Abstract: According to an embodiment of the present invention, a rotation-angle detection device for detecting a rotation angle of a rotor includes: plural rotation detectors that output detection signals which vary with the rotation angle of the rotor; a rotation calculator that outputs a rotated vector by rotating a vector expressed by the detection signals; an amplitude detector that outputs an amplitude signal indicating amplitude of the detection signals by performing computation on at least one of signals expressing the rotated vector using a predetermined target amplitude; a drive-power adjuster that adjusts the amplitude of the detection signals by changing drive power applied to the rotation detectors according to the amplitude signal; a corrector that corrects the amplitude based on the amplitude signal and outputs a corrected detection signal; and a rotation angle detector that detects a rotation angle of the rotor based on the corrected detection signal.

Abstract: There is provided a motor control system and motor control method which can shorten settling time by restraining vibration and deviation relative to an advancing direction during operation. Moreover, according to the present invention, it is possible to cause a motor to be operated with an ideal track and, since it is possible to always monitor a present position, it is made easy to cause a plurality of axes to be synchronously operated. The motor control system is provided with a unit generating command waveforms from a jerk data which has significant effects on the vibration relative to the advancing direction, and a unit performing a real time real position control of regenerating future command waveforms according to a deviation amount, while always performing jerk-limit, whereby the vibration and the deviation relative to the advancing direction when the motor operates at high speed are restrained.

Abstract: A control device for a travel motor mounted to a vehicle has a resolver which works as a rotation-angle sensor. The control device has a RDC which calculates a rotation-angle output value ? based on rotation detection signals Sa, Sb transferred from the resolver. The control device supplies electric power to the travel motor based on the rotation angle output value ?. The RDC calculates “sin(???)” as an error deviation ? based on the signals Sa and Sb and the rotation-angle output value ?. The RDC calculates an angular acceleration by multiplying the error deviation ? with a gain (=Ka·Kb), and integrates the angular acceleration two times in order to obtain a next rotation-angle output value. A gain control part of the RDC decreases the gain when the judgment means judges that the travel motor rotates at a constant rotation speed.

Abstract: A system has a sensor assembly mounted adjacent to a moving magnetic member such as a motor rotor to sense its position. The sensor assembly includes Hall-effect sensors each having a binary output, configured such that distinct positions of the moving magnetic member correspond to distinct digital patterns of the outputs of the Hall-effect sensors. Encoding circuitry is coupled to the outputs of the Hall-effect sensors to generate a multi-valued analog output, distinct values of the multi-valued analog output representing corresponding distinct digital patterns of the outputs of the Hall-effect sensors. The encoding circuitry may employ a ladder network with weighted-value resistors contributing different components of an analog current sensed by the controller. The sensed current can be converted to digital position information using suitable analog-to-digital conversion circuitry.

Abstract: An analog amplifier performs control of a motor at the speed in proportion to a speed instruction (analog voltage) outputted from a numerical control device. The speed instruction (analog value) is converted into a digital value by an A/D converter and is then sent to a CPU. When the CPU judges that the received digital value corresponding to the speed instruction deviates from a predetermined range, the CPU stops sending out an enable signal, and sends out an emergency stop signal. As a result, the CPU stops electric power supply to the analog amplifier, and also invalidates the speed instruction sent to the analog amplifier 20, thereby performing control to make the speed of the motor become “0”.

Abstract: A device for correcting a digital estimate of an electric signal is described. The device includes a comparator that generates a current proportional to the difference between an analog estimate signal, which derives from the digital estimate, and the electric signal. The device also includes a capacitor positioned to be charged by the current, a transistor that discharges the capacitor, and a comparator that compares the voltage at the terminal of the capacitor with a reference voltage. The device also includes a controller that drives the transistor in response to the output signal of the comparator and a logic device that generates a correction digital signal to be added to or subtracted from the digital estimate of the electric signal in correspondence of an ascending or descending waveform of the electric signal.

Abstract: An electric motor has a stator and an external rotor (40). Its external rotor (40) has a sensor magnet (54) having a plurality SP of sensor poles (55). The motor also has: at least one rotor position sensor (42, 44) for generating a rotor position signal and a rotor position evaluation arrangement for generating an absolute value for the rotor position, which apparatus comprises an A/D converter (144) having a resolution of at least two bits, the at least one rotor position sensor (42, 44) being connected to the A/D converter. In order to enable obtaining different digital values, even at rotational positions within the angle range of one sensor pole, each analog rotor position sensor signal is converted by the A/D converter into a digital value having at least two bits.

Abstract: An interrupt signal is generated at each of rising timings of PWM signals which are produced on the basis of phase-shifted triangular wave carrier signals for phases, and voltage command values for the phases. At timings of the interrupt signals, A/D conversion of motor currents of the phases detected by a shunt is started. Interrupt signals are also produced at timings of valleys of the triangular wave carrier signals. Additionally, peak interrupt signals and valley interrupt signals are respectively produced at timings of peaks and valleys of triangular wave carrier signals for phases. Based on each of the peak interrupt signals, normality/abnormality of a switching element of an upper side of the phase corresponding to the interrupt signal is checked, and, based on each of the valley interrupt signals, normality/abnormality of a switching element of a lower side of the phase corresponding to the interrupt signal is checked.

Abstract: A method of regulating an electric motor, regulation being implemented with a loop of gain less than unity as a function of a divergence between a setpoint signal for an operating parameter of the motor and a measured value of the same operating parameter of the electric motor, the divergence being taken into account only if said divergence is greater than a predetermined threshold whenever the measured value is greater than the setpoint signal.

Abstract: System, method and apparatus for commutating a multiphase motor utilizing a single sensor. Commutation is carried out by employing a sensible system which incorporates phase commutating transition attributes. A motor is started by assigning a starting phase for a given direction of motor direction. An aligning phase initially is energized to orient the rotor so as to provide adequate starting phase start-up torque. Following such alignment and start-up, the motor is operated in response to transitions of the sensible system. In one aspect, a reference phase attribute may be incorporated in the sensible system to provide a mandated reference phase energization when the rotor is oriented for reference phase activation. Further described is a sensible system magnetic region configuration which is combined with a single package Hall effect sensor to provide three-phase unipolar and four-phase commutation with absolute phase defining information.

Abstract: The invention concerns a method of regulating the current in a direct current machine with which are associated an arrangement for generating a current target value signal, as well as a PWM generator (FIG.

Abstract: A programmable limit switch includes output channels for receiving position data, each position value of the position data representing an incremental advance of a workpiece through a production field, and for producing actuation signals. The channels are connectable to respective output devices responsive to the respective actuation signals and located in the field. Each output channel has an output controller, which is individually programmable to change the state of respective actuation signals in response to reaching selected position values. Preferably, the PLS includes input connectors coupled to a respective channel and connectable to respective input devices located within the production field. Each channel operates its own inputs and outputs according to a variety of programmed functions depending upon system conditions seen by the output controller.

Abstract: A branch amplifier card for a nuclear reactor control rod drive control system is provided. The control system includes a control processor, a plurality of transponder cards arranged in clusters with each cluster under the control of a branch amplifier card. The branch amplifier card is configured to receive commands from the control processor, send the converted commands to transponder cards under the control of the branch amplifier card and to a downstream branch amplifier card, receive an acknowledge word from transponder cards under the control of the branch amplifier card, add AC voltage threshold level information about the transponder cards under the control of the branch amplifier card to the acknowledge word, permit transponder trouble information attached to the acknowledge word to remain in the acknowledge word, and resend the acknowledge word including the transponder trouble information to an upstream branch amplifier card.

Abstract: An index signal generating circuit for generating a precise index signal free from time shifting even under ambient temperature changes. An index signal generating circuit includes a magnet attached onto the circumference of the rotor of a spindle motor, a magnetic flux detecting device for detecting magnetic flux of the magnet when the magnet moves past the magnetic flux detecting device, a Hall effect device for switching a current in the driving coil of the spindle motor, a first waveform shaping circuit for shaping the detected output of the magnetic flux detecting device into a rectangular-wave signal, a second waveform shaping circuit for shaping the output of the Hall effect device into a rectangular-wave signal, and a logic circuit for ANDing the output rectangular-wave signals from the first and second waveform shaping circuits, wherein an index signal is generated at the timing of a transition of the AND output of the logic circuit.

Abstract: The upper limit value and lower limit value of a control target value are alternately supplied to a single D/A converter in synchronism with a clock, an analog output from the D/A converter is compared with an output from a PBR serving as a position detector, and a motor is driven by the difference voltage, thereby positioning the control object. In this case, control of the moving direction and drive/stop of the motor is performed by a combination between the setting states of the upper and lower limit values and the polarity of the difference voltage, and the switching operation of the selector is stopped during a control operation, thereby making it possible to smoothly perform the control operation at a high speed. The control system can be digitized as a whole by detecting a position by an encoder, and integration of the system can be enhanced, thereby realizing a compact and stable control system.

Abstract: The interface circuit has a single input terminal for receiving an analog or digital control signal indicative of the required speed of rotation of the motor. The type of input signal is recognised by means of comparator circuits. The input signal is processed differently according to its nature in order, in any case, to output an analog signal acceptable by the regulation and control circuit which pilots the motor.

Abstract: A digitally programmable integrated-circuit analog-signal servo co-processor has digital programming contact pads to which an external microprocessor may be connected, has analog-signal input pads and analog-signal output pads, and includes a plurality of programmable analog-signal-manipulating circuits (ASMC's). Each of the ASMC's has input and output terminals connected to an input programmable-switch matrix so that one or a combination of the ASMC blocks may be connected between the analog-signal input and output contact pads of the integrated circuit. Certain ASMC blocks have microprocessor programmable transfer functions, e.g. ASMC integrator, notch filter, low pass filter, PD compensator and voltage divider. Key ones of those ASMC blocks are discrete-time circuits including switched-capacitor resistors and have transfer functions wherein the parameters are ratios of capacitances and the switching rate frequency to provide accurate and stable performance.

Abstract: Apparatus and method for automatically controlling the rotation of an angularly positionable antenna from one angular position to a desired new angular position. The disclosed technique provides the user with a list of destination indicia, each of which corresponds to a geographic location. The user is also provided with a selector for choosing one or more of the available destination indicia. Once the user selects a destination index, a retrieval system automatically retrieves the appropriate geographic reference location from a destination indicia table stored in memory. A calculation is then automatically performed to determine the desired angular position of the antenna with respect to an arbitrary reference angle. The antenna rotor shaft is then energized to rotate the shaft to the desired angular position.

Abstract: The present invention relates to a digital servo-control system whose purpose is to control very high precision equipment. The system includes two digital-to-analog converters, one of which is followed by a divider, with the two converters contributing to producing a control signal. A processor responds to a measurement signal and to a reference value to generate the digital values that are delivered to the converters. The system is particularly suitable for application to servo-controlling a voltage-controlled oscillator.

Abstract: A control system is provided for allowing complex shapes to be machined on a workpiece at high speed. The control system is computer controlled and receives workpiece profile data which are converted into a succession of tool position signals during machining. Not all the digital signals are calculated at one time, a number of future digital signals are calculated during a succession of time intervals. In each time interval, a tool position signal is outputted which is of a constant amplitude corresponding to the required tool position and which is fed to a signal processor where it is converted into a continuous signal which so changes progressively that at successive time intervals, equal to the time intervals of the tool position signals, the amplitude of the continuous signal is related to the successive values of the tool position signals. This continuous signal is fed to a closed-loop control system which controls the movement of the tool holder in accordance with the continuous signal.

Abstract: In combination with a postage meter which includes a plurality of loads, a source of supply of motive power for driving the respective loads and instrumentalities for selectively coupling the source of motive power to the respective loads, there is provided an improvement which comprises: the motive power source including a d.c.

Abstract: A control system for controlling the rotation of a rotary mechanism such as a propeller housing in a Z-type propulsion apparatus is provided. A command signal and a feedback signal both relating to the rotation of the rotary mechanism are compared with each other. And a control signal which varies at a predetermined inclination is generated when the command and feedback signals differ in amplitude from each other. And a drive unit rotates the rotary mechanism in accordance with the control signal.

Abstract: An improvement in combination with a postage meter including a rotary postage printing drum having apparatus for changing respective postage values to be printed, and including apparatus for actuating the changing apparatus, there is provided an improvement for indexing the changing apparatus into engagement with the actuating apparatus. The improvement comprises: a d.c. motor coupled to the drum for rotation of the drum; a device for sensing angular displacement of the drum; and a computer coupled to the sensing device and to the d.c. motor; wherein the computer provides respective amounts representative of desired angular displacements of the drum during successive sampling time periods, responds to the sensing device for providing respective amounts representative of actual angular displacements of the drum during successive sampling time periods, compensates for the difference between desired and actual angular displacements and generates a d.c.

Abstract: An improvement in combination with a postage meter including a rotary drum having a periphery adapted for feeding a sheet in a path of travel. The improvement comprises: a first device for sensing a time interval during which a sheet is linearly displaced a predetermined distance in the path of travel; a d.c. motor coupled to the drum for rotation of the drum; a second device for sensing angular displacement of the drum; and a computer coupled to the first and second sensing devices and to the d.c. motor; wherein the computer responds to the first sensing device for providing respective amounts representative of desired angular displacements of the drum during successive sampling time periods, responds to the second sensing device for providing respective amounts representative of actual angular displacements of the drum during successive sampling time periods, compensates for the difference between desired and actual angular displacements and generates a d.c.

Abstract: Apparatus is provided for controlling the velocity of a portion of a load in accordance with a trapazoidal-shaped velocity versus time profile. The apparatus includes a d.c.

Abstract: A speed monitoring circuit is disclosed for an automatic positioning system. This speed monitoring circuit composes a measurement of the actually present speed determined from measurement signals generated by an incremental position measuring device with the desired speed commanded by the positioning system. The difference between the actual and commanded speed is detected and, in the event of an excessive deviation, a warning or an automatic termination of operation of the positioning system is provided. In the disclosed system, the desired speed is determined by a controller in which a digital computer calculates the difference between the instantaneous position of one relatively movable machine component and the desired position of the movable component as established by programmed data.

Abstract: A numerically controlled motor provides a drive at a rate which is proportional to rotation of an independently driven shaft. In addition, the ratio of such rate to such rotation can be varied by a control circuit by which, in response to each pulse supplied by an encoder on said shaft, an incremental value, corresponding to an analogue signal supplied by a potentiometer to an A-D converter, which converts said signal to said value, is supplied to an accumulator, which sums the successively supplied increment values and, at a predetermined cumulative value, "overflows", such "overflow" supplying a drive signal to the n.c. motor. The potentiometer is manually set by an operator to vary the increment value and thus the frequency of "overflow" in relation to shaft rotation. The control circuit also enables "reverse" and "fast forward" drive to the motor independently of the shaft.

Abstract: In a dual mode servo for a rotary printer control system for controlling the velocity and position of a rotary print wheel and a print wheel carriage, the analog counterpart of a digital desired velocity multibit character is generated by a bidirectional digital to analog converter so that the analog desired velocity signal has a maximum value range lying both above and below a zero reference level, thereby eliminating the need for additional analog level converting circuitry.

Abstract: A needle bar shifter for a textile tufting machine having an operating rod connected to the needle bar and extending into an hydraulic cylinder for manipulation by movement of a spool in a bore in the rod, the rod having passages to permit flow of hydraulic fluid from one side to the other of the end of the rod by opening of different passages by movement of the spool, which is manipulated by light hydraulic pressure independent of the high pressure needed for manipulation of the rod and needle bar.

Abstract: A control apparatus for machine tools is provided which comprises a pulsed digital difference detector having one input connected to a digital branch and having a second input connected to a follower drive and having an output, an adding register having its input connected to the output of the pulsed digital difference detector, an analog nominal value source having its control input connected to the output of the adding register, and an analog branch having an input connected to the analog nominal value source and having its output connected to the input of the follower drive. A drive motor for the tool provides a signal to the digital branch and a drive motor for the blank forms part of the follower drive. The drive motor for the tool is a d.c. motor coupled to a velocity pickup, and cooperating with means for withdrawing the tool and a distance pickup coupled to the drive motor for the blank.

Abstract: A control for the motor of a mechanism which adjusts the position of the distal end of a passenger loading bridge, which control, when actuated, causes the motor to operate and the adjustment mechanism to move the end of the bridge to a preset position.

Abstract: A servo control system for the positioning of a projector comprising a dit current motor having the projector connected to the shaft of the motor, and a digital computer for providing command signals to move the projector to a programmed position at a programmed velocity within a predetermined time period. A potentiometer produced an electrical signal indicative of the actual position of the projector, and a tachometer produces an electrical signal indicative of the actual velocity of the projector. Feedback means, in turn, provides a position error signal indicative of the difference between the programmed position and the actual position of the projector, provides a velocity error signal indicative of the difference between the programmed velocity and the actual velocity of the projector, and varies, in response to the position and velocity error signals, the voltage level of the command signal such that the projector will attain the programmed position within the predetermined time period.

Abstract: A system for duplicating a master part includes a gauge for measuring changes in the dimension therein of a master part to be duplicated and for providing control signals representative of changes from a predetermined dimension. The control signals are applied to a control circuit for controlling an adjustable tool block associated with a machine tool for machining a workpiece in response to the control signals from the gauge to assure that the workpiece dimension conforms to that of the master part.

Abstract: A system for creating a control reference signal for a remote electrical servo device having a movable output unit wherein the velocity and position of the output unit are controlled by the vector magnitude of the control reference signal. This system includes a digital circuit for creating a first fixed analog signal indicative of a known or desired velocity for the unit during a preselected controlled time interval and a second digital means for creating a desired time base positional profile during the preselected time interval. An encoder arrangement is employed for detecting the actual time base positional profile of the servo output unit during the given time interval so that an analog signal generally proportional to the algebraic difference between the actual and desired time base positional digital profile can be created at various times during the time interval.

Abstract: A method and apparatus for automatically leveling a band of fibers such as sliver, roving and the like by varying the drafting speed of a drafting mechanism responsive to variations in the thickness of the band. Analogue signals are produced by variations in the thickness of the band and are converted to digital signals for being stored in a digital register. After a period of time, corresponding with the time for conveyance of the scanned point in the sliver up to and into the draft zone, the information is read out of the storage register and converted back to an analogue signal. The analogue signal is compared with another signal representing the actual drafting speed for producing a compared signal for controlling the drafting speed.

Abstract: A synchro to digital converter which has a programmable read only memory (prom) that operates under control of a feed back counter and register. The prom is programmed to generate a digital signal proportional to the converter's inherent systematic error. The data stored in the prom is empirically derived by running an error (input angle vs. output angle) curve on the uncompensated converter. The corrected error signal from the prom is converted to analog form by conventional digital to analog converter means and subtracted from the closed loop steering signal which is derived from an approximating network thereby increasing the converter output accuracy to within better than 2 arc minutes.

Abstract: A system for selectively aiming a directional receiving antenna in one of a plurality of different directions respectively associated with a plurality of broadcast transmitters differently located in azimuth relative to the antenna in response to the entry into a digital keyboard of the different identification numbers assigned to the different transmitters.

Abstract: Each output signal from a synchro device is applied to an individual voltage comparator through a step-down transformer. Each comparator is biased to a predetermined threshold level and produces an output signal whenever the magnitude of the associated synchro signal exceeds the threshold in the proper polarity. The comparator output voltages are applied to individual clocked flip-flops so as to produce binary output signals in a parallel format indicative of the rotor displacement of the synchro device.

Abstract: A servodrive apparatus is disclosed for a postage meter having a postage printing drum mounted for rotation from and to a home position in single revolution increments and a conveyor for transporting individual pieces of mail into operative engagement with the incrementally rotating drum to be printed with postage. The servodrive apparatus drives the printing drum and controls the angular velocity of the drum to be substantially equal to a preselected angular velocity so that noise generated by the meter is decreased and its operating life is increased. This servodrive apparatus includes a motor for driving the printing drum and means for sensing the angular displacement of the printing drum. A signal generator produces a signal proportional to the preselected angular velocity and a comparator compares the sensed angular velocity of the drum and the preselected angular velocity.

Abstract: A programmer or switching apparatus produces an ON and OFF valued control signal for turning an associated controlled component ON and OFF at preselected points in the variation range of a reference variable. The apparatus includes a reference transducer for converting the reference variable into a reference signal representing the variable. A pair of set-point devices provide a pair of set-point signals which are compared with the reference signal to define operating points at which the control signal switches between its ON and OFF values. The apparatus has the versatility of allowing, by merely setting the set-point devices and without making any circuit changes, the first transition of the control signal to be either from ON to OFF or from OFF to ON as the reference variable increases from its minimum to its maximum value.

Abstract: A digital position control for linearly moving apparatus driven by a motor includes a command signal generating loop coupled to a motor operative condition control loop. The command signal generating loop provides a digital pulse train signal having frequency characteristics corresponding to the desired accelerations and velocities of the apparatus and a total number of pulses proportional to the desired movement of the apparatus. The motor operative condition control loop employs the command signal to energize the motor in accordance with the frequency and pulse count characteristics of the command signal.

Abstract: Numerical control means for controlling the position of a machine tool or the like by means of a servomotor are described. A position command signal is compared to the signal indicative of the servomotor position, and the resultant error signal is added to a speed command signal to control the speed of operation of the motor. A follow-up signal is generated whenever the amplitude of the error signal exceeds a predetermined level, and the latter is added to a digital position signal coupled to the system. A constant digital signal generated by said follow up signal is added to said error signal instead of said speed signal.

Abstract: A program control unit for industrial robots comprising programming means to check instructions from arm-position memory means in which the arm motions are set by means of an arm-position selecting circuit and generates arm-position setting signals and also instruction signals for the grip and the exterior through an instruction signal converter circuit, and a stepping circuit to which are led quick-feed or jumping instructions as well as instructions based on actual arm-position signals, grip and exterior motion signals, and confirmation signals from the programming means, so that the programming means can be allowed to proceed with the processes by said stepping circuit.

Abstract: A multi-axis machine tool or the like employing controls for an open loop stepping motor system of two or more axes in which variable frequency feedrate clock pulses are generated to ultimately control the speed of the various stepping motors. The frequency of the feedrate clock pulses is modified in accordance with programmed information; additional information defines the tool path which can either be straight line or circular arc segments and characteristically the feedrate clock pulse generation means increases pulse frequency at the beginning of a segment in such manner as to increase motor speed in accordance with system inertial limitations from a speed below to a speed above the slewing rate of the stepping motors. Thereafter upon sensing a predetermined distance from the end of the segment, pulse frequency is reduced to reduce the stepping motor speed below the slewing rate.