Digital tracer control

Claim 2

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. means for providing a constant frequency serial stream of pulses; b. means responsive to the error signals and the serial stream of pulses for producing a serial train of pulses having a frequency that is a function of the magnitude of the error signals; c. means for generating digital signals representing sine and cosine values of a tracing angle of rotation, said generating means being response to the serial train of pulses for incrementally changing the digital signals; d. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; and e. a cyclically operable pulse generator responsive to the serial train of pulses, the digital signals and the variable pulse rate for generating the drive signals for the servomechanism inputs.

Claim 3

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in the direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in plane perpendicular to the one axis, the apparatus comprising: a. means for providing a constant frequency serial stream of pulses; b. means responsive to the error signals and the serial stream of pulses for producing a first serial train of pulses having a frequency proportional to the depth signal magnitude and a second serial train of pulses having a frequency proportional to the planar signal magnitude; c. means responsive to the planar signal and the second serial train of pulses for generating digital planar signals representing sine and cosine values of a planar angle of rotation; d. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; e. means responsive to the digital planar signals and the seconD serial train of pulses for producing a first pulse string by scaling the second serial train of pulses as a function of the sine value of the planar angle of rotation and a second pulse string by scaling the second serial train of pulses is a function of the cosine value of the planar angle of rotation; f. means responsive to the digital planar signals and the variable pulse rate for producing a first serial pulse string by scaling the variable pulse rate as a function of the cosine value of the planar angle of rotation and a second serial pulse string by scaling the variable pulse rate as a function of the sine value of the planar angle of rotation; g. means responsive to the pulse strings and the serial pulse strings for summing the first pulse string with the first serial pulse string to produce a first string of pulses and the second pulse string with the second serial pulse string to produce a second string of pulses; h. means having inputs responsive to the digital planar signals the strings of pulses, the depth signal, and the first serial train of pulses for combining the inputs to produce trains of pulses; and i. means responsive to the trains of pulses for selectively producing a first drive signal output for reducing the error represented by the depth signal and a second drive signal output for reducing the error represented by the planar signal.

Claim 4

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in the direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in plane perpendicular to the one axis, the apparatus comprising: a. means for providing a constant frequency serial stream of pulses; b. means responsive to the error signals and the serial stream of pulses for producing a first serial train of pulses having a frequency proportional to the depth signal magnitude and a second serial train of pulses having a frequency proportional to the planar signal magnitude; c. means responsive to the planar signal and the second serial train of pulses for generating digital planar signals representing sine and cosine values of a planar angle of rotation; d. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; e. means responsive to the digital planar signals and the seconD serial train of pulses for producing a first pulse string by scaling the second serial train of pulses as a function of the sine value of the planar angle of rotation and a second pulse string by scaling the second serial train of pulses is a function of the cosine value of the planar angle of rotation; f. means responsive to the digital planar signals and the variable pulse rate for producing a first serial pulse string by scaling the variable pulse rate as a function of the cosine value of the planar angle of rotation and a second serial pulse string by scaling the variable pulse rate as a function of the sine value of the planar angle of rotation; g. means responsive to the pulse strings and the serial pulse strings for summing the first pulse string with the first serial pulse string to produce a first string of pulses and the second pulse string with the second serial pulse string to produce a second string of pulses; h. means having inputs responsive to the digital planar signals the strings of pulses, the depth signal, and the first serial train of pulses for combining the inputs to produce trains of pulses; and i. means responsive to the trains of pulses for selectively producing a first drive signal output for reducing the error represented by the depth signal and a second drive signal output for reducing the error represented by the planar signal.

Claim 5

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in the direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. a clock oscillator for providing a constant frequency serial stream of pulses; b. a synchronizing network responsive to the error signals and the serial stream of pulses for producing a first signal train of pulses by rate multiplying the serial stream of pulses by a magnitude represented by the depth signal and a second serial train of pulses by rate multiplying the serial stream of pulses by a magnitude represented by the planar signal; c. a first digital gain network responsive to the second serial train of pulses for rate multiplying the second serial train of pulses by two signals representing predetermined constant values and producing two pulse streams; d. means responsive to one of the pulse streams and the planar signal for generating digital planar signals representing sine and cosine values of a planar angle of rotation; e. a second digital gain network responsive to the first serial train of pulses for rate multiplying the first serial train of pulses by signal representing a predetermined constant value and producing a serial pulse streams; f. an adjustable feedrate oscillator for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; g. a first set of two rate multiplication circuits, each circuit having a first input connected to the other of the pulse streams, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two pulses strings; b. a second set of two rate multiplication circuits, each circuit having a first input responsive to the variable pulse rate, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other of circuits having a second input responsive to thE digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two serial pulse strings; i. an adder storage network having inputs responsive to the pulse strings and the serial pulses strings for producing two strings of pulses; j. a gating network having inputs responsive to the digital planar signals, the strings of pulses, the depth signal and the serial pulse stream for switching the inputs to produce trains of pulses; and k. a switching network responsive to the trains of pulses for selectively producing a first drive signal output for reducing the error represented by the depth signal and a second drive signal output for reducing the error represented by the planar signal.

Claim 6

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in the direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. a clock oscillator for providing a constant frequency serial stream of pulses; b. a synchronizing network responsive to the error signals and the serial stream of pulses for producing a first signal train of pulses by rate multiplying the serial stream of pulses by a magnitude represented by the depth signal and a second serial train of pulses by rate multiplying the serial stream of pulses by a magnitude represented by the planar signal; c. a first digital gain network responsive to the second serial train of pulses for rate multiplying the second serial train of pulses by two signals representing predetermined constant values and producing two pulse streams; d. means responsive to one of the pulse streams and the planar signal for generating digital planar signals representing sine and cosine values of a planar angle of rotation; e. a second digital gain network responsive to the first serial train of pulses for rate multiplying the first serial train of pulses by signal representing a predetermined constant value and producing a serial pulse streams; f. an adjustable feedrate oscillator for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; g. a first set of two rate multiplication circuits, each circuit having a first input connected to the other of the pulse streams, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two pulses strings; b. a second set of two rate multiplication circuits, each circuit having a first input responsive to the variable pulse rate, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other of circuits having a second input responsive to thE digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two serial pulse strings; i. an adder storage network having inputs responsive to the pulse strings and the serial pulses strings for producing two strings of pulses; j. a gating network having inputs responsive to the digital planar signals, the strings of pulses, the depth signal and the serial pulse stream for switching the inputs to produce trains of pulses; and k. a switching network responsive to the trains of pulses for selectively producing a first drive signal output for reducing the error represented by the depth signal and a second drive signal output for reducing the error represented by the planar signal.

Claim 7

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. means for providing a constant frequency serial stream of pulses; b. means responsive to the error signals and the serial stream of pulses for producing a first serial train of pulses having a frequency proportional to the depth signal magnitude and a second serial train of pulses having a frequency proportional to the planar signal magnitude; c. means responsive to the planar signal and the second serial train of pulses for generating digital planar signals representing sine and cosine values of a planar angle of rotation; d. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; e. means responsive to the first serial train of pulses and the depth signal for producing digital depth signals representing sine and cosine values of a depth angle of rotation; f. means responsive to the digital depth signals and the first serial train of pulses for producing a first pulse rate by scaling the first serial train of pulses as a function of the cosine value of the depth angle of rotation and a second pulse rate by scaling the first serial train of pulses as a function of the sine value of the depth angle of rotation; g. means responsive to the digital depth signals and the variable pulse rate for producing a first serial pulse rate by scaling the variable pulse rate as a function of the sine value of the depth angle of rotation and a second serial pulse rate by scaling the variable pulse rate as a function of the cosine value of the depth angle of rotation; h. means responsive to the digital depth signals, the pulse rates and the serial pulse rates for algebraically summing the first pulse rate with the first serial pulse rate to produce a first serial string of pulses and the second pulse rate with the second serial pulse rate to produce a second serial string of pulses; i. means responsive to the digital planar signals and the second serial train of pulses for producing a first pulse string by scaling the second serial train of pulses as a function of the sine value of the planar angle of rotation and a second pulse string by scaling the second serial train of pulses as a function of the cosine value of the planar angle of rotation; j. means responsive to the digital planar signals and the second serial string of pulses for producing a first serial pulse string by scaling the second serial string of pulses is a function of the cosine value of the planar angle of rotation and a second serial pulse string by scaling the second serial string of pulses as a function of the sine value of the planar angle of rotation; k. means responsive to the pulse striNgs and the serial pulse strings for summing the first pulse string with the first serial pulse string to produce a first string of pulses and the second pulse string with the second serial pulse string to produce a second string of pulses; and l. means having inputs responsive to the digital planar signals, the first serial string of pulses and the strings of pulses for combining the inputs to produce the drive signals for the servomechanism inputs.

Claim 8

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. means for providing a constant frequency serial stream of pulses; b. means responsive to the error signals and the serial stream of pulses for producing a first serial train of pulses having a frequency proportional to the depth signal magnitude and a second serial train of pulses having a frequency proportional to the planar signal magnitude; c. means responsive to the planar signal and the second serial train of pulses for generating digital planar signals representing sine and cosine values of a planar angle of rotation; d. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; e. means responsive to the first serial train of pulses and the depth signal for producing digital depth signals representing sine and cosine values of a depth angle of rotation; f. means responsive to the digital depth signals and the first serial train of pulses for producing a first pulse rate by scaling the first serial train of pulses as a function of the cosine value of the depth angle of rotation and a second pulse rate by scaling the first serial train of pulses as a function of the sine value of the depth angle of rotation; g. means responsive to the digital depth signals and the variable pulse rate for producing a first serial pulse rate by scaling the variable pulse rate as a function of the sine value of the depth angle of rotation and a second serial pulse rate by scaling the variable pulse rate as a function of the cosine value of the depth angle of rotation; h. means responsive to the digital depth signals, the pulse rates and the serial pulse rates for algebraically summing the first pulse rate with the first serial pulse rate to produce a first serial string of pulses and the second pulse rate with the second serial pulse rate to produce a second serial string of pulses; i. means responsive to the digital planar signals and the second serial train of pulses for producing a first pulse string by scaling the second serial train of pulses as a function of the sine value of the planar angle of rotation and a second pulse string by scaling the second serial train of pulses as a function of the cosine value of the planar angle of rotation; j. means responsive to the digital planar signals and the second serial string of pulses for producing a first serial pulse string by scaling the second serial string of pulses is a function of the cosine value of the planar angle of rotation and a second serial pulse string by scaling the second serial string of pulses as a function of the sine value of the planar angle of rotation; k. means responsive to the pulse striNgs and the serial pulse strings for summing the first pulse string with the first serial pulse string to produce a first string of pulses and the second pulse string with the second serial pulse string to produce a second string of pulses; and l. means having inputs responsive to the digital planar signals, the first serial string of pulses and the strings of pulses for combining the inputs to produce the drive signals for the servomechanism inputs.

Claim 9

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control system, said errors signals include a depth signal representing a tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. a clock oscillator providing a constant frequency serial stream of pulses; b. a synchronizing network responsive to the error signals and the serial stream of pulses for producing a first serial train of pulses by rate multiplying the serial stream of pulses by the magnitude represented by the depth signal and a second serial train of pulses by rate multiplying serial stream of pulses by the magnitude represented by the planar signal; c. a first digital gain network responsive to the second serial train of pulses for rate multiplying the second serial train of pulses by two signals representing predetermined constant values and producing two pulses streams; d. means responsive to one of the pulse streams and the planar signal for generating digital planar signals representing sine and cosine values of a planar angle of rotation; e. a second digital gain network responsive to the first serial train of pulses for rate multiplying the first serial train of pulses by two signals representing predetermined constant values and producing two serial pulses streams; f. an adjustable feed rate oscillator for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; g. means responsive to one of the serial pulse streams and the depth signal for producing two digital depth signals representing sine and cosine values of a depth angle of rotation; h. a first set of two rate multiplication circuits, each circuit having a first input responsive to the other of the serial pulse streams, one of the circuits having a second input responsive to the digital depth signal representing the sine value of the depth angle of rotation and the other circuit having a second input responsive to the digital depth signal representing the cosine value of the depth angle of rotation, said circuits producing two pulse rates; i. a second set of two rate multiplication circuits, each circuit having a first input responsive to the variable pulse rate, one of the circuits having a second input responsive to the digital depth signal representing the sine value of the depth angle of rotation and the other circuit having a second input responsive to the digital depth signal representing the cosine value of the depth angle of rotation, said circuits producing two serial pulse rates; j. an adder/subtracter circuit having inputs responsive to the digital depth signals, the pulse rates and the serial pulse rates for producing two serial strings of pulses; k. a third set of two rate multiplication circuits, each circuit having a first input connected to the other of the pulse streams, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two puLses strings; l. a fourth set of two rate multiplication circuits, each circuit having a first input responsive to one of the serial strings of pulses, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other of the circuits having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two serial pulse strings; m. an adder storage network having inputs responsive to the pulse strings and the serial pulse strings for producing two strings of pulses; and n. gating network having inputs responsive to the digital planar signals, the other of the serial strings of pulses and the strings of pulses for switching the inputs to produce the drive signals for the servomechanism inputs.

Claim 10

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control system, said errors signals include a depth signal representing a tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. a clock oscillator providing a constant frequency serial stream of pulses; b. a synchronizing network responsive to the error signals and the serial stream of pulses for producing a first serial train of pulses by rate multiplying the serial stream of pulses by the magnitude represented by the depth signal and a second serial train of pulses by rate multiplying serial stream of pulses by the magnitude represented by the planar signal; c. a first digital gain network responsive to the second serial train of pulses for rate multiplying the second serial train of pulses by two signals representing predetermined constant values and producing two pulses streams; d. means responsive to one of the pulse streams and the planar signal for generating digital planar signals representing sine and cosine values of a planar angle of rotation; e. a second digital gain network responsive to the first serial train of pulses for rate multiplying the first serial train of pulses by two signals representing predetermined constant values and producing two serial pulses streams; f. an adjustable feed rate oscillator for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; g. means responsive to one of the serial pulse streams and the depth signal for producing two digital depth signals representing sine and cosine values of a depth angle of rotation; h. a first set of two rate multiplication circuits, each circuit having a first input responsive to the other of the serial pulse streams, one of the circuits having a second input responsive to the digital depth signal representing the sine value of the depth angle of rotation and the other circuit having a second input responsive to the digital depth signal representing the cosine value of the depth angle of rotation, said circuits producing two pulse rates; i. a second set of two rate multiplication circuits, each circuit having a first input responsive to the variable pulse rate, one of the circuits having a second input responsive to the digital depth signal representing the sine value of the depth angle of rotation and the other circuit having a second input responsive to the digital depth signal representing the cosine value of the depth angle of rotation, said circuits producing two serial pulse rates; j. an adder/subtracter circuit having inputs responsive to the digital depth signals, the pulse rates and the serial pulse rates for producing two serial strings of pulses; k. a third set of two rate multiplication circuits, each circuit having a first input connected to the other of the pulse streams, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two puLses strings; l. a fourth set of two rate multiplication circuits, each circuit having a first input responsive to one of the serial strings of pulses, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other of the circuits having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two serial pulse strings; m. an adder storage network having inputs responsive to the pulse strings and the serial pulse strings for producing two strings of pulses; and n. gating network having inputs responsive to the digital planar signals, the other of the serial strings of pulses and the strings of pulses for switching the inputs to produce the drive signals for the servomechanism inputs.

Claim 11

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in the direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. means responsive to the error signals for summing said signals to produce a resultant error signal representing the magnitude of the total tracing error; b. means for providing a constant frequency serial stream of pulses; c. means responsive to the resultant error signal and the serial stream of pulses for producing a serial train of pulses having a frequency proportional to the magnitude of the resultant error signal; d. means responsive to the resultant error signal and the serial train of pulses for generating digital planar signals representing sine and cosine values of a planar angle of rotation; e. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; f. means responsive to the digital planar signals and the serial train of pulses for producing a first pulse string by scaling the serial train of pulses as a function of the sine value of the planar angle of rotation and a second pulse string by scaling the serial train of pulses as a function of the cosine value of the planar angle of rotation; g. means responsive to the digital planar signals and the variable pulse rate for producing a first serial pulse string by scaling the variable pulse rate as a function of the cosine value of the planar angle of rotation and a second serial pulse string by scaling the variable pulse rate as a function of the sine value of the planar angle of rotation; h. means responsive to the pulse strings and the serial pulse strings for summing the first pulse string with the first serial pulse string to produce a first string of pulses and the second pulse string with the second serial pulse string to produce a second string of pulses; i. means for generating digital steering signals representing sine and cosine values of a steering angle of rotation; j. means responsive to the digital steering signals and one of the strings of pulses for producing a first pulse train by scaling the one of the strings of pulses as a function of the sine value of the steering angle of rotation and a second pulse train by scaling the one of the strings of pulses as a function of the cosine value of the steering angle of rotation; and k. means having inputs responsive to the digital planar signals, the digital steering signals, the other of the strings of pulses and the pulse trains for combining the inputs to produce the drive signals for the servomechanism inputs.

Claim 12

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in the direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. means responsive to the error signals for summing said signals to produce a resultant error signal representing the magnitude of the total tracing error; b. means for providing a constant frequency serial stream of pulses; c. means responsive to the resultant error signal and the serial stream of pulses for producing a serial train of pulses having a frequency proportional to the magnitude of the resultant error signal; d. means responsive to the resultant error signal and the serial train of pulses for generating digital planar signals representing sine and cosine values of a planar angle of rotation; e. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; f. means responsive to the digital planar signals and the serial train of pulses for producing a first pulse string by scaling the serial train of pulses as a function of the sine value of the planar angle of rotation and a second pulse string by scaling the serial train of pulses as a function of the cosine value of the planar angle of rotation; g. means responsive to the digital planar signals and the variable pulse rate for producing a first serial pulse string by scaling the variable pulse rate as a function of the cosine value of the planar angle of rotation and a second serial pulse string by scaling the variable pulse rate as a function of the sine value of the planar angle of rotation; h. means responsive to the pulse strings and the serial pulse strings for summing the first pulse string with the first serial pulse string to produce a first string of pulses and the second pulse string with the second serial pulse string to produce a second string of pulses; i. means for generating digital steering signals representing sine and cosine values of a steering angle of rotation; j. means responsive to the digital steering signals and one of the strings of pulses for producing a first pulse train by scaling the one of the strings of pulses as a function of the sine value of the steering angle of rotation and a second pulse train by scaling the one of the strings of pulses as a function of the cosine value of the steering angle of rotation; and k. means having inputs responsive to the digital planar signals, the digital steering signals, the other of the strings of pulses and the pulse trains for combining the inputs to produce the drive signals for the servomechanism inputs.

Claim 13

An automatic control apparatus for producing drive signals to servomechaniSm inputs of three movable elements having three mutually perpendicular axes of motion defining the rectangular coordinates system, said drive signals being initiated by applying error signal from a tracing head to the control apparatus said, error signals include a depth signal representing a tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. a phase shift network responsive to the depth signal for shifting the phase of the depth signal one quarter of a period in time; b. a gating network responsive to the phase shifted depth signal for switching the phase shifted depth signal in series with the planar signal to produce a resultant error signal representing the magnitude of the total tracing error; c. a clock oscillator for providing a constant frequency serial stream of pulses; d. a synchronizing network responsive to the resultant error signal and the serial stream of pulses for producing a serial train of pulses by rate multiplying the serial stream of pulses by the magnitude of resultant error signal; e. a digital gain network responsive to the serial train of pulses for producing two pulse streams by rate multiplying the serial train of pulses by two signals representing predetermined constant values; f. means responsive to the resultant error signal and one of the pulse streams for generating digital planar signals representing sine and cosine values of a planar angle of rotation; g. an adjustable feed rate oscillator for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; h. a first set of two rate multiplication circuits, each circuit having a first input responsive to the other of the pulse streams, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two pulse strings; i. a second set of two rate multiplication circuits, each circuit having a first input responsive to the variable pulse rate, one of the circuits having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation, said circuits producing two serial pulse strings; j. an adder storage network having inputs responsive to the pulse strings and the serial pulses strings for producing two strings of pulses; k. a manually operable transducer circuit for producing digital steering signals representing sine and cosine values of a steering angle of rotation; l. a third set of two rate multiplication circuits, each circuit having a first input responsive to one of the strings of pulses, one of the circuits having a second input responsive to the digital steering signal representing the sine value of the steering angle of rotation and the other of the circuits having a second input responsive to the digital steering signal representing the cosine value of the steering angle of rotation, said circuits producing two pulse trains; and m. a gating network having inputs responsive to the digital planar signals, the digital steering signals, the other of the strings of pulses and the pulse trains for switching the inputs to produce the drive signals for the servomechanism inputs.

Claim 14

An automatic control apparatus for producing drive signals to servomechaniSm inputs of three movable elements having three mutually perpendicular axes of motion defining the rectangular coordinates system, said drive signals being initiated by applying error signal from a tracing head to the control apparatus said, error signals include a depth signal representing a tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. a phase shift network responsive to the depth signal for shifting the phase of the depth signal one quarter of a period in time; b. a gating network responsive to the phase shifted depth signal for switching the phase shifted depth signal in series with the planar signal to produce a resultant error signal representing the magnitude of the total tracing error; c. a clock oscillator for providing a constant frequency serial stream of pulses; d. a synchronizing network responsive to the resultant error signal and the serial stream of pulses for producing a serial train of pulses by rate multiplying the serial stream of pulses by the magnitude of resultant error signal; e. a digital gain network responsive to the serial train of pulses for producing two pulse streams by rate multiplying the serial train of pulses by two signals representing predetermined constant values; f. means responsive to the resultant error signal and one of the pulse streams for generating digital planar signals representing sine and cosine values of a planar angle of rotation; g. an adjustable feed rate oscillator for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; h. a first set of two rate multiplication circuits, each circuit having a first input responsive to the other of the pulse streams, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two pulse strings; i. a second set of two rate multiplication circuits, each circuit having a first input responsive to the variable pulse rate, one of the circuits having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation, said circuits producing two serial pulse strings; j. an adder storage network having inputs responsive to the pulse strings and the serial pulses strings for producing two strings of pulses; k. a manually operable transducer circuit for producing digital steering signals representing sine and cosine values of a steering angle of rotation; l. a third set of two rate multiplication circuits, each circuit having a first input responsive to one of the strings of pulses, one of the circuits having a second input responsive to the digital steering signal representing the sine value of the steering angle of rotation and the other of the circuits having a second input responsive to the digital steering signal representing the cosine value of the steering angle of rotation, said circuits producing two pulse trains; and m. a gating network having inputs responsive to the digital planar signals, the digital steering signals, the other of the strings of pulses and the pulse trains for switching the inputs to produce the drive signals for the servomechanism inputs.

Claim 15

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control appAratus, said error signals include a depth signal representing a tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. means responsive to the error signals for summing said signals to produce a resultant error signal representing the magnitude of the total tracing error; b. means for providing a constant frequency serial stream of pulses; c. means responsive to the resultant error signal and the serial stream of pulses for producing a serial train of pulses having a frequency proportional to the magnitude of the resultant error signal; d. means responsive to the resultant error signal and the serial train of pulses for generating digital planar signals representing sine and cosine values of a planar angle of rotation; e. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; f. means responsive to the digital planar signals and the serial train of pulses for producing a first pulse string by scaling the serial train of pulses as a function of the sine value of the planar angle of rotation and a second pulse string by scaling the serial train of pulses as a function of the cosine value of the planar angle of rotation; g. means responsive to the digital planar signals and the variable pulse rate for producing a first serial pulse string by scaling the variable pulse rate as a function of the cosine value of the planar of rotation and a second serial pulse string by scaling the variable pulse rate as a function of the sine value of the planar of rotation; h. means responsive to the pulse strings and the serial pulse strings for summing the first pulse string with the first serial pulse string to produce a first string of pulses and the second pulse string with the second serial pulse string to produce a second string of pulses; i. means for generating a first set of digital steering signals representing sine and cosine values of a first steering angle of rotation; j. means responsive to the first set of digital steering signals and one of the strings of pulses for producing a first pulse train by scaling the one of the strings of pulses as a function of the sine value of the first steering angle of rotation and a second pulse train by scaling the one of the strings of pulses as a function of the cosine value of the first steering angle of rotation; k. means for generating a second set of digital steering signals representing sine and cosine values of a second steering angle of rotation; l. means responsive to the second set of digital steering signals and the other of the strings of pulses for producing a first serial pulse train by scaling the other of the strings of pulses as a function of the sine value of the second steering angle of rotation and a second serial pulse train by scaling the other of the strings of pulses as a function of the cosine value of the second steering angle of rotation; m. means responsive to the second set of digital steering signals and one of the pulse trains for producing a third serial pulse train by scaling the one of the pulse trains as a function of the sine value of the second steering angle of rotation and a fourth serial pulse train by scaling the one of the pulse trains as a function of the cosine value of the second steering angle of rotation; and n. means having inputs responsive to the digital planar signals, the digital steering signals, the other of the pulse trains and the serial pulse trains for combining the inputs to produce the drive signals for the servomechanism inputs.

Claim 16

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a tracing head to the control appAratus, said error signals include a depth signal representing a tracing error detected in a direction parallel to one axis of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the apparatus comprising: a. means responsive to the error signals for summing said signals to produce a resultant error signal representing the magnitude of the total tracing error; b. means for providing a constant frequency serial stream of pulses; c. means responsive to the resultant error signal and the serial stream of pulses for producing a serial train of pulses having a frequency proportional to the magnitude of the resultant error signal; d. means responsive to the resultant error signal and the serial train of pulses for generating digital planar signals representing sine and cosine values of a planar angle of rotation; e. means for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; f. means responsive to the digital planar signals and the serial train of pulses for producing a first pulse string by scaling the serial train of pulses as a function of the sine value of the planar angle of rotation and a second pulse string by scaling the serial train of pulses as a function of the cosine value of the planar angle of rotation; g. means responsive to the digital planar signals and the variable pulse rate for producing a first serial pulse string by scaling the variable pulse rate as a function of the cosine value of the planar of rotation and a second serial pulse string by scaling the variable pulse rate as a function of the sine value of the planar of rotation; h. means responsive to the pulse strings and the serial pulse strings for summing the first pulse string with the first serial pulse string to produce a first string of pulses and the second pulse string with the second serial pulse string to produce a second string of pulses; i. means for generating a first set of digital steering signals representing sine and cosine values of a first steering angle of rotation; j. means responsive to the first set of digital steering signals and one of the strings of pulses for producing a first pulse train by scaling the one of the strings of pulses as a function of the sine value of the first steering angle of rotation and a second pulse train by scaling the one of the strings of pulses as a function of the cosine value of the first steering angle of rotation; k. means for generating a second set of digital steering signals representing sine and cosine values of a second steering angle of rotation; l. means responsive to the second set of digital steering signals and the other of the strings of pulses for producing a first serial pulse train by scaling the other of the strings of pulses as a function of the sine value of the second steering angle of rotation and a second serial pulse train by scaling the other of the strings of pulses as a function of the cosine value of the second steering angle of rotation; m. means responsive to the second set of digital steering signals and one of the pulse trains for producing a third serial pulse train by scaling the one of the pulse trains as a function of the sine value of the second steering angle of rotation and a fourth serial pulse train by scaling the one of the pulse trains as a function of the cosine value of the second steering angle of rotation; and n. means having inputs responsive to the digital planar signals, the digital steering signals, the other of the pulse trains and the serial pulse trains for combining the inputs to produce the drive signals for the servomechanism inputs.

Claim 17

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a Tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in a direction parallel to one of the axes of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the system comprising: a. a phase shift network responsive to the depth signal for shifting the phase of the depth signal one quarter of a period in time; b. a gating network responsive to the phase shifted depth signal for switching the phase shifted in series with the planar signal to produce a resultant error signal representing the magnitude of the total tracing error; c. a clock oscillator for providing a constant frequency serial stream of pulses; d. a synchronizing network responsive to the resultant error signal and the serial stream of pulses for producing a serial train of pulses by rate multiplying the serial stream of pulses by the magnitude represented by the resultant error signal; e. a digital gain network responsive to the serial train of pulses for producing two pulse streams by rate multiplying the serial train of pulses by two signals representing predetermined constant values; f. means responsive to the resultant error signal and one of the pulse streams for generating digital planar signals representing sine and cosine values of a planar angle of rotation; g. an adjustable feed rate oscillator for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; h. a first set of two rate multiplication circuits, each circuit having a first input responsive to the other of the pulse streams, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two pulse strings; i. a second set of two rate multiplication circuits, each circuit having a first input responsive to the variable pulse rate, one of the circuits having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation, said circuits producing two serial pulse strings; j. an adder storage network having inputs responsive to the pulse strings and the serial pulses strings for producing two strings of pulses; k. a first manually operable transducer circuit for producing a first set of digital steering signals representing sine and cosine values of a first steering angle of rotation; l. a third set of two rate multiplication circuits, each circuit having a first input responsive to one of the strings of pulses, one of the circuits having a second input responsive to the digital steering signal representing the sine value of the first steering angle of rotation and the other circuit having a second input responsive to the digital steering signal representing the cosine value of the first steering angle of rotation, said circuits producing pulse trains; m. a second manually operable transducer circuit for producing a second set of digital steering signals representing sine and cosine values of a second steering angle of rotation; n. a fourth set of two rate multiplication circuits, each circuit having a first input responsive to the other of the strings of pulses, one of the circuits having a second input responsive to the digital steering signal representing the sine value of the second steering angle of rotation and the other circuit having a second input responsive to the digital steering signal representing the cosine value of the second steering angle of rotation, said circuits producing serial pulse trains; o. a fifth set of two rate multiplication Circuits, each circuit having a first input responsive to one of the pulse trains, one of the circuits having a second input responsive to the digital steering signal representing the sine value of the second steering angle of rotation and the other circuit having a second input responsive to the digital steering signal representing the cosine value of the second steering angle of rotation, said circuits producing serial pulse trains; and p. a gating network having inputs responsive to the digital planar signals, the digital steering signals, the other of the pulse trains and the serial pulse trains for combining the inputs to produce the drive signals or the servomechanism inputs.

Claim 18

An automatic control apparatus for producing drive signals to servomechanism inputs of three movable elements having three mutually perpendicular axes of motion defining a rectangular coordinate system, said drive signals being initiated by applying error signals from a Tracing head to the control apparatus, said error signals include a depth signal representing a tracing error detected in a direction parallel to one of the axes of the coordinate system and a planar signal representing a tracing error detected in a plane perpendicular to the one axis, the system comprising: a. a phase shift network responsive to the depth signal for shifting the phase of the depth signal one quarter of a period in time; b. a gating network responsive to the phase shifted depth signal for switching the phase shifted in series with the planar signal to produce a resultant error signal representing the magnitude of the total tracing error; c. a clock oscillator for providing a constant frequency serial stream of pulses; d. a synchronizing network responsive to the resultant error signal and the serial stream of pulses for producing a serial train of pulses by rate multiplying the serial stream of pulses by the magnitude represented by the resultant error signal; e. a digital gain network responsive to the serial train of pulses for producing two pulse streams by rate multiplying the serial train of pulses by two signals representing predetermined constant values; f. means responsive to the resultant error signal and one of the pulse streams for generating digital planar signals representing sine and cosine values of a planar angle of rotation; g. an adjustable feed rate oscillator for supplying a variable pulse rate adjustable in time and representing a predetermined tracing velocity magnitude; h. a first set of two rate multiplication circuits, each circuit having a first input responsive to the other of the pulse streams, one of the circuits having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation, said circuits producing two pulse strings; i. a second set of two rate multiplication circuits, each circuit having a first input responsive to the variable pulse rate, one of the circuits having a second input responsive to the digital planar signal representing the cosine value of the planar angle of rotation and the other circuit having a second input responsive to the digital planar signal representing the sine value of the planar angle of rotation, said circuits producing two serial pulse strings; j. an adder storage network having inputs responsive to the pulse strings and the serial pulses strings for producing two strings of pulses; k. a first manually operable transducer circuit for producing a first set of digital steering signals representing sine and cosine values of a first steering angle of rotation; l. a third set of two rate multiplication circuits, each circuit having a first input responsive to one of the strings of pulses, one of the circuits having a second input responsive to the digital steering signal representing the sine value of the first steering angle of rotation and the other circuit having a second input responsive to the digital steering signal representing the cosine value of the first steering angle of rotation, said circuits producing pulse trains; m. a second manually operable transducer circuit for producing a second set of digital steering signals representing sine and cosine values of a second steering angle of rotation; n. a fourth set of two rate multiplication circuits, each circuit having a first input responsive to the other of the strings of pulses, one of the circuits having a second input responsive to the digital steering signal representing the sine value of the second steering angle of rotation and the other circuit having a second input responsive to the digital steering signal representing the cosine value of the second steering angle of rotation, said circuits producing serial pulse trains; o. a fifth set of two rate multiplication Circuits, each circuit having a first input responsive to one of the pulse trains, one of the circuits having a second input responsive to the digital steering signal representing the sine value of the second steering angle of rotation and the other circuit having a second input responsive to the digital steering signal representing the cosine value of the second steering angle of rotation, said circuits producing serial pulse trains; and p. a gating network having inputs responsive to the digital planar signals, the digital steering signals, the other of the pulse trains and the serial pulse trains for combining the inputs to produce the drive signals or the servomechanism inputs.