Boots – shoes – and leggings
Patent
1984-10-04
1986-12-16
Wise, Edward J.
Boots, shoes, and leggings
364174, 318604, 318696, 318327, 101 91, G06F 1520, H02P 506, H02K 3700
Patent
active
046302107
ABSTRACT:
Apparatus is provided for controlling the velocity of a portion of a load in accordance with a trapazoidal-shaped velocity versus time profile. The apparatus includes a d.c. motor having an output shaft for driving the load; instrumentalities for sensing angular displacement of the motor output shaft; a microprocessor including a clock for generating successive sampling time periods, means for providing first counts respectively representative of successive desired angular displacements of the motor output shaft during successive sampling time periods to cause the load portion to be moved in accordance with a predetermined trapezoidal-shaped velocity versus time profile, means responsive to the sensing means for providing second counts respectively representatiave of actual angular displacements of the motor output shaft during successive sampling time periods, and means for compensating for the difference between the first and second counts during each successive sampling time period and generating a pulse width modulated control signal for controlling the d.c. motor, the motor control signal causing the actual angular displacement of the motor output shaft to substantially match the desired angular displacement of the motor output shaft during successive sampling time periods, whereby the load portion is moved substantially in accordance with the predetermined trapezoidal-shaped velocity versus time profile; and a signal amplifying device for operably coupling the motor control signal to the d.c. motor.
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Kirschner Wallace
Salazar Edilberto I.
Pitchenik David E.
Pitney Bowes Inc.
Scolnick Melvin J.
Walker Donald P.
Wise Edward J.
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