality of modulated signals as the substantial extent of the code strip passes by, thereby enabling positional tracking of the movable subsystem's motion, and produces a secure home-position identification signal set when the homing patch is in the `view` of the array.

Abstract: Axes used for posture alignment are selected from the axes of a work coordinate system W and a tool coordinate system T, and an angle of intersection between those selected axes are set. A robot is then driven so that the selected axes intersect with each other by the set angle of intersection in response to a posture alignment instruction, causing the tool to assume a target posture with respect to a workpiece. Further, angles for rotating the work coordinate system about each axis thereof are set, then the robot is automatically moved so that a coordinate system produced by rotating the work coordinate system by the set angle in response to a posture alignment instruction. Further, the tool coordinate system set at a movable part of a tool is automatically reset according to an amount of movement every time the movable part of the tool move, and the robot is manually fed based on the tool coordinate system thus reset.

Abstract: A simplified fault logic accomodation control which utilizes fuzzy logic to assist in calculating a preselected weighted average of the values of two redundant sensors that are sensing the same parameter. A synthesized, third, predicted value of the parameter is used in the fuzzy logic to arbitrate between the two sensed values.

Abstract: In the course of regulating an electronically commutated d.c. motor as the drive motor of a winding device of a textile machine, the resolution of known angular rotation sensing systems is insufficient to assure a jerk-free drive of the drum at low rpm. It is therefore proposed by the invention to introduce a so-called Luenberger observer into the regulating circuit for regulating the motor rpm in which the signals of the angular rotation sensing system for the commutation of the motor are generated.

Abstract: The present invention relates to a system for coupling at least two control columns (2A, 2B) of a control device (DC) of a machine, especially an aircraft. The coupling system includes for each of the columns (2A, 2B), at least one operating member (13A, 13B, 14A, 14B) capable of making the column (2A, 2B) tilt about an axis, and a calculation unit (CAL) receiving information relating to the position of tilt of the columns (2A, 2B) and generating, when at least one of the columns (2A, 2B) is operated, tilt commands which are transmitted to the operating member (13A, 13B, 14A, 14B) of the other column (2A, 2B).

Abstract: A fluid operated machine is monitored and regulated by providing a logic with a memory for storing the timings of properly operating functions, and detectors the outputs of which are used to calculate the actual operating timings of the functions. The actual operating timings are compared to the timings in the memory, and if they deviate beyond acceptable tolerances a warning signal is given. In addition to monitoring the timings, the device will also open or close control flow valves to bring the operating speeds of functions within acceptable tolerances.

Abstract: A steering system for vehicles or ships is provided, with a steering handwheel and a steering element with no mechanical linkage line therebetween, with a steering handwheel sensor device, a steering element sensor device and a control arrangement which, in dependence on the output signals of the sensor devices, operates an electromechanical transducer, on the output side of which the steering element is arranged. It is desirable to increase the reliability of such a steering system For that purpose, the control arrangement comprises at least two independent control units, and a fault-monitoring device is provided which precludes a defective control unit from influencing the steering element.

Abstract: A hand controller system which provides the proper feel of the hand controller during aircraft operation. In both non-redundant and redundant embodiments, torque, and position measurements are made from the hand controller movements and processed to provide a feedback to a control motor in mechanical connection with the hand controller. The system includes self-monitoring of the motor, as well as the signals provided by the position, and torque sensors. Connections are provided from the hand controller system so that cross-coupling may be provided between the pilot's and copilot's hand controllers.

Abstract: A fault tolerant controller arrangement for electric motor driven apparatus is implemented by a plurality of control channels, each of which includes a motor and associated drive circuitry. The implementation is such that the rating of each of the plurality of channels is reduced and all channels are operated such that the load is shared between all operating channels. The arrangement is such that all channels share the load dynamically and statically and that each channel in a system of n channels supplies .sup.1 n of the required load driving force in the same direction.

Abstract: A servo-control system for actuating an aircraft flight control member, the system including at least one hydraulic actuator together with actuation means for actuating said actuator, said hydraulic actuator being duplicated, said actuation means including first and second actuation assemblies each comprising two hydraulic circuits each controlled by a respective mechanically-controlled distributor valve, the two distributor valves of the same actuation assembly being actuated by common mechanical elements caused to move by motor means, the actuation means including control means controlling said motor means as a function of the position of the flight control member and of piloting orders received by the control means, detection means for detecting failures, and a selector valve which controls switching of the actuation assemblies between an active state and a reserve state.

Abstract: A feedback control system which uses estimated back electromotive force(EMF) from a controlled actuator to provide feedback into the control system and improve control of the actuator. Back EMF is estimated from current through the actuator and voltage across the actuator. The estimated back EMF signal is fed back into the control system where it serves as a rate term. In the preferred embodiment the back EMF signal is used in combination with an actuator position signal which is also feedback into the control system. A complementary filter conditions both the rate and position signals for improved performance. The invention is particularly suited for controlling linear actuators which do not provide conventional rate feedback signals.

Abstract: An aircraft automatic throttle system is responsive to a throttle command signal to drive the aircraft throttle through a clutch and detent mechanism which allows for pilot override. Full throttle is achieved only if the throttle is driven against the stop position at the engine with a controlled, limited force. The instant invention is an improved servoamplifier system and method including a position sensor for sensing the position of the throttle, a summing circuit for summing the throttle command signal with the position sensor signal to produce an error signal and an amplifier for amplifying the error signal and producing an output signal to drive the servo driver. Unique signal processing is provided which monitors the amplifier output signal and detects a predetermined condition thereof representative of the throttle being driven against the forward stop at the engine.

Abstract: A redundant, multi-channel fly-by-wire control system for use in an aircraft is disclosed. The system includes a left flight control channel (60), a center flight control channel (80) and a right flight control channel (90). Each control channel is capable of flying the aircraft in the event the other two channels fail. Included within each control channel is an actuator controller electronics unit (ACE (62, 82, 92)), which transmits a series of pilot control transducer signals to a set of primary flight computers (64, 84, and 94). The primary flight computers combine the pilot control transducer signals with data obtained from an air data and inertial reference unit (145) to generate a set of flight surface commands. Each ACE selects a set of flight surface commands to control the movement of a set of flight control surfaces on the aircraft.

Abstract: The disclosure relates to systems for piloting aircraft. Equations of the movements of the aircraft are used for computing, in a computer, of the first and second derivatives parameters V.sub.p, .PHI..sub.v, .sigma..sub.a, .beta..sub.v, .alpha., .PHI..sub.v, .sigma..sub.a, .beta..sub.v, of the parameters V.sub.p, .PHI..sub.v, .sigma..sub.a, .beta..sub.v, .alpha. of the movement of the aircraft, and the values thus computed are compared with those computed by means of the values of said parameters V.sub.p, .PHI..sub.v, .sigma..sub.a, .beta..sub.v, .alpha. at the instants t, (t+dt) and (t+2dt). An alarm signal (circuit 23) is generated if equality is not verified to a given precision.

Abstract: A control system includes a dual actuator (2) and primary and secondary controllers (20, 22), each of which has two control channels. In a normal mode of operation, the primary controller (20) controls both valves (32, 38) of the actuator (2). Each primary channel generates a model signal and a monitoring signal corresponding to expected and actual operation of the actuator, respectively. The two signals from each channel are communicated to the other channel. Each channel monitors itself as well as the other channel by comparing model and monitoring signals; and is also similarly redundantly monitored by the other channel of the controller (20). Each channel independently compares its own signals with the signals from the other channel. Each of the two channels has a deactivating switch responsive to a fault status signal from either of the two channels to thereby allow deactivation of a failed channel even when the failure in such channel prevents it from deactivating itself.

Abstract: An improved servomotor control method where a multiplier ratio DMR is computed in advance by an arithmetic unit (20) from a traveling distance L of a movable machine element per revolution of a servomotor, a traveling distance R per pulse of a move command, and a number N of incremental pulses generated by an absolute position-detecting pulse coder (18) per revolution of the servomotor. A move command (.DELTA.R.sub.n) is accumulated by a move command accumulator (11), an absolute position (P.sub.A ') output by the absolute position-detecting pulse coder (18) is multiplied by the multiplier ratio DMR. A difference (E.sub.r) between a value (P.sub.c) obtained by accumulating the move commands and the result (P.sub.A) of the multiplication operation is computed as a position error, and rotation of the servomotor (17) is controlled by using the position error.

Abstract: A method of and apparatus for controlling a triple-coil servo valve arranged having a tripled control system each of which is composed of components of a coil, a servo amplifier and a controller, the method of and the apparatus for controlling the triple servo valve including means for specifying the abnormality of each of the components, servo amplifier output separation means, means capable of desirably combining the components and means for compensating the servo amplifier. If two control systems of the tripled control system are faulty in such a manner that at least one coil, at least one servo amplifier or at least one controller is abnormal, the triple-coil servo is operated by combining the normal components or by compensating the servo amplifier so that the continuation of the operation of the plant is enabled.

Abstract: A control system for operating an actuator in a mechanical system, such as an aircraft turbine engine, employs redundant electronic control channels for increased operational safety in the event of a failure of one of the control channels. In accordance with the reliability or integrity of the various components of the system, a network of triplex redundant electronic control units connects with duplex redundant input driver ports of a servo actuator, the network including a converter of triplex to duplex wherein the converter employs a duplex section of electronic circuits. The control units may include a schedule or memory addressed by a set of input parameters or variables for outputting a desired value of output parameter or variable. The converter includes a fan-in circuit by which signals of the three control units are applied to two power amplifiers for driving the two input sections of the servo actuator.

Abstract: An electro-hydraulic servo mechanism comprising: a hydraulic actuator formed with a pair of hydraulic chambers and having an output member which is displaced by a differential pressure between the hydraulic chambers, the output member being connected with an object to be controlled; an electro-hydraulic converter for varying the differential pressure between the hydraulic chambers in response to an electric signal; a first differential transformer for outputting a first induced electromotive force proportional to the displacement of the output member; a control circuit for generating the electric signal in response to the output of the first differential transformer and to an external command signal and for outputting the electric signal to the electro-hydraulic converter; a pressure receiving member that is displaced in response to the differential pressure between the hydraulic chambers; and a second differential transformer for outputting a second induced electromotive force proportional to the displacemen

Abstract: A method and device for smoothly rotating a diffraction grating in a spectrophotometer by means of a galvanometer includes modifications in the software in the microprocessor which controls the galvanometer. The software modifications cause the galvanometer to rotate the grating in a series of discrete steps that stimulate a smooth minimum jerk rotation. The amount of rotation in each discrete step is calculated by the microprocessor.

Abstract: A nominal value is supplied both to a control in a first channel and to a regulator in a second channel parallel to the first channel. The control signal and the regulation signal are transmitted to an apparatus to be regulated. The regulation signal is monitored by a regulator monitoring unit, which generates a shutdown signal when a certain regulation signal level is exceeded and thereby controls or regulates the apparatus into a safe state of operation. In order to effect the regulation, an apparatus output quality is detected by a sensor and the output signal from the sensor is substracted from the nominal value at the input of the second channel. Due to the installation of a control in the first channel, only a single sensor is required for secure two-channel regulation.

Abstract: A numerical control apparatus for controlling a multiple-axis and multiple-channel machine tool by controlling multiple axes through multiple channels. A main processor (1) for executing data processings other than servo system processing, and an operator interface module (2), etc. are connected to a first bus (7). A plurality of servo command generating processors (10, 20, 30) for processing input data and producing a servo command for each channel are connected to the first bus (7) and a second bus (41). The second bus (41), which is connected to a plurality of servo control processors (42-45), transfers only servo command data and the first bus (7) transfers all other data. Accordingly, servo commands can be produced at a high speed, and thus a high-speed control of a multiple-axis and multiple-channel machine tool can be effected.

Abstract: A depowering apparatus for controlling selection and deselection of devices, such as a pair of torque motors, comprises two channels. Each channel has a normally open switch in series with a normally closed switch connecting a power supply line to the torque motor. A control circuit in each channel closes the normally open switch of that channel and opens the normally closed switch of the other channel in response to a channel select signal so as to ensure that each of the torque motors can be depowered to allow the other to take control.

Abstract: In a servo control apparatus wherein a load is controlled by a deviation between a command signal corresponding to a target value and a detected position signal of an actuator of a servo system and which has a plurality of the servo systems arranged in parallel with respect to the load, the servo control apparatus comprising: a forward circuit for producing a signal that changes in response to an external force exerted on the actuator; first feedback circuit for detecting the signal of the forward circuit and feeding the same back to the command signal; and second feedback circuit for feeding the detected position signal of the actuator back to the command signal, producing a deviation signal representative of a deviation between the position signal and the command signal, integrating the deviation signal, and inputting the integrated signal to the forward circuit.

Abstract: A complete, computer based, vehicle management system (VMS) for X-Wing aircraft using digital "fly-by-wire" technology controlling many subsystems and providing functions beyond the classical aircraft flight control system. The vehicle management system receives input signals from a multiplicity of sensors and provides commands to a large number of actuators controlling many subsystems. The VMS includes--segregating flight critical and mission critical factors and providing a greater level of back-up or redundancy for the former; centralizing the computation of functions utilized by several subsystems (e.g. air data, rotor speed, etc.); integrating the control of the flight control functions, the compressor control, the rotor conversion control, vibration alleviation by higher harmonic control, engine power anticipation and self-test, all in the same flight control computer (FCC) hardware units.

Abstract: The present invention comprises a relay control circuit that provides highly efficient and reliable control for devices that perform in demanding applications such as space. Multiple levels of redundant function control are provided by redundant actuators that perform mechanical operations. Each actuator is driven by redundant motors for increased reliability. Motor current sensing is provided to determine arrival of the actuator at mechanical stops, which are located at the full deploy position. Limit switches also sense when the actuators are in the full deploy position. In addition, multiple control signal so are required to initiate certain critical operations. Critical operations also are performed redundantly for increased reliability.