US3710086A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Servo system employing switching type feedback
Assignee: Lockheed Martin Corp
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Filing: 1970-02-05
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Granted: 1973-01-09
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Expires: 1990-02-05
Abstract
Abstract The invention provides a servo control system, capable of either a continuous or discontinuous operating mode, which utilizes sign-switched integration circuit to obtain extremely fast response under an unusually wide range of operating conditions. Two internal feedback quantities are employed, one of which comprises the output control signal and the other of which is the output of an integrator whose input is connected to a circuit element which generates a positive or negative value of the first time derivative of the output control signal and whereby the sign of this first time derivative is made dependent upon variables of the system. The application of the invention to a spacecraft navigation system is described.
Inventors
- 👤 R Lahde
- 👤 A Pawelek
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 16:43
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/08; G05D1/0808; G05D1/0858; G05D3/00; G05D3/12; G05D3/14; G05D3/1445; G06; G06G; G06G7/00; G06G7/48; G06G7/70
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
245 words
A closed-loop servo control system comprising: means for receiving a system input signal representing a desired state of a quantity to be controlled; means for providing a system output signal representing the actual measured state of said quantity to be controlled; first and second feedback signal circuit means, connected to said system input signal receiving means, carrying corresponding first and second feedback signals which are subtracted from said system input signal to produce an error signal, at the output of said system input receiving means, representing the difference between said desired state and the actual state of said quantity to be controlled; means for supplying said system output signal to said first feedback signal circuit; means for generating a signal representing a first time derivative of said quantity to be controlled; means for reversing the sign of said first time derivative signal; switching means having first and second operating conditions as determined by the magnitude and sign of said error signal; and, integrating means having an input for receiving the signal produced by said first time derivative generating means in response to the first operating condition of said switching means, for receiving the signal produced by said sign reversing means in response to the second operating condition of said switching means, and having its output connected to said second feedback signal circuit whereby said system input signal is modulated in a manner as to force said quantity to be controlled to approach said desired state.
Claim 2
Dependent Claim
245 words
A closed-loop servo control system comprising: means for receiving a system input signal representing a desired state of a quantity to be controlled; means for providing a system output signal representing the actual measured state of said quantity to be controlled; first and second feedback signal circuit means, connected to said system input signal receiving means, carrying corresponding first and second feedback signals which are subtracted from said system input signal to produce an error signal, at the output of said system input receiving means, representing the difference between said desired state and the actual state of said quantity to be controlled; means for supplying said system output signal to said first feedback signal circuit; means for generating a signal representing a first time derivative of said quantity to be controlled; means for reversing the sign of said first time derivative signal; switching means having first and second operating conditions as determined by the magnitude and sign of said error signal; and, integrating means having an input for receiving the signal produced by said first time derivative generating means in response to the first operating condition of said switching means, for receiving the signal produced by said sign reversing means in response to the second operating condition of said switching means, and having its output connected to said second feedback signal circuit whereby said system input signal is modulated in a manner as to force said quantity to be controlled to approach said desired state.
Claim 3
Dependent Claim
32 words
A closed-loop servo control system as defined in claim 1 including: second integrating means connected to the output of said first time derivative signal generating means to provide said first feedback signal.
Claim 4
Dependent Claim
49 words
A closed-loop servo control system as defined in claim 1 wherein said first and second feedback circuit means includes: control means interposed between said first time derivative generating means and said first feedback signal circuit means for producing essentially a second time derivative of said quantity to be controlled.
Claim 5
Dependent Claim
42 words
A closed-loop servo control system as defined in claim 3 including: means for changing the sign of the output of said first time derivative signal generating means to correspond to the sign of the second time derivative of said system output signal.
Claim 6
Dependent Claim
150 words
A time-switched integration servo system comprising: an adder having first, second, and third input terminals and generating a sum signal at its output terminal; a source of control voltage connected to said first input terminal for supplying a position command signal thereto; switching means connected to said output terminal and responsive thereto to generate a fixed voltage having a sign corresponding to the sign of the summed output from said adder; first integrator means having itS input connected to said switching means and its output made to act upon said second input terminal, for integrating said fixed voltage to provide a velocity feedback voltage to said adder; and second integrator means having its input connected to the output of said first integrator means and its output connected to said third input terminal, for integrating said velocity feedback voltage to provide an auxiliary feedback voltage to said adder, indicative of position.
Claim 7
Dependent Claim
150 words
A time-switched integration servo system comprising: an adder having first, second, and third input terminals and generating a sum signal at its output terminal; a source of control voltage connected to said first input terminal for supplying a position command signal thereto; switching means connected to said output terminal and responsive thereto to generate a fixed voltage having a sign corresponding to the sign of the summed output from said adder; first integrator means having itS input connected to said switching means and its output made to act upon said second input terminal, for integrating said fixed voltage to provide a velocity feedback voltage to said adder; and second integrator means having its input connected to the output of said first integrator means and its output connected to said third input terminal, for integrating said velocity feedback voltage to provide an auxiliary feedback voltage to said adder, indicative of position.
Claim 8
Dependent Claim
60 words
A time-switched integration servo system as defined in claim 5 having: sign changing means interposed between said first integrator means and said second integrator means, and responsive to said switching means to change the sign of the derivative of the position feedback voltage whenever the sum of said position feedback voltage and said auxiliary feedback voltage equals said command signal.
Claim 9
Dependent Claim
189 words
A time-switched integration servo system comprising: an adding amplifier adapted to receive a command input and two feedback inputs, and to provide a summed output; switching means responsive to said summed output for providing a fixed amplitude signal, the sign of which corresponds to the sign of said summed output, whenever the sum of said inputs exceeds a predetermined signal level above a deadband zone; a first integrator connected to the output of said switching means for providing a time integral of said fixed amplitude signal; a second integrator connected to the output of said first integrator for providing a signal to one of said feedback inputs; first sign changing means for obtaining a signal from said first integrator which is of opposite sign; a third integrator having its input controlled by said switching means for integrating the output of said first integrating means whenever said switching means is providing a positive amplitude signal and for integrating the output from said first sign changing means whenever said switching means is providing a negative amplitude signal; and means connecting the output of said third integrator to said other feedback input.
Claim 10
Dependent Claim
189 words
A time-switched integration servo system comprising: an adding amplifier adapted to receive a command input and two feedback inputs, and to provide a summed output; switching means responsive to said summed output for providing a fixed amplitude signal, the sign of which corresponds to the sign of said summed output, whenever the sum of said inputs exceeds a predetermined signal level above a deadband zone; a first integrator connected to the output of said switching means for providing a time integral of said fixed amplitude signal; a second integrator connected to the output of said first integrator for providing a signal to one of said feedback inputs; first sign changing means for obtaining a signal from said first integrator which is of opposite sign; a third integrator having its input controlled by said switching means for integrating the output of said first integrating means whenever said switching means is providing a positive amplitude signal and for integrating the output from said first sign changing means whenever said switching means is providing a negative amplitude signal; and means connecting the output of said third integrator to said other feedback input.
Claim 11
Dependent Claim
149 words
A time-switched integration servo system as defined in claim 7 including: first and second diodes, the anode of said first diode being connected to the output of said first integrator and the anode of said second diode being connected to the output of said first sign changing means, and the cathodes of both of said diodes being connected in common to produce a positive voltage equal in magnitude to the output of said switching means, regardless of the sign of the output of said switching means; second sign changing means connected to said common cathodes of said diodes; and control means for connecting the input of said third integrator to said common cathodes whenever the sign of said summed output is positive, and for transferring the input of said third integrator to the output of said second sign changing means whenever the sign of said summed output is negative.
Claim 12
Dependent Claim
241 words
A time-switched integration servo system comprising: an adder having first, second and third input terminals and generating a sum signal at its output terminal; a source of control voltage connected to said first input terminal for supplying a position command signal thereto; first switching means connected to said summed output and responsive thereto to generate a signal voltage having a sign corresponding to the sign of the summed output from said adder; first integrator means having its input connected to said first switching means for integrating said signal voltage; second integrator means having its input connected to the output of said first integrator means and its output connected to said second input terminal to provide a feedback voltage to said adder; third integrator means having its output connected to said third input terminal for supplying an auxiliary feedback voltage to said adder; sign changing means having its input connected to the output of saiD first integrator means; and second switching means for connecting the input of said third integrator means to the output of said first integrating means whenever the sign of the output of said first integrating means equals the sign of the input of said first integrating means, and for connecting the input of said third integrator means to the output of said sign changing means whenever the sign of the output of said first integrating means is opposite to that of the input of said first integrating means.
Claim 13
Dependent Claim
241 words
A time-switched integration servo system comprising: an adder having first, second and third input terminals and generating a sum signal at its output terminal; a source of control voltage connected to said first input terminal for supplying a position command signal thereto; first switching means connected to said summed output and responsive thereto to generate a signal voltage having a sign corresponding to the sign of the summed output from said adder; first integrator means having its input connected to said first switching means for integrating said signal voltage; second integrator means having its input connected to the output of said first integrator means and its output connected to said second input terminal to provide a feedback voltage to said adder; third integrator means having its output connected to said third input terminal for supplying an auxiliary feedback voltage to said adder; sign changing means having its input connected to the output of saiD first integrator means; and second switching means for connecting the input of said third integrator means to the output of said first integrating means whenever the sign of the output of said first integrating means equals the sign of the input of said first integrating means, and for connecting the input of said third integrator means to the output of said sign changing means whenever the sign of the output of said first integrating means is opposite to that of the input of said first integrating means.
Claim 14
Dependent Claim
187 words
A servo system comprising: an adding amplifier having a command input, a feedback input, an auxiliary feedback input, and an output generating a sum signal; switching means responsive to the sum signal of said adding amplifier and having two stable states dependent upon the sign of said sum signal and generating an output of predetermined magnitude; a first integrating amplifier for integrating the summed output from said switching means; a second integrating amplifier connected to the output of said first integrating amplifier for providing a feedback signal to said feedback input; sign changing amplifier means connected to the output of said first integrating amplifier for providing a time integral signal of negative polarity; a third integrating amplifier having its output connected to said auxiliary feedback input; and, control means responsive to said switching means for connecting the output of said first integrating amplifier to the input of said second integrating amplifier whenever the sign of said summed output is positive and for connecting the output of said sign changing amplifier to the input of said third integrating amplifier whenever the sign of said summed output is negative.
Claim 15
Dependent Claim
187 words
A servo system comprising: an adding amplifier having a command input, a feedback input, an auxiliary feedback input, and an output generating a sum signal; switching means responsive to the sum signal of said adding amplifier and having two stable states dependent upon the sign of said sum signal and generating an output of predetermined magnitude; a first integrating amplifier for integrating the summed output from said switching means; a second integrating amplifier connected to the output of said first integrating amplifier for providing a feedback signal to said feedback input; sign changing amplifier means connected to the output of said first integrating amplifier for providing a time integral signal of negative polarity; a third integrating amplifier having its output connected to said auxiliary feedback input; and, control means responsive to said switching means for connecting the output of said first integrating amplifier to the input of said second integrating amplifier whenever the sign of said summed output is positive and for connecting the output of said sign changing amplifier to the input of said third integrating amplifier whenever the sign of said summed output is negative.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1976-01-09 | 1976-07-10 | 1977-01-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1980-01-09 | 1980-07-10 | 1981-01-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1984-01-09 | 1984-07-10 | 1985-01-09 | $7700.00 | Window Closed / Lapsed |