Angular rate deriving apparatus

Claim 2

Angular rate deriving apparatus comprising, in combination: first duty cycle means for supplying output control signals having a duty cycle representative of dθ/dt and Cosθ; second duty cycle means for supplying output control signals having a duty cycle representative of dθ/dt and Sinθ; means, connected to said first duty cycle means, for supplying a signal representing Sin θ thereto whereby said first duty cycle means converts it to a signal indicative of dθ/dt Cosθ; means, connected to said second duty cycle means, for supplying a signal representing Cosθ thereto whereby said second duty cycle means converts it to a signal indicative of dθ/dt Sinθ; first switch means, connected to said first duty cycle means for receiving control signals therefrom, for supplying output Cosθ representative signals at a duty cycle in accordance with received control signals whereby the output signals are representative of dθ/dt Cos 2 θ; second switch means, connected to said second duty cycle means for receiving control signals therefrom, for supplying output Sinθ representative signals at a duty cycle in accordance with received control signals whereby the output signals are representative of dθ/dt Sin 2 θ; and summing means connected to said first and second switch means for receiving the output signals therefrom, said summing supplying, as an output signal, an output representative of the rate of change, (dθ/dt), of the angle θ.

Claim 3

Apparatus for deriving the rate of change of an angle θ comprising, in combination: first signal means for supplying a first signal representative of dθ/dt cosθ wherein said first signal means is a duty cycle converter for converting an input signal of Sinθ and including interconnected integrating means, voltage sensitive means for switching reference voltage signals, and means for supplying as feedback signals to said integrating means the reference signals to obtain an output signal indicative in duty cycle of Cosθ; second signal means for supplying a second signal representative of Cosθ; third signal means for supplying a third signal representative of dθ/dt Sinθ wherein said third signal means is a duty cycle converter for converting an input signal of Cosθ and includes interconnected integrating means, voltage sensitive means for switching reference voltage signals, and means for supplying as feedback signals to said integrating means the reference signals to obtain an output signal indicative in duty cycle of Sinθ; fourth signal means for supplying a fourth signal representative of Sinθ; first multiplying means connected to said first and second signal means for receiving said first and second signals therefrom and providing as an output a signal indicative of the derivative of the angle θ and of Cos 2 θ by passing one signal as a duty cycle function of the other; second multiplying means connected to said third and fourth signals therefrom and providing as an output a signal indicative of the derivative of the angle θ and of Sin 2 θ by passing one signal as a duty cycle function of the other; and summing means, connected to said first and second multiplying means for receiving output signals therefrom, for providing as an apparatus output a signal indicative of the derivative of the angle θ.

Claim 4

Apparatus for deriving the rate of change of an angle θ comprising, in combination: first signal means for supplying a first signal representative of dθ/dt cosθ wherein said first signal means is a duty cycle converter for converting an input signal of Sinθ and including interconnected integrating means, voltage sensitive means for switching reference voltage signals, and means for supplying as feedback signals to said integrating means the reference signals to obtain an output signal indicative in duty cycle of Cosθ; second signal means for supplying a second signal representative of Cosθ; third signal means for supplying a third signal representative of dθ/dt Sinθ wherein said third signal means is a duty cycle converter for converting an input signal of Cosθ and includes interconnected integrating means, voltage sensitive means for switching reference voltage signals, and means for supplying as feedback signals to said integrating means the reference signals to obtain an output signal indicative in duty cycle of Sinθ; fourth signal means for supplying a fourth signal representative of Sinθ; first multiplying means connected to said first and second signal means for receiving said first and second signals therefrom and providing as an output a signal indicative of the derivative of the angle θ and of Cos 2 θ by passing one signal as a duty cycle function of the other; second multiplying means connected to said third and fourth signals therefrom and providing as an output a signal indicative of the derivative of the angle θ and of Sin 2 θ by passing one signal as a duty cycle function of the other; and summing means, connected to said first and second multiplying means for receiving output signals therefrom, for providing as an apparatus output a signal indicative of the derivative of the angle θ.

Claim 5

Apparatus for deriving the rate of change of an angle θ comprising, in combination: first signal means for supplying a first signal representative of dθ/dt cosθ; second signal means for supplying a second signal representative of Cosθ wherein said second signal means is a duty cycle converter for converting an input signal of Sinθ and includes interconnected integrating means, voltage sensitive means for switching reference voltage signals, and means for supplying as feedback signals to said integrating means the reference signals to obtain an output signal indicative of duty cycle of Cosθ; third signal means for supplying a third signal representative of dθ/dt Sinθ; fourth signal means for supplying a fourth signal representative of Sinθ wherein said fourth signal means is a duty cycle converter for converting an input signal of Cosθ and includes interconnected integrating means, voltage sensitive means for switching reference voltage signals, and means for supplying as feedback signals to said integrating means the reference signals to obtain an output signal indicative of duty cycle of Sinθ; first multiplying means connected to said first and second signal means for receiving said first and second signals therefrom and providing as an output a signal indicative of the derivative of the angle θ and of Cos 2 θ by passing one signal as a duty cycle function of the other; second multiplying means connected to said third and fourth signal means for receiving said third and fourth signals therefrom and providing as an output a signal indicative of the derivative of the angle θ and of Sin 2 θ by passing one signal as a duty cycle function of the other; and summing means, connected to said first and second multiplying means for receiving output signals therefrom, for providing as an apparatus output a signal indicative of the derivative of the angle θ.

Claim 6

Apparatus for deriving the rate of change of an angle θ comprising, in combination: first signal means for supplying a first signal representative of dθ/dt cosθ; second signal means for supplying a second signal representative of Cosθ wherein said second signal means is a duty cycle converter for converting an input signal of Sinθ and includes interconnected integrating means, voltage sensitive means for switching reference voltage signals, and means for supplying as feedback signals to said integrating means the reference signals to obtain an output signal indicative of duty cycle of Cosθ; third signal means for supplying a third signal representative of dθ/dt Sinθ; fourth signal means for supplying a fourth signal representative of Sinθ wherein said fourth signal means is a duty cycle converter for converting an input signal of Cosθ and includes interconnected integrating means, voltage sensitive means for switching reference voltage signals, and means for supplying as feedback signals to said integrating means the reference signals to obtain an output signal indicative of duty cycle of Sinθ; first multiplying means connected to said first and second signal means for receiving said first and second signals therefrom and providing as an output a signal indicative of the derivative of the angle θ and of Cos 2 θ by passing one signal as a duty cycle function of the other; second multiplying means connected to said third and fourth signal means for receiving said third and fourth signals therefrom and providing as an output a signal indicative of the derivative of the angle θ and of Sin 2 θ by passing one signal as a duty cycle function of the other; and summing means, connected to said first and second multiplying means for receiving output signals therefrom, for providing as an apparatus output a signal indicative of the derivative of the angle θ.

Claim 7

Apparatus as claimed in claim 3 comprising, in addition: fifth means, connected to said second signal means for providing output analog fifth signals representative in amplitude of Cosθ; sixth means, connected to said fourth signal means for providing output analog sixth signals representative in amplitude of Sinθ; third multiplying means connected to said second signal means and said fifth means for receiving output signals therefrom and supplying as output product seventh signals representative of Cos 2 θ; fourth multiplying means connected to said fourth signal means and said sixth means for receiving output signals therefrom and supplying as output product eighth signals representative of Sin 2 θ; means for supplying a further reference signal; comparison means, connected to said last named means, said third multiplying means and said fourth multiplying means for receiving output signals therefrom, said comparison means providing output reference signals at an output means thereof which change in amplitude as a function of the difference between said further reference signal and the sum of said seventh and eighth signals; and means connecting said output means of said comparison means to said second and fourth signal means for supplying reference voltage signals thereto.