Abstract A servo-motor control system having a load that is supported by a gear ring. The gear ring and the associated load are rotated by a driving wheel that is connected to the shaft of a servo motor. At least one transmitter rotatably contacts the gear ring at a point substantially 90° from the point of contact of the driving wheel. As the gear ring rotates, the transmitter generates a control signal that corresponds to the angle of rotation of the gear ring and includes a backlash signal component corresponding to either the magnitude or speed of the backlash and/or resilience of the servo system. A measuring means rotatably contacts the shaft of the servo motor and generates a servo operating signal corresponding to the operational angle of rotation of the servo motor. The control signal and the servo operating signal are combined by an adder to generate a difference output signal having a component corresponding to the negative backlash signal component. A position sensing gyro generates a signal corresponding to the movement of the load and the gyro signal includes a component corresponding to the backlash signal component. The gyro signal and the difference output signal are added to generate a feedback output signal from which the backlash signal component has been eliminated. The feedback signal is applied to control the operation of the servo motor.
An apparatus for a servo system having a closed feedback circuit for controlling a driving servo motor, comprising: driving wheel means connected to said servo motor and rotatably contacting a gear ring means to rotate said gear ring means; load means supported by said gear ring means for rotation with said gear ring means; servo measuring means rotatably contacting said servo motor for measuring a servo operating signal; transmitter means for rotatably contacting said gear ring means at a point substantially 90° from the point of contact of said driving wheel means and generating a corresponding first gear signal; control means responsive to at least said first gear signal to pass a corresponding control signal having a backlash signal component corresponding to the magnitude of a parameter defining the backlash and resilience of said servo system; means for receiving said control signal and said servo operating signal and generating a difference output signal having a component corresponding to a negative of said backlash signal component; position sensing gyro means for generating a gyro signal in response to the movement of said load means, said gyro signal including a component corresponding to said backlash signal component; means for adding said gyro signal and said difference output signal to generate a corresponding feedback output signal, the addition eliminating said backlash signal component from said feedback signal; and means for applying said feedback signal to control said servo motor.
Claim 2
Independent Claim
236 words
An apparatus for a servo system having a closed feedback circuit for controlling a driving servo motor, comprising: driving wheel means connected to said servo motor and rotatably contacting a gear ring means to rotate said gear ring means; load means supported by said gear ring means for rotation with said gear ring means; servo measuring means rotatably contacting said servo motor for measuring a servo operating signal; transmitter means for rotatably contacting said gear ring means at a point substantially 90° from the point of contact of said driving wheel means and generating a corresponding first gear signal; control means responsive to at least said first gear signal to pass a corresponding control signal having a backlash signal component corresponding to the magnitude of a parameter defining the backlash and resilience of said servo system; means for receiving said control signal and said servo operating signal and generating a difference output signal having a component corresponding to a negative of said backlash signal component; position sensing gyro means for generating a gyro signal in response to the movement of said load means, said gyro signal including a component corresponding to said backlash signal component; means for adding said gyro signal and said difference output signal to generate a corresponding feedback output signal, the addition eliminating said backlash signal component from said feedback signal; and means for applying said feedback signal to control said servo motor.
Claim 3
Dependent Claim
62 words
The apparatus of claim 1 including: an additional transmitter means for rotatably contacting said gear ring means at a point substantially 180° from the point of contact of said transmitter means and generating a corresponding second gear signal, said second gear signal being applied with said first gear signal to said control means to cause said corresponding control signal to be passed.
Claim 4
Dependent Claim
27 words
The apparatus of claim 2 wherein said additional transmitter means includes a divided gear wheel that is spring loaded to maintain contact with said gear ring means.
Claim 5
Dependent Claim
26 words
The apparatus of claim 1 wherein said transmitter means includes a divided gear wheel that is spring loaded to maintain contact with said gear ring means.