System for creating a servo control signal

A system for creating a control reference signal for a remote electrical servo device having a movable output unit wherein the velocity and position of said output unit are controlled by the magnitude of said control reference signal, said system operable over a cycle including a number of separate controlled time intervals including means responsive to a binary code for creating a first fixed analog signal indicative of a fixed velocity of said unit during a preselected controlled time interval;

• means for creating a desired time base positional profile in digital form during said time interval;
• means for detecting the actual time base positional profile of said unit during said time interval;
• means for creating a digital representation of said actual profile;
• means for creating a second analog signal generally proportional to the algebraic difference between said digital actual profile and said digital desired time base positional profiles at various times during said interval;
• means for creating said control reference signal as a function of said first and second analog signals;
• and means for changing said binary code for successive time intervals of said cycle.

A system for creating a control reference analog signal for a remote electrical servo device having an output unit movable by a D.C. motor wherein the speed and direction of rotation of said motor is controlled by the magnitude and polarity, respectively, of said control reference signal, said system comprising:

• a summing circuit for creating said analog control signal at an output, said control signal being proportional to the algebraic sum of a first input signal at a first input and a second input signal at a second input;
• means for creating a first controllable signal proportional to a digital representation of a desired amount of movement of said output unit between two control positions and in a selected direction during a preselected time interval;
• first directing means for directing said first controllable signal to said first input;
• means for creating a second controllable signal proportional to the difference between a digital representation of the position of said output unit between said control positions during said time interval and a digital representation of a desired position of said output unit during said time interval and between said control positions;
• second directing means for directing said second controllable signal to said second input;
• and means for progressively changing said desired position digital representation in a numerical sense between digital representations corresponding to intermediate positions between said two control positions.