Multiple servomotor actuator

Claim 2

A multiplex actuator for developing a linear motion output in accordance with generated control signals comprising: a plurality of servomotors with each motor responsive to a separate generated signal, means for velocity coupling the output of each of said servomotors to produce a single rotary output equal to the velocity sum of said plurality of servomotors, means for converting the rotary output of the velocity coupling means into a linear motion output that varies in accordance with the generated signals, a first plurality of amplifiers with the individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of said plurality of servomotors, and a plurality of synchronizers with the individual synchronizers connected between one of the servomotors of the plurality of said servomotors and the input of the respective amplifier for equalizing the speed of said servomotors.

Claim 3

A multiplex actuator for developing a linear motion output in accordance with a generated control signal as set forth in claim 1 wherein said plurality of synchronizers includes a plurality of tachometers individually responsive to the output of one of the servomotors of the plurality of said servomotors and generating a velocity feedback signal applied to the respective amplifier.

Claim 4

A multiplex actuator for developing a linear motion output in accordance with a generated control signal as set forth in claim 2 wherein said converting means includes a feedback transducer producing feedback signals individually applied to the amplifier for one of the servomotors of said plurality of servomotors.

Claim 5

A multiplex actuator for producing a position control signal in accordance with generated control signals comprising: a first plurality of servomotors with each motor responsive to a separate generated signal and velocity coupled in a manner to produce a single rotary output, a second plurality of servomotors with each motor responsive to one of the generated signals not connected to said first plurality of servomotors and velocity coupled in a manner to produce a single rotary output, velocity coupling means having one input connected to the rotary output of said first plurality of servomotors and a second input connected to the rotary output of said second plurality of servomotors, said velocity coupling means developing a single rotary output from the two inputs connected thereto, means for converting the rotary output of said velocity coupling means into a control positioning signal that varies in accordance with the generated signal, a first plurality of amplifiers with individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of the first motor plurality, a second plurality of amplifiers with the individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of the second plurality, a first plurality of synchronizers with the individual synchronizers connected between one of the servomotors of the first plurality and the input of the respective amplifier for equalizing the speed of the motors of said first plurality, and a second plurality of synchronizers with the individual synchronizers connected between one of the servomotors of the second plurality and the input of the respective amplifier for equalizing the speed of the motors of said second plurality.

Claim 6

A multiplex actuator for producing a position control signal in accordance with generated control signals comprising: a first plurality of servomotors with each motor responsive to a separate generated signal and velocity coupled in a manner to produce a single rotary output, a second plurality of servomotors with each motor responsive to one of the generated signals not connected to said first plurality of servomotors and velocity coupled in a manner to produce a single rotary output, velocity coupling means having one input connected to the rotary output of said first plurality of servomotors and a second input connected to the rotary output of said second plurality of servomotors, said velocity coupling means developing a single rotary output from the two inputs connected thereto, means for converting the rotary output of said velocity coupling means into a control positioning signal that varies in accordance with the generated signal, a first plurality of amplifiers with individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of the first motor plurality, a second plurality of amplifiers with the individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of the second plurality, a first plurality of synchronizers with the individual synchronizers connected between one of the servomotors of the first plurality and the input of the respective amplifier for equalizing the speed of the motors of said first plurality, and a second plurality of synchronizers with the individual synchronizers connected between one of the servomotors of the second plurality and the input of the respective amplifier for equalizing the speed of the motors of said second plurality.

Claim 7

A multiplex actuator for producing a positioning control signal as set forth in claim 1 wherein said converting means includes a feedback transducer producing feedback signals individually applied to the amplifier for one of the servomotors of the first and second motor pluralities.

Claim 8

A multiplex actuator for producing a positioning control signal as set forth in claim 4 wherein said first plurality of synchronizers includes a first plurality of tachometers individually responsive to the output of one of the servomotors of the first plurality and generating a velocity feedback signal applied to the respective amplifier, and said second plurality of synchronizers includes a second plurality of tachometers individually responsive to the output of one of the servomotors of the second plurality and generating a velocity feedback signal applied to the respective amplifier therefor.

Claim 9

A multiplex actuator for positioning aircraft controls in accordance with generated control signals, comprising: a first servomotor pair with each motor responsive to a separate generated signal, a first velocity coupling means having inputs individually connected to the servomotors of said first pair for coupling said servomotors together and producing a single rotary output thereof, a second servomotor pair with each motor responsive to one of the generated signals not connected to said first servomotor pair, second velocity coupling means with inputs individually coupled to the servomotors of said second motor pair for coupling said motors together to produce a single rotary output therefrom, third velocity coupling means having one input connected to the rotary output of said first coupling means and a second input connected to the rotary output of said second coupling means, said third velocity coupling means developing a single rotary output from said two inputs, a first pair of synchronizers with the individual synchronizers connected to one of the servomotors of said first pair to modify the separate generated signal to the individual motors for equalizing the speed of said motors, a second synchronizer pair with the individual synchronizers connected to one of the servomotors of the second pair to modify the generated signal connected to the individual motors for equalizing the speed of the motors of said second motor pair, and means for converting the rotary output of said third velocity coupling means into a control signal that varies in accordance with the generated signal.

Claim 10

A multiplex actuator for positioning aircraft controls in accordance with generated control signals, comprising: a first servomotor pair with each motor responsive to a separate generated signal, a first velocity coupling means having inputs individually connected to the servomotors of said first pair for coupling said servomotors together and producing a single rotary output thereof, a second servomotor pair with each motor responsive to one of the generated signals not connected to said first servomotor pair, second velocity coupling means with inputs individually coupled to the servomotors of said second motor pair for coupling said motors together to produce a single rotary output therefrom, third velocity coupling means having one input connected to the rotary output of said first coupling means and a second input connected to the rotary output of said second coupling means, said third velocity coupling means developing a single rotary output from said two inputs, a first pair of synchronizers with the individual synchronizers connected to one of the servomotors of said first pair to modify the separate generated signal to the individual motors for equalizing the speed of said motors, a second synchronizer pair with the individual synchronizers connected to one of the servomotors of the second pair to modify the generated signal connected to the individual motors for equalizing the speed of the motors of said second motor pair, and means for converting the rotary output of said third velocity coupling means into a control signal that varies in accordance with the generated signal.

Claim 11

A multiplex actuator for positioning aircraft control as set forth in claim 7 wherein said converting means includes a feedback transducer producing four feedback signals each coupled to one of the servomotors of the first and second servomotor pairs.

Claim 12

A multiplex actuator for positioning aircraft controls as set forth in claim 7 wherein said first pair of synchronizers includes a first pair of tachometers individually responsive to the output of one of the servomotors of the first pair and generating a velocity feedback signal for modifying the reSpective generated signal, and said second synchronizer pair includes a second pair of tachometers individually responsive to the output of one of the servomotors of the second pair and generating a velocity feedback signal applied to the respective servomotor for modifying the generated signal.

Claim 13

A multiplex actuator for positioning aircraft controls in accordance with generated control signals, comprising: a first servomotor pair with each motor responsive to a separate generated signal, a first amplifier pair with each individual amplifier having an input connected to one of the generated signals and an output connected to the respective servomotor of the first servomotor pair, first velocity coupling means having inputs connected to the servomotors of said first pair for coupling said motors together to produce a single rotary output, a second servomotor pair with each motor responsive to one of the generated signals not connected to said first servomotor pair, a second amplifier pair with each individual amplifier having an input connected to one of the generated signals and an output connected to the respective servomotor of the second servomotor pair, second velocity coupling means having inputs connected to the servomotors of said second pair for coupling said motors together to produce a single rotary output, third velocity coupling means having one input connected to the rotary output of said first coupling means and a second input connected to the rotary output of said second coupling means, said third velocity coupling means developing a single rotary output from the two inputs connected thereto, a first tachometer pair individually responsive to the output of one of the servomotors of the first pair and generating a velocity feedback signal applied to one input of the respective amplifiers, a second tachometer pair individually responsive to the output of one of the servomotors of the second pair and generating a velocity feedback signal applied to the respective amplifier, and means for converting the rotary output of said third velocity coupling means into a control signal that varies in accordance with the generated signal.

Claim 14

A multiplex actuator for positioning aircraft controls in accordance with generated control signals, comprising: a first servomotor pair with each motor responsive to a separate generated signal, a first amplifier pair with each individual amplifier having an input connected to one of the generated signals and an output connected to the respective servomotor of the first servomotor pair, first velocity coupling means having inputs connected to the servomotors of said first pair for coupling said motors together to produce a single rotary output, a second servomotor pair with each motor responsive to one of the generated signals not connected to said first servomotor pair, a second amplifier pair with each individual amplifier having an input connected to one of the generated signals and an output connected to the respective servomotor of the second servomotor pair, second velocity coupling means having inputs connected to the servomotors of said second pair for coupling said motors together to produce a single rotary output, third velocity coupling means having one input connected to the rotary output of said first coupling means and a second input connected to the rotary output of said second coupling means, said third velocity coupling means developing a single rotary output from the two inputs connected thereto, a first tachometer pair individually responsive to the output of one of the servomotors of the first pair and generating a velocity feedback signal applied to one input of the respective amplifiers, a second tachometer pair individually responsive to the output of one of the servomotors of the second pair and generating a velocity feedback signal applied to the respective amplifier, and means for converting the rotary output of said third velocity coupling means into a control signal that varies in accordance with the generated signal.

Claim 15

A multiplex actuator for positioning aircraft controls as set forth in claim 10 including a first integrator pair with the individual integrators connected between the output of one tachometer of the first servomotor pair and the input of the respective amplifier for equalizing the speed of the motors of said first pair, and a second integrator pair with the individual integrators connected between the output of one tachometer of the second servomotor pair and the input of the respective amplifier for equalizing the speed of the motors of said second pair.

Claim 16

A multiplex actuator for positioning aircraft controls as set forth in claim 11 wherein said velocity coupling means each includes a differential gear set.

Claim 17

A multiplex actuator for positioning aircraft controls as set forth in claim 12 wherein each of said differential gear sets includes input bevel gears and a spider carrier having bevel gears engaging said input gears, said spider carrier coupled to an output shaft for producing the single rotary motion.

Claim 18

A multiplex actuator for positioning aircraft controls as set forth in claim 13 wherein said converting means includes a rotary-to-linear motion transducer coupled to a servo-valve having an output coupled to a power ram.

Claim 19

A multiplex actuator for positioning aircraft controls as set forth in claim 14 wherein said converting means further includes a feedback transducer producing four position feedback signals individually coupled to the amplifier for one of the servomotors of the first and second pairs

Claim 20

A multiplex actuator for producing a positioning control signal in accordance with generated control signals comprising: a first plurality of servomotors with each motor responsive to a separate generated signal and velocity couPled in a manner to produce a single rotary output, a second plurality of servomotors with each motor responsive to one of the generated signals not connected to said first plurality of servomotors and velocity coupled in a manner to produce a single rotary output, velocity coupling means having one input connected to the rotary output of said first plurality of servomotors and a second input connected to the rotary output of said second plurality of servomotors, said velocity coupling means developing a single rotary output from the two inputs connected thereto, a first plurality of amplifiers with the individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of the first motor plurality, a second plurality of amplifiers with the individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of the second motor plurality, and means for converting the rotary output of said velocity coupling means into a control positioning signal that varies in accordance with the generated signals.

Claim 21

A multiplex actuator for producing a positioning control signal in accordance with generated control signals comprising: a first plurality of servomotors with each motor responsive to a separate generated signal and velocity couPled in a manner to produce a single rotary output, a second plurality of servomotors with each motor responsive to one of the generated signals not connected to said first plurality of servomotors and velocity coupled in a manner to produce a single rotary output, velocity coupling means having one input connected to the rotary output of said first plurality of servomotors and a second input connected to the rotary output of said second plurality of servomotors, said velocity coupling means developing a single rotary output from the two inputs connected thereto, a first plurality of amplifiers with the individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of the first motor plurality, a second plurality of amplifiers with the individual amplifiers thereof having an input connected to one of the generated signals and an output connected to the respective servomotor of the second motor plurality, and means for converting the rotary output of said velocity coupling means into a control positioning signal that varies in accordance with the generated signals.

Claim 22

A multiplex actuator for producing a positioning control signal as set forth in claim 16 wherein said converting means includes a feedback transducer producing feedback signals individually applied to the amplifier for one of the servomotors of the first and second motor pluralities.

Claim 23

A multiplex actuator for producing a positioning control signal as set forth in claim 16 including a first plurality of tachometers individually responsive to the output of one of the servomotors of the first plurality and generating a velocity feedback signal applied to the respective amplifier, and a second plurality of tachometers individually responsive to the output of one of the servomotors of the second plurality and generating a velocity feedback signal applied to the respective amplifier therefor.

Claim 24

A multiplex actuator for producing a position control signal in accordance with generated control signals comprising: a first plurality of servomotors with each motor responsive to a separate generated signal and velocity coupled to produce a single rotary output, at least one additional servomotor responsive to one of the generated signals not connected to said first plurality of servomotors and having a single rotary output, velocity coupling means having one input connected to the rotary output of said first plurality of servomotors and a second input connected to the rotary output of said additional servomotors, said velocity coupling means developing a single rotary output from the two inputs connected thereto, means for converting the rotary output of said velocity coupling means into a control positioning signal that varies in accordance with the generated signal, a first plurality of synchronizers with the individual synchronizers connected to one of the servomotors of said first plurality to modify the separate generated signal to the individual motors for equalizing the speed of said motors, and at least one additional synchronizer connected to one of said additional servomotors to modify the generated signal connected to the individual motors for equalizing the speed thereof.

Claim 25

A multiplex actuator for producing a position control signal in accordance with generated control signals comprising: a first plurality of servomotors with each motor responsive to a separate generated signal and velocity coupled to produce a single rotary output, at least one additional servomotor responsive to one of the generated signals not connected to said first plurality of servomotors and having a single rotary output, velocity coupling means having one input connected to the rotary output of said first plurality of servomotors and a second input connected to the rotary output of said additional servomotors, said velocity coupling means developing a single rotary output from the two inputs connected thereto, means for converting the rotary output of said velocity coupling means into a control positioning signal that varies in accordance with the generated signal, a first plurality of synchronizers with the individual synchronizers connected to one of the servomotors of said first plurality to modify the separate generated signal to the individual motors for equalizing the speed of said motors, and at least one additional synchronizer connected to one of said additional servomotors to modify the generated signal connected to the individual motors for equalizing the speed thereof.

Claim 26

A multiplex actuator for producing a position control signal as set forth in claim 19 wherein said converting means includes a feedback transducer producing feedback signals individually applied to the servomotors of said plurality and said additional servomotors.

Claim 27

A multiplex actuator for developing a linear motion output in accordance with generated control signals comprising: a plurality of servomotors with each motor responsive to a separate generated signal, means for velocity coupling the output of each of said servomotors to produce a single rotary output equal to the velocity sum of said plurality of servomotors, means for converting the rotary output of the velocity coupling meanS into a linear motion output that varies in accordance with the generated signal, and a plurality of synchronizers with individual synchronizers connected to one of the servomotors of said plurality to modify the generated signal connected to the individual motors for equalizing the speed of said servomotors.

Claim 28

A multiplex actuator for developing a linear motion output in accordance with generated control signals comprising: a plurality of servomotors with each motor responsive to a separate generated signal, means for velocity coupling the output of each of said servomotors to produce a single rotary output equal to the velocity sum of said plurality of servomotors, means for converting the rotary output of the velocity coupling meanS into a linear motion output that varies in accordance with the generated signal, and a plurality of synchronizers with individual synchronizers connected to one of the servomotors of said plurality to modify the generated signal connected to the individual motors for equalizing the speed of said servomotors.

Claim 29

A multiplex actuator for developing a linear motion output in accordance with a generated control signal as set forth in claim 21 wherein said plurality of synchronizers includes a plurality of tachometers individually responsive to the output of one of the servomotors of the plurality of said servomotors and generating a velocity feedback signal to modify the generated signal connected to the individual motors.

Claim 30

A multiplex actuator for developing a linear motion output in accordance with a generated control signal as set forth in claim 22 wherein said converting means includes a feedback transducer producing feedback signals individually applied to the servomotors of said plurality of servomotors.