Патент USA US2412366код для вставки
Dec. 10, 1946.' ' A, SPENCER ET AL 2,412,366 PRESSURE FLUID FoLLow-UP MOTQRv ' Filed March 19. 1942 Ñ 2 Sheets-Sheej'. 1 A! , ai’ l . Dec. l0, 1946. ' _ ’ A. SPENCER ET AL~ 2,412,366 PRESSURE FLUID vFOLLOW-UP MOTORFiled March 19. 1942 ' 2 sheets-sheet 2 Patented Dec. 10, 1946 UNITED SATES 2,412,366 PRESSURE FLUID FOLLOW-1UP MÜTÜR Arthur Spencer, Benwell, Newcastle-on-'I‘yne 5, and Johann Hermann Abbink-Spaink, .ies mond, NeWcastle-on-Tyne 2, England, assignors to Vickers-Armstrongs Limited, London, Eng land, a British company Application March 19, 1942, Serial No. 435,349 In Great Britain March 19, 1940 5 Claims. 1 (Cl. 121-41) 2 . This invention relates to power transmissie systems, of the repeater type, particularly ap plicable to the fire control of guns, of the kind wherein movement of the gun or other object to be moved is dependent upon the relative dis placement of two members, one member being as sociated with the repeater apparatus forming part of the -power drive controlled by the signal. The invention is primarily concerned with such electric distant transmission systems employing two synchronous motors of the Selsyn type, one unit constituting the initiating unit or transmit ter and the other unit the cancelling unit or receiver. Each unit has a three phase field and a single phase salient two pole armature. In such a system, the units are in wired connection with a thermionic amplifier so that the latter is controlled in its amplifying action according to the angular displacement between the rotors of the units, the output of the thermionic amplifier position of the valve, the valve having either a rotary motion or a combined sliding and rotary movement. The invention is, however, also ap plicable to any other form of electric transmis 5 sion system wherein movement of the gun is dependent upon the relative displacement of two members, one member being associated with the signal and the other member being associated with the follow-up apparatus forming part of the 10 power drive controlled by the signal. In such electric distant transmission systems where the movement of a signal, for example, the rotor of the Selsyn initiating unit is used to originate the movement of the repeater appara 15 tus, the position-of the signal relative to the position of the repeater apparatus must be out of coincidence before a movement of tht,` repeater apparatus takes place in an endeavour to restore concidence. In o-rder to maintain the velocity 20 of the signal equal to that of the repeater ap being applied to a repeater motor in direct or para-tus, an increase of mis-alignment between indirect connection with the rotor of the can signal and follower must give rise to a speed celling unit, the system including an hydraulic increase of the follower whilst a decrease of power ampliñer for actuating the gun or other mis-alignment must decrease the» speed of the object to be moved as a result of angular move ment of the repeater motor. In such a system the rotor of the initiating unit is initially mov able through the medium of a predictor or other controlling mechanism, the output of the ther 25 follower. f The chief object of the invention is to correct automatically for any angular lag or mis-align ment between the signal and the follower, and furthermore to correct for any electrical lag ' micnic amplifier and direction of current flow 30 which may occur in the system so as to obtain being respectively proportional to the angular displacement between the two units and the di rection of displacement, movement of the re peater motor thereby taking place according to the direction of displacement and in accordance with the output available from the thermionic amplifier, the repeater motor, by virtue of its direct or indirect connection with the rotor of the cancelling unit, serving to bring the rotors once more into coincidence whilst at the same time transmitting the required motion to the gun or other object to be moved through the medium of the hydraulic power amplifier. Such complete coincidence in the system throughout. The hydraulic power amplifier hitherto used incorporates a differential gear interposed be tween the input shaft and the main controlling valve controlling movement of the output shaft leading to the gun elevating or training mech anism. The invention consists broadly in the interposition of a further diiîerential between the repeater motor and the input shaft of the 40 hydraulic power ampliñer, the outer, or planet carrying, member of the differential being driven preferably through the medium of a further small hydraulic power amplifier from the main con trol valve operating shaft so as to advance the input shaft of the main hydraulic power ampli ~fier automatically and thus obtain complete co a form of electric distant transmission system employing S‘elsyn units forms the subject of copending application Serial No. 435,356, filed March 19, 1942, whilst the hydraulic power am l'incidence between the signal and follower. By pliñer forms the subject of copending application suitable correction of the gear ratio' connecting Serial No. 435,348, filed March 19. 1942, the the input shaft with the valve operating spindle hydraulic power amplifier comprising an hy 50 this correction, may be increased, thus anticipat draulic engine preferably of the swashplate ac ing the electrical lag in the system. tuated type employing a control valve for vary In order that the said invention may be clearly ing the volume of the supply of the fiuid me understood and readily carried into effect, the dium, the torque obtainable` on the output shaft same will now be described more fully with ref of the ampliñer being thus dependent on the erence to the accompanying drawings in which 2,412,366 Fig. l illustrates díagrammatically the disposition of the main component parts of the system, Fig. 2 4 detail in Fig. 3. The amplifier Il through the medium of its output shaft i8 operates the dif ferential gear 1 interposed between the motor shaft 8 and input shaft It of the main hydraulic plifler-the output shaft of which is connected to the driven load, and Fig. 3 is a longitudinal section Ul power amplifier 9 so as to advance the input shaft to correct for the two angular displacements here through the supplementary power amplifier the inbefore referred to. In this way the differential input shaft of which is driven from the valve gear 1 cancels the differential gear I3 situated in spindle of the amplifier shown in Fig. 2. Figs. the hydraulic power amplifier ii, thus eliminating 2 and 3 together correspond to Fig. 1 of the be fore referred to application Serial No. 435,348 to 10 the angular lag. The gear ratio may be so chosen that this correction also includes the angular lag which cross reference is made for a more complete which exists between roto-r 2 and rotor t, thus disclosure of details. tending to reduce the angular lag between the In the construction illustrated, the apparatus rotor` 2 :and the output spindle it to zero. includes a Selsyn initiating or transmitter unit I, ' The differential gears l and i3 may be of any the rotor 2 of which represents the position of the suitable construction and are shown diagram signal. The rotor of the Selsyn unit I is operated matically. Referring in the first instance to the from the output shaft of a predictor or other con differential "l, driving and driven gear-wheels 2G trolling device and is connected with a repeater and 2I are secured to shafts 8 and i 4, gear wheels electric motoru 3 through the medium of a therm ionic amplifier 4 and by the same means is ccn 20 2l! vand 2 I meshing respectively with planet pinions 22 and 23 which themselves intermesh, the latter nected with the winding of a rotor 5 of a, further being mounted upon a planet carrier 24, the latter Selsyn unit 6 constituting the cancelling unit o-r being in geared connection as shown with the resetter. shaft IB. The differential gear i3 is of identical The electric motor 3 through the medium of a or similar construction, similar reference numer differential gear 'I drives the input shaft I4 of an als being employed, the gear wheels 2t and 2l in hydraulic power amplifier 9 which, through the this case being attached to shafts I4 and I0, the medium of its output shaft Il?, serves to move a planet carrier 24 being in geared connection with gun or other object in training or elevation. The the shaft I5. details of construction of this power amplifier are For the purpose of understanding the differ shown in Figure 2. 30 ential gears if it is assumed that the planet car When therrotor of the Selsyn Unit I is out of riei` 24 is held stationary, and remembering that alignment with the rotor of the Selsyn unit t, cur gears 22 and 23 are in mesh with each other, and rent is delivered by the thermionic amplifier 4 to also respectively in mesh with gears 20 and 2l, cause angular movement of the repeater motor, in it will be perceived that there is a direct drive from a direction according to the relative direction of shaft 8 to shaft I4 which, if gears 22 and 23 are -displacement between the two Selsyn rotors. alike and if gears 2li and 2l are alike, would have The torque transmitted to the output shaft lí! a one to one relationship. Next assume that the is under the control of a valve I2 in the hydraulic shaft I 4 is held stationary, and it will be apparent power amplifier 9, the valve I2 serving to control that rotation of the gear 2i! will cause the planet the duantity 0f ñuid supplied to the ampliñer, carrier 24 to rotate because the meshing gears 22 and the opening and closing of this valve I2 is and 23 can “walk” around the gear 2i. Then, it under the control of a differential gear I3 there is clear that if both the gears 2l and the planet in, shown in Fig. 2, the speed of the output shaft carrier 24 are free to rotate there will be a dif I0 being determined by the opening of the valve ferent action-and as so far discussed the like and being therefore a function of the'angular dis differential gear at I3 will through the movement placement between the input shaft I4 and output of the` planet carrier control the valve I2 to in shaft I0. turn control the rate of rotation of the shaft Iii. It will thus be seen that in accordance with the As so far described the differential gears intro above description and ignoring the function of the differential gear 1 interposed .between the re 50 duce their differential action which, in the case of differential I3, is designed to control the valve peater motor and input shaft I4, there is in the I2. Returning to the differential gear l, it is ap firstV case an angular displacement between parent that the action of the differential can be the signals, that is to say, between the rotor of the modified by applying a control or restraint on initiating Selsyn unit and the rotor of the Selsyn either the shaft I4 with its gear 2| or the planet cancelling unit whose shaft forms a continuation ‘ carrier 24. Here it is the planet carrier 24 which of the main shaft 8 of the electric motor. There is utilized, and this is done as explained by the is a further angular displacement between the in additional power amplifier Il operated from the put shaft i4 of the hydraulic power amplifier and shaft I5 that is driven from the planet carrier of its output shaft lli' and this displacement increases the differential I3, the control coming back to the in value with the speed of rotation. shaft I8 and the gear in mesh with the periphery As a result of langular movement of the repeater ofthe planet carrier 24 of the diñerential l. motor 3, the valve I2 will be partially opened, the Remembering that the electric motor 3 is under ’ output shaft Il) being also rotated but not to such the control of the amplifier ¿i always trying to an extent as to obtain complete coincidence. keep the Selsyn unit 5, which is the follow-up or By the provision of the differential gear 'I be cancelling unit, in step with the unit I and further tween the repeater motor shaft and the input remembering that the valve i2 is operated by the shaftV I 4 of the hydraulic power amplifier, this lack differential I3 so that the function of angular dis« of coincidence is rectified. between the motor shaft placement between the shafts I4 and I2 is deter 8 and the input shaft I4 of the hydraulic power amplifier 9. The valve spindle I5 of the valve l2 70 mined by the extent of opening in valve l2 v(it is apparent that the component of motion of one of associated with the hydraulic power amplifier op two differentially operable members will vary with erates the input spindle I5 of a further small the resistance to movement of the other com hydraulic power amplifier I'I which is constructed ponent), it should now be apparent that while and adapted to operate in the same manner as the hydraulic power amplifier 9, and is shown in 76 the differential I3 wi11 introduce the angular dis» is a longitudinal section through the power arn 2,412,366 5 6 hydraulic torque amplifier. In practice` a con trolling valve I9 is included in the oil outflow pipe herent >characteristics of such a construction as leading from the small hydraulic power amplifier disclosed will introduce a lag. But the magni with the object of restricting the oil flow through tude of- this lag, reflected in the speed of the shaft I5, can be used to control a second differential in C: the amplifier and eliminating immediate response to minute rapid fluctuation of the main controlling the same drive (remembering that shaft 3 is in valve in the main hydraulic power amplifier. alignment with shaft I4 so Idifferential l is inter The dials and pointersl shown are included posed in the shaft drive between the follow-up merely to show more clearly the operation of the motor 3 and the differential i3), the control of the differential 1 from the planet carrier of dif 10 apparatus and form no part of the invention. What we claim and desire to secure by Letters ferential I3 being utilized to cancel the lag in Patent of the United States is: troduced by the differential I3. l. A power transmission system of the follow The hydraulic power amplifiers 9 and I1 may, up or repeater type including a repeater motor, as aforesaid, be assumed to be of identical con 15 a hydraulic power ampliñer having an input struction. Referring now particularly to power amplifier shaft, a controlling valve, and an operating shaft 9 (Fig. 2), rotation of shaft IB is obtained by slid for said valve, and a differential gear operated ing the Valve I2 so that oil under pressure in pipe from the input shaft of the power amplifier for 25 passes through port 26 to actuate the pistons operating said shaft for said valve, having in of the swashplate arrangement, while simultane 20 combination therewith an additional differential ously the sliding movement of I2 uncovers port 2l' gear interposed between the repeater motor and to exhaust the oil through pipe 28. Conversely, said input shaft for the purpose of lag correction, if hydraulic valve I2 is being slid in the opposite said last named differential gear including an direction, port 2l is exposed to the pressure side outer or planet carrying member and means and portlZS becomes the exhaust side, while natu driven from said valve operating shaft for oper rally the swash plate turns the opposite direc ating said member so as to advance the input tion. It will be seen that rotation of shaft I4 via shaft of said hydraulic power amplifier auto placement between the shafts I4 and I5, the in gears 24 and 29 causes the valve I 2 to slide as in dicated above on account of the worm gear 35, and that at the same time, it causes shaft I5 to rotate. On account `of the differential gear I3, it will be noted that rotation of shaft Il! always tends to close the sliding valve I2, and that therefore for a ‘given load the amount of displacement of valve I2 from its neutral posi-tion determines the speed of shaft IIB; equally there must therefore be a displacement between shaft I4 and I0 in order matically to obtain complete coincidence between the signal and follower. 2. A power transmission system, as claimed in claim l, including an additional hydraulic power ampliñer interposed between said valve operating shaft of the power amplifier and the outer or planet carrying member of the additional differ ential gear. 3. A power transmission system, as claimed in claim 1, said additional hydraulic power ampli ñer being interposed between said valve operating to rotate shaft Ii), and the higher the speed and the greater the load, the greater valve opening is shaft of the power amplifier and the outer or required and the greater is the angular displace 40 planet carrying member of the additional differ ment between I4 and I0. , It will also be appreciated that the amount of angular displacement between I4 and I0 is at all times reflected in a corresponding angular dis placement of the shaft I5. As the shaft I5 is coupled to the input spindle I6 of another but smaller hydraulic power amplifier, the shaft IS and therefore the differential gear` l, will be ro ential gear and including an oil supply pipe and a controlling valve in said oil supply pipe for restricting oil flow therethrough to thereby dampen immediate response to minute rapid “ fluctuation of the main controlling valve in the main hydraulic power amplifier. 4. A power transmission system comprising a Selsyn transmitter unit operated by the output tated as a function of the rotation of I5, that is shaft of a controlling apparatus, a Selsyn re the amount of displacement from neutral posi ceiver unit, a thermionic amplifier in wired con tion of sliding valve I2, and that is in turn the nection with said transmitter and receiver units, amount of displacement between shaft I4 and an electric motor in wired connection with said shaft Iii. Rotation of the shaft I8 causes shaft amplifier and energized by said amplifier as long I4 to be advanced on the position of shaft 8, and as there is lack of coincidence between said trans consequently the angular lag obtaining at any mitter and receiver units, the direction of rota moment between it and IG is thereby cancelled, so tion of said motor being determined by the direc that angular displacement of the shaft 8 `gives rise tion of misalignment between the units, said elec to exactly similar angular displacement of shaft tric motor being mechanically coupled with the I0. rotatable part of said receiver unit to rotate the The above description is based on the assump 60 latter until alignment is restored, an hydraulic tion that the same characteristic exists for the power amplifier having a sensitive low torque speed response of the repeater motor due to an input shaft, a high torque output shaft and a gular displacement between the rotors of the valve controlling the flow of fiuid to the ampli Selsyn units as for the speed response of the hy fying mechanism, a differential gear connecting draulic power ampliñer, due to the angular dis ' the low torque input shaft with said valve to placement between the input shaft and output effect its opening and closing movements and shaft. Should these characteristics be sufficiently different to matter in actual practice~ operation of the ydifferential gear 7 can take place through also connected with said high torque output shaft, said output shaft operating the object to be con trolled, said electric motor being in driving con nection with the input shaft of the power ampli the medium of cams or similar gearing to match the resulting characteristics. The action of the ñer, a differential gear interposed between the small hydraulic power amplifier H is irreversible driving connection on said electric motor and for the torques dealt with, the output shaft form said input shaft for the purpose of lag correction ing a “heeling” point for the differential gear in and means driven from the operating mechanism terposed between the electric motor and the main 75 of said valve and connected with said last named 2,412,360 7 diiîerentíal to advance the input shaft of said ampliñer automatically to obtain complete co tional differential and -including an oil supply pipe incorporating a manually actuated control incidence between the transmitter and receiver units. 5. A power transmission system as claimed in claim 4 including an additional hydraulic power ling valve for restricting oil ñow through said amplifier interposed between the valve operating mechanism of the main power amplifier and the outei' o1' planet carrying member of the addi additional power amplifier to thereby dampen immediate response to minute rapid fluctuation of the main controlling valve in the main hy draulic power amplifier. ARTHUR SPENCER. JOHANN HERMANN ABBINK-SPAINK.