Patent US4056763A successfully refreshed from Google Patents.
US4056763A
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US
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Device for controlling a mechanical element with effort return
Assignee: Commissariat à l'Énergie Atomique et Aux Énergies Alternatives
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Filing: 1975-06-12
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Granted: 1977-11-01
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Expires: 1995-06-12
Abstract
Abstract A reversible mechanical unit of the "slave" type comprising a motor element and position detector is controlled by an assembly which delivers command signals relating to the positions of the motor element. Means are provided for delivering an error signal ε which is proportional to the difference between the signals delivered respectively by the detector and the control assembly. A signal delivered by a generator and having an amplitude which is proportional to the signal ε produces direct action on the torque of the motor element; the error signal and the torque are thus in one-to-one correspondence, the error signal being fed back into the control assembly.
Inventors
- 👤 Guy Debrie
- 👤 Claude Grenier
- 👤 Michel Petit
- 👤 Henri Rigaut
- 👤 Jean Vertut
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 17:23
CPC Classifications
B; B25; B25J; B25J3/00; B25J3/04; G; G05; G05D; G05D3/00; G05D3/12
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
310 words
A device which serves to control a mechanical assembly of the so-called "slave" type in displacements and in efforts and is actuated by a motor element, wherein said mechanical assembly is reversible and comprises a position detector for delivering a signal which is proportional to the displacements of said assembly and wherein said device comprises an assembly for controlling said motor element and delivering a signal constituting orders relating to the positions of said motor element, means for producing an error signal ε which is proportional to the difference between the signal delivered by the detector and the signal delivered by said control assembly, a generator for delivering a physical signal which produces action directly on the torque of the motor element, the amplitude of said signal being proportional to the signal ε, the relation between the error signal and the torque being thus in one-to-one correspondence, the error signal being also fed back into said control assembly, said control assembly being constituted by a second mechanical assembly actuated by a second motor element comprising a second position detector, and wherein each motor element is controlled independently by a control loop circuit, each loop circuit being provided with means for generating an error signal ε which is proportional to the difference between the signals emitted by said detectors, means for providing a derivative of said error signal ε so as to give a signal ε' which is proportional to said derivative, means for determining the difference between the signals ε and ε' so as to give the signal E, and a second correspondence control stage constituted by a generator for delivering a physical signal which produces action directly on the torque of the motor element, the amplitude of said signal being proportional to the signal E, the relation between the error signal and the torque being thus in one-to-one correspondence.
Claim 2
Independent Claim
310 words
A device which serves to control a mechanical assembly of the so-called "slave" type in displacements and in efforts and is actuated by a motor element, wherein said mechanical assembly is reversible and comprises a position detector for delivering a signal which is proportional to the displacements of said assembly and wherein said device comprises an assembly for controlling said motor element and delivering a signal constituting orders relating to the positions of said motor element, means for producing an error signal ε which is proportional to the difference between the signal delivered by the detector and the signal delivered by said control assembly, a generator for delivering a physical signal which produces action directly on the torque of the motor element, the amplitude of said signal being proportional to the signal ε, the relation between the error signal and the torque being thus in one-to-one correspondence, the error signal being also fed back into said control assembly, said control assembly being constituted by a second mechanical assembly actuated by a second motor element comprising a second position detector, and wherein each motor element is controlled independently by a control loop circuit, each loop circuit being provided with means for generating an error signal ε which is proportional to the difference between the signals emitted by said detectors, means for providing a derivative of said error signal ε so as to give a signal ε' which is proportional to said derivative, means for determining the difference between the signals ε and ε' so as to give the signal E, and a second correspondence control stage constituted by a generator for delivering a physical signal which produces action directly on the torque of the motor element, the amplitude of said signal being proportional to the signal E, the relation between the error signal and the torque being thus in one-to-one correspondence.
Claim 3
Dependent Claim
43 words
A device according to claim 1, wherein at least one loop circuit comprises means for deriving the signal delivered by the detector, of the loop circuit considered and for adding said derived signal to the signal E at the input of said generator.
Claim 4
Dependent Claim
46 words
A device according to claim 1, wherein at least one control loop circuit comprises means for reducing the second derivative of the signal emitted by the detector which is associated with said loop and for adding said derivative to the signal which already drives the generator.
Claim 5
Dependent Claim
80 words
A device according to claim 1, wherein at least one loop circuit comprises means for deriving the signal emitted by the detector which is associated with said loop circuit, means for comparing said derived signal with a threshold value, means for producing a constant control signal and adding said signal to the signal which already drives said generator if said threshold value is attained, said control signal being such as to correspond to the starting torque of the motor elements.
Claim 6
Dependent Claim
42 words
A device according to claim 1, wherein each loop circuit includes a torque transducer for emitting a signal which is proportional to the torque really applied to said module and means for deducting said signal from the control signal to said generator.
Claim 7
Dependent Claim
36 words
A device according to claim 1, wherein the motor elements are torque motors, wherein the position detectors deliver electrical voltages and wherein the generator which constitutes the second correspondence control stage is an electric current generator.
Claim 8
Dependent Claim
18 words
A device according to claim 1, wherein the gains of the two control loop circuits are the same.
Claim 9
Dependent Claim
17 words
A device according to claim 1, wherein the gains of the two control loop circuits are different.
Claim 10
Dependent Claim
43 words
A device according to claim 5, wherein at least one loop circuit comprises means for deriving the signal delivered by the detector of the loop circuit considered and for adding said derived signal to the signal E at the input of said generator.
Claim 11
Dependent Claim
46 words
A device according to claim 5, wherein at least one control loop circuit comprises means for reducing the second derivative of the signal emitted by the detector which is associated with said loop and for adding said derivative to the signal which already drives the generator.
Claim 12
Dependent Claim
80 words
A device according to claim 5, wherein at least one loop circuit comprises means for deriving the signal emitted by the detector which is associated with said loop circuit, means for comparing said derived signal with a threshold value, means for producing a constant control signal and adding said signal to the signal which already drives said generator if said threshold value is attained, said control signal being such as to correspond to the starting torque of the motor elements.
Claim 13
Dependent Claim
36 words
A device according to claim 5, wherein the motor elements are torque motors, wherein the position detectors deliver electrical voltages and wherein the generator which constitutes the second correspondence control stage is an electric current generator.
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) | 1980-10-31 | 1981-05-02 | 1981-11-01 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1984-10-31 | 1985-05-02 | 1985-11-01 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1988-10-31 | 1989-05-02 | 1989-11-01 | $7700.00 | Window Closed / Lapsed |