US4488099A — Real time servo control apparatus and method

Claim 1

Independent Claim 232 words

In a dynamic system having a source of energy of a first type, a prime mover for converting said energy of said first type to energy of a second type, and a load, said prime mover applying said energy of said second type to said load, the converting of said energy occurring in cycles, each cycle being independent from each other, each independent cycle having different initial conditions of said load, a method for linear servo control of said source in response to variations in said load comprising: formulating a model of said dynamic system to determine an operating point about which said dynamic system exhibits linear behavior, said operating point being a function of said initial conditions of said load during each said cycle; modeling the energy requirements of said load to maintain said linear behavior and further modeling the amount of energy to be applied by said source as a function of said energy requirements of said load; modeling the energy requirements of said prime mover to maintain said linear behavior; determining the initial conditions of said load for each said cycle; computing the difference between the actual energy requirements of said load during each said cycle from said modeled energy requirement; and adjusting the energy developed by said source by an incremental amount which is linearly proportional to the difference between said energy requirements and said modeled energy requirements.

Claim 2

Dependent Claim 232 words

In a dynamic system having a source of energy of a first type, a prime mover for converting said energy of said first type to energy of a second type, and a load, said prime mover applying said energy of said second type to said load, the converting of said energy occurring in cycles, each cycle being independent from each other, each independent cycle having different initial conditions of said load, a method for linear servo control of said source in response to variations in said load comprising: formulating a model of said dynamic system to determine an operating point about which said dynamic system exhibits linear behavior, said operating point being a function of said initial conditions of said load during each said cycle; modeling the energy requirements of said load to maintain said linear behavior and further modeling the amount of energy to be applied by said source as a function of said energy requirements of said load; modeling the energy requirements of said prime mover to maintain said linear behavior; determining the initial conditions of said load for each said cycle; computing the difference between the actual energy requirements of said load during each said cycle from said modeled energy requirement; and adjusting the energy developed by said source by an incremental amount which is linearly proportional to the difference between said energy requirements and said modeled energy requirements.

Claim 3

Dependent Claim 123 words

In a solenoid having a pair of poles and a facing relationship to each other and normally biased apart from each other defining a gap therebetween, a method for optimizing energy transfer of said solenoid comprising; rotatably mounting each of said poles whereby said gap is nonuniform when said poles are biased apart from each other; and energizing said solenoid with a current selected to limit a saturation region of said poles initially to a first pole tip region thereof, said saturation region transversing said poles during closure of said gap, said saturation region increasing magnetic stored energy for enhancing effective cross sectional area of said poles defining an equivalent nonsaturating virtual pole of greater cross sectional area than each of said poles.

Claim 4

Dependent Claim 123 words

In a solenoid having a pair of poles and a facing relationship to each other and normally biased apart from each other defining a gap therebetween, a method for optimizing energy transfer of said solenoid comprising; rotatably mounting each of said poles whereby said gap is nonuniform when said poles are biased apart from each other; and energizing said solenoid with a current selected to limit a saturation region of said poles initially to a first pole tip region thereof, said saturation region transversing said poles during closure of said gap, said saturation region increasing magnetic stored energy for enhancing effective cross sectional area of said poles defining an equivalent nonsaturating virtual pole of greater cross sectional area than each of said poles.

Claim 5

Dependent Claim 42 words

A method in accordance with claim 2 wherein said saturation region at said first pole tip region develops a fringing field outside of the cross sectional area of said poles, said fringing field effectively linearizing the magnetic force developed between said poles.

Claim 6

Dependent Claim 25 words

A method in accordance with claim 2 wherein said nonuniform gap further increases magnetic stored energy further enhancing effective cross sectional area of said poles.

Claim 7

Dependent Claim 149 words

In a dynamic system having a source of electrical energy, a solenoid, and a load, said energy being applied to said solenoid, said solenoid closing to transfer said energy to said load, said solenoid having a pair of poles in a facing relationship to each other in normally biased apart from each other defining a gap therebetween, a method for servo controlling said source in response to variations of said load, said method comprising the steps of: a. measuring an initial width of said gap; b. measuring an instantaneous width of said gap at selected time intervals after applying energy to said solenoid; c. computing an instantaneous velocity of said solenoid from each instantaneous width and computing an error between each instantaneous velocity and a predetermined velocity; d. adjusting said energy applied to said solenoid by an incremental amount, said incremental amount being a linear function of said error.

Claim 8

Dependent Claim 149 words

In a dynamic system having a source of electrical energy, a solenoid, and a load, said energy being applied to said solenoid, said solenoid closing to transfer said energy to said load, said solenoid having a pair of poles in a facing relationship to each other in normally biased apart from each other defining a gap therebetween, a method for servo controlling said source in response to variations of said load, said method comprising the steps of: a. measuring an initial width of said gap; b. measuring an instantaneous width of said gap at selected time intervals after applying energy to said solenoid; c. computing an instantaneous velocity of said solenoid from each instantaneous width and computing an error between each instantaneous velocity and a predetermined velocity; d. adjusting said energy applied to said solenoid by an incremental amount, said incremental amount being a linear function of said error.

Claim 9

Dependent Claim 20 words

A method in accordance with claim 5 further comprising the step of repeating steps b-d until said solenoid is closed.

Claim 10

Dependent Claim 57 words

A method in accordance with claim 5 wherein said computing step further includes repeatedly computing said error and comparing each computed error with the immediately preceeding computed error, and superimposing a predetermined incremental amount of energy upon said energy applied to said solenoid whenever said computed error is greater in magnitude than the immediately preceeded computed error.

Claim 11

Dependent Claim 37 words

A method in accordance with claim 7 wherein said incremental amount of energy lessens the total energy applied to said solenoid at said velocity error indicate that said solenoid has a higher velocity than the predetermined velocity.

Claim 12

Dependent Claim 36 words

A method in accordance with claim 7 wherein said incremental amount of energy increases the total energy applied to said solenoid whenever said velocity error indicates said solenoid has a velocity less than said predetermined velocity.

Claim 13

Dependent Claim 35 words

A method in accordance with claim 5 which further includes computing a force imbalance between the magnetic latching force and a spring force acting in opposition to said magnetic force when said solenoid has closed.

Claim 14

Dependent Claim 30 words

A method in accordance with claim 10 wherein a snare pulse is applied to said solenoid whenever said force imbalance indicates said spring force is greater than said magnetic force.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	1987-12-11	1988-06-11	1988-12-11	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	1991-12-11	1992-06-11	1992-12-11	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	1995-12-11	1996-06-11	1996-12-11	$7700.00	Window Closed / Lapsed

Real time servo control apparatus and method

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