US3783974A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Predictive drive control
Assignee: Reliance Electric Co
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Filing: 1972-05-09
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Granted: 1974-01-08
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Expires: 1992-05-09
Abstract
Abstract A drive control illustrated for controlling an elevator hoist motor and car position involving a control pattern causing the car to follow idealized constraints of constant jerk in transitions between constant velocity and constant acceleration. In the initial phase the control pattern for the car is started, from zero velocity, through constant positive jerk to a constant acceleration which, if a run of sufficient length is required, is followed by a constant negative jerk into a maximum constant velocity. The length of the constant acceleration interval is terminated by achieving a predetermined velocity which when subjected to the predetermined negative jerk value will achieve zero acceleration at the given maximum velocity. Deceleration is initiated at the moment the control pattern is indicated to be capable of stopping the car, within the constraints of jerk and negative acceleration, at the desired destination. The instant of initiation of the terminal phase of the pattern is ascertained by a high speed repetitive predicted pattern generated from the control pattern, for example at a speed one thousand times faster than the control pattern and with constraints which make its performance slightly inferior to that of the elevator. The predicted pattern indicates a stop position slightly in advance of the stop achieved by the elevator under the predetermined constraints of the control pattern. During deceleration, the predicted pattern is repetitively generated from the control pattern as an initial point. The indication of a predicted pattern stopping position short of the desired stop causes the control pattern to switch to positive jerk while prediction of a stop beyond the desired stop causes the control pattern to switch to negative jerk. This chattering control brings the elevator to the desired floor in a closed loop control.
Inventors
- 👤 E Gilbert
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 16:25
CPC Classifications
B; B66; B66B; B66B1/00; B66B1/24; B66B1/28; B66B1/285
Claims Analysis
Total Claims: 92
Claim 1
Independent Claim
180 words
A control for an object movable between predetermined points along a predetermined path subject to constraints of predetermined values of jerk, predetermined values of acceleration and predetermined values of velocity comprising means issuing a signal which is a function of the current acceleration of said object; means issuing a signal which is a function of the current velocity of said object; means issUing a signal which is a function of the current position of said object; a predictive signal generator adapted during each movement of said object between said points to repetitively generate signals representing the predicted displacement of said object from its current instantaneous condition of motion to a stop subject to constraints of said predetermined values of jerk, said prederermined values of acceleration and said predetermined values of velocity; means to apply said acceleration, velocity and position signals from siad issuing means which are then current to said predictive signal generator at each generation of said signal of predicted displacement to a stop; and means responsive to a signal from said predictive signal generator for controlling said object.
Claim 2
Dependent Claim
180 words
A control for an object movable between predetermined points along a predetermined path subject to constraints of predetermined values of jerk, predetermined values of acceleration and predetermined values of velocity comprising means issuing a signal which is a function of the current acceleration of said object; means issuing a signal which is a function of the current velocity of said object; means issUing a signal which is a function of the current position of said object; a predictive signal generator adapted during each movement of said object between said points to repetitively generate signals representing the predicted displacement of said object from its current instantaneous condition of motion to a stop subject to constraints of said predetermined values of jerk, said prederermined values of acceleration and said predetermined values of velocity; means to apply said acceleration, velocity and position signals from siad issuing means which are then current to said predictive signal generator at each generation of said signal of predicted displacement to a stop; and means responsive to a signal from said predictive signal generator for controlling said object.
Claim 3
Dependent Claim
22 words
A control according to claim 1 wherein said object is an elevator car and said path is a hatchway for said car.
Claim 4
Dependent Claim
41 words
A control according to claim 1 wherein said predictive generator includes a velocity signal generator for generating a signal correlated with said predicted displacement signal; and means to recycle said predictive signal generator in response to a velocity signal of zero.
Claim 5
Dependent Claim
69 words
A control according to claim 1 including means to produce a signal which is a function of the current instantaneous acceleration of said object; means to produce a signal which is a function of the current instantaneous velocity of said object; and including means to set the initial conditions for each of said predictive signal generator signal generations according to the current instantaneous acceleration and velocity of said object.
Claim 6
Dependent Claim
60 words
A control according to claim 1 including means to degrade at least one constraint of jerk, acceleration or velocity imposed on said predictive signal generator from the corresponding constraint imposed on the motion of said object whereby a predicted displacement to a stop exceeds the minimum displacement of said object when subjected to a maximum stopping effort within its constraints.
Claim 7
Dependent Claim
27 words
A control according to claim 5 wherein said degradation is of the order of ten percent of the corresponding constraint imposed on the motion of the object.
Claim 8
Dependent Claim
48 words
A control according to claim 1 including; means to signal the position of a destination for said object along its path of travel; and means responsive to a predetermined relationship between said object position signal, said destination position signal and said predicted displacement signal to control said object.
Claim 9
Dependent Claim
47 words
A control according to claim 7 wherein object destinations are fixed locations along the path of travel of said object; and including means to advance said current destination for said object to the next adjacent destination along the path of travel in response to said predetermined relationship.
Claim 10
Dependent Claim
75 words
A control according to claim 7 wherein object destinations are fixed locations along the path of travel of said object; including means to call for a stop of said object at a selected destination; and means to initiate a stop of said object in response to the coincidence of a call for a stop at said destination and said predetermined relationship between said object position signal, said destination position signal and said predicted displacement signal.
Claim 11
Dependent Claim
41 words
A control according to claim 1 including means to sense the distance between said object and a destination for said object; and wherein said means for controlling said object is responsive to the relationship of said distance to the predicted displacement.
Claim 12
Dependent Claim
54 words
A control according to claim 10 including means to define the current destination of said object; and means to advance said current destination to the next available destination along the path of said object in response to a predetermined relationship between the distance between said object and the current destination and the predicted displacement.
Claim 13
Dependent Claim
12 words
A control according to claim 11 wherein said predetermined relationship is equality.
Claim 14
Dependent Claim
39 words
A control according to claim 10 including means to offset a signal from said means to sense the distance between said object and a destination and representing said distance to compensate for approximations made in said predictive signal generator.
Claim 15
Dependent Claim
20 words
A control according to claim 1 wherein said means for controlling said object initiates a stopping sequence for said object.
Claim 16
Dependent Claim
118 words
A control for an object movable along a predetermined path comprising a pattern signal generator generating a signal to control motion of said object subject to constraints of fixed values of jerk, maximum values of acceleration and maximum values of velocity; a predictive signal generator repetitively generating signals representing the displacement of said object from its current instantaneous condition of motion to a stop subject to said constraints of fixed values of jerk, maximum values of acceleration and maximum values of velocity; means to recycle said predictive signal generator at a rate of at least hundreds of times the rate of generation of said pattern signal; and means to control said object responsive to said predicted displacement signal.
Claim 17
Dependent Claim
118 words
A control for an object movable along a predetermined path comprising a pattern signal generator generating a signal to control motion of said object subject to constraints of fixed values of jerk, maximum values of acceleration and maximum values of velocity; a predictive signal generator repetitively generating signals representing the displacement of said object from its current instantaneous condition of motion to a stop subject to said constraints of fixed values of jerk, maximum values of acceleration and maximum values of velocity; means to recycle said predictive signal generator at a rate of at least hundreds of times the rate of generation of said pattern signal; and means to control said object responsive to said predicted displacement signal.
Claim 18
Dependent Claim
31 words
A control according to claim 15 including means to impose instantaneous conditions of motion of said object on said predictive signal generator at the initiation of each predictive signal generator cycle.
Claim 19
Dependent Claim
23 words
A control according to claim 16 wherein said means to impose instantaneous conditions of motion of said object is said pattern signal generator.
Claim 20
Dependent Claim
32 words
A control according to claim 17 wherein said means generating a signal which is a function of the instantaneous condition of motion issues a pattern signal value of acceleration for said object.
Claim 21
Dependent Claim
32 words
A control according to claim 17 wherein said means generating a signal which is a function of the instantaneous condition of motion issues a pattern signal value of velocity of said object.
Claim 22
Dependent Claim
27 words
A control according to claim 15 including means to control said pattern signal generator in response to the predicted displacement values generated in said predictive signal generator.
Claim 23
Dependent Claim
71 words
A control according to claim 15 including means to generate a signal characteristic of the position of the object along its path of travel; means to generate a signal characteristic of the location of a destination for said object along its path of travel; and means responsive to a predetermined relationship between said object position signal, said destination location signal and said predicted displacement signal to control said pattern signal generator.
Claim 24
Dependent Claim
44 words
A control according to claim 21 including means to sense the distance between said object and a destination for said object; and means to initiate a slowdown pattern signal for said object in response to the relationship of said distance to said predicted displacement.
Claim 25
Dependent Claim
37 words
A control according to claim 22 including means to increase and decrease the rate of slowdown dictated by said slowdown pattern signal for said object in response to the relationship of said distance to said predicted displacement.
Claim 26
Dependent Claim
48 words
A control according to claim 23 wherein said rate of slowdown is increased in response to said predicted displacement being within a predetermined value of said distance, and said rate of slowdown is decreased in response to said predicted displacement being a predetermined amount less than said distance.
Claim 27
Dependent Claim
40 words
A control according to claim 23 including means to maintain a continuous decrease in the rate of slowdown in response to the slowing of said object to a condition of motion wherein the velocity and acceleration have a predetermined relationship.
Claim 28
Dependent Claim
31 words
A control according to claim 25 wherein said predetermined relationship is h + a h + b 0 where a and b are constants, h is velocity and h is acceleration.
Claim 29
Dependent Claim
49 words
A control according to claim 23 including means to sense the location of said object a predetermined distance from said destination; and means to generate a final stopping pattern to control the final stopping motion of said object in reSponse to the positioning of said object at said location.
Claim 30
Dependent Claim
76 words
A control according to claim 21 including means to initiate a slowdown pattern for said object in response to a first predetermined relationship between said object position signal, said destination location signal, and said predicted displacement signal; means effective during said slowdown pattern to increase and decrease the rate of slowdown dictated by said slowdown pattern signal in response to the relationshisp between said object position signal, said destination location signal, and said predicted displacement signal.
Claim 31
Dependent Claim
41 words
A control according to claim 15 including means to sense the distance between said object and a destination for said object; and means to control the pattern signal generator in response to the relationship of said distance to said predicted displacement.
Claim 32
Dependent Claim
43 words
A control according to claim 15 including means to sense a function of velocity of said object at a predetermined fractional value of maximum velocity; and means to initiate a reduction in acceleration by said pattern signal in response to said sensing means.
Claim 33
Dependent Claim
80 words
A control according to claim 15 including means to define as the current destination for said object the next destination along the path of travel of said object at which said object can be stopped within its motion constraints; and means to shift the current destiantion to a next succeeding destination along the path of travel in response to the prediction by said predictive signal generator of a displacement equal to the distance between said object and said current destination.
Claim 34
Dependent Claim
72 words
A control according to claim 31 including means to require a stop of said object at any of a plurality of destinations along the path of travel of said object; and means to inhibit said shift of the current destination when a stop means for said destination is operated and the prediction by said predictive signal generator of a displacement is equal to the distance between said object and said current destination.
Claim 35
Dependent Claim
168 words
In a control for an object movable between predetermined points along a predetermined path subject to constraints of fixed jerk values, maximum acceleration values, and maximum velocity values, means for predicting repetitively during each movement of said object between said points the displacement of the object from its current instantaneous condition of motion to a stop comprising a step signal source scaled to the jerk constraints imposed on said object; a first integrator for said jerk signal to issue predicted acceleration signals limited to define maximum signals scaled to maximum acceleration constraints imposed on said object; a second integrator for said acceleration signals to issue predicted velocity signals limited to define maximum signals scaled to maximum velocity constraints imposed on said object; and a third integrator for said velocity signals to issue predicted displacement signals; said first, second and third integrators generating signals to produce said predicted displacement signal in time intervals which are short relative to the time intervals for movement of said object between said points.
Claim 36
Dependent Claim
168 words
In a control for an object movable between predetermined points along a predetermined path subject to constraints of fixed jerk values, maximum acceleration values, and maximum velocity values, means for predicting repetitively during each movement of said object between said points the displacement of the object from its current instantaneous condition of motion to a stop comprising a step signal source scaled to the jerk constraints imposed on said object; a first integrator for said jerk signal to issue predicted acceleration signals limited to define maximum signals scaled to maximum acceleration constraints imposed on said object; a second integrator for said acceleration signals to issue predicted velocity signals limited to define maximum signals scaled to maximum velocity constraints imposed on said object; and a third integrator for said velocity signals to issue predicted displacement signals; said first, second and third integrators generating signals to produce said predicted displacement signal in time intervals which are short relative to the time intervals for movement of said object between said points.
Claim 37
Dependent Claim
20 words
In a control according to claim 33 means to introduce a signal lag between said second and said third integrator.
Claim 38
Dependent Claim
33 words
In a control according to claim 33 means to generate a signal representative of the distance between said object and a destination; and means to compare that signal to said predicted displacement signal.
Claim 39
Dependent Claim
25 words
In a control according to claim 33 including means to detect a predetermined value of predicted velocity from the signal issued by said second integrator.
Claim 40
Dependent Claim
16 words
In a control according to calim 33 wherein said predetermined value of predicted velocity is zero.
Claim 41
Dependent Claim
16 words
In a control according to calim 33 wherein said predetermined value of predicted velocity is zero.
Claim 42
Dependent Claim
32 words
In a control according to claim 37, means to terminate the signal integrations in said first, second and third integrators in response to detection of zero predicted velocity by said detector means.
Claim 43
Dependent Claim
27 words
In a control according to claim 38, means to start thE signal integrators an interval following termination of said signal integrations whereby new prediction signals are generated.
Claim 44
Dependent Claim
24 words
In a control according to claim 38 means to couple the jerk, acceleration and velocity signals to ground in response to said terminating means.
Claim 45
Dependent Claim
89 words
In a control according to claim 40 means to decouple said jerk signal from said first integrator, said acceleration signal from said second integrator and said velocity signal from said third integrator in response to said terminating means; means effective an interval following operation of said terminating means to apply a signal which is a function of the instantaneous value of acceleration of said object to said first integrator and a signal which is a function of the instantaneous value of velocity of said object to said second integrator.
Claim 46
Dependent Claim
61 words
In a control according to claim 41 means to generate a signal representative of the distance between said object and a destination; and means to apply said signal representative of the distance between said object and a destination to said third integrator coincident with the application of the instantaneous values of acceleration and velocity to said respective first and second integrators.
Claim 47
Dependent Claim
38 words
In a control according to claim 38 means to decouple said jerk signal from said first integrator, said acceleration signal from said second integrator and said velocity signal from said third integrator in response to said terminating means.
Claim 48
Dependent Claim
44 words
In a control according to claim 33 including means generating a signal which is a function of the instantaneous value of acceleration of said object; and means to apply said instantaneous value of acceleration signal as an initial condition signal for said first integrator.
Claim 49
Dependent Claim
42 words
In a control according to claim 33, means generating a signal which is a function of the instantaneous value of velocity of said object; and means to apply said instantaneous value of velocity as an initial condition signal for said second integrator.
Claim 50
Dependent Claim
60 words
In a control according to claim 33 means to generate a signal representative of the distance between said object and a destination for said object; means to initiate the stopping of said object when said predicted velocity equals zero and said predicted displacement signal equals the signal representative of the distance between said object and a destination for said object.
Claim 51
Dependent Claim
34 words
In a control according to claim 33, means for generating a pattern signal for controlling the motion of said object; and mens responsive to said predicted displacement signal for controlling said pattern generating means.
Claim 52
Dependent Claim
71 words
In a control according to claim 47, means to generate a signal representative of the distance between said object and a destination for said object; and means to initiate the generation of a stopping pattern for said object by said pattern signal generating mens in response to a predetermined relationship between said predicted dsiplacement signal and the signal representative of the distance between said object and a destination for said object.
Claim 53
Dependent Claim
107 words
In a control according to claim 47 means to impose a fixed level of positive jerk on said means for generating a pattern signals; means to impose a fixed level of negative jerk on said means for generating a pattern signal; whereby imposition of said positive jerk tends to accelerate said pattern signal or tends to reduce the deceleration of said pattern signal and imposition of negative jerk tends to reduce the acceleration of said pattern signal or tends to decelerate said pattern signal; and means responsive to said predicted displacement signal for actuating said means to impose jerk on said means for generating a pattern signal.
Claim 54
Dependent Claim
62 words
In a control according to claim 49 means to generate a signal representative of the distance between said object and a destination for said object; means to sense a predetermined relationship between said predicted displacement signal and said signal representing distance between said object and a destinAtion to actuate said negative jerk imposing means to initiate a stopping pattern for said object.
Claim 55
Dependent Claim
159 words
In a control for an object movable along a predetermined path, a pattern signal geneator subject to constraints of fixed values of jerk, maximum values of acceleration and maximum values of velocity to control motion of said object; a step signal source for signals scaled to the jerk constraints imposed on said pattern signal; a first integrator for said jerk signals to issue predicted acceleration signals limited to define maximum signals scaled to maximum acceleration constraints imposed on said pattern signal; a second integrator for said acceleration signals to issue predicted velocity signals limited to define maximum signals scaled to maximum velocity constraints imposed on said pattern signal; and a third integrator for said velocity signals to issue predicted displacement signals, at least one of said jerk and acceleration signal levels being degraded with respect to said pattern signal constraints whereby said predicted displacement exceeds the minimum displacement to a stop of the object controlled by said pattern signal.
Claim 56
Dependent Claim
159 words
In a control for an object movable along a predetermined path, a pattern signal geneator subject to constraints of fixed values of jerk, maximum values of acceleration and maximum values of velocity to control motion of said object; a step signal source for signals scaled to the jerk constraints imposed on said pattern signal; a first integrator for said jerk signals to issue predicted acceleration signals limited to define maximum signals scaled to maximum acceleration constraints imposed on said pattern signal; a second integrator for said acceleration signals to issue predicted velocity signals limited to define maximum signals scaled to maximum velocity constraints imposed on said pattern signal; and a third integrator for said velocity signals to issue predicted displacement signals, at least one of said jerk and acceleration signal levels being degraded with respect to said pattern signal constraints whereby said predicted displacement exceeds the minimum displacement to a stop of the object controlled by said pattern signal.
Claim 57
Dependent Claim
39 words
A control according to claim 51 including means to generate said predicted signals from instantaneous conditions of motion of said object to a stop repetitively at a rapid rate relative to the rate of generation of said pattern signal.
Claim 58
Dependent Claim
32 words
A control according to claim 52 including means to set initial conditions of acceleration on said first integrator for each predicted signal generation according to the instantaneous acceleration of said pattern signal.
Claim 59
Dependent Claim
32 words
A control according to claim 52 including means to set initial conditions of velocity on said second integrator for each predicted signal generation according to the instantaneous velocity of said pattern signal.
Claim 60
Dependent Claim
53 words
A control according to claim 52 including means to sense the distance between said object and a destination for said object; and means to control the pattern signal generator in response to the relationship of said distance to said predicted displacement from the instantaneous conditions of motion of said object to a stop.
Claim 61
Dependent Claim
61 words
A control according to claim 55 including means for imposing negative jerk on said pattern generator; mens for imposing positive jerk on said pattern signal generator; and means to institute the generation of a stopping pattern from said pattern signal generator by actuating said negative jerk imposing means in response to a predetermined relationship of said distance to said predicted displacement.
Claim 62
Dependent Claim
66 words
A control according to claim 56 including means effective subsequent to the institution of a stopping pattern to actuate said positive jerk imposing means in response to a predicted displacement less than said distance by a predetermined amount; and means effective subsequent to the institution of a stopping pattern to actuate said negative jerk imposing means in response to a predicted displacement equal to said distance.
Claim 63
Dependent Claim
78 words
A control according to claim 56 including means to sense a predetermined relationship between pattern signal velocity and pattern signal acceleration characteristic of a condition of motion of said body from which said body can be brought to a stop by the continuous application of positive jerk to the pattern signal generator; and means responsive to said sensing means to apply and maintain positive jerk on the pattern signal generator until a predetermined pattern signal acceleration is achieved.
Claim 64
Dependent Claim
40 words
A control according to claim 58 wherein said predetermined relationships is h + a h + b 0 where a and b are constants, h is velocity and h is acceleration; and wherein said predetermined pattern signal acceleration is zero.
Claim 65
Dependent Claim
44 words
A control according to claim 56 including means to sense a predetermined velocity for said object; means to generate a final stopping pattern for said object; and means responsive to said sensed predetermined velocity to enable said means to generate a final stopping pattern.
Claim 66
Dependent Claim
43 words
A control according to claim 60 including means to sense the location of said object a predetermined distance from a destination and means to actuate said final stopping pattern means to supersede control of motion of said object by said pattern signal generator.
Claim 67
Dependent Claim
174 words
A pattern generator for an object movable between predetermined points along a predetermined path comprising means to generate a pattern signal; means to institute a stopping pattern for said pattern signal generating means; means to repetitively generate, in time intervals which are short compared with the time interval of movement of said object between said predetermined points, a signal which is representative of a prediction of the displacement of the object from its instantaneous condition to a stop at a destination; means to actuate said predicting means to generate a prediction responsive to completion of a prediction; means to sense a call for a stop at each of a plurality of destinations; means to define the location of the next destination at which said object is currently capable of being stopped along the predetermined path; means to define the position of said object along the pre-determined path; and means responsive to the relationship between said predicted displacement, said location of the next destination and the position of said object to control said pattern signal.
Claim 68
Dependent Claim
174 words
A pattern generator for an object movable between predetermined points along a predetermined path comprising means to generate a pattern signal; means to institute a stopping pattern for said pattern signal generating means; means to repetitively generate, in time intervals which are short compared with the time interval of movement of said object between said predetermined points, a signal which is representative of a prediction of the displacement of the object from its instantaneous condition to a stop at a destination; means to actuate said predicting means to generate a prediction responsive to completion of a prediction; means to sense a call for a stop at each of a plurality of destinations; means to define the location of the next destination at which said object is currently capable of being stopped along the predetermined path; means to define the position of said object along the pre-determined path; and means responsive to the relationship between said predicted displacement, said location of the next destination and the position of said object to control said pattern signal.
Claim 69
Dependent Claim
158 words
A pattern generator for an object movable between predetermined points along a predetermined path comprising means to generate a pattern signal; means to institute a stopping pattern for said pattern signal generating means; means to repetitively generate, in time intervals which are short compared with the time interval of movement of said object between said predetermined points, a signal which is representative of a prediction of the displacement of the object from its instantaneous condition to a stop at a destination; means to actuate said predicting means to generate a prediction responsive to completion of a prediction; means to sense a call for a stop at each of a plurality of destinations; means responsive to a signal representative of the displacement of the object from a current destination a distance equal to the displacement predicted to stop at said destination and to the absence of a call for a stop at said destination to establish a new destination.
Claim 70
Dependent Claim
158 words
A pattern generator for an object movable between predetermined points along a predetermined path comprising means to generate a pattern signal; means to institute a stopping pattern for said pattern signal generating means; means to repetitively generate, in time intervals which are short compared with the time interval of movement of said object between said predetermined points, a signal which is representative of a prediction of the displacement of the object from its instantaneous condition to a stop at a destination; means to actuate said predicting means to generate a prediction responsive to completion of a prediction; means to sense a call for a stop at each of a plurality of destinations; means responsive to a signal representative of the displacement of the object from a current destination a distance equal to the displacement predicted to stop at said destination and to the absence of a call for a stop at said destination to establish a new destination.
Claim 71
Dependent Claim
57 words
A pattern generator according to claim 63 inclduing means responsive to a signal representative of the displacement of the object from a current destination a distance equal to the displacement predicted to stop at said destination, and to the presence of a call for a stop at said destination to initiate a stopping pattern to said destination.
Claim 72
Dependent Claim
61 words
A pattern generator according to claim 63 including a decoder for destination signals, and means operated subsequent to operation of the means to establish a new destination to operate said decoder whereby the signal from said decoder is issued for said new destination to said means for developing a signal representative of the displacement of the object from its current destination.
Claim 73
Dependent Claim
49 words
A pattern generator according to claim 63 incuding means defining the direction said object is set to run; and means to control said means to establish a new destination to define a new destination displaced from the current object destination in the direction defined by said direction defining means.
Claim 74
Dependent Claim
132 words
A pattern signal generator for an object movable along a predetermined path comprising: means to generate a signal scaled to positive jerk; means to generate a signal scaled to negative jerk; first means to integrate said signals from said jerk signal generating means subject to absolute limits scaled to acceleration; second means to integrate said integrated jerk signal subject to a limit scaled to velocity; first jerk control means to actuate said postiive jerk generator and inhibit said negative jerk generator; second jerk control means to actuAte said negative jerk generator and inhibit said positive jerk generator; third jerk control means to inhibit both said positive and negative jerk control generators simultaneously; and means to actuate said second jerk control means in response to a predetermined velocity signal from said second means.
Claim 75
Dependent Claim
132 words
A pattern signal generator for an object movable along a predetermined path comprising: means to generate a signal scaled to positive jerk; means to generate a signal scaled to negative jerk; first means to integrate said signals from said jerk signal generating means subject to absolute limits scaled to acceleration; second means to integrate said integrated jerk signal subject to a limit scaled to velocity; first jerk control means to actuate said postiive jerk generator and inhibit said negative jerk generator; second jerk control means to actuAte said negative jerk generator and inhibit said positive jerk generator; third jerk control means to inhibit both said positive and negative jerk control generators simultaneously; and means to actuate said second jerk control means in response to a predetermined velocity signal from said second means.
Claim 76
Dependent Claim
132 words
A pattern signal generator for an object movable along a predetermined path comprising: means to generate a signal scaled to positive jerk; means to generate a signal scaled to negative jerk; first means to integrate said signals from said jerk signal generating means subject to absolute limits scaled to acceleration; second means to integrate said integrated jerk signal subject to a limit scaled to velocity; first jerk control means to actuate said positive jerk generator and inhibit said negative jerk generator; second jerk control means to actuate said negative jerk generator and inhibit said positive jerk generator third jerk control means to inhibit both said positive and negative jerk control generators simultaneously; and means to actuate said third jerk control means in response to a predetermined acceleration signal from said first means.
Claim 77
Dependent Claim
132 words
A pattern signal generator for an object movable along a predetermined path comprising: means to generate a signal scaled to positive jerk; means to generate a signal scaled to negative jerk; first means to integrate said signals from said jerk signal generating means subject to absolute limits scaled to acceleration; second means to integrate said integrated jerk signal subject to a limit scaled to velocity; first jerk control means to actuate said positive jerk generator and inhibit said negative jerk generator; second jerk control means to actuate said negative jerk generator and inhibit said positive jerk generator third jerk control means to inhibit both said positive and negative jerk control generators simultaneously; and means to actuate said third jerk control means in response to a predetermined acceleration signal from said first means.
Claim 78
Dependent Claim
16 words
A pattern signal generator according to claim 68 wehrein said predetermined acceleration signal represents zero acceleration.
Claim 79
Dependent Claim
106 words
A control for an object movable along a predetermined path including means to define each of a plurality of given destinations along said path; means responsive to the presence of said object in a predetermined spatial relationship with each of a plurality of available destinations for said object for issuing a coded signal characteristic of said destination; means to apply a control signal to start and maintain motion of said object; means responsive to the absence of said control signal to enable said means issuing said coded destination whereby said coded destination signal indicates the initial car position for the next application of said control signal.
Claim 80
Dependent Claim
106 words
A control for an object movable along a predetermined path including means to define each of a plurality of given destinations along said path; means responsive to the presence of said object in a predetermined spatial relationship with each of a plurality of available destinations for said object for issuing a coded signal characteristic of said destination; means to apply a control signal to start and maintain motion of said object; means responsive to the absence of said control signal to enable said means issuing said coded destination whereby said coded destination signal indicates the initial car position for the next application of said control signal.
Claim 81
Dependent Claim
109 words
A control according to claim 70 including means to predict the displacement of said object from its instantaneous condition of motion to a stop; said means responsive to spatial relationship including means responsive to the distance to go between said object and its current destination equaling the predicted displacement of said object from its instantaneous condition of motion to a stop; a destination counter to issue a count signal to define the current destination of said object; and means responsive to coincidence of said equality sensing means and the presence of said control signal to shift the count signal in said destination counter to define a new current destination.
Claim 82
Dependent Claim
27 words
A control according to claim 71 including a first delay means actuated by said coincidence responsive means to shift said counter after a brief predetermined time interval.
Claim 83
Dependent Claim
64 words
A control according to claim 72 including a decoder for said destination counter signals; means gating destination count signals to said decoder; a second delay means actuated by said coincidence responsive means to actuate said gating means to issue a new current destination count signal to said decoder after a predetermined time interval of greater length than that defined by said first delay means.
Claim 84
Dependent Claim
24 words
A control according to claim 73 including a third delay means actuating said decoder an interval subsequent to response of said second delay means.
Claim 85
Dependent Claim
18 words
A control according to claim 74 wherein said third delay means is responsive to said second delay means.
Claim 86
Dependent Claim
29 words
A control according to claim 73 including a first delayed reset means for said shift means to reset said shift means prior to response of said second delay means.
Claim 87
Dependent Claim
67 words
A pattern generator according to claim 74 including a second delayed reset means for said second delay means; and a third delayed reset means for said third delay means said third delayed reset means operating a predetermined interval following said third delay means and prior to said seCond delayed reset means whereby said decoder is actuated during the interval said new current destination count signal is gated.
Claim 88
Dependent Claim
38 words
A pattern generator according to claim 70 including means to inhibit shift of the count signal of said counter in response to the absence of said control signal and a predetermined relationship between said distance and said displacement.
Claim 89
Dependent Claim
169 words
In a control for an object movable along a predetermined path to predetermined target positions the combination of means issuing binary coded signal bits representative of the position of the object along its path; means issuing binary coded signal bits representative of the location of a predetermined target position; an exclusive ORs for each of a plurality of said object position signal bits; an exclusive OR for each of a plurality of said target position signal bits; means for applying signals of opposite polarity to inputs of said object position exclusive ORs and said target position exclusive ORs according to the direction said object is set to move; a binary adder for adding the output signals of said exclusive ORs for said object position and said target position; and means to add one binary count to the sum of the signals of said exclusive ORs for said object position and said target position to produce a binary signals representing the difference between said object position and said target position.
Claim 90
Dependent Claim
169 words
In a control for an object movable along a predetermined path to predetermined target positions the combination of means issuing binary coded signal bits representative of the position of the object along its path; means issuing binary coded signal bits representative of the location of a predetermined target position; an exclusive ORs for each of a plurality of said object position signal bits; an exclusive OR for each of a plurality of said target position signal bits; means for applying signals of opposite polarity to inputs of said object position exclusive ORs and said target position exclusive ORs according to the direction said object is set to move; a binary adder for adding the output signals of said exclusive ORs for said object position and said target position; and means to add one binary count to the sum of the signals of said exclusive ORs for said object position and said target position to produce a binary signals representing the difference between said object position and said target position.
Claim 91
Dependent Claim
110 words
In a control according to claim 79 wherein said object is an elevator car and said target positions are landings for said elevator car; wherein the direction signal applied to the car position exclusive ORs is a logical ''''1'''' for down travel direction and a logical ''''0'''' for up travel direction; and wherein the direction signal applied to the target landing position exclusive ORs is a logical ''''0'''' for down travel direction and a logical ''''1'''' for up travel direction whereby the car position is subtracted from the target landing position for up car travel and the traget landing position is subtracted from the car position for down car travel.
Claim 92
Dependent Claim
41 words
In a control according to claim 79 including means for intermittent transmission of target position signal bits from said means issuing said bits; signal latches coupled to said intermittent transmission means; and means for up dating said latches during selected intervals.
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) | 1977-01-07 | 1977-07-09 | 1978-01-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1981-01-07 | 1981-07-09 | 1982-01-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1985-01-07 | 1985-07-09 | 1986-01-08 | $7700.00 | Window Closed / Lapsed |