Sector scanning control system

Claim 1

A system for controlling a motor for angularly positioning an element comprising means for continuously sensing the angular position of the element being positioned and generating a feedback signal having a magnitude proportional to an instantaneous angular position, poSition signal generating means for generating an initial angular position signal, selectively operable means for generating a rate of angular rotation signal changing at a constant rate with time, combining means for combining said initial angular position signal and said rate of angular rotation signal in one sense with said feedback signal in an opposite sense to develop a resulting signal for controlling said motor, and control means for controlling said position signal generating means and said selectively operable means to first provide said initial angular position signal to said combining means to first develop a resulting signal with said feedback signal for operating said motor whereby said element is positioned to an initial position and then to provide said rate of angular rotation signal changing at a constant rate with time to said combining means to develop a resultant signal with said initial angular position signal and said feedback signal for operating said motor whereby said element is moved away from said initial position at a predetermined rate of angular rotation changing at a constant rate with time.

Claim 2

A system for controlling a motor for angularly positioning an element comprising means for continuously sensing the angular position of the element being positioned and generating a feedback signal having a magnitude proportional to an instantaneous angular position, poSition signal generating means for generating an initial angular position signal, selectively operable means for generating a rate of angular rotation signal changing at a constant rate with time, combining means for combining said initial angular position signal and said rate of angular rotation signal in one sense with said feedback signal in an opposite sense to develop a resulting signal for controlling said motor, and control means for controlling said position signal generating means and said selectively operable means to first provide said initial angular position signal to said combining means to first develop a resulting signal with said feedback signal for operating said motor whereby said element is positioned to an initial position and then to provide said rate of angular rotation signal changing at a constant rate with time to said combining means to develop a resultant signal with said initial angular position signal and said feedback signal for operating said motor whereby said element is moved away from said initial position at a predetermined rate of angular rotation changing at a constant rate with time.

Claim 6

A system for controlling a motor for angularly positioning an element comprising a pair of digital to analog converters, one of said digital to analog coverters being loaded with digital signals representing an initial angular position, the other digital to analog converter being loaded with digital signals representing a rate of angular rotation: selectively operable integrating means connected to integrate the output of said other digital to analog converter to provide upon being rendered operable a voltage signal changing at a constant rate with time; summing means for summing the outputs of said one digital to analog converter and said integrating means; angle sensing means for sensing the angular position of the element being positioned and generating a voltage varying with the position of said element; means for comparing the signal of said summing means with the signal from said angle sensing means to develop and voltage difference signal for controlling said motor, and control means for providing a control signal to said selectively operable integrating means to render the same operable after said motor has positioned said element to said initial angular position.

Claim 7

A system for controlling a motor for angularly positioning an element comprising a pair of digital to analog converters, one of said digital to analog coverters being loaded with digital signals representing an initial angular position, the other digital to analog converter being loaded with digital signals representing a rate of angular rotation: selectively operable integrating means connected to integrate the output of said other digital to analog converter to provide upon being rendered operable a voltage signal changing at a constant rate with time; summing means for summing the outputs of said one digital to analog converter and said integrating means; angle sensing means for sensing the angular position of the element being positioned and generating a voltage varying with the position of said element; means for comparing the signal of said summing means with the signal from said angle sensing means to develop and voltage difference signal for controlling said motor, and control means for providing a control signal to said selectively operable integrating means to render the same operable after said motor has positioned said element to said initial angular position.

Claim 10

A system for controlling a motor for angularly moving an element from an initial position at a controlled angular rate comprising a power amplifier connected to drive said motor, position signal generating means responsive to digital inputs to generate an analog signal having a magnitude proportional to a predetermined angular position of said element, sensing means for continuously sensing the angular position of said element and generating a feedback signal having a magnitude proportional to an instantaneous angular position, rate of rotation signal generating means responsive to digital inputs for gEnerating a signal having a magnitude proportional to a predetermined angular rate of rotation, selectively operable integrating means connected to integrate said signal generated by said rate of rotation signal generating means in response to a control signal rendering said integrating means operable, signal combining means for combining in one sense the signal from said position generating means with said signal from said integrating means and combining in an opposite sense the signal from said sensing means to provide a resultant signal to said power amplifier for driving said motor, and control means for first providing digital inputs to said position signal generating means and said rate of rotation signal generating means and then providing a signal for starting said integrating means whereby said motor first rotates said element to an initial position determined by the signal from said position signal generating means and then rotates said element away from said initial position at an angular rate determined by the signal from said integrating means.

Claim 11

A system for controlling a motor for angularly moving an element from an initial position at a controlled angular rate comprising a power amplifier connected to drive said motor, position signal generating means responsive to digital inputs to generate an analog signal having a magnitude proportional to a predetermined angular position of said element, sensing means for continuously sensing the angular position of said element and generating a feedback signal having a magnitude proportional to an instantaneous angular position, rate of rotation signal generating means responsive to digital inputs for gEnerating a signal having a magnitude proportional to a predetermined angular rate of rotation, selectively operable integrating means connected to integrate said signal generated by said rate of rotation signal generating means in response to a control signal rendering said integrating means operable, signal combining means for combining in one sense the signal from said position generating means with said signal from said integrating means and combining in an opposite sense the signal from said sensing means to provide a resultant signal to said power amplifier for driving said motor, and control means for first providing digital inputs to said position signal generating means and said rate of rotation signal generating means and then providing a signal for starting said integrating means whereby said motor first rotates said element to an initial position determined by the signal from said position signal generating means and then rotates said element away from said initial position at an angular rate determined by the signal from said integrating means.