Patent US4638230A successfully refreshed from Google Patents.
US4638230A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Bang-bang controlled velocity command generator
Assignee: Ampex Corp
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Filing: 1985-11-08
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Granted: 1987-01-20
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Expires: 2005-11-08
Abstract
Abstract In a disc information storage system which employs a servo data disc, a servo data head and a moveable carriage assembly for transporting a plurality of magnetic heads radially across the surface of the disc in response to a control signal produced in connection with a velocity command signal, an improved method and apparatus for production of a velocity command signal wherein one or a plurality of discrete velocity steps are added to the velocity command signal in a region which would otherwise indicate only a single value for velocity.
Inventors
- 👤 Patrick S. Lee
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-02 18:26
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G05B19/237; G11; G11B; G11B5/00; G11B5/48; G11B5/54; G11B5/55; G11B5/5521; G11B5/5552; G05B2219/00; G05B2219/30; G05B2219/41; G05B2219/41086
Claims Analysis
Total Claims: 18
Claim 1
Independent Claim
241 words
Apparatus for indicating a desired velocity for a moveable element according to a predefined distance velocity relationship responsive to an existing distance between a desired terminal position and a current position, comprising: means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; first means for producing a single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; second means for producing a plurality of signals each having a predefined level in response to the indication generated by said comparing means; and summing means responsive to said first single discrete velocity value and to said second plurality of selected velocity values produced by said first means and to at least one of the signals produced by said second means for producing a signal equal to their sum.
Claim 2
Dependent Claim
241 words
Apparatus for indicating a desired velocity for a moveable element according to a predefined distance velocity relationship responsive to an existing distance between a desired terminal position and a current position, comprising: means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; first means for producing a single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; second means for producing a plurality of signals each having a predefined level in response to the indication generated by said comparing means; and summing means responsive to said first single discrete velocity value and to said second plurality of selected velocity values produced by said first means and to at least one of the signals produced by said second means for producing a signal equal to their sum.
Claim 3
Dependent Claim
237 words
Apparatus for indicating a desired velocity for a moveable element according to a predefined distance velocity relationship responsive to an existing distance between a desired terminal position and a current position, comprising: output means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; first means for producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; second means for producing a plurality of signals each having a predefined level; and third means for selecting the desired velocity by summing the first single discrete velocity value and the second plurality of velocity values produced by said first means and at least one of the signals produced by said second means in response to the indications produced by said comparing means.
Claim 4
Dependent Claim
237 words
Apparatus for indicating a desired velocity for a moveable element according to a predefined distance velocity relationship responsive to an existing distance between a desired terminal position and a current position, comprising: output means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; first means for producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; second means for producing a plurality of signals each having a predefined level; and third means for selecting the desired velocity by summing the first single discrete velocity value and the second plurality of velocity values produced by said first means and at least one of the signals produced by said second means in response to the indications produced by said comparing means.
Claim 5
Dependent Claim
324 words
Apparatus for producing a signal to control the position of a moveable element from a current position to a desired terminal position according to a predefined distance velocity relationship responsive to a desired terminal position indication, a signal representative of the velocity of the moveable element, and a position signal of the moveable element, comprising: first means for determining the distance from the current position to the desired terminal position responsive to the desired terminal position indication and the position signal; output means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the distance from the current position to the desired terminal position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; second means for producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a predefined distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; third means for producing a plurality of signals each having a predefined level fourth means responsive to the indication produced by said comparing means for producing a desired velocity responsive to the sum at least one said first single discrete velocity value and one of said second plurality of velocity values produced by said second means and at least one of the signals produced by said third means; and fifth means responsive to the difference between the desired velocity and the signal representative of the velocity of the moveable element for producing the signal to control the position of the moveable element.
Claim 6
Dependent Claim
324 words
Apparatus for producing a signal to control the position of a moveable element from a current position to a desired terminal position according to a predefined distance velocity relationship responsive to a desired terminal position indication, a signal representative of the velocity of the moveable element, and a position signal of the moveable element, comprising: first means for determining the distance from the current position to the desired terminal position responsive to the desired terminal position indication and the position signal; output means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the distance from the current position to the desired terminal position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; second means for producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a predefined distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; third means for producing a plurality of signals each having a predefined level fourth means responsive to the indication produced by said comparing means for producing a desired velocity responsive to the sum at least one said first single discrete velocity value and one of said second plurality of velocity values produced by said second means and at least one of the signals produced by said third means; and fifth means responsive to the difference between the desired velocity and the signal representative of the velocity of the moveable element for producing the signal to control the position of the moveable element.
Claim 7
Dependent Claim
292 words
Apparatus for producing a signal to control the position of a moveable element from a current position to a desired terminal position according to a predefined distance velocity relationship responsive to a desired terminal position indication, a signal representative of the velocity of the moveable element, and a position signal of the moveable element, comprising: first means for determining the distance from the current position to the desired terminal position responsive to bhe desired terminal position indication and the position signal; output means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the distance between the current position to the desired terminal position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; second means for producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity of said second values corresponding to a predefined distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; third means for producing a plurality of signals each having a predefined level; fourth means responsive to the indication produced by said comparing means for producing a desired velocity responsive to the sum of signals produced by second and third means; and, fifth means comparing the desired velocity and the signal representative of the velocity of the moveable element and generating a signal to control the position of the moveable element.
Claim 8
Dependent Claim
292 words
Apparatus for producing a signal to control the position of a moveable element from a current position to a desired terminal position according to a predefined distance velocity relationship responsive to a desired terminal position indication, a signal representative of the velocity of the moveable element, and a position signal of the moveable element, comprising: first means for determining the distance from the current position to the desired terminal position responsive to bhe desired terminal position indication and the position signal; output means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the distance between the current position to the desired terminal position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; second means for producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity of said second values corresponding to a predefined distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; third means for producing a plurality of signals each having a predefined level; fourth means responsive to the indication produced by said comparing means for producing a desired velocity responsive to the sum of signals produced by second and third means; and, fifth means comparing the desired velocity and the signal representative of the velocity of the moveable element and generating a signal to control the position of the moveable element.
Claim 9
Dependent Claim
278 words
Apparatus for producing a signal to control the position of a moveable element according to a predefined distance velocity relationship, responsive to an existing distance between a desired terminal position and a current position, and a signal representative of the velocity of the moveable element, comprising: output means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; first means for producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values of generate a value corresponding to the existing distance between the desired terminal position and the current position; second means for producing a plurality of signals, each having a unique predefined level; third means for summing the signals produced by said first and second to produce a desired velocity in response to the indication produced by said comparing means; and, fourth means comparing the indication produced by said third means and the velocity of the moveable element and generating a signal to control the position of the moveable element which is representative of the velocity of the moveable element from the desired velocity produced by said third means.
Claim 10
Dependent Claim
278 words
Apparatus for producing a signal to control the position of a moveable element according to a predefined distance velocity relationship, responsive to an existing distance between a desired terminal position and a current position, and a signal representative of the velocity of the moveable element, comprising: output means for generating the existing distance between a desired terminal position and the current position; comparing means for comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; first means for producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values of generate a value corresponding to the existing distance between the desired terminal position and the current position; second means for producing a plurality of signals, each having a unique predefined level; third means for summing the signals produced by said first and second to produce a desired velocity in response to the indication produced by said comparing means; and, fourth means comparing the indication produced by said third means and the velocity of the moveable element and generating a signal to control the position of the moveable element which is representative of the velocity of the moveable element from the desired velocity produced by said third means.
Claim 11
Independent Claim
210 words
A method for indicating a desired velocity for a moveable element according to a predefined distance velocity relationship responsive to an existing distance between a desired terminal position and a current position, comprising the steps of: generating a position signal corresponding to the existing distance between a desired terminal position and the current position; comparing the existing distance between the desired terminal position and the current positon with at least one of a plurality of predefined distances and generating at least one indication of the predefined distance which are exceeded by the existing distance; producing a first single discrete velocity value and a second plurality of selected velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; producing a plurality of signals each having a predefined level in response to the indication generated by said comparing means and summing the produced velocity value and at least one of the signals having a predefined level.
Claim 12
Independent Claim
210 words
A method for indicating a desired velocity for a moveable element according to a predefined distance velocity relationship responsive to an existing distance between a desired terminal position and a current position, comprising the steps of: generating a position signal corresponding to the existing distance between a desired terminal position and the current position; comparing the existing distance between the desired terminal position and the current positon with at least one of a plurality of predefined distances and generating at least one indication of the predefined distance which are exceeded by the existing distance; producing a first single discrete velocity value and a second plurality of selected velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; producing a plurality of signals each having a predefined level in response to the indication generated by said comparing means and summing the produced velocity value and at least one of the signals having a predefined level.
Claim 13
Independent Claim
220 words
A method for indicating a desired velocity for a moveable element according to a predefined distance velocity relationship to an existing distance between a desired terminal position and a current position, comprising the steps of: generating a position signal corresponding to the exsisting distance between a desired terminal position and the current position; comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; producing a plurality of signals each having a predefined level; and selecting the indication of the desired velocity by summing the first and second velocity values and at least one of the signals having a predefined level in response to the indication generated by said comparing means.
Claim 14
Independent Claim
220 words
A method for indicating a desired velocity for a moveable element according to a predefined distance velocity relationship to an existing distance between a desired terminal position and a current position, comprising the steps of: generating a position signal corresponding to the exsisting distance between a desired terminal position and the current position; comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; producing a plurality of signals each having a predefined level; and selecting the indication of the desired velocity by summing the first and second velocity values and at least one of the signals having a predefined level in response to the indication generated by said comparing means.
Claim 15
Independent Claim
308 words
A method for producing a signal to control the position of a moveable element from a current position to a desired terminal position according to a predefined distance velocity relationship responsive to desired terminal position indication, a signal representative of the velocity of the moveable element, and a position signal of the moveable element, comprising the steps of: determining the distance of the moveable element from the current position to the desired terminal position responsive to the desired terminal position indication and the position signal; generating a position signal corresponding to the existing distance between a desired terminal position and the current position; comapring the distance of the moveable element from the current position to the desired terminal position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a predefined distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; producing a plurality of signals, each having a predefined level selecting in response to the indication produced by said comparing a desired velocity by summing the Produced first and second velocity values corresponding to selected distances within a predetermined range of distances and at least one of the plurality of signals having a predefined level; generating a signal representative of the velocity of the moveable element, and subtracting the signal representative of the velocity of the moveable element from the desired velocity.
Claim 16
Independent Claim
308 words
A method for producing a signal to control the position of a moveable element from a current position to a desired terminal position according to a predefined distance velocity relationship responsive to desired terminal position indication, a signal representative of the velocity of the moveable element, and a position signal of the moveable element, comprising the steps of: determining the distance of the moveable element from the current position to the desired terminal position responsive to the desired terminal position indication and the position signal; generating a position signal corresponding to the existing distance between a desired terminal position and the current position; comapring the distance of the moveable element from the current position to the desired terminal position with at least one of a plurality of predefined distances and generating at least one indication of the predefined distances which are exceeded by the existing distance; producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a predefined distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; producing a plurality of signals, each having a predefined level selecting in response to the indication produced by said comparing a desired velocity by summing the Produced first and second velocity values corresponding to selected distances within a predetermined range of distances and at least one of the plurality of signals having a predefined level; generating a signal representative of the velocity of the moveable element, and subtracting the signal representative of the velocity of the moveable element from the desired velocity.
Claim 17
Independent Claim
273 words
A method for producing a signal to control the position of a moveable element according to a predefined distance velocity relationship responsive to an existing distance between a desired terminal position and current position and signal representative of the velocity of the moveable element, comprising the steps of: generating a position signal corresponding to the existing distance between a desired terminal position and the current position; comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating an indication of the predefined distances which are exceeded by the existing distance; producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; producing a plurality of signals each having a predefined level; selecting an indication of a desired velocity by summing the first and second velocity values and at least one of said plurality of signals having a predefined level in response to the indications produced by said comparing means; generating the existing distance between a desired terminal position and the current position; and subtracting the signal representative of the velocity of the moveable element from the desired velocity to produce the signal to control the position of the moveable element.
Claim 18
Independent Claim
273 words
A method for producing a signal to control the position of a moveable element according to a predefined distance velocity relationship responsive to an existing distance between a desired terminal position and current position and signal representative of the velocity of the moveable element, comprising the steps of: generating a position signal corresponding to the existing distance between a desired terminal position and the current position; comparing the existing distance between the desired terminal position and the current position with at least one of a plurality of predefined distances and generating an indication of the predefined distances which are exceeded by the existing distance; producing a first single discrete velocity value and a second plurality of selected discrete velocity values when the existing distance exceeds a specified one of said predefined distances, each velocity value of said second values corresponding to a preselected distance which is less than the specified predefined distance and for combining said first and at least one of said second velocity values to generate a value corresponding to the existing distance between the desired terminal position and the current position; producing a plurality of signals each having a predefined level; selecting an indication of a desired velocity by summing the first and second velocity values and at least one of said plurality of signals having a predefined level in response to the indications produced by said comparing means; generating the existing distance between a desired terminal position and the current position; and subtracting the signal representative of the velocity of the moveable element from the desired velocity to produce the signal to control the position of the moveable element.
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