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。

公开(公告)号：US4084083A

公开(公告)日：1978-04-11

申请号：US629029

申请日：1975-11-05

申请人： Paul F. McNally ,  Robert G. Burig

发明人： Paul F. McNally ,  Robert G. Burig

IPC分类号： G05B19/37 ,  G05B19/18

CPC分类号： G05B19/373 ,  G05B2219/42186

摘要： 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. A translator can be utilized for combining the digital output of each memory with an analog position signal from a position transducer connected to the associated slave shaft and providing an analog difference or error signal which can be utilized for proper positioning of the slave shaft. A tachometer can be utilized in the slave shaft servo for providing speed feedback information. Other means for speed feedback can be employed either by deriving a speed signal from other parameters, related to speed, or by utilizing the characteristics of the prime mover itself for speed feedback.

摘要翻译： 用于利用电子编码，存储器和伺服控制定位系统产生同步多轴间歇运动的装置。 响应于可旋转主轴的位置而定位多个机械独立的从动轴。 模拟换能器连接到主轴，提供通过模数转换器馈送的模拟输出信号。 主轴位置的数字表示由模数转换器提供。 主轴位置的数字指示被馈送到多个独立的数字存储设备，每个独立的数字存储设备响应地提供指示相关联的从轴的期望位置的数字位置信号。 每个独立数字存储器件的输出被馈送到数模转换器，该转换器提供代表期望从轴位置的模拟输出。 伺服控制器根据模拟信号定位相关联的从轴。 可以使用翻译器将每个存储器的数字输出与来自连接到相关从轴的位置传感器的模拟位置信号组合，并提供可用于从轴的正确定位的模拟差分或误差信号。 在从轴伺服中可以使用转速表，以提供速度反馈信息。 用于速度反馈的其它方法可以通过从与速度相关的其他参数导出速度信号，或通过利用原动机本身的速度反馈特性来采用。

公开(公告)号：US4093904A

公开(公告)日：1978-06-06

申请号：US655072

申请日：1976-02-04

申请人： Robert G. Burig ,  Paul F. McNally

发明人： Robert G. Burig ,  Paul F. McNally

IPC分类号： G05B19/35 ,  G05B5/01

CPC分类号： G05B19/353 ,  G05B2219/41434 ,  G05B2219/41437 ,  G05B2219/42186

摘要： 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. The feedforward velocity signal is obtained by calculating the difference between the present position of the associated slave shaft and the desired future position of the slave shaft to obtain the desired change in the slave shaft position. This difference is multiplied by the absolute value of the master axis velocity to obtain the necessary velocity feedforward signal. The velocity feedforward signal, which is a function of the change in slave shaft position and the velocity of the master shaft represents the velocity at which the slave shaft must be rotated to achieve the desired position while the master shaft moves through one digital increment.

摘要翻译： 利用电子编码，存储器和具有前馈控制的位置控制系统产生同步多轴间歇运动的装置。 响应于可旋转主轴的定位，多个从动轴快速且准确地定位，而在它们之间没有机械互连。 模拟换能器连接到主轴，提供模拟位置输出，该模拟位置输出被馈送到主编码器，该主编码器将数字输出馈送到多个独立的数字存储器件。 每个数字存储器装置响应地提供指示相关从轴的期望位置的输出数字信号。 通过适当的数模转换器将每个存储器件的输出馈送到位置控制器，该位置控制器根据需要定位相关的从动轴。 伺服控制器包括一个前馈输入，用于加速定位并减少系统滞后。 前馈速度信号是通过计算相关联从轴的当前位置和从轴的期望未来位置之间的差异来获得的，以获得从轴位置中期望的变化。 该差乘以主轴速度的绝对值，以获得必要的速度前馈信号。 速度前馈信号是从轴位置变化和主轴速度的函数的函数，表示从动轴在主轴移动一个数字增量时必须旋转以达到所需位置的速度。

公开(公告)号：US3984831A

公开(公告)日：1976-10-05

申请号：US532066

申请日：1974-12-12

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： H03M1/00 ,  H03K13/02 ,  G06G7/22

CPC分类号： H03M1/485

摘要： 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. A balanced demodulator which is connected to the output of the translator and receives a signal from a reference oscillator, which is equal to the carrier frequency, provides a pure sine function output representing the difference between the analog and digital inputs to the translator. An adjustment is provided between the counter and the threshold detector which permits the level at which the threshold detector activates the counter to be varied and thus the angle, to which each bit of the counter is equivalent, can be varied. This adjustment allows easy compensation for errors due to mechanical tolerances or mechanical wear in the system being controlled. The translator also provides an output which is equivalent to the cosine of the analog angle input. This cosine output is utilized for switching the counter to its midpoint when the power is first applied if the cosine value is negative, indicating the angular position of the analog signal is in the second or third quadrant.

摘要翻译： 一种跟踪数字角度编码器，其利用转换器，用于提供模拟角度输入和数字角度输入之间的差异，将数字角度输入馈送到转换器的计数器，控制计数器并连接到输出端的检测器 由翻译器的输出激活的翻译器超过预定的触发值，所有的触发值都被连接，使计数器计数到转换器的输出小于预定触发电平的位置。 当转换器的输出小于预定的触发值时，计数器的输出提供一个数字信号，该数字信号与输入到转换器的模拟角相近。 平衡解调器连接到转换器的输出并接收等于载波频率的参考振荡器的信号，提供表示转换器的模拟和数字输入之间的差异的纯正弦函数输出。 在计数器和阈值检测器之间提供调整，其允许阈值检测器激活计数器的水平被改变，并且因此可以改变计数器的每个位相当于的角度。 该调整允许容易地补偿由于被控制的系统中的机械公差或机械磨损引起的误差。 翻译器还提供一个等效于模拟角度输入余弦的输出。 当余弦值为负时，当第一次施加功率时，该余弦输出用于将计数器切换到其中点，指示模拟信号的角位置在第二或第三象限中。