Servo control system
AssigneeThe Singer Company
InventorsJames A. Turner, John C. Stubbart
Life of this patent
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Abstract
Servo Control System (24) for positioning a load (35). A velocity drive signal (50), derived from a positional error signal, is provided by the outer loop (28) as the input to a velocity servo inner loop (26). The velocity drive signal is non-linear (48) and of the form V=.sqroot.2AD where A is the acceleration of the load and D is positional error (46).
Claims12
An apparatus for positioning a load in which a velocity drive signal is derived from a positional error signal and employed to drive an actuator which positions the load, comprising;
- (a) a first means to provide a rectified positional error signal;
- (b) a second means connected in series with said first means to provide a first signal representative of the square root of said rectified positional error signal;
- and
- (c) a third means connected in series with said second means for amplifying the magnitude of said first signal to produce a non-linear velocity drive signal that has a magnitude .sqroot.2AD, where A represents the acceleration and D represents the position of said load, whereby said first, second and third means comprise a non-linear system.
A method for positioning a load which comprises deriving a velocity drive signal from a positional error signal, and driving an actuator connected to said load with the velocity drive signal, comprising the steps of:
- (a) providing a rectified positional error signal;
- (b) providing a first signal representative of the square root of said rectified positional error signal;
- and
- (c) amplifiying the magnitude of said first signal to produce a velocity drive signal that has a magnitude .sqroot.2AD, where A represents the magnitude and D represents the position of said load.
Dependencies are inferred from the claim text.