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Патент USA US2406323

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Aug.
A‘, R DAVlS ET AL
'-
'
REMOTE CONTROL APPARATUS
,Filed May 6; 1957
4 Sheets-Sheet 1
_
AT ORNEYS
' Aug- 27, 194,6-
; A. P. DAVIS ET AL
'
2,406,323
REMOTE CONTROL APPARATUS
Filed May 6, 1957
4 Sheets-Sheet 2
lNVENTORS
'
av?wfge A???“ ATTORNEYE-
‘
Aug. 27, 1946.
A_ P_ DAVls} ET AL
2,406,323
REMOTE CONTROL APPARATUS
Fil‘ed May 6, 1937
40
a
46
04~
_
I
4 Sheets-Sheet 3
87
/96
g:
/
'
95
INVENTORS
ATTORNEYS
Aug- 27, 1946-
A. P. DAVIS ET AL
2,406,323
' REMOTE CONTROL APPARATUS
Filed May_6, 1957
4 Sheets-Sheet 4
ATTORNEYS
2,406,323
Patented Aug. 27, 1946
UNITED STATES PATENT QFFICE
2,406,323
REMOTE CONTROL APPARATUS
Arthur P. Davis, New York, and George Agins,
Brooklyn, N. Y., assignors to Arma Corporation,
a corporation of New York
Application May 6, 1937, Serial No. 141,189
11 Claims. ((31. 172—239)
2
1
This invention relates to control systems and
has particular reference to follow-up control sys
For a more complete understanding of the in
vention, reference may be had to the accom
tems in which a local or remote controlled ele
ment may be instantaneously driven at a rate of
speed and through a distance or angle corre
sponding to the rate and extent of movement of
a controlling element.
The follow-up systems in general use, espe
panying drawings, in which:
_
Figure 1 is a schematic diagram of the control
system of this invention as adapted to alternat
ing current service;
Fig. 2 is a schematic diagram of the control
system with modi?cations;
Fig. 3 is a schematic diagram of the system
complicated and expensive and where a relatively 1O with modi?cations in the means of compensat
ing for the velocity lag of the variable speed hy
high degree of accuracy is required, the sensi
draulic gear;
tivity necessary to gain such accuracy is accom
Fig. 4 is a schematic diagram of another modi
panied by objectionable hunting of the controlled
?ed compensating means; and
_ element. Such systems usually employ sensitive
Fig. 5 is a vector diagram, illustrating the
but delicate electronic Valve arrangements which
magnetic ?eld shift of the compensating means
are likely to get out of order. All of the ad
for the lag in the variable speed hydraulic gear.
vantages of electronic follow-up control systems
Referring to Fig. 1 of the drawings, the con
are realized in the system of the present inven
trolling element, located at a local or remote
tion while eliminating their disadvantages, to
the end that a rugged, non-hunting system is 20 station, may be a handwheel I, or other control
cially those adapted for heavy duty work, are
provided, which is readily adaptable‘ to various
uses where it is desired to accurately and rapidly
ling device, which, through gearing 2, 3, and 4,
aotuates the rotors of respective high and low
speed self-synchronous rotary induction trans
position one or more light or heavy controlled
mitters 5 and (5. Located at the local or remote
elements in accordance with the movements of a
N 01 station of the controlled element, which may be
local or remote controlling element.
The control system of the present invention
a shaft to driving any heavy or light object, are
includes a reversing switching mechanism, one
member of which is driven by a relatively low
respective high and low speed self-synchronous
rotary induction receivers ‘l and 8, which are
electrically connected respectively to the corre
element, and the other member of which is op 30 sponding high and low speed transmitters 5 and
6, so that the rotors of the receivers are in
eratively connected to a control motor whose ac
positional agreement with the rotors of the cor
celeration should preferably be greater than that
responding transmitters at all times. The trans
of the pilot motor, and which is controlled by
mitters and receivers are preferably of the single
the reversing switching mechanism. The control
phase ?eld type, and the two receivers ‘I and 8
motor also controls a variable speed hydraulic
are equipped with follow-up heads 9 and ID, the
gear which drives the con-trolled element. The
torque pilot motor controlled by the controlling
contacts of which control a suitable pilot mo
controlled element accordingly instantaneously
tor H.
responds to all movements of the controlling ele
The two follow-up heads 9 and lo include re
ment, and for any sudden slowing, stopping, or
reversing of the controlling element, the revers 40 spective gears i2 and [3, which are co-axially
journalled to the ends of stationary sleeves M
ing action of the switching mechanism reverses
and I5, mounted on the frames of the respec
the phase sequence of the power to the control
tive receivers ‘I and 8. The shaft extensions I5
motor, which results in braking it to the desired
speed or zero speed. Means are provided to com
and ll of their rotors are free to turn within the
pensate for any irregularities in the system, and 45 corresponding sleeves. The slip rings i3 and I9
and trolley arrangements 20 and 2|, are fastened
to compensate for the velocity lag of the variable
securely to the ends of the corresponding rotor
speed hydraulic gear.
It will be seen that in the control system of the
shaft extensions l6 and H and are insulated
from them. Two long contact segments, 22, 23,
present invention, the speed and acceleration of
the control motor are governed entirely by the 50 and 24, 25, and two short contact segments, 26,
21, and 23, 29, are mounted on the respective
frequency of the intermittent contact action of
gears i2 and I3, and insulated from them and
the reversing switching mechanism, and by the
from each other. The two long segments are
ratio of the time during which the contacts are
diametrically opposite each other, and the two
engaged compared to the time during which the
55 short segments are diametrically opposite each
contacts are broken.
2,406,323
3
other and positioned in the spaces between the
ends of the corresponding long segments. Con
tact rollers or brushes 3!! and 34 are held by
light pressure against the corresponding slip
rings it and it at all tii
A double trolley
.r 52’. and from .T~e.ngaged
"1i ..
switching
char.‘
7 there
‘e versmg
provided a
contactor 293 on high speed follow-up head 9,
smaller a gap between contacts
and 53, 5|
and a single trolley contactor ‘ii on low speed
and
than there is between contacts
and
follow-up head I E], are held by light pressure
.55 and
as illustrated in
1. The con
against the contact segments. The width of the
tacts 53 to Eli are spring mounted,
rerably as
double trolley 20 is such in relation to the length 10 shown in said application, so that when contact
of the short segments 26 and 28 as to make the
it engages contact
for example, and the
e?ective gap on either side of its central position
transmitted force of gear
necessitates further
very short.
turning
will be compressed
of the arm sur’hciei
H, the spring
'ly to allow
of contact
contact
The long segments of the two follow-up heads
are electrically connected to the ?eld systems 15 5| to engage contact
S
larly, if
155 is
of the pilot motor H. The upper long segments
turned in the opposite direction with the same
22 and 23 are both connected to one ?eld system,
force, contact
will engage contact
and then.
32, and the lower long segments 52d and 25 are
contact 5t‘ will engage contact
This is done
so that two steps oi’ acceleration.
motor ?ll)
both
Condensers
connected
8| with
to the
protective
other resistance
?eld system,
82, are
20 are obtained. The first step of acceleration of
electrically connected across the contacts of the
motor 49 is split phase st?W -ne effected by con
Jlol1cw~up heads for spark suppression. The pilot
denser 51, wk‘ ‘:1 is electrically connected across
motor I 5 preferably is of the reversible type with
two of the te1....inals of motor stator 85, and the
two independent ?eld systems, only one of which
second acceleration step is full stator voltage.
can be energized at a time. The electrical con 25 Condensers {it are connected across the contacts
nections are such that when one ?eld system is
of the reversing switching mechanism at for
energized, the pilot motor ll will run in one
spark suppression. Further details of construc
direction, and when the other ?eld system is
tion of the reversing switch mechanism are illus
energized, it will run in the opposite direction.
trated and described in said copending appli
The pilot motor shaft 34 carries gears 35 and 30 cation.
35 and mechanical ?lter 3?. The mechanical
Mounted on one end of the rotor shaft of con
?lter tends to absorb irregularities in the system
trol motor M) is a gear 58 meshing with gear 52
and may be of
well known type. Gear 35
of reversing switching mechanism 433. The ratio
drives gear E2 of high speed follow-up head 9,
between gears 52 and 58, and the electrical con
through gears 38, while gear “6 drives gear i3 35 nections to the motor 49, are such that the turn
of low-speed follow-up head iii through gears :59.
ing of the rotor tends at all times to turn gear
The gear ratios and electrical connections be
52 in the same direction and through the same
tween pilot motor ii and high speed and low
angle ‘as previously made by gear
When gear
speed follow-mp heads 9 and in are such that
52 has turned through the same angle as gear M‘,
when a ?eld winding of the pilot motor H is
the contacts of the reversing switching mecha
energized, gear [2 is caused to turn in the same
nism 4-8 will have returned to the disengaged
direction and through the same angle as pre
position, thereby stopping control motor 49.
viously made by trolley 20, while gear !3 is caused
Gear 59, mounted on the other end of the rotor
to turn in the same direction and through the
shaft of motor 49, drives the input to mechanical
same angle as previously made by trolley 2|. 45 differential (it, the output of which is connected
Therefore, when gears l2 and it have turned
through gears El, to the control shaft iii! of a
through the same angles as their respective trol
variable speed hydraulic gear 63. The hydraulic
leys 2E! and 2!, the follow-up heads and ill will
gear 5?} is of the well known type in which the
be in the neutral position. This will deenerg-ize
output speed varies directly as the control dis
the pilot motor H ?eld and thereby stop the 50 placement and in which the direction of motion
motor.
of the output shaft is determined by the direction
The output side of the mechanical ?lter 31 is
of the displacement of the control shaft 82 from
secured to shaft 49 having the gear M, which is
the neutral position. The power motor 64 drives
connected to the armature 42 of a small alter~
the variable speed hydraulic gear and the hy
nating current commutator generator 93. The
draulic gear drives the controlled element 65.
?eld winding 87 of this generator is separately
The other input side of the mechanical di?ieren
excited from a suitable alternating current
tial 65! is connected by gearing E5 to drive shaft
source. Gear M drives the input of mechanical
84, so that the turning of the controlled element
differential d3, whose output drives gear 44,
‘68 tends at all times to return the control shaft
which is connected to idler gear 45 driving the
62 of the hydraulic gear 933 to the neutral or zero
gear 45 carrying contact arm 4‘! of reversing
speed position.
switching mechanism 48. Damping means, not
In operation of the control system illustrated
shown, but preferably of the type illustrated and
in Fig. l, and assuming that it is in its normal
described in copending application Serial No.
deenergized condition with the controlled ele
115,488, ?led December 12, 1936, are interposed 65 meet 56 in positional agreement with the con
between gear 45 and contact arm ill.
The re
versing switching mechanism controls the power
input and the direction of rotation of control
motor Ml. Two contacts, 5!! and 55, are mounted
at the extremities of contact arm 4'! and are
insulated from the arm and from each other.
Gear
coaxially mounted with gear 46, is free
to turn independently of the latter and carries
two contacts, 53 and 54, adapted to cooperate
with contact 50, and two other contacts, 55 and
trolling element !, rotation of the controlling
element I will be transmitted through gearing
2, 3, and 4 to the rotors of the high and low
speed transmitters 5 and ii. The resultant rota
tion of the rotors thereof in a corresponding di
rection and angle will result in an equal and sub
stantially simultaneous movement of the rotors
of respective high and low speed receiver motors
1 and 8. The double trolley 20 of high speed
follow-up head 9 will accordingly be displaced
2,406,323
5
to engage either segment 22 or 24, depending
upon the direction of rotation of the controlling
element I. This will effect energization of the
appropriate field coil 32 or 33 of pilot motor II,
and cause it to rotate gears I2 and I3 in the ap
propriate direction, until the follow-up heads 9
and I0 are again in the inoperative position.
6
electrically connected to transmitters 5 and 68,
so that any relative angular difference between
the rotors of transmitters 5 and 68 will produce
a torque and turn the rotor of differential re
ceiver 68. Differential receiver 69 is equipped
with a follow-up head ‘II, which is identical with
follow-up head 9 of high speed receiver ‘I. The
follow-up head ‘ll energizes either of the two
?eld systems ‘I2 or ‘I3 of follow-up motor ‘ID in
The rotation of the pilot motor II will also
be transmitted by its shaft 34 through mechani
cal ?lter 31, shaft 40, and gear 4|, to the input 10 the same manner that follow-up head 9 controls
pilot motor II. Therefore, gear 99 will transmit
of mechanical differential 43. The output of
movement which will compensate, at mechani
differential 43 drives gears 44, 45 and 46 to actu
cal differential 43, for any lag or lead between
ate contactor 41 of the reversing switching mech
the rotors of transmitters 5 and 68.
anism 48. Depending on the direction of rota
A pin '58 secured to gear ‘I9 is adapted to co
tion of the controlling element I, the appropriate 15
operate with fixed stop ‘ll and thereby limit the
contact on contactor 4‘! will engage the cooperat
angular displacement of gear ‘I9 to 180° from
ing contact, either 53 or 55, which will give split
the inoperative position of follow-up head ‘II. In
phase starting for control motor 49. If the
normal operation, the angular rotor displacement
transmitted force of the rotation of the pilot
motor II necessitates further turning of gear 46, 20 of differential receiver 69 will be small, so that
restricting the rotation of gear l9 to 180° will not
the other contact on movable contactor 41 will
interfere with its operation. This is done to pre
engage cooperating contact 56 or 54, which will
connect all three power phases to the control mo
tor 49. The rotation of control motor 49, through
gear 58, will turn gear 52 in the appropriate
direction until the reversing switching mecha
nism 48 contacts are disengaged and again in
the inoperative position.
The rotation of control motor 49 is also trans
mitted through‘ mechanical differential 6i! and -
gearing SI to the control shaft 62 of variable
speed hydraulic gear 63, which will cause the
control mechanism thereof to be turned from
the inoperative, or zero speed position, to a speed
position and in a direction determined by the
direction of rotation of the controlling element
I. The hydraulic gear 63, by means of the drive
motor 64, will then drive the controlled element
66 into positional agreement with the controlling
element 1! and, at the same time, gearing 65 will
vent follow-up head ‘II from contributing errors
to the system in case of power failure. For ex
ample, controlling element I, and thereby the
rotor of low speed transmitter 6, is turned
through an appreciable angle during the time
when power is off, and then the power is restored,
the rotor of low speed receiver 8 will turn until
it is in position agreement with the rotor of trans
mitter 6. This will cause pilot motor II to drive
the rotor iii of transmitter 68 until both follow
up heads 9 and iii are again in their inoperative
position.
Inasmuch as the rotor of high speed trans
mitter 5 is stationary, and the rotor ‘l5 of trans
mitter 58 is being rotated, a torque is produced
in differential receiver Gil which will cause its
rotor to turn through the same angle as the rotor
15 of transmitter 53, and if pin l3 and stop TI
were not provided, gear it of follow-up head ‘II
transmit to mechanical differential 69 the move
would be driven by fOllOW-llp motor ‘in through
ment which results in restoring the control shaft
the same angle as rotor of differential receiver
62 of the variable speed hydraulic gear 63 to the
69. The movement of gear 19 will be transmitted
inoperative, or zero speed position.
If, for some reason, the controlled element 65 45 through mechanical differential 43 and gear 44 to
reversing switching mechanism lit, and thereby
is unable to follow rapid movements of the con
will affect the controlled element 55, so that when
trolling element I, and the elements become dis
the entire system is again in the inoperative posi
placed more than a permissible amount, trolley
tion, the controlled element will be out of posi
2B of low speed follow-up head Iii will have been
advanced to a point where it no longer makes 50 tional agreement with the controlling element by
an amount depending upon the number of revolu
contact with short segment 2i and will discon
tions from the inoperative position made by rotor
nect double trolley 28 of high speed follow-up
of transmitter 5 while the power was off and the
head 5 from the circuit, so that the high speed
gear ratio-s between follow-up head ‘H and the
follow-up head 9 will become inoperative and
controlled element 68. Restricting the rotation
control will be assumed by low speed follow-up
of gear 19 to 180° from the inoperative position
head I8. When angular correspondence between
prevents this occurrence.
elements I and 55 is again approximated, trolley
In the system as described up to this point, a
2! will again move into engagement with seg
lag in the output of the variable speed hydraulic
ment 21, so as to restore control to high speed
follow-up head 8. Thus, with suitable gearing 60 gear 63 will exist, which lag will be proportional
to the velocity of the system. This lag arises from
throughout, the controlled element 55 will turn
the fact that the control shaft 62 of the variable
in the direction and through the angle set up by
speed hydraulic gear must be turned through an
the controlling element I, and will then stop.
angle proportional to the speed in order to obtain
Auxiliary means are provided to ensure exact
follow-up and includes the gear 67, meshing with
gear 4! and attached to the rotor shaft of self
synchronous transmitter 58. This connection is
so proportioned, that for the ideal condition of
zero angular lag or lead between the rotors of
the self-synchronous transmitters 5 and 68, an
* the required speed‘ of the output.
Due to this
velocity lag caused by the displacement necessary
to operate the variable speed hydraulic gear 63,
angular displacement of the rotor of high speed
means are provided to compensate for this lag.
This means includes the differential transmitter
58 whose ?eld coil ‘14 is connected to the A. C.
power service, and whose other coil 16 is con
transmitter 5 will cause the pilot motor II to
nected to the armature 42 of a small A. C. com
mutator generator 93, which is driven by the pilot
drive the rotor of transmitter 68 through the
motor I I, through shaft 34, ?lter 3'! and shaft 40.
same angular displacement.
When the pilot motor II is running, a voltage
A self-synchronous differential receiver 69 is 75
2,406,323
7
8
proportional to its speed will be induced in the
armature 4-2 of generator t3 and this voltage is
applied to the coil 16 of transmitter E8 in such
Hi2 and I53. This produces a lead in the system
which will compensate for the velocity lag of the
variable speed hydraulic gear. Other parts of
a way, ‘due to the electrical connections, that the
the arrangement of Fig. 3 are as in Fig. 1.
resultant ?eld of the transmitter 68 is shifted
ahead of the rotor, thereby affecting the differ
ential receiver 59 in the same manner as if the
rotor 75 of transmitter E58 were lagging the rotor
of transmitter 5. By means of the follow-up head
1!, this action will cause the follow-up motor Til
to apply
correction to the mechanical differ
ential 43, which will compensate for the velocity
lag of the variable speed hydraulic gear 53.
Resistance-s B3 are electrically connected in Y
relation with the windings of the three phase
Figure 4 is a modi?cation of the system of
Figure 3, in which three-phase ?eld system, self
synclircnous rotary induction transmitters H14
and its and receivers lil? and IE2, are used to
operate follow~up heads 9 and Ill, in place of the
two-phase ?eld system transmitters Si] and 9|
and receivers
and S3, of Figure 3. The ?eld
systems Hill, E89, H0 and III, are electrically
connected in such a manner that when the entire
control system is in the inoperative condition
with the electric power on, the ?eld systems are
normally energized so that rotors H4 and N5 of
of limiting the starting current and increasing the
respective receivers I96 and Ill‘! are in positional
starting torque thereof.
agreement with the respective rotors H2 and I I3
Figure 2 illustrates a modi?cation of the con
transmitters 164 and H15. In operation, arma
trol system of this invention, in which the input 20 ture .42 of small alternating current commutator
of a mechanical diiferential $8 is driven by the
generator {is is driven by shaft | E6, and generates
pilot motor shaft 34 and its output actuates the
3. voltage proportional to its speed, which is ap
contactor 41 of the reversing switching mecha~
1 across resistor 9?. The electrical connec
nism 43 through gearing 44, I55 and fit. Di?fer~
between resistor 97 and ?eld systems H38,
ential 83 input is also connected to the output
" n and i l, are such that the resultant mag
shaft 84 of the variable speed hydraulic gear 63,
, - is of transmitters I04 and M5 are shifted
so that the output tends at all times to actuate
l their respective rotors M2 and H3, and
the reversing switching mechanism in such a way
sultent magnetic ?elds of the receivers I08
that the direction of rotation of the control motor
iill are shifted ahead of their respective
49 will be reversed, and thereby return the con 30
x.
.‘H
i”
and H5, in such a manner that the
trol shaft
of the hydraulic gear 63 to the in
voltage applied to ?elds i823 and HE], is to
operative or zero speed position. Therefore, with
it voltage which is applied to ?elds H39 and
sui- able gearing the controlled element 66 will
.,
the rate of angular displacement of rotor
turn in the direction
through the angle set
to the rate of angular displacement of
wound rotor 85 of control motor 49 for the purpose
up by the controlling element 1, and then stop.
Other parts of the system of
are identical
to the corresponding
of Fig. 1 and need not
be further described.
Figure 3 illustrates a second modi?cation of the
system, in which the small alternating current 40
comn'iutator-generator 93, used to compensate for
tile velocity lag of the variable speed hydraulic
E3, is located at the station of the control
element. The armature 42 of this generator
is connected to shaft H6, which is driven by
to controlling element. In the self-synchronous
i
'"y induction transmitters 91.1 and 9!, located
he controlling element I, and in the receivers
‘ r Hi3.
This produces a lead in the control
system which will compensate for the velocity lag
of v2 ' .hle speed hydraulic gear
in transmitter 68 of Figure 1, in transmitters
953 and Si, and receivers
and 93 of Figure 3,
in transmitters 1M and IE5, and receivers IE6
of Figure 4:, for the small angle or angles
of shift of magnetic ?elds which are required to
compensate for the velocity lag of variable speed
vhydraulic gear 53, the angle of ?eld axis shift is
"roportional to the magnitude of the shift volt
This is shown vectorially in space relation
_. in Figure 5, where vector A represents the
before shift, vectors B and B’ the shift
. two~phase
and $3, located
?eld system
at the is
controlled
used instead
element
of the
phase ?eld system energizing transmitters
5 and 6 and receivers l and 8, of the arrangement
Figures 1 and 2.
The ?eld windings 94 of transmitters 530 and
Pi! and of receivers 92 and 93 are electrically con»
nscted to the alternating current power service,
whereas the other ?elds, 95, of transmitter 953
and receiver
are electrically connected across
the armature 4?. of the generator 93. A resistor
91 is also connected across the armature 42 of
generator 93. The other ?elds 96 of transmitter
9,! and receiver 93 are electrically connected
across portion of resistor 91, so that when arma~
tore 42 is rotating and generating a voltage pro~
portional to its speed, the resulting voltage ap
p11 -d to the ?elds 95 is to the voltage which is
applied to the ?elds 95 as the rate of angular
displace nt of rotor Hill is to the rate of angular
displacement of rotor IUI. The electrical con
nections between armature 4? and ?elds 95, 96
are such that in operation, the resultant mag
netic fields of transmitters 9i} and 91 are shifted
behind their respective rotors I93 and liil, and
the resultant magnetic ?elds of receivers 92 and
93 are shifted ahead of their respective rotors
T”_ Ln ?eld, vectors 0 and C’ represent the result
ant ?eld axis after being shifted, and D and D’
the angles of shift.
The several motors used throughout the system
may be of direct current or alternating current
types, inasmuch as the system is equally adapt
able to alternating and direct current service for
reproducing the movements of any controlling
element such as a handwheel, lever, and the like,
or for adjusting a remote controlled element in
accordance with impulses developed by photo
electric devices, thermostats, valves, ?oats, air
or ?uid ?ow meters and apparatus, and the like,
as will be readily understood. It is also to be
tood that, although several preferred em
borl..i..ien+s of the control system of the present
invention have been illustrated and described
herein, the invention is not limited thereby, but
is susceptible of changes in form and detal with~
in the scope of the appended claims.
We claim:
1. In a, system for controlling a controlled ele»
ment with a controlling ole" out, the ccmbina~
tion of power means for (7.2:. ig
controlled
element, a control member controlling the speed
and direction of movement of said power means,
2,406,323
10
a reversible control motor, operative connections
between said control motor and said member, a
reversing switch for controlling said control mo
tor and having two sets of contacts, operative
connections between said control motor and one
tor and one set of said contacts, operative con
nections between said controlling element and
said other set of contacts, said last-named con
nections including a follow-up system, a genera
tor driven thereby for generating a voltage pro
portional to speed, and means for modifying the
operation of said follow-up system with said volt
tween said controlling element and said other
age to compensate for the velocity lag of said
set of contacts, a differential interposed in said
power means.
connections between said controlling element and
6. In a system for controlling a controlled ele
said other set of contacts, and operative connec» 10
ment with a controlling element, the combina
tions between said differential and said controlled
element.
tion of power means for driving said controlled
2. In a system for controlling a, controlled ele
element, a control member controlling the speed
ment with a controlling element, the combina
' and direction of movement of said power means,
tion of power means for driving said controlled
a reversible control motor, operative connections
element, a control member controlling the speed
between said control motor and said member in
cluding a follow-up connection from said power
and direction of movement of said power means,
means, a reversing switch for controlling said
a reversible control motor, operative connections
between said control motor and said member in
control motor and having two sets of contacts,
cluding a follow-up connection from said power 20 operative connections between said control motor
means, a reversing switch for controlling said
and one set of said contacts, operative connec
tions between said controlling element and said
control motor and having two sets of contacts,
operative connections between said control mo~
other set of contacts, means responsive to a lag
tor and one set of said contacts, operative con
in said connections, and mechanism actuated by
nections between said controlling element and
said last-named means for compensating for said
set of said contacts, operative connections be
said other set of contacts, and means in one of
lag.
said connections for compensating for the velocity
7. In a system for controlling a controlled ele
lag of said power means.
3. In a system for controlling a controlled ele
ment with a controlling element, the combina
tion of power means for driving said controlled
ment, with a controlling element, the combina
element, a control member controlling the speed
tion of power means for driving said controlled
element, a control member controlling the speed
and direction of movement of said power means,
a reversible control motor, operative connections
between said control motor and said member, a
and direction of movement of said power means,
a reversible control motor, operative connections
reversing switch for controlling said control mo
between said control motor and said member in
tor and having two sets of contacts, operative
cluding a follow-up connection from said power
connections between said control motor and one
means, a reversing switch for controlling said
set of said contacts, operative connections be
control motor and having two sets of contacts,
tween said controlling element and said other set
operative connections between said control mo
of contacts and including an electrical follow
tor and one set of said contacts, operative con
up system, electrical means responsive to a po
nections between said controlling element and
sitional disagreement between said controlling
said other set of contacts, means responsive to
element and the receiving end of said follow-up
the speed of said controlling element for advanc
system, a second motor actuated by said electri
ing the operation of said reversing switch to com
cal means in accordance with the degree of such
pensate for the Velocity lag of said power means.
disagreement, and means for modifying the
4. In a system for controlling a controlled ele
movement of said follow-up system with said
ment with a controlling element, the combina
second motor to compensate for such disagree
tion of power means for driving said controlled
ment.
element, a control member controlling the speed
8. In a system for controlling a controlled ele
and direction of movement of said power means, 50 ment with a controlling element, the combina
a reversible control motor, operative connections
tion or power means for driving said controlled
between said control motor and said member
element, a control member controlling the speed
including a follow-up connection from said power
and direction of movement of said power means,
means, a reversing switch for controlling said
a reversible control motor, operative connections
control motor and having two sets of contacts, 55 between said control motor and said member, a
operative connections between said control mo
reversing switch for controlling said control
tor and one set of said contacts, operative con
motor and having two sets of contacts, operative
nections between said controlling element and
connections between said control motor and one
said other set of contacts, a generator driven by
set of said contacts, operative connections be
said controlling member for generating a voltage
60 tween said controlling element and said other set
proportional to speed, and means responsive to
or" contacts and including an electrical follow
said Voltage for modifying the operation of said
up system having a transmitter actuated by said
control motor to compensate for the velocity lag
controlling element, a transmitter driven by said
of said power means.
last-named connections, a di?erential receiver
5. In a system for controlling a controlled ele 65 jointly driven by said transmitters and respon“
ment with a controlling element, the combina
sive to positional disagreement between them, a
tion of power means for driving said controlled
switch driven by said differential receiver, a
element, a control member controlling the speed
motor energized by said last-named switch, and
and direction of movement of said power means,
/' operative connections between said last-named
a. reversible control motor, operative connections
motor and said follow-up system to compensate
between said control motor and said member in
for any positional disagreement between said con
cluding a follow-up connection from said power
trolling element and said reversing switch.
9. In a system for controlling a controlled ele
means, a reversing switch for controlling said
ment with a controlling element, the combina
control motor and having two sets of contacts,
operative connections between said control mo 75 tion of power means for driving said controlled
11
12
element, a control member controlling the speed
tions between said controlling element and said
and direction of movement of said power means,
a reversible control motor, operative connections
between said control motor and said member, a
reversing switch for controlling said control
motor and having two sets of contacts, operative
connections between said control motor and one
set of said contacts, a pilot motor, operative con
nections between said pilot motor and said other
set of contacts, means for controlling said pilot
motor in accordance with the movements of
said controlling element and including an electri
cal follow-up system, mechanism responsive to a
positional disagreement between said controlling
element and said pilot motor, and means for
modifying the movement of said follow-up sys
tem in accordance with the response of said
mechanism to compensate for such disagreement.
10. In a system for controlling a controlled ele
ment with a controlling element, the combina~
tion of power means for driving said controlled
element, a control member controlling the speed
and direction of movement of said power means,
a reversible control motor, operative connections
between said control motor and said member in
cluding a follow-up connection from said power
means, a reversing switch for controlling said
control motor and having two sets of contacts,
operative connections between said control motor
and one set of said contacts, operative connec
other set of contacts, means responsive to a lag
in said connections, mechanism actuated by said
last-named means for compensating for said lag,
means responsive to the speed of said controlling
member for advancing the operation of said re
versing switch to compensate for the velocity lag
of said power means.
11. In a system for controlling a controlled
10 element with a controlling element, the combina
tion of power means for driving said controlled
element, a control member controlling the speed
and direction of movement of said power means,
a reversible control motor, operative connections
15 between said control motor and said member in
cluding a follow-up connection from said power
means, a reversing switch for controlling said
control motor and having two sets of contacts,
operative connections between said control motor
20 and one set of said contacts, operative connec
tions between said controlling element and said
other set of contacts including an electrical
transmission system, a generator driven by said
controlling element for generating a voltage pro
25 portional to speed, and means for modifying the
operation of saidtransmission system with said
voltage to compensate for the velocity lag of said
power means.
30
ARTHUR P. DAVIS.
GEORGE AGINS.
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