Patent US3604907A successfully refreshed from Google Patents.
US3604907A
Expired / Lapsed
US
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Steering command computer for navigable craft
Assignee: Litton Marine Systems Inc
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Filing: 1970-03-02
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Granted: 1971-09-14
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Expires: 1990-03-02
Abstract
Abstract Computer apparatus for use in navigable craft for providing a steering command signal in response to a heading error signal. A threshold circuit provides a first signal when the magnitude of the heading error signal is not in excess of a threshold and a second signal when the magnitude thereof exceeds the threshold. Gain-controlling circuits are included for effecting a first computer gain in response to the second signal and a lower gain in response to the first signal. Means for adjusting the threshold in accordance with yawing motion of the craft are included.
Inventors
- 👤 Charles R Wesner
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 13:17
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/0206
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
123 words
In apparatus for steering a navigable craft first means for providing a heading error signal, threshold means coupled to said first means for providing a first signal when the magnitude of said heading error signal is not in excess of a threshold and a second signal when the magnitude thereof exceeds said threshold, said threshold means including means for adjusting said threshold, and second means coupled to said first means for providing a steering command signal in respoNse to said heading error signal, said second means including gain-controlling means coupled to receive said first and second signals for effecting a first gain in response to said second signal and a nonzero gain lower than said first gain in response to said first signal.
Claim 2
Dependent Claim
123 words
In apparatus for steering a navigable craft first means for providing a heading error signal, threshold means coupled to said first means for providing a first signal when the magnitude of said heading error signal is not in excess of a threshold and a second signal when the magnitude thereof exceeds said threshold, said threshold means including means for adjusting said threshold, and second means coupled to said first means for providing a steering command signal in respoNse to said heading error signal, said second means including gain-controlling means coupled to receive said first and second signals for effecting a first gain in response to said second signal and a nonzero gain lower than said first gain in response to said first signal.
Claim 3
Dependent Claim
67 words
In the apparatus recited in claim 1 in which said heading error signal is a bipolar signal, and said threshold is a bipolar threshold, said threshold means providing said first signal when the absolute value of said heading error signal is not in excess of the absolute value of said threshold and said second signal when the absolute value thereof exceeds the absolute value of said threshold.
Claim 4
Dependent Claim
64 words
In the apparatus recited in claim 1 in which said second means further includes differentiator means for providing a signal representative of the derivative of said heading error signal, integrator means for providing a signal representative of the integral of said heading error signal, and mixing means for mixing said heading error signal, derivative signal and integral signal to provide said steering command signal.
Claim 5
Dependent Claim
72 words
In the apparatus recited in claim 3 in which said second means further includes means for conducting said heading error signal to said mixing means, and said gain-controlling means comprises first, second and third gain-controlling elements coupled, respectively, to said conductor means, differentiator means and integrator means for effecting in said respective means said first gain in response to said second signal and said lower gain in response to said first signal.
Claim 6
Dependent Claim
84 words
In the apparatus recited in claim 4 in which said heading error signal is a bipolar signal, said threshold is a bipolar threshold, said threshold means providing said first signal when the absolute value of said heading error signal is not in excess of the absolute value of said threshold and said second signal when the absolute value thereof exceeds the absolute value of said threshold, and further including means coupled to said second means for limiting the magnitude of said steering command signal.
Claim 7
Dependent Claim
37 words
In the apparatus recited in claim 5 in which said mixing means comprises summation means responsive to said heading error signal, derivative signal and integral signal for generating the sum thereof to provide said steering command signal.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1974-09-13 | 1975-03-15 | 1975-09-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1978-09-13 | 1979-03-15 | 1979-09-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1982-09-13 | 1983-03-15 | 1983-09-14 | $7700.00 | Window Closed / Lapsed |