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Патент USA US2409971

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Oct. 22, 1946,
G. AG‘lNs
2,409,970
» ELECTRICALv POSITION CONTROL SYSTEM
Filed May 9, 1936
2 Sheets-'Sheet l '
230v. Ac.
6.9
.96 38
959?
3/
.93
3.7
„WE/WE
43
INVENTOR
Oct. 22, 1946.
G. AGiNs
ELECTRICAL POSITION CONTROL SYSTEM
Filed May 9, 1936
2,409,970
2 Sheets-Sheet 2
INVÉNTR
Patented Got. 2.2, 1946
2,409,970
UITED STATES PATENT GFFICE
2,409,970
ELECTRICAL POSITION CONTRÜL SYSTEM
George Agìns, Brooklyn, N. Y., assignor to Arma
Engineering Co., Inc., Brooklyn, N. Y., a corpo
ration of New York
Application May 9, 1936, Serial No. '78,944
15 Claims. (Cl. 172-239)
l
2
This invention relates to electrical position
control systems and has particular reference to
one of two independent control rectifiers,` de
pending upon the direction of the deviation of
the gun mount, and the output of the selected
rectiíier is impressed at corresponding polarity
on a direct current power motor operatively `c‘on
nected to the gun mount for moving it in train in
the direction and through the angle of movement
of the director.
a 4fully electrical system tor positioning a gun in
accordance with :corresponding movements of a
remote observation instrument, such as a direc
tor, although the invention is not limited to that
use.
In order to position one or more guns in ac
cordance with observed data for direction upon
a selected target with any degree of accuracy, it
is not only necessary to actuate the 'gun in ele
vaticn and train, but it is essential that that be
done rapidly and with a degree of precision which
is absolute, considering the mass, inertia and
momentum of the heavy gun mount parts which
must be moved. This requires that the control
system be sensitive to small movements of the
director and at the same time sufñciently power
ful to respond rapidly and accurately in order to
attain the desired object.
In accordance with the present invention, a
fully electrical position control system, especial
Although the high speed control described is
highly sensitive >and accurate, it derives these ad
vantages in part from a prerequisite of continu
ous substantial agreement between the direc
tor and the gun mount, so that, for larger
angles of deviation, the gun mount must be
brought into such substantial agreement or syn
>chronism. It is the> function of the low speed
regulator to secure such synchronism and this
regulator responds to greater deviation angles
by impressing a blocking voltage on the high
speed ampliñer for temporarily nullifying the
high speed signal, and simultaneously applying
to the grid 'circuit of the selected power recti
ly adapted for positioning guns in accordance
fier a voltage of proper phase to cause the lat
with the movements of a remote director, is pro
derstood that the system is substantially dupli
ter to energize the power motor for restoring the
gun mount to synchronism with the director.
The follow-up movement of the gun mount re
stores the rotors of the high and low speed regu
cated for positioning the gun in elevation and/ or
lators to neutral or non-inductive position.
vided, the system described herein Ybeing adapt
ed to position a gun mount in train, it being un
depression.
Means are provided for substituting local rpower
More particularly the present invention com 30 hand control for the director control and for
prises high and low speed transmitters, prefer
indicating at any selected remote point the rela
ably of the self-synchronous type, actuated by
tion between the director and gun mount.v
movements of the director in train for `energiz
It will be seen >that with the gun position con
ing one element of corresponding synchronous
trol system of this invention, all of the advan
differential generators or regulators, the other
tages of’sensîtivity and accuracy generally char
or movable element of which isoperatively con
acteristic of fully electrical control means are
nected to the gun mount and displaced rela
realized, and that at the same time a simple, posi
tively to the lirst element in accordance with
tive and rugged control system is provided.
the deviation between the gun mount and the
For a more complete understanding of the in
' director in train. The resultant diiïerential volt
age signal induced in the high speed regulator
is proportional to the degree or angle of such
deviation and its phase depends upon the direc
40 vention reference may be had to the accompany- `
ing drawings in which Figure 1 illustrates dia
grammatically the electrical and mechanical ar
rangement of the electrical position control sys
tion of such deviation.
tem of this invention, and Fig. 2 illustrates the
This signal voltage is rectiñed and a damp 45
preferred
arrangement of the signal converter,
ing component added when the signal Íluctuates,
inverter
and
ampliñer.
so that a direct current voltage is produced hav
Referring to Fig. 1, numeral Ill designates an
ing a polarity corresponding to the phase of the
observation instrument such asadirector, which
regulator signal and having a magnitude pro
is adjustable in elevation and train ,to follow a
portional to the sum of the regulator signal and
relatively moving target. The gun mount I I is so
the time rate of change of the regulator sig
connected to the director VIl) by the position con
nal. This direct current voltage is converted
trol system of this invention as to automatically
into an alternating current voltage of corre
follow the movements of the director, only its
sponding phase and proportional magnitude, is
movement in train being described herein, it
, amplified, is introduced into >the grid circuit of
lazioas’avo
3.
ind-uctances 40.
To the output of the converter 3G is auto
The director may be mounted on a turntable
matically added a damping component propor
tional to the time rate of change of the high
speed regulator 26 signal. This damping com
ponent is introduced by resistances 4| and 42 and
the resistance of the inverter 43‘, to which the
having the ring gear I2 for driving the rotor I3
of the low speed transmitter I4 by means of pin
ion I5, and the rotor I@ of high speed transmitter
I'i by means of pinion I3.
The gear ratio ofthe `
high and low speed transmission system, which is
preferably of the self-synchronous type with the
rotors I3 and I3 energized from the 230 volt, 60
output leads 44 of the converter 3S are connected.
Thus, for steady signals the converter output
voltage is determined by the resistances 4| and
42, acting as a potential divider, the resistance
cycle alternating current supply IS, is preferably
36 to 1/2, although any other suitable speed ratio
may be employed. The high speed transmission
system is provided for sensitivity, and the low
speed system forsynchronizing the director |61
and gun mount |I for control by the high speed
system.
4
two phases being balanced by resistances 39 and
being understood that for elevation and/or de
pression thesystem is substantially duplicated.
42 being adjustable and serving as a sensitivity
control. For changing signals, the charging cur
rent for condenser45 across resistance 4|, which
flows through resistance 42 and the inverter 43
resistance in parallel, acts to increase or decrease
the voltage across the inverter input 46 by an
amount depending upon the direction and rate of
change of the signal voltage, so that the inverter
input is a voltage proportional to magnitude of
the signal voltage, which is proportional to the
relative displacement »of director Iû and gun
mount || for small angles, plus the product of
the ratio of resistances 4|, 42 times the rate of
change of the magnitude of the signal voltage, or
a damping voltage, which is proportional to the
relative velocity of the gun -mount I I and director
Y
The three-phase stator windings 2€) and 2| of
the respective high and low speed transmitters
|`| and I4 are connected by respective wires 22 g
land 23.to the rotors 24 and 25 of the 36 speed
‘and M2 speed synchronous regulators or dif
ïferential generators 26 and 2l, respectively. The
rotor 24 of high speed regulator 2E is connected
' by suitable spiral gearing 28 to the shaft 29 of the -
j gun mount train power motor 3G. This motor Sil
is connected by bevel gears 3|, shaft 32 and
pinion 33 to the ring gear 3‘4 of the gun mount I i
- I0 for small angles.
for positioning the latter in train in accordance
The inverter 43, which is preferably of the form
i with the signal impulse of the director transmis- ‘
disclosed in copending .application Serial No.
_ ysion l system, including a damping component
73,852, filed April 11, 1936, by applicant, functions
and corrections for parallax and the like. Simi
larly', the rotor 25 of low speed regulator 2'! is
to change the variable current voltage input into
an alternating voltage of a magnitude propor
„ connected to power shaft 29 by appropriate
tional to the input signal and whose phase re
speed-reducing worm gearing 35.
verses as the polarity of the input signal re
verses. Although the inverter 43 is completely
described in said copending application, in the
interest of clarity it will be described here by
regulator output of alternating voltage of vary
reference to Fig. 2, in which the inverter 43 com
40
. ing amplitude and reversible phase into a direct
prises an input transformer |I2, whose primary
,Y current voltage ofproportional magnitude and
winding is supplied by alternating current source
,reversible polarity.l The converter 38 may be of
I9, preferably through a phase-shifting network
any desired construction, such as the arrange
I I3, and which has two secondary windings con
' ment illustrated by parts V63 to YQ, inclusive, in
nected to the networks |2| and |22, each includ~
_' Fig. 1. However, in the interest of simplicity, the
ing two sets of opposed rectiñers ||4 and I I 5 and
_construction of the converter 38 is repeated in
’ resistors ||6 and I|`| for transposing and com
detail vin Fig. Zand may comprise an input transbining alternate half-cycles in one such network
The three-phase windingsA of the stator 33 of
the high speed regulator 26 are connected by
wires 31 to a converter 33 for converting the
Í former |92 connected to the output of high speed
, regulator '26 and having two secondary windings
g |33 and |04-, a bias transformer |65 supplied from
the alternating current source I 9 and having two
secondary windings |635 and IB'I, and two corre
|2I, the other half-cycles being combined in the
The opposing rectiñers
50 other such network |22.
f or valves ||5 are so arranged that the potential
at terminals IIB and | I9 to which input leads 46
_` are connected, is positive at one and negative at
the other. The terminals IIB and ||9 are re
l sponding rectiñer bridges ISB and |49 with load
ing resistors’ I I I and connected in series with the
versedly connected by |20 to the corresponding
f secondary windings‘lßîâ, Iïl'l' and |94, |03, re
' terminals of the other network. The two net
` works |2| and |22 are connected to correspond
~ spectively. These rectifier bridges Iêlß and H19
are so connectedthat the ñxed alternating cur
y ing transformers |23 and |24, respectively, whose
rent voltage in the secondary circuits of |36 and
' lill is ‘added to the signal voltage in one bridge
‘ and‘subtracted from that in the other bridge, de
' pending upon the direction of deviation between
"director IE) and gun mount ||.
60 ~
Further details of the in
verter 45 may be obtained upon reference to the
‘ higher harmonics.
proportional direct current voltages are opposed
ference between the voltage output of the bridges
Illßand |89 and will reverse as the phase of the
ing current. Condensers |25 may be provided for
improving the wave shape by by-passing the
The resulting
‘ 'and thejvoltage' output of the converter 38 has a
' magnitude and direction determined by the dif
secondary windings are connected in opposition,
so that the output of the inverter 43 is alternat
'
aforementioned application.
Connected to the output leads 41 of the in
verter is an amplifier 49 of suitable construction,
such as that illustrated in Fig. 2 and including
' input ¿signal reverses. When the deviation be
^ the vacuum tube 4Q’ whose grid is directed to the
' tween'director I0 and gun mount I| is zero, the 70 output or" the inverter 43 and whose output is
voltageoutput of_ the rectiñer bridges |98 and " connected through interstage transformer |26 in
:Y |119V `is equal and thus >they nullify each other, so
that the voltage output of the converter is zero.
',Only'one phase of the high speed regulator 2S
« series with the plate. The secondary windings of
‘ `’output is supplied to the converter 38, the other
current grid bias, |21 and |28, respectively, and
' transformer |26 are connected in the conven
-tional way with sources of alternating and direct
¿499,970
È
' ñer grids and thus prevent flashing of the inop
erative rectiiiers 50, 5I at maximum signal volt
corresponding pair of vacuum tube rectiflers 50
age.
«
» and 5|, whose plate voltage is supplied by trans
In operation, assuming that the director l0 and
former 52, the center taps of the corresponding
ltwo secondary windings 53 and 5ft of which are Ul gun mount ll are approximately in synchronism,
the high speedtransmission system is in control
connected by respective wires 55 and 55 to direct
and any movement of the director in train causes
current power motor 3i) for energizing the same to
the high speed transmitter l1 to impress a volt
rotate the g-un mount ll in the corresponding
age on the high speed regulator 26, which in
direction, depending upon which pair of the tubes
10 turn applies a voltage to the converter 38, Where
5U, 5l controls.
The stator 5l of the low speed regulator 2ï
it is converted into a direct voltage Whose mag
nitude is proportional to the magnitude of the
'is connected by wires äß'through the step-uplin
impressed alternating voltage and whose polarity
put transformer 58 to the rectiñer network 65
reverses as the phase of the impressed alternat
and then to the grid of the vacuum tube amplifier
yEil through resistance S2. The function of the
ing voltage reverses. The output of the converter
network 69 is to delay the application of voltage
is modiñed to introduce at ¿l l, ‘i2 a damping yvolt
age which is proportional to the rate of change
to amplifier Si for approximately one degree to
of the regulator signal, in the manner described.
either side of synchronism. In the rectiñers of
The input of the inverter 43 is a direct current
»the copper oxide type, the resistance to ilow of
voltage whose polarity follows the phase of the
current in the forward or conducting direction is
regulator signal and whose magnitude is pro
high until the voltage per disc reaches a certain
portional to the sum of the regulator signal and
value. Use is made of this property to prevent
the time rate of change of the regulator signal,
the application of voltage to amplifier 6l until the
- voltage rises to that corresponding to a displace
or in other words, Whose magnitude is propor
« ment of approximately one degree on either side
tional to the sum of the relative displacement and
of synchronism. The -plate circuit of ampliiier
relative velocity of the gun with respect to the
director. The inverter 43 converts this voltage
v Si includes the transformer e3, having nve sec
into an alternating current signal of a magni
ondary windings, one of which, Ed, supplies the
tude proportional to the input signal and Whose
rectifier bridge 65 whose direct current output is
introduced through iilter condenser S55’ and re- : phase reverses as the polarity of the input sig
nal reverses. The phase of the alternating cur
sistance E6 into the grid circuit of the vacuum
rent signal is adjusted to that of the plate volt
tube or tubes 425’ of amplifier ftd in a conventional
way. The polarityis such that with an increasing
age of the rectifier tubes '59, 5l, after being am
plified at i9. The amplified current at proper
low speed signal of any phase, the negative bias
'the-inverter voltage is applied to the grids of
«for the amplifier tube QS’ grid is increased to a
polarity is impressed on the direct current power
point where the amplilier Atube 49’ is lblocked and
motor 3Q, which rotates in the proper direction
to follow the movement of the director Il! and
-the output of the ampliñer ¿t9 is zero.
Transformer G7 is the low speed bias trans
former with its primary winding energized by the
position the gun mount Il accordingly. The ro
tation of the power motor 39, through the spiral
same alternating current source i9 that energizes 40 gear connection E3, tends to restore the high speed
regulator 26 rotor 24 to neutral position with
the stator 2| of the low speed transmitter ld,
respect to its stator windings, so that the voltage
.and with each of its four secondary windings, 68
to li, severally connected to the remaining four
applied to converter 38 is reduced to zero.
If the high‘speed regulator 2E is selected to
» secondary windings 'l2 to 7.5, of transformer 63
run at thirty-six speed, as described, the gun
`to control corresponding rectifier bridges 'I5 to
mount Il can be brought into synchronism with
"lil, which are loaded with resistances 'FE'. The
the director l 0 in any one of thirty-six positions,
four secondary windings 'l2 to l5, of transformer
and the function of the low speed regulator 21
» 53 are Asimilar to the p-rimary Winding. It will
is to select the proper one of these positions. By
be observed that the polarities of secondary wind
‘ ings 'lil and 'H of transformer 6l are reversed
Way of example, if the speed of the low speed
and direct, respectively, with vregard to secondary
windings
and ‘l5 of transformer 53.
regulator 2l is one-half, as has been selected
The two rectifier bridges 'i8 and 79 are con
nected in opposition with their total output fil
tered by condenser Si! and connected by wires
Si into the grid circuit 82 of one pair of rectifiers
.55, 5i. rEhe rectifier bridges '15, Tl and condenser
ï83 'are similarly connectedby wires 8d into the
grid circuit 85 of the other pair of rectiiier tubes
5d, 5l, but at opposite polarity. Accordingly, as (il)
l .the voltage at 63 increases, due to the response
- -of regulator 25 to a deviation 'between director
i@ and gun mount Il greater than the synchro
nizing angle, the grids of one pair of rectii'lers
`Eil, 5l become more positive and the grids of the C: Ci
other pair more negative. Condenser 63’ is pro
here, its speed is 1//2 of the speed of the high
speed regulator, so that there is a space of
360°/72 or 5°, 21/2" on each side, within which the
high speed regulator 26 is effective, and beyond
which the low speed regulator 2l must assume
control and bring the gun mount _Il within the
synchronism range of the high speed regulator
25. Accordingly, in response to a displacement
of the director Hl and the gun mount H of more
than the synchronizing angle, or more than 21/2°
from center in the assumed example, the corre
sponding relative displacement of the low speed
’regulator rotor 25 from neutral position is suiii
cient to induce a relatively large signal to pro
vide a voltage across 66 to block the grid-con
trolled amplifier 49 and remove the high speed
signal from the grids of rectirlers 50, 5I. At the
windings l2 to 'l5 of transformer 53 to match the
same time, this low speed voltage provides a bias
phase ofthe secondary windings 68 to 'H of trans
former Gil.. The resistances 85 and condensers 81 70 voltage across 6l and also across 84, one positive
and the other negative, to energize the power
regulate the phase of the rectifier grid voltage,
motor 30 to turn the gun mount Il in the proper
and the condensers B1 also limit the transient
direction to restore it within the 5° synohronism
‘ surge voltages >on the grids and thus .prevent false
.response and `operation or" the rectiñers 50, 5I. ` angle, where the high speed regulator 26 again
assumes control.
Rectiñers 88 also limit Athe voltage on the recti
1 vided for adjusting the phase of the secondary
Suitable limit switch mechanism for stopping
the rotation of the gun mount H in either di
rection to avoid interference with adjacent ob
jects, or to prevent driving of the mountl il
against its limit stops may be provided for break
object, the combination of a driving motor for
the controlled object, means responsive to a pre
determined positional disagreement between said
Vobjects for developing a voltage proportional to
the degree of such disagreement, means for nor
ing the corresponding grid circuit of the operat
mally applying said voltage to the driving motor
ing pair of rectiñers 50, 5|, so that the gun mount
to` move the controlled object into positional
cannot be driven further in the same direction
agreement with the controlling object, second
but may be driven in the reverse direction.
means responsive to a positional disagreement
between said objects in excess of the >said pre
determined disagreement for developing a Volt
age, means for blocking the said voltage of said
ñrst responsive means with the voltage of said
second responsive means and simultaneously im
pressing the said voltage of said second respon
_
Indicating high and low speed transmitters 89
and 9U are geared to the director l0 for actuat
ing remote high and low speed receivers 9| and
92 to position respective dials 93 and 94 in ac
cordance with the director l0 angle, while the
corresponding bezel dials 95 and 95 are posi
l tioned by the respective spiral and worm gearing
91 and 98 on power motor shaft 29. The in
dices of the corresponding dials 93, 95 and 94,
96 are substantially in registry when the director
sive means` on said voltage-applying means to
energize said motor to move the controlled object
to the said predetermined positional disagree
ment for assumption of control by said ñrst re
I 0 and gun mount H are in synchronism, any 20 sponsive means, and means responsive to the
rate of change of one of said voltages for modi
deviation being readily discernible.
fying the same to effect damping of the move
Where two or more gun mounts Il and Il',
ment of the controlled object.
indicated in the drawings, are~ to be controlled
3. In a control system for positioning a con
from the director lû in the manner described,
the balancing impedances 39 and Il!! eliminate 25 trolled object in accordance with a controlling ob
ject, the combination of a driving motor for the
the reaction on regulator or differential 26 of
controlled object, means responsive to a prede
another regulator 26 geared to a second gun
termined positional disagreement between said
mount Il', in case of angular disagreement of
objects for developing a voltage proportional to
the second gun mount with the ñrst. As the con
nections for a second gun mount are the same 30 the degree of such disagreement, an amplifier for
the said voltage, means for normally applying the
Y as for one, it is not necessary to describe or illus
output voltage of the amplifier to the driving
trate them. For example, if the impedances 39
motor to move the controlled object into posi
and 40 are omitted, then in the event of a devia
tional agreement with the controlling object, sec
tion of the gun mount Il with respect to the
ond means responsive to a positional disagree
director I0, the transmitter 29 will be loaded in a
ment between said objects in excess of the said
manner depending on the deviation, thus affect
predetermined disagreement for developing a
ing the voltages applied to another regulator 26
voltage proportional to the degree of such greater
of a second gun mount, causing errors in the posi
disagreement, means for disabling said amplifier
tion of the second gun mount. However, by em
with said voltage of said second responsive means
ploying the balancing impedances 39 and 49 equal
and simultaneously impressing the said voltage
to the input impedance of the converter 38, the
of said second responsive means on said voltage
load on the transmitter 2'9 is independent of the
applying means to energize said motor to move
position of the rotor of regulator or differential
the controlled object to said predetermined posi
26, thus eliminating the possibility of the reac
tional disagreement for assumption of control
tion of one gun mount or the other.
by said first responsive means, and means re
For local power manual control, power selector
» sponsive to the rate of change of one of said
switch 99 is adjusted to connect manual trans
mitter 109 to the high speed regulator 26, so that
voltages for modifying the same to eiiect damp
by manipulating cranks lill geared to transmitter
. ing of the movement of the controlled object.
|90, the gun mount l I may be positioned in train 50
4. In a control system for positioning a con
by the operator.
trolled object in accordance with a controlling
I claim:
object, the combination of a driving motor for
Í the controlled object, means responsive to a pre
l. In a control system for positioning a con
determined positional disagreement between said
trolled object in accordance with a controlling
object, the combination of a driving motor for 55 objects for developing a voltage proportional to
the degree of such disagreement, means for nor
the controlled object, means responsive to pre
mally applying said voltage to the driving motor
determined positional disagreement between said
objects ior developing a voltage proportional to
to move the controlled object into positional
the degree of such disagreement, means for ap
agreement with the controlling object, second
plying said voltage to the driving motor for 60 means responsive to a positional disagreement
actuating it to move the controlled object into
between said objects in excess of the said pre
positional agreement with the controlling object,
1 determined disagreement for developing a volt
second means responsive to a positional disagree
ment between said objects in excess of the said
. age, means controlled by said second responsive
predetermined disagreement for nullifying said
voltage and impressing on said voltage-applying
means a different voltage to move the controlled
object to the said predetermined positional dis
agreement for assumption of control by said first
responsive means, and means directly responsive
to the rate of change of either of said voltages
for modifying the same to eifect damping of the
movement of the controlled object.
2. In a control system for positioning a con
means for impressing the substitute voltage of
said second responsive means on said Voltage ap
plying means to energize said motor to move the
controlled object to the said predetermined po
sitional disagreement for assumption of control
by said ñrst responsive means, and means re
sponsive to the rate of change of one of said
voltages for modifying the same to eiîect damping
1 of the movement of the controlled object.
5. In a control system for positioning a con
trolled obj ect in accordance with a controlling ob
trolled object in accordance with a controlling 75 ject, the combination of a driving motor for the
2,409,970
tude and direction of such positional disagree
ment, a plurality of thermionic relays vhaving
plate circuits selectively controlling said driving
motor, means for impressing said signal voltage
controlled object, means responsive to a prede
termined positional disagreement between said
objects for’developing a voltage proportional to
the degree of such disagreement, a grid-controlled
thermionic ampliñer for said voltage, means for
applying the ampliñed voltage to the driving mo
tor to move the controlled object into positional
agreement with the controlling object, second
on one or the other of said relays depending
upon the direction of said positional disagree
ment for energizing the motor to vdrive -theV con
trolled object into positional agreement withthe
controlling object, means responsive to Va posi
tional disagreement between said objects in ex
cess oi the said predetermined positional dis
agreement for appropriating control of said re
lays to energize said motor to move the controlled
means responsive to a positional disagreement
between said objects in excess of the said prede
termined disagreement for developing a voltage,
means for impressing the voltage of said second
responsive means in the grid circuit of said am
pliñer to block the latter, means for impressing
object to said predetermined positional disagree
the voltage of said second responsive means on
said voltage-applying means to energize the mo
tor to move the controlled object to said prede
ment for assumption of control by said first re
sponsive means, and means responsive to the
termined positional disagreement for assumption
age for modifying the same to eiiect damping of
the movement oi the controlled object.
rate of change of magnitude cf said signal volt
of control of said iirst responsive means, and
means directly responsive to the rate of change of
either of said voltages for modifying the same to
eiîect damping of the movement of the controlled
9. In a control system for positioning a con
trolled objectr in accordance with a controlling
object, the combination ci a driving motor for
the controlled object, means responsive to a pre
object.
6. In a control system for positioning a con
trolled object in accordance with a controlling .
determined positional disagreement between said
objects for developing a voltage proportional'to
the degree of such disagreement, a grid-controlled
thermionic ampliñer for said voltage, a plurality
of thermionic rectifiers having plate circuitsfor
controlling said driving motor, means for im
object, the combination of a driving motor for
the controlled object, means responsive to a pre
determined positional disagreement between said
objects for developing a voltage proportional to
pressing the output of said ampliiier on one or
the degree of such disagreement, a thermionic
relay having a control electrode connected in
the output circuit of said responsive means,
means for applying the output voltage oi said
relay to the driving motor to move the controlled
object into positional agreement with the 'con
trolling object, second means responsive to a
the other of said relays depending upon the di
rection o1"- said positional disagreement for energizing the motor to drive the controlled object
into positional agreement with the controllingl
object, second means responsive to a positional
disagreement between said objects in excess of
positional disagreement between said object in
the said predetermined disagreement for devel
oping a voltage, and means for impressing the
excess of the said predetermined disagreement
for developing a voltage, and means for impress
voltage of said second responsive means on the
ing the voltage jointly on said control electrode 40 grid circuit of said ampliñer for blocking the
same and on one or the other of said relays
to block the operation of said relay and on said
depending upon the direction of said excessive
voltage-applying means to move the controlled
object `to said predetermined positional disagree
positional disagreement for energizing the motor
ment for assumption of control by said first re
sponsive means~
'7. In a control system for positioning a con
trolled object in accordance with a controlling
object, the combination of a driving motor for
the controlled object, means responsive to a pre
to drive the controlled object to said predeter
mined positional disagreement for assumption’ of
control by said first responsive means.
for applying the output voltage of said relay to
of thermionic rectiiiers having plate circuits-fori
l0. In a control system for positioning a con-4
trolled object in accordance with a controlling>
object, the combination of a driving motor for
determined positional disagreement between said 50 the controlled object, means responsive to a pre
objects for developing a voltage proportional to
determined positional disagreement between said
objects for developing a voltage proportional to
the degree of such disagreement, a thermionic re
the degree of such disagreement, a grid-controlled
lay having a control electrode connected in the
thermionic ampliñer fer said voltage, a plurality
output circuit of said responsive means, means
the driving motor to move the controlled object
controlling said driving motor, means for im
into positional agreement with the controlling
pressing the output of said amplifier on one or
object; second means responsive to a positional
disagreement between said objects in excess of
the other of said relays depending upon the
direction of said positional disagreement for en
ergizing the motor to drive the controlled object
into positional agreement with the controlling
object, second means responsive to a positional
disagreement between said object in excess of the
_ the said predetermined disagreement for devel
oping a voltage, and means for preventing opera
tion of said relay during a positional disagree
ment between said objects in excess of said pre
determined disagreement and for impressing a
voltage on said voltage-applying means to move
the controlled object to said predetermined posi
tional disagreement for assumption of control by
A
said predetermined disagreement for develop
ing a voltage, means for impressing the voltage
of said second responsive means on the grid cir
' cuit of said amplifier for blocking the same and
said first responsive means.
on one or the other of said relays depending upon
8. In a control system for positioning a con
trolled object in accordance with a controlling 70 the direction of said excessive positional disagree
ment for energizing the motor to drive the con
object, the combination of a driving motor for
trolled object to said predetermined positional
the controlled object, means responsive to a pre
disagreement for assumption of control by said
determined positional disagreement between said
ñrst responsive means, and means responsive to
objects for inducing a signal voltage correspond
ing in magnitude and direction to the magni 75 the rate of change of magnitude of one of said
2,409,970
11
voltages for varying said voltage to effect damp
ing of the movement of thev controlled object.
11. In a control system for positioning a con
trolled object in accordance with a controlling
object, the combination of a driving motor for the
controlled object, an electrical differential opera
tively connected jointly to said objects and re
12
ation between them, a second electrical differ
ential operatively connected jointly to said ob
jects and responsive to a positional variation be
tween them in excess of the said predetermined
variation, a plurality of thermionic relays having
plate circuits controlling said driving motor,
means for impressing the output of said first
diiferential on one or the other of said relays
depending upon the direction of said predeter
between them, a second electrical differential
operatively connected jointly to said objects and 10 mined positional variation to drive the controlled.
object into positional agreement with the con
responsive to a positional variation between them
trolled object, means responsive to the output of
in excess of the said predetermined variation, an
said second differential for appropriating control
electrical controller normally actuated by said
of said relays depending upon the direction of
ñrst diñîerential for energizing said driving motor
to position said controlled object in accordance 15 said excessive positional variation to drive the
Y with the movement of the controlling object,Y i controlled object to said predetermined positional
variation for assumption of control by said iirst
means actuated by said second differential for
differential, and means responsive to the rate
appropriating control of said controller to ener
of change of the response of one of said differen
gize said driving motor to drive said controlled
object to said predetermined positional variation 20 tials for regulating the output thereof to effect
damping of the movement of the controlled ob
for assumption of control by said ñrst electrical
ject.
differential, and means responsive to the rate of
14. In a control system for positioning a plu
change of the response of one of said diiîerentials
rality of controlled objects in accordance with a
for damping the movement of the controlled
object.
25 controlling object, the combination of an elec
trical differential between each controlled object
12. In a control system for positioning a con
and the controlling object and responsive to rela
trolled object in accordance with a controlling
tive displacement between the controlling object
object, the combination of a driving motor for
and the corresponding controlled object, power
the controlled object, `an electrical diiîerential
operatively connected jointly to said objects and 30 means for actuating each controlled object, con
trol means between each diiïerentialy and the
responsive to a predetermined positional vari
corresponding power means for effecting posiation between them, a second electrical differen
tional agreement between each controlled object
tial operatively connected jointly to saidr objects
and the controlling object, and electrical load
and responsive to a positional variation between
balancing means between each differential and
them in excess of the said predetermined vari
the corresponding control means for compensat
ation, an electrical controller normally actuated
ing for relative positional disagreements of the
by said ñrst differential for energizing said driv
several controlled objects.
ing motor to position said controlled object in
15. A device of the class described, comprising
accordance with the movement of the controlling
object, means actuated by said second differential 40 a controlling object, a plurality of controlled ob
jects, means for effecting relative positional cor
for appropriating control of said controller to
respondence between said controlling object and
energize said driving motor to drive said con
said controlled objects within a predetermined
trolled object to said predetermined positional
difference of relative positions, means to take
variation for assumption of control by said iirst
control and reduce differences of relative position
electrical differential, and means responsive to
to a value within said predetermined difference,
the rate of change of the response of either of
means responsive to the rate of change of dif
said din’erentials for regulating said controller to
ference of relative position between said con
eiîect damping of the movement of the'controlled
trolling object and any of said controlled objects
object.
‘
13. In a control system for positioning a con 50 to change the effort applied to effect relative
positional correspondence in accordance with said
trolled object in accordance with a controlling
rate of change and means to prevent the reaction
object, the combination o_f a driving motor for
of the position of one controlled object upon
the controlled object, an electrical diiîerential
another controlled object.
operatively connected jointly to said objects and
responsive to a predetermined positional vari
GEORGE AGINS.
sponsive to a predetermined positional variation
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