Electricity: motive power systems – Positional servo systems – Pulse-width modulated power input to motor
Patent
1980-08-28
1982-06-29
Truhe, J. V.
Electricity: motive power systems
Positional servo systems
Pulse-width modulated power input to motor
318616, 318681, 318684, 318432, G05B 1128
Patent
active
043374263
ABSTRACT:
A photoelectric transducer (14) produces first and second periodic signals (A), (B) which are 90.degree. out of phase with each other in response to rotation of a servo motor shaft (12a). The first and second signals (A), (B) are differentiated, directly full wave rectified and summed to produce a velocity signal (Vw-) having a magnitude proportional to the rotational velocity of the shaft (12a). The peaks of the first and second signals (A), (B) are detected to produce a reference signal (Vr) having a magnitude corresponding thereto. The magnitude of the reference signal (Vr) is reduced in accordance with the difference between the present position of the shaft (12a) and a command position to produce a velocity command signal (Vc+). The velocity signal (Vw-) is compared with the velocity command signal (Vc+), to produce a drive signal corresponding to the difference therebetween which is applied to the motor (12). Fluctuations in the amplitude, D. C. component and phase of the first and second signals (A), (B) affect the reference signal (Vr) and the velocity signal (Vw-) equally and are thereby cancelled out. The reference signal Vr is also applied to compensate the signals (A) and (B) for variations in phase and the like to produce accurate position pulses. A drive means (27) for the motor (12) includes a hybrid chopper and dropper amplifier and means for eliminating audible chopper sound.
REFERENCES:
patent: 3551747 (1970-12-01), Joslyn
patent: 4260936 (1981-04-01), Sun
Alexander David G.
Indyk Eugene S.
Ricoh Co. Ltd.
Truhe J. V.
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