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1. 发明授权

US4831315A Transducer positioning apparatus with multiple modes of motion 失效
标题翻译：具有多种运动模式的传感器定位装置
公开(公告)号：US4831315A
公开(公告)日：1989-05-16
申请号：US28700
申请日：1987-03-20
申请人： Francis P. Hammond , Martyn A. Lewis
发明人： Francis P. Hammond , Martyn A. Lewis
IPC分类号： G05B19/39 , G11B5/596 , G11B21/08
CPC分类号： G05B19/39 , G11B21/085 , G11B5/59644 , G05B2219/37313 , G05B2219/41092 , G05B2219/42114 , G05B2219/42171
摘要： A method and apparatus are disclosed for providing continuous position information in a position servo system having position information signals 162, 164 coming from encoder 160 and which provide indirect position information over selected ranges, and a reference position information signal 153 coming from transducer 140 and which provides reference position information at discrete intervals. In the preferred embodiment, the distances between selected positions of two position information signals are combined, and in response to position offset information obtained from the reference position signal 153, thereafter used in selecting which of the position information signals 162, 164 will be used for determining position information. The position determination techniques are further employed in positioning the transducer apparatus 140 relative to a rotating storage medium 142 through the use of an externally commutated positioning apparatus, such as motor 100, under control of a processing element 30. A control method is combined with the positioning method and apparatus which includes an initial determination of salient parameters associated with the apparatus (such as the commutation points of the motor 100 with respect to its end stops, and the amplitude of the two signals 162, 164). Positioning of the transducing apparatus 140 is achieved through a plurality of control modes which are responsive to the determined parameters. In addition, the accuracy with which the position of the transducing apparatus 140 is determined varies among the modes with the remaining distance yet to traverse to a desired destination position.
摘要翻译：公开了一种用于在位置伺服系统中提供连续位置信息的方法和装置，该位置伺服系统具有来自编码器160的位置信息信号162,164，并且在选定范围内提供间接位置信息，以及来自换能器140的参考位置信息信号153以及哪个以离散的间隔提供参考位置信息。在优选实施例中，组合两个位置信息信号的选定位置之间的距离，并且响应于从参考位置信号153获得的位置偏移信息，此后用于选择位置信息信号162,164中的哪一个将用于确定位置信息。进一步采用位置确定技术，在处理元件30的控制下，通过使用外部换向的定位装置（例如马达100）来相对于旋转存储介质142定位换能器装置140.控制方法与定位方法和装置包括初始确定与装置相关联的显着参数（诸如电动机100相对于其终点的换向点，以及两个信号162,164的振幅）。转换装置140的定位是通过响应所确定的参数的多个控制模式实现的。此外，确定换能装置140的位置的准确度在具有剩余距离尚未到达期望的目的地位置的模式之间变化。

2. 发明授权

US4599547A Fine-coarse positioning control system with easy adjustment 失效
标题翻译：精细定位控制系统，调节方便
公开(公告)号：US4599547A
公开(公告)日：1986-07-08
申请号：US663785
申请日：1984-10-23
申请人： Benedict C. M. Ho
发明人： Benedict C. M. Ho
IPC分类号： B41J7/34 , B41J7/48 , G05B19/18 , G05B19/39 , G05B19/404 , G05D3/12 , G05B11/18
CPC分类号： G05B19/39 , G05B2219/34215 , G05B2219/42114
摘要： A system and method are disclosed for precisely positioning a movable member to a desired fine position after a selected coarse position is reached. In a preferred embodiment of the invention a processor-controlled typewheel servo control system is responsive to a command signal for a selected coarse position for selectively utilizing from a memory circuit preselected stored adjustment information for the selected coarse position comprised of an associated coarse position count and quadrant information related to the sinusoids generated by an optical encoder in order to make a precise fine position adjustment in the position of a typewheel after the selected coarse position is reached for that typewheel.
摘要翻译：公开了一种系统和方法，用于在达到所选择的粗略位置之后将可动构件精确地定位到期望的精细位置。在本发明的优选实施例中，处理器控制的打字机伺服控制系统响应于所选择的粗略位置的命令信号，用于选择性地从存储器电路利用预先存储的所选择的粗略位置的调整信息，所述粗略位置包括相关联的粗位置计数和与光学编码器产生的正弦曲线相关的象限信息，以便在针对该打字机到达所选择的粗略位置之后，对打字机的位置进行精确的精细位置调整。

3. 发明授权

US4021714A Servo system employing a tracking digital angle encoder 失效
标题翻译：伺服系统采用跟踪数字角度编码器
公开(公告)号：US4021714A
公开(公告)日：1977-05-03
申请号：US539265
申请日：1975-01-08
申请人： Donald H. Jones , Robert G. Burig , Paul F. McNally
发明人： Donald H. Jones , Robert G. Burig , Paul F. McNally
IPC分类号： G05B19/35 , G05B19/39 , G05D3/20 , G05B11/18
CPC分类号： G05B19/39 , G05B19/353 , G05D3/20 , G05B2219/41247 , G05B2219/42114 , G05B2219/42212
摘要： 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. This is utilized to position the shaft within an angle equivalent of the least significant digital bit. The digital positioning system is utilized to move the shaft to a position within .+-. 1/2 bit of the desired position, then the analog positioning system takes over and positions and maintains the shaft within a lesser fractional portion of a bit to the absolute desired position. A short path positioning means is provided for selecting the shortest path to move the shaft to a new position indicated by the digital command input signal. That is, whenever the shaft is to be rotated to a position more than 180.degree. away, it is rotated in the opposite direction over an angle which then is necessarily less than 180.degree.. A square root function generator is provided following the digital to analog converter for the digital error signal which permits minimum positioning time for the servo system.
摘要翻译：用于响应于数字命令输入来定位轴的绝对定位伺服机构，该数字命令输入使用旋转变压器，用于提供轴的模拟位置指示，提供轴位置的数字指示的模数转换器，用于比较的比较器具有数字指示信号的数字命令输入信号，并提供差分数字误差信号，该差分数字误差信号被转换为模拟信号并被反馈以定位轴，使得差分数字误差为0.提供模拟精细控制定位装置，并且当数字差分误差为0时，将轴保持在由数字指令输入信号表示的位置的中心点附近。表示轴的精确模拟位置与轴的数字近似位置之间的差的信号被提供在翻译器的输出。这用于将轴定位在等同于最低有效数字位的角度。使用数字定位系统将轴移动到期望位置的+/- 1/2位内的位置，然后模拟定位系统接管并将轴定位并保持在位的较小分数部分内的绝对值所期望的职位。提供了一种短路定位装置，用于选择将轴移动到由数字命令输入信号指示的新位置的最短路径。也就是说，每当轴旋转到大于180度的位置时，它以相反的方向旋转一个角度，然后必须小于180度。在数字误差信号的数模转换器之后提供平方根函数发生器，其允许伺服系统的最小定位时间。

4. 发明授权

US3696354A Position control system 失效
标题翻译：位置控制系统
公开(公告)号：US3696354A
公开(公告)日：1972-10-03
申请号：US3696354D
申请日：1971-11-19
申请人： GASTON ALBERT PALOMBO , THOMAS A BOISSEVAIN
发明人： PALOMBO GASTON ALBERT , BOISSEVAIN THOMAS A
IPC分类号： G05B19/39 , G11B5/55 , G11B5/52 , G11B21/10
CPC分类号： G05B19/39 , G05B2219/37486 , G05B2219/42114 , G11B5/5552
摘要： Positioning apparatus for controlling the relative placement of two members in which coarse control is performed in a first mode and fine control in a second mode. Switching between modes occurs automatically. A profile utilizing discrete signals is used for minimizing transit time.
摘要翻译：用于控制在第一模式中执行粗略控制的两个构件的相对位置和在第二模式中精细控制的定位装置。自动切换模式。使用离散信号的简档用于最小化通行时间。

5. 发明授权

US3611101A Multiloop positioning control system 失效
标题翻译：多用户定位控制系统
公开(公告)号：US3611101A
公开(公告)日：1971-10-05
申请号：US3611101D
申请日：1970-03-16
申请人： ALLEN BRADLEY CO
发明人： KIFFMEYER WILLIAM , STRUGER ODO J , RADTKE JOSEPH D , WINDLER HAROLD
IPC分类号： G05B19/39 , G05B11/18
CPC分类号： G05B19/39 , G05B2219/34239 , G05B2219/35232 , G05B2219/37486 , G05B2219/41247 , G05B2219/42114 , G05B2219/43194 , G05B2219/50191
摘要： A servoamplifier forming part of a multiple feedback control system drives an electric motor to move a machine to a programmed final position in response to an error signal. A position transducer connected to sense the movement of the machine generates an analog error signal determined by the distance between the machine position and the transducer reference point. A position data control senses the level of the analog error signal and enters a digit into a position storage when the machine moves a unit distance. The position storage compiles these entries and produces a digital absolute feedback signal that indicates the present position of the machine. A command signal generator, in response to each such entry into the position storage, electrically shifts the transducer reference point a unit distance in the direction of machine travel. A digital position comparator generates a digital error signal to a loop control switch when the distance between the programmed final position is greater than two units. When the digital error signal is at a predetermined level, the loop control switch connects the analog error signal coming from the position transducer to the servoamplifier input to drive the machine to its final position.

6. 发明授权

US5003238A Method and apparatus of fine tuning the position of an ultrasonic sensor probe using analog motor position signals 失效
标题翻译：使用模拟电机位置信号微调超声波传感器探头的位置的方法和装置
公开(公告)号：US5003238A
公开(公告)日：1991-03-26
申请号：US487524
申请日：1990-03-02
申请人： John J. Lum , John L. Schultz
发明人： John J. Lum , John L. Schultz
IPC分类号： G05B19/39
CPC分类号： G05B19/39 , G05B2219/42114
摘要： As disclosed herein, a new and improved method and apparatus provide for fine tuning the position of a servomotor used to drive a transducer mounted on an ultrasound probe to a desired position. This improvement is accomplished by processing the analog quadrature output signals of an incremental optical encoder, coupled to the servomotor. The improvement uses the positional information derived from the analog quadrature output signals. The analog quadrature output signals, defined as sine and cosine, are converted to digital square waves. The digital square waves are decoded to produce digital position quadrants, wherein each quadrant represents a specific motor position. The corresponding digital square waves are also decoded by a logic array device and coupled to the select input of an analog switch. The analog quadrature output signals are also coupled to an analog device that converts the output signals to four phase shifted sinusoidal wave forms, having a linear portion within a digital position quadrant. The select signals from the logic array device select one of the four phase shifted wave forms. The output of the analog switch is then compared to a reference signal. The resulting output from the comparison is an analog error signal. This analog error signal forces the motor towards the zero crossing within a digital position quadrant.
摘要翻译：如本文所公开的，新的和改进的方法和装置提供用于微调用于将安装在超声波探头上的换能器驱动到期望位置的伺服电动机的位置。这种改进通过处理耦合到伺服电动机的增量光学编码器的模拟正交输出信号来实现。改进使用从模拟正交输出信号导出的位置信息。定义为正弦和余弦的模拟正交输出信号被转换为数字方波。数字方波被解码以产生数字位置象限，其中每个象限表示特定的电机位置。相应的数字方波也由逻辑阵列器件解码并耦合到模拟开关的选择输入。模拟正交输出信号还耦合到模拟装置，该模拟装置将输出信号转换为四个相移正弦波形，其具有在数字位置象限内的线性部分。来自逻辑阵列器件的选择信号选择四个相移波形之一。然后将模拟开关的输出与参考信号进行比较。比较结果的输出是模拟误差信号。该模拟误差信号迫使电机朝向数字位置象限内的过零点。

7. 发明授权

US4574227A Dual mode servo 失效
标题翻译：双模伺服
公开(公告)号：US4574227A
公开(公告)日：1986-03-04
申请号：US550950
申请日：1983-11-14
申请人： John C. Herder , Randall G. Guay
发明人： John C. Herder , Randall G. Guay
IPC分类号： G05B19/39 , G05B11/18 , G05B13/00
CPC分类号： G05B19/39 , G05B2219/41021 , G05B2219/42114 , G05B2219/42171
摘要： A dual mode, digital servo positioning system controls servo motor current by a processor-generated current control set point in conjunction with velocity feedback. When the motor has advanced to the vicinity of a target position, the processor opens the velocity feedback loop and reduces servo amplifier gain, such that the set point controls motor current without velocity feedback. This open loop condition provides a springy servo response that eliminates oscillation due to small deviations from target position caused by electronic drift or gravity. Position information is provided to the processor by means of quadrature encoded tachometer pulses from the motor.
摘要翻译：双模式数字伺服定位系统通过处理器生成的电流控制设定点结合速度反馈来控制伺服电机电流。当电机前进到目标位置附近时，处理器打开速度反馈回路并降低伺服放大器增益，使得设定点无需速度反馈控制电机电流。这种开环条件提供弹性伺服响应，消除由于电子漂移或重力引起的与目标位置的小偏差的振荡。位置信息通过来自电动机的正交编码转速计脉冲提供给处理器。

8. 发明授权

US4523137A Dual mode printer servo with improved velocity signal generator 失效
标题翻译：双模打印机伺服具有改进的速度信号发生器
公开(公告)号：US4523137A
公开(公告)日：1985-06-11
申请号：US536551
申请日：1983-09-27
申请人： Harvey C. Wong
发明人： Harvey C. Wong
IPC分类号： B41J1/30 , B41J7/34 , G05B19/39 , G05D3/12
CPC分类号： G05B19/39 , G05B2219/33268 , G05B2219/42114
摘要： 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.
摘要翻译：在用于控制旋转打印轮和打印轮滑架的速度和位置的旋转打印机控制系统的双模式伺服中，数字期望速度多位字符的模拟对应物由双向数模转换器产生，模拟期望速度信号具有高于和低于零参考电平的最大值范围，从而消除对附加模拟电平转换电路的需要。

9. 发明授权

US4315198A Digital servo system 失效
标题翻译：数字伺服系统
公开(公告)号：US4315198A
公开(公告)日：1982-02-09
申请号：US91931
申请日：1979-11-07
申请人： Frank W. Lin , Mei S. Sze
发明人： Frank W. Lin , Mei S. Sze
IPC分类号： G05D3/12 , G01D5/245 , G01P3/48 , G01P3/481 , G05B19/39 , G05B11/18
CPC分类号： G05B19/39 , G05B2219/34215 , G05B2219/42114
摘要： A digital servo system adapted for use in a dual mode coarse-fine servo system to control a movable member from a starting position to an at rest destination position. The digital servo generates a pulse train in response to varying space phase cyclic analog position signal A from an encoder coupled to the movable member. Each cycle of an analog position signal represents a small incremental amount of movement by the movable member. The pulse train provides a change in its state in time with the varying position signals. In the preferred embodiment, eight changes occur per cycle. The pulse train is integrated to provide a velocity signal which is compared with a command velocity signal.
摘要翻译：一种适用于双模粗细伺服系统的数字伺服系统，用于控制从起始位置到静止目标位置的可动构件。数字伺服响应于来自耦合到可动构件的编码器的变化的空间相位循环模拟位置信号A产生脉冲串。模拟位置信号的每个周期表示可移动部件的小的增量移动量。脉冲串随着变化的位置信号在时间上改变其状态。在优选实施例中，每个周期发生八次改变。脉冲串被集成以提供与指令速度信号相比较的速度信号。

10. 发明授权

US3953774A Control method of a DC motor 失效
标题翻译：直流电机的控制方法
公开(公告)号：US3953774A
公开(公告)日：1976-04-27
申请号：US420648
申请日：1973-11-30
申请人： Tadasu Sato , Chuichi Yoshitake
发明人： Tadasu Sato , Chuichi Yoshitake
IPC分类号： B41J29/38 , G05B19/39 , G05D3/14 , G05B11/18
CPC分类号： G05B19/39 , B41J29/38 , G05D3/1436 , G05B2219/42114 , G05B2219/43006
摘要： A control method of a DC motor is described which comprises a digital control method and an analogue control method, wherein a rotor of the DC motor rotates with high speed under the digital control method until the rotating angle of the rotor comes close to a predetermined rotating angle and then the rotor rotates with high accuracy under the analogue control method to the predetermined rotating angle.
摘要翻译：描述了一种DC电动机的控制方法，其包括数字控制方法和模拟控制方法，其中直流电动机的转子在数字控制方式下以高速旋转，直到转子的旋转角度接近预定转速角度，然后转子以模拟控制方式以高精度旋转到预定的旋转角度。

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