US3906327A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Controlled velocity drive
Assignee: Eaton Corp
•
Filing: 1973-08-28
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Granted: 1975-09-16
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Expires: 1993-08-28
Abstract
Abstract A control for a plurality of drives each of which includes a driven load associated therewith includes a reference generator for generating a pulse train wherein each pulse is indicative of a desired incremental movement of the load and the frequency of the pulses is indicative of a desired velocity of the load, a plurality of sensing means each of which is associated with one of the drives for generating a feedback pulse train wherein each pulse is indicative of an actual incremental movement of its associated load and the frequency of the pulses is indicative of the actual velocity of its associated load and a plurality of digital summers each of which is associated with one of the drives for summing pulses of the reference pulse train and the feedback pulse train and establishing a positional error signal. A velocity control means is provided responsive to the error signal for driving the associated load at substantially the desired velocity. The control further includes a plurality of second sensing means each of which is associated with one of the loads for sensing an actual position of the associated load and establishing a signal indicative of the actual position of the associated load, synchronizing means responsive to each of the actual position signals for determining the relative position of one of the loads relative to another of the loads and phase jogging means responsive to the synchronizing means for incrementally shifting the phase of one of the loads relative to another of the loads to bring the one load into phase with the other load. The phase jogging means may also be operated independently of the synchronizing means to establish a phase relationship which is not necessarily limited to an in-phase relationship between the one and the other associated load. Thus, the present control system is operable to velocity lock a plurality of drives together and hold the driven members of the drives in a predetermined variable phase relationship.
Inventors
- 👤 Gerald F O'callaghan
- 👤 Donald D Woelz
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 17:27
CPC Classifications
H; H02; H02P; H02P5/00; H02P5/46; H02P5/52; H02P5/56
Claims Analysis
Total Claims: 68
Claim 1
Independent Claim
289 words
A control for at least first and second drives which drive first and second driven loads, respectively, comprising generating means for generating a reference pulse train wherein each pulse is indicative of a desired incremental movement of the first and second loads and the frequency of the reference pulses is indicative of a desired velocity of the first and second loads, first and second sensing means associated with said first and second driven loads, respectively, for sensing actual incremental movement and actual velocity of the associated load and each of which establishes a second pulse train wherein each incremental pulse is indicative of an actual incremental movement of the associated load and the frequency of the pulses is indicative of the actual velocity of the associated load, first and second summing means associated with said first and second loads, respectively, for summing pulses of the reference pulse train and pulses of the associated second pulse train for generating a position error signal indicative of the positional error between the actual incremental position of the associated laod, first and second velocity control means associated with said first and second loads, respectively, and each of which is responsive to the associated error signal for varying the velocity of the associated load to drive the associated loads substantially at the desired velocity, third and fourth sensing means associated with said first and second loads, respectively, for sensing an actual postion of the associated load and establishing third and fourth signals, respectively, indicative of the actual position of the associated load, and synchronizing means responsive to said third and fourth signals for determining the actual position of one of the associated loads relative to the actual position of another of the associated loads.
Claim 2
Dependent Claim
289 words
A control for at least first and second drives which drive first and second driven loads, respectively, comprising generating means for generating a reference pulse train wherein each pulse is indicative of a desired incremental movement of the first and second loads and the frequency of the reference pulses is indicative of a desired velocity of the first and second loads, first and second sensing means associated with said first and second driven loads, respectively, for sensing actual incremental movement and actual velocity of the associated load and each of which establishes a second pulse train wherein each incremental pulse is indicative of an actual incremental movement of the associated load and the frequency of the pulses is indicative of the actual velocity of the associated load, first and second summing means associated with said first and second loads, respectively, for summing pulses of the reference pulse train and pulses of the associated second pulse train for generating a position error signal indicative of the positional error between the actual incremental position of the associated laod, first and second velocity control means associated with said first and second loads, respectively, and each of which is responsive to the associated error signal for varying the velocity of the associated load to drive the associated loads substantially at the desired velocity, third and fourth sensing means associated with said first and second loads, respectively, for sensing an actual postion of the associated load and establishing third and fourth signals, respectively, indicative of the actual position of the associated load, and synchronizing means responsive to said third and fourth signals for determining the actual position of one of the associated loads relative to the actual position of another of the associated loads.
Claim 3
Dependent Claim
53 words
A control for at least firSt and second drives as defined in claim 1 wherein said synchronizing means includes synchronization logic means for establishing an output pulse train wherein the number of pulses in said output pulse train in indicative of the magnitude of the phase difference between said first and second loads.
Claim 4
Dependent Claim
71 words
A control for at least first and second drives as defined in claim 2 further including phase jogging means responsive to said output pulse train for blocking the application of a predetermined number of pulses to one of said summing means to thereby shift the phase of said first driven load relative to said second driven load to establish a predetermined phase relationship between said first and said second driven loads.
Claim 5
Dependent Claim
100 words
A control for at least first and second drives as defined in claim 1 wherein said synchronizing means includes first means operatively associated with said third sensing means for sensing said third signal indicative of said first load being in a predetermied actual position, second means operatively associated with said fourth sensing means for sensing said fourth signal indicative of said second load being in a predetermined actual position and means responsive to said second pulse train associated with said first load for determining the actual position of said first load relative to the actual position of said second load.
Claim 6
Dependent Claim
136 words
A control for at least first and second drives as defined in claim 4 wherein said means responsive to said second pulse train includes counter means, said first means operatively associated with said third sensing means includes initializing means for initializing said counter means to enable said counter means to count pulses of said second pulse train associated with said first load when said third signal is sensed thereby and said second means operatively associated with said fourth sensing means includes blocking means for blocking the application of pulses from said second pulse train to said counter means when said fourth signal is sensed thereby, said counter means having a count stored therein when said fourth signal is sensed by said blocking means which is indicative of the phase difference between said first and second loads.
Claim 7
Dependent Claim
83 words
A control for at least first and second drives as defined in claim 5 wherein said synchronizing means further includes synchronization logic means responsive to the count stored in said counter means when said fourth signal is sensed by said blocking means, said synchronization logic means establishing an output pulse train wherein the number of pulses in said output train is indicative of the count stored in said counter means and the magnitude of the phase difference between said first and second loads.
Claim 8
Dependent Claim
70 words
A control for at least first and second drives as defined in claim 6 further including phase jogging means responsive to said output pulse train for blocking the application of a predetermined number of pulses to one of said summing means to thereby shift the phase of said first driven load relative to said second driven load to establish a predetermined phase relationship between said first and second driven loads.
Claim 9
Dependent Claim
128 words
A control for at least first and second drives as defined in claim 1 wherein said synchronizing means includes logic means for determining whether the phase difference between said first and second loads is less than or greater than 180*, and means responsive to said logic means for changing the phase difference between said first and second loads by increasing the velocity of one of the loads relative to the other of the loads to phase lock said first and second loads to a zero degree phase difference if the phase difference determined by said logic means is less than 180*, and phase locking said first and second loads to a phase difference of 360* if the phase difference determined by said logic means is greater than 180*.
Claim 10
Dependent Claim
57 words
A control for at least first and second drives as defined in claim 5 wherein said counter meaNs includes an up/down counter having an up-count terminal and a down-count terminal and wherein said synchronizing means further includes logic means reponsive to the count difference between said first and second loads is less than or greater than 180*.
Claim 11
Dependent Claim
22 words
A control for at least first and second drives as defined in claim 9 wherein said logic means includes a diode matrix.
Claim 12
Dependent Claim
92 words
A control for at least first and second drives as defined in claim 9 wherein said logic means directs said second pulse train to said up-count terminal of said up/down counter until said logic means responsive to the count stored in said counter indicates that the phase difference between said first and second loads is greater than 180* and for directing said second pulse train to said down-count terminal of said up/down counter after a phase difference between said first and second loads greater than 180'' is sensed by said logic means.
Claim 13
Dependent Claim
102 words
A control for at least first and second drives as defined in claim 11 wherein said logic means responsive to the count stored in said counter is operable when one of said loads leads the other of said loads by less than 180* to increase the velocity of said other load to establish a zero degree phase difference between said one and said other loads and is further operable when said one load leads said other load by greater than 180* to decrease the velocity of said other load to establish a 360* phase difference between said one and said other loads.
Claim 14
Dependent Claim
106 words
A control for at least first and second drives as defined in claim 7 wherein said synchronizing means further includes divider means responsive to said second pulse train for effecting periodic actuation of said phase jogging means to bring said first and second loads into phase when a phase difference is sensed by said synchronizing means, said divider means effecting periodic actuation fo said phase jogging means at a frequency which is less than the frequency of said second pulse train to block the application of individual pulses to said summing means at a frequency which is lower than the frequency of said second pulse train.
Claim 15
Dependent Claim
89 words
A control for at least first and second drives as defined in claim 3 wherein said synchronizing means includes divider means responsive to said second pulse train for effecting establishment of said output pulse train for actuating said phase jogging means, said divider means effecting establishment of said output pulse train which has a frequency which is less than the frequency of said second pulse train to block the application of individual pulses to said summing means when a phase difference between said first and second loads is sensed.
Claim 16
Dependent Claim
128 words
A control for at least first and second drives as defined in claim 3 wherein said synchronizing means includes logic means for determining whether the phase difference between said first and second loads is less than or greater than 180*, and means responsive to said logic means for changing the phases difference between said first and second loads by increasing the velocity of one of the loads relative to the other of the loads to phase lock said first and second loads to a zero degree phase difference if the phase difference determined by said logic means is less than 180*, and phase locking said first and second loads to a phase difference of 360* if the phase difference determined by said logic means is greater than 180*.
Claim 17
Dependent Claim
67 words
A control for at least first and second drives as defined in claim 3 wherein said phase jogging means includes input means associated with one of said first and second sensing means for receiving said second pulse train associated with said one sensing means and output means for directing said second pulse train to one of said summing means which is associated with said one sensing means.
Claim 18
Dependent Claim
49 words
A control for at least first and second drives as defined in claim 16 wherein said phase jogging means further includes input means associated with said generating means for receiving said reference pulse train and reference output means for directing said reference pulse train to said one summing means.
Claim 19
Dependent Claim
49 words
A control for at least first and second drives as defined in claim 3 wherein said phase jogging means further includes input means associated with said generating means for receiving said reference pulse train and reference output means for directing said reference pulse train to said one summing means.
Claim 20
Dependent Claim
146 words
A control for at least first and second drives as defined in claim 17 wherein said phase jogging means further includes first logic means for directing pulses from said input means associated with said generating means to said reference output means and second logic means for directing pulses from said input means associated with said one sensing means to said output means, said first logic means being operable to block the application of a pulse from said reference pulse train to said one summing means to phase shift one driven load relative to said other driven load in a first direction and said second logic means being operable to block the application of a pulse from said second pulse train to said one summing means to phase shift said one driven load relative to said other driven load in a second direction, opposite said first direction.
Claim 21
Dependent Claim
99 words
A control for at least first and second drives as defined in claim 4 further including phase offset means operatively associated with said synchronizing means for delaying for a predetermined time the passage of one of said third and fourth signals to said synchronizing means, said synchronizing means acting to synchronize said delayed signal and the undelayed signal indicative of the actual position of the associated driven load to establish a predetermined phase offset between said first and second driven loads wherein the magnitude of the phase offset is dependent upon the predetermined time said one signal is delayed.
Claim 22
Dependent Claim
81 words
A control for at least first and second drives as defined in claim 9 further including phase offset means operatively associated with said synchronizing means for delaying for a predetermined time the passage of one of said third and fourth signals to said initializing means and said blocking means, respectively, to establish a predetermined phase offset between said first and second driven loads wherein the magnitude of the phase offset is dependent upon the predetermined time said one signal is delayed.
Claim 23
Dependent Claim
121 words
A control for at least first and a second drives as defined in claim 21 wherein said phase offset means includes counting means responsive to said one of said third and fourth signals which is to be delayed, said counting means having a preset count therein which is indicative of the time that it is desired to delay said signal, said counting means being operatively connected to said reference pulse train to count down from said preset count at a rate which is dependent upon the frequency of said reference pulse train after said delayed signal is sensed thereby and being operable to pass said delayed signal to said synchronizing means when said counting means counts down to a predetermined number.
Claim 24
Dependent Claim
270 words
A control for at least first and second drives, which drive first and second driven loads, respectively, comprising generating means for generating a reference pulse train wherein each incremental pulse is indicative of a desired incremental movement of the first and second loads and the frequency of the reference pulses is indicative of the desired velocity of the first and second loads, first and second sensing means associated with the first and second driven loads, respectively, for sensing actual incremental movement and velocity of the associated load and each of which establishes a second pulse train wherein each incremental pulse is indicative of an actual incremental movement of the associated load and the frequency of the pulses is indicative of the actual velocity of the asSociated load, first and second summing means associated with the first and second driven loads, respectively, for summing pulses of the reference pulse train and pulses of the associated second pulse train and each of which generates a position error signal indicative of the positional error between the actual incremental movement of the associated load and the desired incremental movement of the associated load, first and second velocity control means associated with the first and second loads, respectively, and responsive to the associated loads associated error signal for varying the velocity of the associated load to drive the associated load substantially at said desired velocity, and phase jogging means for blocking the application of a pulse to at least one of said summing means to shift the phase of one driven load associated with said one digital summing means relative to the other driven load.
Claim 25
Dependent Claim
270 words
A control for at least first and second drives, which drive first and second driven loads, respectively, comprising generating means for generating a reference pulse train wherein each incremental pulse is indicative of a desired incremental movement of the first and second loads and the frequency of the reference pulses is indicative of the desired velocity of the first and second loads, first and second sensing means associated with the first and second driven loads, respectively, for sensing actual incremental movement and velocity of the associated load and each of which establishes a second pulse train wherein each incremental pulse is indicative of an actual incremental movement of the associated load and the frequency of the pulses is indicative of the actual velocity of the asSociated load, first and second summing means associated with the first and second driven loads, respectively, for summing pulses of the reference pulse train and pulses of the associated second pulse train and each of which generates a position error signal indicative of the positional error between the actual incremental movement of the associated load and the desired incremental movement of the associated load, first and second velocity control means associated with the first and second loads, respectively, and responsive to the associated loads associated error signal for varying the velocity of the associated load to drive the associated load substantially at said desired velocity, and phase jogging means for blocking the application of a pulse to at least one of said summing means to shift the phase of one driven load associated with said one digital summing means relative to the other driven load.
Claim 26
Dependent Claim
58 words
A control for at least first and second drives as defined in claim 23 wherein said phase jogging means includes input means associated with one of said first and second sensing means for receiving said second pulse train associated with said one sensing means and output means for directing said second pulse train to said one summing means.
Claim 27
Dependent Claim
49 words
A control for at least first and second drives as defined in claim 24 wherein said phase jogging means further includes input means associated with said generating means for receiving said reference pulse train and reference output means for directing said reference pulse train to said one summing means.
Claim 28
Dependent Claim
49 words
A control for at least first and second drives as defined in claim 23 wherein said phase jogging means further includes input means associated with said generating means for receiving said reference pulse train and reference output means for directing said reference pulse train to said one summing means.
Claim 29
Dependent Claim
147 words
A control for at least first and second drives as defined in claim 25 wherein said phase jogging means further includes first logic means for directing pulses from said input means associated with said generating means to said reference output means and second logic means for directing pulses from said input means associated with said one sensing means to said output means, said first logic means being operable to block the application of a pulse from said reference pulse train to said one summing means to phase shift said one driven load relative to said other driven load in a first direction and said second logic means being operable to block the application of a pulse from said second pulse train to said one summing means to phase shift said one driven load relative to said other driven load in a second direction opposite said first direction.
Claim 30
Dependent Claim
82 words
A control for at least first and second drives as defined in claim 27 further including synchronizing means for sensing the phase difference between said one and said other driven load, and actuating said phase jogging means to block the application of a predetermined number of pulses to said one summing means to thereby shift the phase of said one driven load relative to said other driven load to establish a predetermined phase relationship between said one and said other driven load.
Claim 31
Dependent Claim
80 words
A control for at least first and second drives as defined in claim 27 further including third and fourth sensing means associated with said first and second driven loads, respectively, said third sensing means being operable to sense an actual position of said first driven load and establish a third signal indicative thereof and said fourth sensing means being operable to sense an actual position of said second driven load and being operable to establish a fourth signal indicative thereof.
Claim 32
Dependent Claim
82 words
A control for at least first and second drives as defined in claim 29 further including synchronizing means for sensing the phase difference between said one and said other driven load and actuating said phase jogging means to block the application of a predetermined number of pulseS to said one summing means to thereby shift the phase of said one driven load relative to said other driven load to establish a predetermined phase relationship between said one and said other driven load.
Claim 33
Dependent Claim
82 words
A control for at least first and second drives as defined in claim 30 wherein said synchronizing means includes first means operatively associated with said third sensing means for sensing said third signal indicative of said first load being in a predetermined actual position, second means operatively associated with said fourth sensing means for sensing said fourth signal indicative of said second load being in a predetermined actual position and means responsive to said second pulse train associated with said first load.
Claim 34
Dependent Claim
143 words
A control for at least first and second drives as defined in claim 31 wherein said synchronizing means further includes counter means operatively associated with said second pulse train associated with said first load, initializing means operatively associated with said third signal for initializing said counter means to enable said counter means to count pulses of said second pulse train associated with said first load when said third signal is sensed thereby and blocking means operatively associated with said fourth signal for blocking said counter means to prevent said counter means from counting further pulses of said second pulse train associated with said first load when said fourth signal is sensed thereby, said counter means having a count stored therein when said fourth signal is sensed by said blocking means which is indicative of the phase difference between said first and second loads.
Claim 35
Dependent Claim
65 words
A control for at least first and second drives as defined in claim 32 wherein said counter means is an up/down counter having and up-count terminal and a downcount terminal and wherein said synchronizing means further includes means responsive to the count stored in said counter for determining whether the phase difference between said first and second loads is less than or greater than 180*.
Claim 36
Dependent Claim
22 words
A control for at least first and second drives as defined in claim 33 wherein said logic means includes a diode matrix.
Claim 37
Dependent Claim
104 words
A control for at least first and second drives as defined in claim 33 wherein said synchronizing means further includes logic means for directing said second pulse train to said up-count terminal of said up/down counter until said means responsive to the count stored in the counter indicates that the phase difference between said first and second loads is greater than 180* and for directing said second pulse train to said down-count terminal of said up/down counter after a phase difference of between said first and second loads greater than 180* is sensed by said means responsive to the count stored in the counter.
Claim 38
Dependent Claim
81 words
A control for at least first and second drives as defined in claim 35 wherein said logic means is operable when said first load leads said second load by less than 180* to jog said second load forward to bring said first and second loads into phase, and is further operable when said first load leads said second load by greater than 180* to jog said second load backwards to establish a 360* phase difference between said first and second loads.
Claim 39
Dependent Claim
125 words
A control for at least first and second drives as defined in claim 28 wherein said synchronizing means includes means for sensing when the phase difference between said first and second driven loads is greater than 180* and logic means for actuating said phase jogging means to phase shift the second load forward relative to the first load when the phase difference between said first and second loads is less than 180* to establish an inphase relationship between said first and second loads and for phase shifting the second load backwards relative to said first load when the phase difference between said first and second loads is greater than 180* to establish a phaSe relationship between said first and second loads which is 360* apart.
Claim 40
Dependent Claim
75 words
A control for at least first and second drives as defined in claim 28 wherein said synchronizing means includes divider means responsive to said second pulse train for effecting periodic actuation of said phase jogging means at a frequency which is less than the frequency of said second pulse train to block the application of individual pulses to said summing means at a frequency which is lower than the frequency of said second pulse train.
Claim 41
Dependent Claim
76 words
A control for at least first and second drives as defined in claim 35 wherein said synchronizing means includes divider means responsive to said second pulse train for effecting periodic actuation of said phase jogging means at a frequency which is less than the frequency of said second pulse train to block the application of individual pulses to said digital summing means at a rate which is lower than the frequency of said second pulse train.
Claim 42
Dependent Claim
91 words
A control for at least first and second drives as defined in claim 32 wherein said synchronizing means further includes gate means having a first input operatively associated with said third sensing means for receiving said third signal, second input means operatively associated with said fourth sensing means for receiving said fourth signal and output means for establishing an output signal indicative of an in phase condition of said first and second loads when said third and fourth signals are indicative of said first and second drives having an inphase condition.
Claim 43
Dependent Claim
99 words
A control for at least first and second drives as defined in claim 30 further including phase offset means operatively associated with said synchronizing means for delaying for a predetermined time the passage of one of said third and fourth signals to said synchronizing means, said synchronizing means acting to synchronize said delayed signal and the undelayed signal indicative of the actual position of the associated driven load to establish a predetermined phase offset between said first and second driven loads wherein the magnitude of the phase offset is dependent on the predetermined time said one signal is delayed.
Claim 44
Dependent Claim
128 words
A control for at least first and second drives as defined in claim 27 wherein said synchronizing means includes logic means for determining whether the phase difference between said first and second loads is less than or greater than 180*, and means responsive to said logic means for changing the phase difference between said first and second loads by increasing the velocity of one of the loads relative to the other of the loads to phase lock said first and second loads to a zero degree phase difference if the phase difference determined by said logic means is less than 180*, and phase locking said first and second loads to a phase differenct of 360* if the phase difference determined by said logic means is greater than 180*.
Claim 45
Dependent Claim
341 words
A control for at least first and second drives, which drives first and second driven loads, respectively, comprising generating means for generating a reference pulse train wherein each incremental pulse is indicative of a desired incremental movement of the first and second loads, and the frequency of the reference pulses is indicative of the desired velocity of the first and second loads, first and second sensing means associated with the first and second driven loads, respectively, for sensing actual incremental movement and velocity of the associated load and each of which establishes a second pulse train wherein each incremental pulse is indicative of an actual incremental movement of the associated load and the frequency of the pulses is indicative of the actual velocity of the associated load, first and second digital summing means associated with the first and second driven loads, respectively, for summing pulses of the reference pulse train and pulses of the associated second pulse train and each of which generates a position error Signal indicative of the positional error between the actual incremental movement of the associated load and the desired incremental movement of the associated load, third and fourth sensing means associated with said first and second loads, respectively, for sensing an actual position of the associated load and establishing third and fourth signals, respectively, indicative of the actual position of the associated load, first and second velocity control means associated with the first and second loads, respectively, and responsive to the associated loads associated error signal for varying the velocity of the associated load to drive the associated loads substantially at said desired velocity, synchronizing means responsive to said third and fourth signals for determining the actual position of one of the associated loads relative to the actual position of another of the associated loads, and phase jogging means for blocking the application of a pulse to at least one of said digital summing means to shift the phase of one driven load associated with said one digital summing means relative to the other driven load.
Claim 46
Dependent Claim
341 words
A control for at least first and second drives, which drives first and second driven loads, respectively, comprising generating means for generating a reference pulse train wherein each incremental pulse is indicative of a desired incremental movement of the first and second loads, and the frequency of the reference pulses is indicative of the desired velocity of the first and second loads, first and second sensing means associated with the first and second driven loads, respectively, for sensing actual incremental movement and velocity of the associated load and each of which establishes a second pulse train wherein each incremental pulse is indicative of an actual incremental movement of the associated load and the frequency of the pulses is indicative of the actual velocity of the associated load, first and second digital summing means associated with the first and second driven loads, respectively, for summing pulses of the reference pulse train and pulses of the associated second pulse train and each of which generates a position error Signal indicative of the positional error between the actual incremental movement of the associated load and the desired incremental movement of the associated load, third and fourth sensing means associated with said first and second loads, respectively, for sensing an actual position of the associated load and establishing third and fourth signals, respectively, indicative of the actual position of the associated load, first and second velocity control means associated with the first and second loads, respectively, and responsive to the associated loads associated error signal for varying the velocity of the associated load to drive the associated loads substantially at said desired velocity, synchronizing means responsive to said third and fourth signals for determining the actual position of one of the associated loads relative to the actual position of another of the associated loads, and phase jogging means for blocking the application of a pulse to at least one of said digital summing means to shift the phase of one driven load associated with said one digital summing means relative to the other driven load.
Claim 47
Dependent Claim
193 words
A control for at least first and second drives as defined in claim 43 wherein said synchronizing means includes first means operatively associated with said third signal for sensing said third signal indicative of said first load being in a predetermined actual position, second means operatively associated with said fourth sensing means for sensing said fourth signal indicative of said second load being in a predetermined actual position and counter means operatively associated with said second pulse train associated with said first load, said first means operatively associated with said third sensing means initializing said counter means to enable said counter means to count pulses of said second pulse train associated with said first load when said third signal is sensed thereby, said second means operatively associated with said fourth sensing means blocking said counter means to prevent said counter means from counting further pulses of said second pulse train associated with said first load when said fourth signal is sensed thereby, said counter means having a count stored therein when said fourth signal is sensed by said second means which is indicative of the phase difference between said first and second loads.
Claim 48
Dependent Claim
95 words
A control for at least first and second drives as defined in claim 44 further including phase offset means for delaying for a predetermined time the passage of one of said third and fourth signals to said first and second means, respectively, said synchronizing means acting to synchronize said delayed signal and the undelayed signal indicative of the actual position of the associated load to establish a predetermined phase offset between said first and second driven loads wherein the magnitude of the phase offset is dependent on the predetermined time said one signal is delayed.
Claim 49
Dependent Claim
125 words
A control for at least first and second drives as defined in claim 43 wherein said synchronizing means includes logic means for determining whether the phase difference between said first and second loads is greater than or less than 180* and means responsive to said logic means for changing the phase difference of said first and second loads by increasing the velocity of one of the loads relative to the other load to establish a zero phase difference between said one and said other load if the phase difference sensed by said logic means is less than 180* and for establishing a 360* phase difference between said one and said other load if the phase difference sensed by said logic means is greater than 180*.
Claim 50
Dependent Claim
125 words
A control for at least first and second drives as defined in claim 45 wherein said synchronizing means includes logic means for determining whether the phase difference between said first and second loads is greater than or less than 180* and means responsive to said logic means for changIng the phase difference of said first and second loads by increasing the velocity of one of the loads relative to the other load to establish a zero phase difference between said one and said other load if the phase difference sensed by said logic means is less than 180* and for establishing a 360* phase difference between said one and said other load if the phase difference sensed by said logic means is greater than 180*.
Claim 51
Dependent Claim
95 words
A control for at least first and second drives as defined in claim 1 wherein said synchronizing means includes first means operatively associated with said third sensing means for sensing said third signal indicative of said first load being in a predetermined actual position, second means operatively associated with said fourth sensing means for sensing said fourth signal indicative of said second load being in a predetermined actual position and means responsive to said reference pulse train for determining the actual position of said first load relative to the actual position of said second load.
Claim 52
Dependent Claim
77 words
A control for at least first and second drives as defined in claim 30 wherein said synchronizing means includes first means operatively associated with said third sensing means for sensing said third signal indicative of said first load being in a predetermined actual position, second means operatively associated with said fourth sensing means for sensing said fourth signal indicative of said second load being in a predetermined actual position and means responsive to said reference pulse train.
Claim 53
Dependent Claim
178 words
A control for at least first and second drives as defined in claim 43 wherein said synchronizing means includes first means operatively associated with said third signal for sensing said third signal indicative of said first load being in a predetermined actual position, second means operatively associated with said fourth sensing means for sensing said fourth signal indicative of said second load being in a predetermined actual position and counter means operatively associated with said reference pulse train, said first means operatively associated with said third sensing means initializing said counter means to enable said counter means to count pulses of said reference pulse train when said third signal is sensed thereby, said second means operatively associated with said fourth sensing means blocking said counter means to prevent said counter means from counting further pulses of said reference pulse train when said fourth signal is sensed thereby, said counter means having a count stored therein when said fourth signal is sensed by said second means which is indicative of the phase difference between said first and second loads.
Claim 54
Dependent Claim
325 words
A control for at least first and second drives which drive first and second driven loads, respectively, comprising first velocity control means for controlling the velocity of the first drive, first sensing means associated with said first driven load for sensing the actual incremental movement and actual velocity of the first driven load and establishing a first pulse train wherein each incremental pulse is indicative of an actual incremental movement of the first driven load and a desired incremental movement of said second driven load and the frequency of the pulses is indicative of the actual velocity of the first driven load and the desired velocity of the second driven load, second sensing means associated with said second driven load for sensing the actual incremental movement and actual velocity of the second driven load and establishing a second pulse train wherein each incremental pulse is indicative of an actual movement of the second driven load and the frequency of the pulses is indicative of the actual velocity of the second driven load, summing means associated with said second load for summing pulses of said first pulse train and pulses of said second pulse train for generating a position error signal indicative of the positional error between the actual incremental poSition of the second load and the desired incremental position of the second load, second velocity control means associated with said second load and responsive to the position error signal for varying the velocity of the second load to drive the second load substantially at the desired velocity, third and fourth sensing means associated with said first and second loads, respectively, for sensing an actual position of the associated load and establishing third and fourth signals, respectively, indicative of the actual position of the associated load, and synchronizing means responsive to said third and fourth signals for determining the actual position of said second driven load relative to the actual position of said first driven load.
Claim 55
Dependent Claim
325 words
A control for at least first and second drives which drive first and second driven loads, respectively, comprising first velocity control means for controlling the velocity of the first drive, first sensing means associated with said first driven load for sensing the actual incremental movement and actual velocity of the first driven load and establishing a first pulse train wherein each incremental pulse is indicative of an actual incremental movement of the first driven load and a desired incremental movement of said second driven load and the frequency of the pulses is indicative of the actual velocity of the first driven load and the desired velocity of the second driven load, second sensing means associated with said second driven load for sensing the actual incremental movement and actual velocity of the second driven load and establishing a second pulse train wherein each incremental pulse is indicative of an actual movement of the second driven load and the frequency of the pulses is indicative of the actual velocity of the second driven load, summing means associated with said second load for summing pulses of said first pulse train and pulses of said second pulse train for generating a position error signal indicative of the positional error between the actual incremental poSition of the second load and the desired incremental position of the second load, second velocity control means associated with said second load and responsive to the position error signal for varying the velocity of the second load to drive the second load substantially at the desired velocity, third and fourth sensing means associated with said first and second loads, respectively, for sensing an actual position of the associated load and establishing third and fourth signals, respectively, indicative of the actual position of the associated load, and synchronizing means responsive to said third and fourth signals for determining the actual position of said second driven load relative to the actual position of said first driven load.
Claim 56
Dependent Claim
53 words
A control for at least first and second drives as defined in claim 51 wherein said synchronizing means includes synchronization logic means for establishing an output pulse train wherein the number of pulses in said output pulse train is indicative of the magnitude of the phase difference between said first and second loads.
Claim 57
Dependent Claim
68 words
A control for at least first and second drives as defined in claim 52 further including phase jogging means responsive to said output pulse train for blocking the application of a predetermined number of pulses to said summing means to thereby shift the phase of said second driven load relative to said first driven load to establish a predetermined phase relationship between said first and second driven loads.
Claim 58
Dependent Claim
288 words
A control for at least first and second drives which drive first and second driven loads, respectively, comprising first velocity control means for controlling the velocity of the first drive, first sensing means associated with said first driven load for sensing the actual incremental movement and actual velocity of the first driven load and establishing a first pulse train wherein each incremental pulse is indicative of an actual incremental movement of the first driven load and a desired incremental movement of the second driven load and the frequency of the pulses is indicative of the actual velocity of the first driven load and the desired velocity of the second driven load, second sensing means associated with said second driven load for sensing the actual incremental movement and actual velocity of the second driven load and establishing a second pulse train wherein each incremental pulse is indicative of an actual incremental movement of the second driven load and the frequency of the pulse is indicative of the actual velocity of the second driven load, summing means associated with said second load for summing pulses of said first pulse train and pulses of said second pulse train for generating a position error signal indicative of the positional error between the actual incremental position of the second load and the desired incremental position of the second load, second velocity control means associated with said second load and responsive to the position error signal for varying the velocity of the second load to drive the second load substantially at the desired velocity and phase jogging means for blocking the application of a pulse to said summing means to shift the phase of said second driven load relative to said first driven load.
Claim 59
Dependent Claim
288 words
A control for at least first and second drives which drive first and second driven loads, respectively, comprising first velocity control means for controlling the velocity of the first drive, first sensing means associated with said first driven load for sensing the actual incremental movement and actual velocity of the first driven load and establishing a first pulse train wherein each incremental pulse is indicative of an actual incremental movement of the first driven load and a desired incremental movement of the second driven load and the frequency of the pulses is indicative of the actual velocity of the first driven load and the desired velocity of the second driven load, second sensing means associated with said second driven load for sensing the actual incremental movement and actual velocity of the second driven load and establishing a second pulse train wherein each incremental pulse is indicative of an actual incremental movement of the second driven load and the frequency of the pulse is indicative of the actual velocity of the second driven load, summing means associated with said second load for summing pulses of said first pulse train and pulses of said second pulse train for generating a position error signal indicative of the positional error between the actual incremental position of the second load and the desired incremental position of the second load, second velocity control means associated with said second load and responsive to the position error signal for varying the velocity of the second load to drive the second load substantially at the desired velocity and phase jogging means for blocking the application of a pulse to said summing means to shift the phase of said second driven load relative to said first driven load.
Claim 60
Dependent Claim
47 words
A control for at least first and second drives as defined in claim 54 wherein said phase jogging means includes input means associated with said second sensing means for receiving said second pulse train and output means for directing said second pulse train to said summing means.
Claim 61
Dependent Claim
49 words
A control for at least first and second drives as defined in claim 55 wherein said phase jogging means further includes input means associated with said first sensing means for receiving said first pulse train and second output means for directing said first pulse train to said summing means.
Claim 62
Dependent Claim
146 words
A control for at least first and second drives as defined in claim 56 wherein said phase jogging means further includes first logic means for directing pulsEs from said input means associated with said first sensing means to said second output means and second logic means for directing pulses from said input means associated with said first sensing means to said output means, said first logic means being operable to block the application of a pulse from said first pulse train to said summing means to phase shift the first driven load relative to the second driven load in a first direction and said second logic means being operable to block the application of a pulse from said second pulse train to said summing means to phase shift said first driven load relative to said second driven load in a second direction opposite said first direction.
Claim 63
Dependent Claim
80 words
A control for at least first and second drives as defined in claim 57 further including synchronizing means for sensing the phase difference between said first and second driven loads and actuating said phase jogging means to block the application of a predetermined number of pulses to said summing means to thereby shift the phase of said first driven load relative to said second driven load to establish a predetermined phase relationship between said one and said other driven load.
Claim 64
Dependent Claim
169 words
A control for at least first and second drives which drives first and second loads, respectively, at substantially the same velocity comprising first sensing means for sensing an actual position of the first load and establishing a first signal indicative thereof, second sensing means for sensing an actual position of said second load and establishing a second signal indicative thereof, synchronization means responsive to said first and second signals for synchronizing said first and second loads, said synchronization means including means for sensing the distance one of said loads moves between the establishment of said first signal and the establishment of said second signal and third sensing means associated with one of said loads for establishing a pulse train wherein each pulse is indicative of an actual incremental movement of said one load and the frequency of the pulses is indicative of the actual velocity of said one load and wherein said means for sensing the distance that one load moves includes counter means responsive to said pulse train.
Claim 65
Dependent Claim
169 words
A control for at least first and second drives which drives first and second loads, respectively, at substantially the same velocity comprising first sensing means for sensing an actual position of the first load and establishing a first signal indicative thereof, second sensing means for sensing an actual position of said second load and establishing a second signal indicative thereof, synchronization means responsive to said first and second signals for synchronizing said first and second loads, said synchronization means including means for sensing the distance one of said loads moves between the establishment of said first signal and the establishment of said second signal and third sensing means associated with one of said loads for establishing a pulse train wherein each pulse is indicative of an actual incremental movement of said one load and the frequency of the pulses is indicative of the actual velocity of said one load and wherein said means for sensing the distance that one load moves includes counter means responsive to said pulse train.
Claim 66
Dependent Claim
128 words
A control for at least first and second drives as defined in claim 59 wherein said means for sensing the distance said one load moves further includes first logic means responsive to one of said first and second sensing means for initializing said counter means in response to said one sensing means sensing an actual position of its associated load, and second logic means responsive to the other of said first and second sensing means for blocking said counter means in response to said other sensing means sensing an actual position of its associated load, said counter means counting the pulses of said pulse train after being initialized and having a count stored therein when being blocked indicative of the phase difference between said first and second loads.
Claim 67
Dependent Claim
71 words
A control for at least first and second drives as defined in claim 60 wherein said synchronization means further includes means for establishing an output pulse train wherein the number of pulses in said output pulse train is indicative of the magnitude of the phase difference between said first and second loads and the count stored in said counter means when said counter means is blocked by said second logic means.
Claim 68
Dependent Claim
52 words
A control for at least first and second drives as defined in claim 61 further including phase jogging means responsive to said output pulse train for shifting the phase of one of said loads relative to said other load to establish a predetermined phase relationship between said first and second driven loads.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1978-09-15 | 1979-03-17 | 1979-09-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-09-15 | 1983-03-17 | 1983-09-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-09-15 | 1987-03-17 | 1987-09-16 | $7700.00 | Window Closed / Lapsed |