Velocity sensing pulse pair servo apparatus

Pulse operated position stepping servo apparatus comprising, in combination:

• motor means including electrical signal input means and mechanical position output means;
• velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to application of a control drive signal;
• command signal input means for supplying command signals;
• and
• summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means control drive signals comprising pulse pairs, said control signal operating to step position said motor means by a given position increment for each pulse pair, the control signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means for halting in a position dictated by the last applied pulse pair control signal.

Pulse pair operated servo apparatus comprising, in combination:

• motor means including control signal input means and mechanical position output means;
• velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to cessation of a control signal used to drive said motor means;
• command signal input means for supplying command signals;
• summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means said control signal comprising a pulse pair, said control signal operating to step position said motor means by a given position increment, the control signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means from halting in a position dictated by the last applied pulse signal;
• and
• integration means, connected to said operating in conjunction with said summing means, for integrating the difference between signals indicative of commanded and actual positions, and applying the integrated result to the composite for producing said control signal.

The method of compensating for detrimental forces acting to prevent accurate positioning of a mechanical output of a servoed motor loop comprising, the steps of;

• applying pulse pair waveform signals to a motor means for accelerating and decelerating a mechanical output of said motor means to a new position in response to command signals;
• sensing rate of movement of the mechanical output of said motor means subsequent to application of said pulse pair waveform signals;
• and
• modifying the waveform of said pulse pair signals toward a waveform which will increment the motor means output by a standardized step in accordance with the sensed rate of movement of the mechanical output of said motor means subsequent to application of said pulse pair waveform signal.

Apparatus for compensating for detrimental forces acting to prevent accurate positioning of a mechanical output of a servoed motor loop comprising, in combination:

• motor means;
• input means for supplying command signals to control the position of a mechanical output of said motor means;
• modifying means, connected to said input means and including rate input means, for applying pulse pair waveform signals to said motor means for accelerating and decelerating the mechanical output of said motor means to a new position in response to said command signals;
• sensing means for sensing rate of movement of the mechanical output of said motor means subsequent to application of said pulse pair waveform signals and supplying a rate output signal indicative of the sensed rate of movement;
• and
• connecting means for connecting said sensing means to said modifying means for modifying the waveform of said pulse pair signals toward a waveform which will increment the position of said motor means output by a standardized value in accordance with the rate output signal.

Pulse operated position stepped servo apparatus comprising, in combination:

• motor means including electrical signal input means and mechanical position output means;
• velocity sensing means, connected to said motor means, for providing a first output signal indicative of magnitude of motor output position movement during a given time period subsequent to application of a control signal to drive said motor means;
• command signal input means for supplying command signals;
• and
• summing means connected to said motor means, said velocity sensing means and said command signal input means for applying to said motor means the control signal which control signal comprises at least one pulse, said control signal operating to step position said motor means by a given position increment, the pulse signal being a composite of signals input to said summing means, the command signal being compensated by said first output signal to correct for detrimental forces acting to prevent said motor means position output means from halting in a position dictated by the last applied pulse signal.