公开(公告)号：US20050004689A1

公开(公告)日：2005-01-06

申请号：US10614674

申请日：2003-07-02

Applicant: Ming-Chang Shih ,  Kei-Pen Pai

Inventor： Ming-Chang Shih ,  Kei-Pen Pai

IPC: G05B19/18 ,  G05D3/14

CPC classification number: G05D3/14

Abstract: A micro-nanometer precision servo pneumatic X-Y positioning table comprises by two slide air cylinders and drives the two slide air cylinders by the servo control rule to make the pneumatic table to get the purpose of X-Y two degrees of freedom precision positioning. However, the pneumatic servo system is a high time-variant and nonlinear system and the nonlinear friction force; causes the stick-slip phenomenon of the servo pneumatic system. Therefore the. micro-nanometer precision servo pneumatic X-Y positioning table in accordance with the present invention has a new velocity feedback compensation method to overcome the nonlinear friction force and the stick-slip phenomenon. The new method is to add a velocity compensation signal, which periodic frequency is larger than the system's natural frequency into the control signals. The method is to put the velocity compensation signal directly into the servo valve control signals. By this method; it is able to avoid the complex control rules and the calculation of the feedback compensation and to get higher precision positioning. The positioning precision of the micro-nanometer servo pneumatic X-Y positioning table is about the resolution of the linear scale (ex. in this case 20 nanometer, is the resolution of the used optical linear scale; if the resolution is 10 nanometer the precision can be also 10 nanometer) not only for long stroke but also for micro-step command.

Abstract translation: 微型精密伺服气动X-Y定位台由两个滑动气缸组成，通过伺服控制规则驱动两个滑动气缸，使气动台得到X-Y两个自由度精确定位的目的。 然而，气动伺服系统是高时变和非线性系统和非线性摩擦力; 导致伺服气动系统的粘滑现象。 因此。 根据本发明的微纳米精密伺服气动X-Y定位台具有克服非线性摩擦力和粘滑现象的新的速度反馈补偿方法。 新的方法是增加一个速度补偿信号，周期频率大于系统的固有频率进入控制信号。 该方法是将速度补偿信号直接放入伺服阀控制信号。 通过这种方法; 能够避免复杂的控制规则和反馈补偿的计算，并获得更高的精度定位。 微纳米伺服气动XY定位台的定位精度约为线性刻度的分辨率（例如，在这种情况下为20纳米，是所用光学线性刻度的分辨率;如果分辨率为10纳米，则精度可以为 也是10纳米）不仅对于长行程，而且对于微步命令。

公开(公告)号：US5129310A

公开(公告)日：1992-07-14

申请号：US539068

申请日：1990-06-15

Applicant: Carlton Y. Ma

Inventor： Carlton Y. Ma

IPC: B64C13/36 ,  G05D1/00 ,  G05D3/14

CPC classification number: G05D1/0077 ,  B64C13/36 ,  G05D3/14

Abstract: A dual servo actuation system is automatically equalized or rigged by electronic control circuits. A static auto rigging bias is applied to one or the other, or both, of a pair of electro hydraulic servo valves that respectively control two hydraulic actuators driving a common member, such as an aircraft control surface. An auto rigging bias, which substantially eliminates force fight, is automatically generated and stored as a fixed quantity prior to use of the system for control of the common member. With a zero commanded output of the two actuators, a difference of differential pressures at the actuators is obtained and caused to change the number in a counter as long as the difference exceeds a threshold. The counter number, while it is above the threshold, is continuously applied as a bias signal to decrease the force fight, and the number in the counter is stored as a fixed bias signal when the force fight indicated by the difference of differential pressures drops below the threshold. This fixed bias signal is then applied to the servo actuation system during system operation.

Abstract translation: 双伺服驱动系统由电子控制电路自动均衡或装配。 一对静电自动索具偏置被施加到一对电液伺服阀的一个或另一个或两个，其分别控制驱动诸如飞机控制表面的公共构件的两个液压致动器。 在使用该系统以控制公共构件之前，自动生成并存储一个固定数量的基本上消除了力斗的汽车索具偏置。 利用两个致动器的零指令输出，获得致动器上的差压差，并且只要该差超过阈值，就使其改变计数器的数量。 当计数器高于阈值时，作为偏置信号被连续地施加以减小力斗，并且当由压差的差异指示的力作用力下降时，计数器中的数量被存储为固定的偏置信号 门槛。 然后，在系统运行期间将该固定偏置信号施加到伺服驱动系统。

公开(公告)号：US4852535A

公开(公告)日：1989-08-01

申请号：US241960

申请日：1988-09-08

Applicant: Leopold Rollenitz ,  Andreas Krenn ,  Harald Schmidt ,  Otto Freudenschuss

Inventor： Leopold Rollenitz ,  Andreas Krenn ,  Harald Schmidt ,  Otto Freudenschuss

IPC: F02D11/10 ,  F02D35/00 ,  F02D41/24 ,  F02D41/40 ,  G05D3/12 ,  G05D3/14

CPC classification number: G05D3/14 ,  F02D35/0007 ,  F02D41/2432 ,  F02D41/2467 ,  F02D2250/16

Abstract: In an automatic control method for moving a final control element, a position sensor delivers actual-position signals representing actual positions of the final control element to a computer, in which said actual position signals are compared with stored desired-position data associated with correcting signals for controlling an actuator for moving the final control element. In dependence on any deviation which is detected between said actual-position signals and desired-value data, the computer corrects the correcting signal so as to eliminate said deviation. To permit said desired-value data to be determined by an automatic operation, the final control element is consecutively moved to two reference positions, which are defined by stops and are disposed at or beyond the ends of the control range of the final control element. The actual-position signals associated with said two reference positions are delivered to said computer as reference position signals, which in said computer are combined with those correcting signals which as reference correcting signals are associated with said two reference positions so as to generate a linear desired-position function in which said desired-position data are related to said correcting signals. After each movement of the final control element to a position within the control range, the computer is operated to detect any deviation between the actual-position signal and that of said desired-position data which in accordance with said function is associated with the last correcting signal.

Abstract translation: 在用于移动最终控制元件的自动控制方法中，位置传感器将表示最终控制元件的实际位置的实际位置信号传送到计算机，其中所述实际位置信号与存储的与校正信号相关联的期望位置数据进行比较 用于控制用于移动最终控制元件的致动器。 根据在所述实际位置信号和期望值数据之间检测到的任何偏差，计算机校正校正信号以消除所述偏差。 为了允许通过自动操作确定所述期望值数据，最终控制元件被连续地移动到由停止限定的两个参考位置，并且被设置在最终控制元件的控制范围的末端。 与所述两个参考位置相关联的实际位置信号作为参考位置信号被传送到所述计算机，所述参考位置信号在所述计算机中与作为参考校正信号与所述两个参考位置相关联的那些校正信号组合，以便产生线性期望 位置函数，其中所述期望位置数据与所述校正信号相关。 在最终控制元件的每次移动到控制范围内的位置之前，操作计算机以检测实际位置信号与所述期望位置数据之间的任何偏差，根据所述功能与最后校正相关联 信号。

公开(公告)号：US4591772A

公开(公告)日：1986-05-27

申请号：US681041

申请日：1984-12-12

Applicant: Richard H. Hollow

Inventor： Richard H. Hollow

IPC: G05D3/14 ,  G05D23/275

CPC classification number: G05D3/14

Abstract: A load positioning system with gravity compensation has a servo-motor (12), position sensing feedback potentiometer (38) and velocity sensing tachometer (42) in a conventional closed-loop servo arrangement to cause lead screw (14) and ball nut (20) to vertically position load (22). Gravity compensating components comprise the DC motor (32), gears (34) and (36), which couple torque from motor (32) to the lead screw (14), and constant-current power supply (37). The constant weight of the load (22) applied to the lead screw (14) via the ball nut (20) tends to cause the lead screw (14) to rotate, the constant torque of which is opposed by the constant torque produced by motor (32) when fed from the constant-current source (37). The constant current is preset as required by potentiometer (54) to effect equilibration of the load (22) which thereby enables the positioning servo-motor (12) to "see" the load (22) as weightless under both static and dynamic conditions. Positioning acceleration and velocity performance are therefore symmetrical.

Abstract translation: 具有重力补偿的负载定位系统在传统的闭环伺服装置中具有伺服电动机（12），位置检测反馈电位器（38）和速度感测转速计（42），以使导螺杆（14）和滚珠螺母（20） ）垂直定位负载（22）。 重力补偿部件包括将来自马达（32）的扭矩耦合到丝杠（14）的直流马达（32），齿轮（34）和（36）以及恒流电源（37）。 通过滚珠螺母（20）施加到导螺杆（14）的负载（22）的恒定重量倾向于使得导螺杆（14）旋转，其恒定扭矩由马达产生的恒定扭矩相反 （32）当从恒流源（37）馈送时。 恒定电流根据电位器（54）的要求预设，以实现负载（22）的平衡，从而使定位伺服电动机（12）能够在静态和动态条件下将负载（22）看作是无重量。 因此，定位加速度和速度性能是对称的。

公开(公告)号：US4523867A

公开(公告)日：1985-06-18

申请号：US516897

申请日：1983-07-25

Applicant: Harry R. Berrey ,  Paul W. Caulier

Inventor： Harry R. Berrey ,  Paul W. Caulier

IPC: B41J2/30 ,  B41J9/52 ,  G05D3/14 ,  B41J3/12 ,  B41J9/42

CPC classification number: G05D3/14 ,  B41J9/52

Abstract: The present invention provides a bi-directional drive printer actuator with position feedback control and methods of operation to optimize the performance of impact type printers. By monitoring the position of the print wire, a forward input power pulse can be varied as to magnitude and duration to maintain a desired predetermined velocity of the print wire up until the time of impact. Further, by monitoring position feedback signals generated as the print wire returns to an at-rest position, a reverse input power pulse and forward input power pulse can be modulated for magnitude and duration to maintain a desired rearward velocity of the print wire, and bring the print wire to an at-rest position with a minimum of rebound off a back stop.

Abstract translation: 本发明提供一种具有位置反馈控制的双向驱动打印机致动器和操作方法以优化冲击式打印机的性能。 通过监视打印线的位置，正向输入功率脉冲可以变化到大小和持续时间，以保持打印线的期望的预定速度直到冲击时间。 此外，通过监视当打印线返回静止位置时产生的位置反馈信号，可以调整反向输入功率脉冲和正向输入功率脉冲的幅度和持续时间，以保持打印线的期望的后退速度，并带来 打印线到停止位置，最后一个回弹停止。

公开(公告)号：US4020458A

公开(公告)日：1977-04-26

申请号：US661952

申请日：1976-02-27

Applicant: Anthony Jude Windisch

Inventor： Anthony Jude Windisch

IPC: B60Q1/26 ,  B60Q1/38 ,  B60Q1/48 ,  B62J6/00 ,  G05D3/14 ,  G05G9/047 ,  H01H25/04 ,  H01H3/16 ,  B60Q1/00 ,  H01H9/26

CPC classification number: B60Q1/486 ,  B60Q1/2611 ,  B60Q1/38 ,  B60Q1/385 ,  B62J6/003 ,  G05D3/14 ,  H01H25/04 ,  G05G2009/04703 ,  G05G2009/04744

Abstract: A light signalling device is provided for use with bicycles and includes a housing and a cover mounted on the housing. The cover includes at least two like-colored light penetrable portions and at least one light penetrable portion different in color from the like-colored portions and positioned to separate the two like-colored portions. Light emitting lamps are mounted in the housing for separately illuminating each light penetrable portion. A multipositionable switch is connected for controlling illumination of the light penetrable portions in various arrays. The switch is positionable to simultaneously interrupt illumination of each portion; to intermittently illuminate only the one portion; to simultaneously illuminate only the two like-colored portions; to alternately illuminate the one portion and one of the two like-colored portions; and to alternately illuminate the one portion and another of the two like-colored portions.

Abstract translation: 光信号装置被提供用于与自行车一起使用，并且包括安装在壳体上的壳体和盖。 盖子包括至少两个相似颜色的光可穿透部分和至少一个与相似颜色部分不同颜色的光可穿透部分，并被定位成分离两个相似色部分。 发光灯安装在壳体中，用于分别照射每个光穿透部分。 多位置开关被连接用于控制各种阵列中的可透光部分的照明。 开关可以同时中断每个部分的照明; 间歇地仅照亮一部分; 以同时仅照亮两个相似颜色的部分; 以交替照亮两个相同颜色的部分中的一个部分和一个; 并且交替地照亮两个相同颜色的部分中的一个部分和另一个。

公开(公告)号：US4016471A

公开(公告)日：1977-04-05

申请号：US467578

申请日：1974-05-06

Applicant: Seiichi Matsumoto ,  Kazuya Hosoe

Inventor： Seiichi Matsumoto ,  Kazuya Hosoe

IPC: G05D3/14 ,  G05B11/01

CPC classification number: G05D3/14

Abstract: A level detection system and a servo system employing the level detection system are disclosed. The level detection and servo system employs the use of a reasonably broad band-pass characteristic to avoid criticality in narrow band-pass systems. The level detection system includes an input level comparison circuit responsive to an input signal having a recurrent frequency and a reference signal. A filter having a band-pass characteristic which will pass the recurrent frequency of the input signal and its side-bands is responsive to the input level comparison circuit. The output of the filter is coupled to a second comparison circuit. The second comparison circuit is employed as a control means to drive the servo motor in the servo system.

Abstract translation: 公开了一种使用电平检测系统的电平检测系统和伺服系统。 电平检测和伺服系统采用相当宽的带通特性，以避免窄带通系统中的关键性。 电平检测系统包括响应于具有复现频率和参考信号的输入信号的输入电平比较电路。 具有通过输入信号及其边带的反复频率的带通特性的滤波器响应于输入电平比较电路。 滤波器的输出耦合到第二比较电路。 第二比较电路被用作驱动伺服系统中的伺服电动机的控制装置。

公开(公告)号：US4006392A

公开(公告)日：1977-02-01

申请号：US609508

申请日：1975-09-02

Applicant: John C. Catlett ,  James A. Blake

Inventor： John C. Catlett ,  James A. Blake

IPC: E05D15/48 ,  E05F15/14 ,  G05D3/14 ,  G05D3/08

CPC classification number: E05D15/0604 ,  E05D15/48 ,  E05F15/643 ,  G05D3/14 ,  E05D2015/482 ,  E05D2015/485 ,  E05Y2400/52 ,  E05Y2800/16 ,  E05Y2800/25 ,  E05Y2800/254 ,  E05Y2800/746 ,  E05Y2900/132

Abstract: An electronic door control system is disclosed having a d.c. motor rotatable in one direction for opening a door and in the opposite direction for closing the door. One or more semiconductor devices (preferably SCR's) supply d.c. power to the motor from an a.c. power source when rendered conductive. A polarity selecting circuit controls the polarity of d.c. power supplied to the motor and thus its rotational direction. A sensor (e.g. floor mat) senses body pressure near the door to enable conduction of the semiconductor device and provide a first d.c. power polarity for a predetermined period to open the door. A circuit reverses the polarity after the door is opened, thereby closing the door. A speed control circuit responsive to counterelectromotive force developed by the motor effectively controllably varies the conductivity of the semiconductor device in a sense tending normally to cause motor rotation, and thereby door movement, at a predetermined speed. Preferably, this speed control circuit also operated in response to change in said counterelectromotive force caused by door blockage to effectively reduce the conductivity of the semiconductor device whereby motor rotation, and thus door movement, is stopped as long as the door blockage is present.

Abstract translation: 公开了一种电子门控制系统，具有直流 电机可以在一个方向上旋转以打开门并且沿相反的方向旋转以关闭门。 一个或多个半导体器件（优选SCR）提供直流 从电动机到电机的动力。 导电时的电源。 极性选择电路控制直流电的极性。 电力提供给电动机，从而提供其旋转方向。 传感器（例如地板垫）感测门附近的体压使得能够导通半导体器件并提供第一直流。 电源极性一段预定的时间打开门。 门打开后，电路反转极性，从而关闭门。 响应于由电动机产生的反电动势响应的速度控制电路有效地可控地改变半导体器件的导电性，其通常正常地导致电动机的旋转，从而以预定的速度进行门的移动。 优选地，该速度控制电路还响应于由门阻塞引起的所述反电动势的变化而操作，以有效地降低半导体器件的导电性，从而只要存在门堵塞，电动机旋转以及因此门的移动就停止。

公开(公告)号：US3906641A

公开(公告)日：1975-09-23

申请号：US18379171

申请日：1971-09-27

Applicant: METAL MARINE PILOT INC

Inventor： FREEMAN ROBERT M

IPC: G01C17/28 ,  G05D3/14 ,  G01C17/26

CPC classification number: G01C17/28 ,  G05D3/14

Abstract: An improved marine compass employs a Hall-effect device which provides an output signal related to the relative rotation of the compass card therein. When the Hall-effect device is mounted on a course dial whose position with respect to the compass'' lubber line indicates a desired course, the output signal may be used as an input to an autopilot system. The system includes a DC constant current supply for the Hall-effect device, and an integrated circuit operational amplifier for amplifying said output signal to provide an angle signal having a usable level. A differentiator including a second IC operational amplifier provides a rate signal from the angle signal. A rudder signal is provided by a rudder position sensor employing a second Halleffect device and a third IC operational amplifier. The angle and rate signals are combined and supplied with the rudder signal to a variable-threshold differential amplifier which in turn provides a control signal to a steering servomotor to modify the rudder position so as to return the vessel to its desired course. To allow high rates of rudder positioning without overshoot, a null damper circuit varies the threshold of the differential amplifier to pulse modulate the control signal at small values thereof. By replacing the marine compass with a manual control employing a Hall-effect device, the system operates as a remote steering system.

Abstract translation: 改进的海洋罗盘采用霍尔效应装置，其提供与其中的罗盘卡的相对旋转相关的输出信号。 当霍尔效应装置安装在相对于罗盘“延伸线”的位置指示期望的路线的课程表盘上时，输出信号可以用作自动驾驶仪系统的输入。 该系统包括用于霍尔效应器件的直流恒流源，以及用于放大所述输出信号以提供具有可用电平的角度信号的集成电路运算放大器。 包括第二IC运算放大器的微分器提供来自角度信号的速率信号。 方向舵信号由采用第二霍尔效应装置和第三IC运算放大器的方向舵位置传感器提供。 角度和速率信号被组合并且将舵信号提供给可变阈值差分放大器，该可变阈值差分放大器又向转向伺服电动机提供控制信号，以改变舵位置，以使容器返回到其期望的过程。 为了允许高速率的方向舵定位而没有过冲，无效阻尼电路改变差分放大器的阈值，以便以较小的值脉冲调制控制信号。 通过使用霍尔效应装置的手动控制来更换海洋罗盘，该系统作为远程转向系统运行。

公开(公告)号：US3906348A

公开(公告)日：1975-09-16

申请号：US38980673

申请日：1973-08-20

Applicant: CHAMBERLAIN MFG CORP

Inventor： WILLMOTT COLIN B

IPC: G05D3/14 ,  G08C19/28 ,  H04B1/00

CPC classification number: G08C19/28 ,  G05D3/14

Abstract: A digital radio control system comprising a transmitter and receiver wherein a plurality of two position switches may be set in a transmitter to pick a particular code which will be serially transmitted by the transmitter and in which a plurality of switches in a receiver may be set to a particular code such that if the same code is selected in the receiver as is set in the transmitter the receiver will be energized upon recognition of the code. Such transmitters and receivers are adaptable to many applications, as for example, garage door actuators; and due to the large number of possible code combinations, interference between other control units within radio frequency range will not occur.

Abstract translation: 一种包括发射机和接收机的数字无线电控制系统，其中可以在发射机中设置多个两个位置交换机以选择由发射机串行发送的特定码，并且其中可以将接收机中的多个开关设置为 特定代码，使得如果在接收机中选择与在发射机中设置的相同的代码，则接收机将在识别码时被激活。 这样的发射器和接收器适用于许多应用，例如车库门致动器; 并且由于可能的代码组合的数量很多，射频范围内的其他控制单元之间的干扰将不会发生。