Servo system with feedback signal compensation
AssigneeSperry Rand Corporation
InventorsJames J. Touchton, John Cuda, Frank J. Sordello
Life of this patent
Estimating the term…
Abstract
A signal compensator for a position servo loop system to attenuate the position error signal and provide stability at a larger band width by limiting the position actuator current in selected frequency ranges.
Claims10
A servo system for controlling the energization of an actuator employed to move a movable member in response to a cyclic power signal for positioning the movable member in accordance with a desired position signal, said system comprising:
- position detecting means for generating a signal responsive to the present position of said movable member;
- servo control means for comparing the desired and present position signals to generate a position error signal for controlling the magnitude and polarity of said cyclic power signal energizing said actuator to move said member toward the desired position;
- and
- attenuation means for reducing the magnitude of a portion of each cycle of said error signal after a predetermined time period and to a predetermined magnitude to attenuate said cyclic signal without causing a substantial phase shift thereof.
A servo system for controlling the energization of an actuator employed to move a movable member in response to a cyclic power signal for positioning the movable member in accordance with a desired position signal, said system comprising:
- position detecting means for generating a signal responsive to the present position of said movable member;
- servo control means for comparing the desired and present position signals to generate a position error signal for controlling the magnitude and polarity of said cyclic power signal energizing said actuator to move said member toward the desired position;
- attenuation means for reducing the magnitude of a portion of said error signal to a predetermined magnitude to attenuate said error signal without causing a substantial phase shift thereof;
- and
- said attenuation means including means for sensing and signaling when the error signal passes through a zero crossover point during a signal cycle and attenuating said error signal for a predetermined time period following each zero crossover point in response to the signal indicating a zero crossover point has been detected.
A servo system for controlling the energization of an actuator employed to move a movable member in response to a cyclic power signal for positioning the movable member in accordance with a desired position signal, said system comprising:
- position detecting means for generating a signal responsive to the present position of said movable member;
- servo control means for comparing the desired and present position signals to generate a position error signal for controlling the magnitude and polarity of said cyclic power signal energizing said actuator to move said member toward the desired position;
- attenuation means for reducing the magnitude of a portion of said error signal to a predetermined magnitude to attenuate said error signal without causing a substantial phase shift thereof;
- and
- said attenuation means including means for sensing and signaling each time the error signal passes through a zero crossover point during a signal cycle and said attenuation means being set to attenuate said error signal for a predetermined time period with said time period being measured from a first zero crossover point with the attenuation of the error signal commencing only when the error signal passes through the next zero crossover point.
A servo system for controlling the energization of an actuator employed to move a movable member in response to a cyclic power signal for positioning the movable member in accordance with a desired position signal, said system comprising:
- position detecting means for generating a signal responsive to the present position of said movable member;
- servo control means for comparing the desired and present position signals to generate a position error signal for controlling the magnitude and polarity of said cyclic power signal energizing said actuator to move said member toward the desired position;
- attenuation means for reducing the magnitude of a portion of said error signal to a predetermined magnitude to attenuate said error signal without causing a substantial phase shift thereof;
- means for sensing whether the error signal passes through a zero crossover point;
- means to detect the polarity of the slope when the error signal passes through the zero crossover point;
- means to detect the polarity of the drive signal being supplied to the actuator;
- and
- means to inhibit attenuation of the error signal by said attenuation means except during the period when the polarity of the error signal and the drive signal are in a predetermined relationship.
Dependencies are inferred from the claim text.