公开(公告)号：US4446409A

公开(公告)日：1984-05-01

申请号：US360789

申请日：1982-03-22

申请人： Harris C. Rawicz ,  Vincent J. Rizzo ,  William R. Buntemeyer

发明人： Harris C. Rawicz ,  Vincent J. Rizzo ,  William R. Buntemeyer

IPC分类号： H02P5/50 ,  G05D23/275

CPC分类号： H02P5/50

摘要： An improved electronic control system employs a primary servomechanism loop which includes an error signalling difference node and a stability compensating forward gain/drive element intermediate an input command signal source and a controlled output element. A second, similar image feed back loop is operative upon a simulated representation of the controlled output element or plant, and is exercised by the input command source. The error node in the second image loop generates a loop error signal responsive to the difference between the input command and the simulated, predicted response for the controlled element.In accordance with the present invention, the two error signals produced by the actual and image feed back loops are compared and generate a supplementary feed back signal which is summed with the plant-driving signal applied to the controlled element. Accordingly, the structure above considered operates to vitiate any difference between the error signals in the actual and image loops, thereby forcing the response of the controlled element to track the desired, predicted response therefor in the image loop notwithstanding any degredation experienced by the controlled plant.

摘要翻译： 改进的电子控制系统采用主要伺服机构回路，其包括错误信号差异节点和输入命令信号源和受控输出元件之间的稳定性补偿正向增益/驱动元件。 第二个类似的图像反馈回路在受控输出元件或设备的模拟表示上操作，并且由输入命令源执行。 响应于输入命令和受控元件的模拟预测响应之间的差异，第二图像循环中的误差节点产生回路误差信号。 根据本发明，将实际和图像反馈回路产生的两个误差信号进行比较，并生成与施加到受控元件的工厂驱动信号相加的辅助反馈信号。 因此，上面考虑的结构可以破坏实际和图像循环中的误差信号之间的任何差异，从而迫使受控元件的响应在图像循环中跟踪所期望的预测响应，尽管受控工厂经历了任何降级 。

公开(公告)号：US4284942A

公开(公告)日：1981-08-18

申请号：US916138

申请日：1978-06-16

申请人： William J. Bigley ,  Vincent J. Rizzo

发明人： William J. Bigley ,  Vincent J. Rizzo

IPC分类号： G05B5/01 ,  H02P23/00

CPC分类号： G05B5/01 ,  H02P23/16

摘要： Load actuating servomechanism apparatus includes dynamic regeneration and a mechanically damped motor-load coupling to equalize and overcome a frequency-varying load/load drive train mechanical resonance. The drive circuitry comprises a per se conventional primary motor speed controlling rate feedback loop including a cascaded rate signal command source, summing error-signal producing node, and loop frequency response shaping filter and driver amplifier for exciting a load driving motor, and a rate tachometer signal feedback element connecting a measure of the motor output speed to a subtractive input of the summing node.To broaden the response band of the primary feedback circuit and accommodate a mechanical resonance otherwise interfering therewith, a secondary, positive feedback path supplements the input rate command with a signal dependent upon motor current, and thus upon motor load. Accordingly, output load drive automatically increases as motor current increases when a load drive retarding mechanical resonance is encountered. Further, the mechanical damping, for example implemented by a slip clutch, lowers the effective Q of the resonance, thereby facilitating load actuation.

摘要翻译： 负载致动伺服机构包括动态再生和机械阻尼电动机负载耦合，以均衡和克服变频负载/负载传动系机械共振。 驱动电路包括一个传统的主电机速度控制速率反馈回路，包括级联速率信号指令源，求和误差信号产生节点和环路频率响应整形滤波器以及用于激励负载驱动电机的驱动器放大器，速率转速计 信号反馈元件将电动机输出速度的量度连接到求和节点的减法输入。 为了扩大初级反馈电路的响应频带并适应另外干扰的机械谐振，次级正反馈路径用取决于电机电流的信号补偿输入速率指令，并因此补偿电机负载。 因此，当遇到负载驱动延迟机械共振时，输出负载驱动自动增加，因为电动机电流增加。 此外，例如由滑动离合器实现的机械阻尼降低了谐振的有效Q，从而有助于负载致动。