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Jan._7, 1947.
w, R, BRANT
v
‘ 2,413,907
ELECTROHYDRAULIC POSITION CONTROL SYSTEM‘
Filed Sept» 30, 1944
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w. R. BRANT
ELECTROHYDRAULI-C POSITION CONTROL SYSTEM
Filed Sept, 50, 1944
2,413,907
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Klan-R. ?’. BRA/v7
Patented Jan. 7, 1947
2,413,907
UNITED .STATES PATENT OFFICE
2,413,907
‘ ELECTROHYDRAULIC POSITION
CONTROL SYSTEM
Walter R. Brant, Glendale, CaliL, assignor tov
Adel Precision Products Corp., a corporation of
California -
Application September so, 1944,Serial No. 556,645 _
\ 9 Claims.
1
(01. 60-97)
2
‘This invention has for its primary object the . -_ cockpit of the aircraft for effecting simultane-'
provision of an electro-hydraulic system which
embodies a plurality of electro-hydraulic units-of
the type shown in my pending application Ser.
No. 533,094, ?led April 27, 1944, in a novel coor
dinated arrangement wherein each unit is oper
atively connected with one of multiple elements
or mechanisms such for example as aircraft wing
flaps or other aircraft controls‘which are adapt
ed for simultaneous movement and positioning,
and all such units and the elements controlled
thereby are subject to a positive and reliable op
eration and positioning substantially simultane
ously by remote control responsive to manipula
ous control and operation of all the units, make
for an appreciable simpli?cation and reduction
of the number of hydraulic components, as well
as a conservation of space, and render the system
when installed in military aircraft less vulner
able to battle damage.
Yet another object is. to provide a multiple unit
control system ‘such as described in which the
elements actuated by the units are hydraulically
locked in any‘ position to which such elements
= are moved thereby.
While the following description deals speci?
cally with the application of the principles of this
tion of a single control handle, lever or the like. 16 invention to the control of wing flaps of an air
Another object of my invention is to provide a
craft, it will be appreciated that the invention
multiple unit system such as described, in which
one of the units serves as a master or “pace-set
will be equally applicable for other uses in air
craft such asthe actuation of bomb bay doors,
landing gear cowl ?aps, propeller pitch, etc., and
ting” unit for the other units and has the single
selective control member of the system directly 20 that it is susceptible of uses not connected with
connected thereto and is arranged so that oper
aircraft. An example taken at random would be
ation of the master unit commences before op
the operation of the ?ood gates of ‘a dam. An
eration of the other units, but, before completion
other would be the simultaneous and synchro
of ‘any predetermined operation, causes the other
nous remote control of a, plurality of hydraulic
units to operate substantially simultaneously ~
- with one another and the master unit to the end
that each of said other units will be operated the
same predetermined extent as the master unit
and complete such operation substantially simul
taneously with the completion of the operation of
the master unit, thereby assuring predetermined
and substantially simultaneous positioning of
25 motors for manipulating a stage ?oor or stage '
curtain.
From another aspect the invention contem
plates the provision of means wherein by the ap
plication of a relatively slight amount of force 1
one can instantly control the application of much
greater forces in the manipulation of the control
surfaces of huge aircraft, the prototypes of
the mechanisms or elements (wing ?aps) oper
which are beginning to be built and in which,
ated by the units regardless of any differential
control surfaces remote from, each other and
loads thereon or other factors tending to pre 35 from the‘ cabin or cockpit must be subject to
vent synchronized operation of the units and ele
instant operation in alsolute synchronism.
ments controlled thereby.
Still further, while in the present disclosure
Another object of my invention is to provide a
there is shown a manually operable master con
‘multiple unit system such as described which
trol, such control may be of a type which is au
makes it unnecessary to position hydraulic con 40 tomatically responsive to changes‘ in tempera
trol valves and attendant ?uid lines and other
ture, altitude, attitude or the like. In this re
hydraulic components within the cockpit of an
spect it will be understood that the present in
aircraft or in the control station for ‘the system I
vention is concerned speci?cally with a system
applied other than to aircraft and affords a re
for simultaneous synchronous position control
liable remote control with the units and compo-, 45 of a plurality-of elements through the instru
nents thereof subject to being positioned at the
mentality of a single master control.
most convenient and suitable location as desired
' With the foregoing objects in view, together ‘
with a view to conservation of materials, reduc
with such other objects and advantages as may
tion of the amount and extent of ?uid lines, and
subsequently appear, the invention resides in the '
a better distribution of the elements of the sys 60 parts and in the combination, construction and
tem for conserving space and weight and in- .
creasing the efficiency of the system as a whole.
A further object of my invention is to provide
a multiple unit system such as described where
in the particular electrical components of the
system and the single electrical control in the
arrangement of parts hereinafter described and
claimed, and illustrated by way‘ of example in
the accompanying drawings, in which:
Fig. 1 is a schematic view of an electrically con
trolled multiple hydraulic system embodying my
invention;
2,413,907
3
Fig. 2 is a schematic view of the main or mas
4
Q the master unit A is a flow restrictor 24 which
ter unit of the system as it would appear when in
operation to move the controlled or actuated ele
will retard the ?ow of fluid to and the action of
ment from position shown in full lines to posi
tion shown in dotted lines and indicating how
each of the plurality of connected units is cor
purpose hereinafter described.
Each of the units has its motor F opcratively
connected with its associated controlled element
réspondingly operated;
the motor F of this unit in a manner and for the
E by a drive means. such as a crank arm 25 on
said element and a link 23 connecting said crank
arm with the piston rod 21 of the piston 28 in the
it would appear when operative to move the con
trolled or actuated element from the full line to 10 cylinder 22, so that responsive to movement of
the piston, the element E will be moved to the
the dotted position, being a movement in the op
desired position and will be locked in such posi
posite direction compared to Fig. 2:
tion by the hydraulic locking action afforded
Fig. 4 is a semi-schematic view of the elec
when the valve members of the associated con
trically operated 4-way controlled valve as used
trol valve are closed as shown in Fig. 4.
in each unit of the system and the operating
mechanism therefor.
Electrical components
Fig. 3 is a schematic view of the main unit as i
General description
As shown in the accompanying drawings a
system embodying my invention generally in
cludes a main or master electro-hydraulic actu
' The 4-way control valve G of each unit is
electrically operated by means of electrically re
20 sponsive devices such for example as the sole
noids 30 and 3| and an asociatesd valve actuat
ing mechanism H which responds to the sole
noids. As here diagrammatically shown this
valve actuating mechanism includes rockers 32
_ substantially simultaneously with the latter.
25 and 33- pivotally connected to the armatures 34
of the solenoids and joined for simultaneous
Each of the units is arranged to operate an
movement by means of a link 35. The rocker 32
element such for example, as an aircraft wing
is disposed to engage the stems 36 and 31 of the
?ap E, through the instrumentality of a hydraulic
valves I2 and 8 while rocker 33 is disposed to
reversible motor F controlled by a 4-way valve
G in turn actuated and controlled by electrical 30 engage the stems 38 and 39 of' the valves 9 and
I3.‘. Springs 40 in solenoids normally hold the
mechanism H. A power driven pump J and a
armatures in extended position so that the rock
reservoir K are common to several units but it is
ator unit A and a plurality of units B, C and D
substantially identical with one another and the
master unit and controlled so as to operate
ers are disposed as shown in Fig. 4 to allow all
obvious that each unit may have a separate
the valves to close. When solenoid 30 is ener
pump and reservoir if desired.
In the master unit A is a manually operable 35 gized and retracts its armature 34 the rocker 32
operates to open pressure valve 8 while at the
control means L being a part of the electrical
same time the link 35 pushes on and tilts the
mechanism H and operative to control the en
rocker 33 in the same direction as rocker 32
tire group of units so that they may be substan
tially‘ simultaneously operated to move the con
thereby opening return valve I3. When sole
trolled elements E the desired extent within
their limits of movement in either direction. In
noid 3I is energized and retracts its armature
aircraft installations of this system the control
valve 9 while at the same time the link 35 pushes
34 the rocker 33 is tilted so as to open pressure
on and tilts the rocker 32' so that it opens re
means L will be located in the cockpit, but it is
turn valve I2. It should here be noted that
obvious it may be located as desired and con
these operations take place substantially simul
trolled from the cockpit by any suitable remote
control means not shown and that this system 45 taneously in the valves of all the units in a man
ner which will be apparent from the following
may be applied to any equipment or mechanism
description of the electrical components of the
subject to remote control in the manner here
system.
with provided for.
With reference to Fig. 1 it is seen current for
Hydraulic components
As shown in Fig. 4, the 4-way control valve G
of each unit includes a body 5 having “pressure"
ports 8 and ‘I controlled by valve members 8 and
9; and “cylinder” ports I0 and II controlled by
50 operating the electrical components is supplied
from a source such as battery 42 from the nega
tive side of which, as here shown, conductors 43
constituting in e?ect a single line, are connected
to one side of each of the solenoids 30 and H
valve members I2 and I3. A passage I4 con 55 throughout the system, whereas from the posi
tive side of the battery, conductors 44 constitut
nects ports I5 and I0 and a simmilar passage I5,
ing in effect a single line, lead to the electrically
connects ports ‘I and II‘. Return ports I6 and
I‘! open into the cylinder ports I 0 and I I.
conductive armatures 45 of normally open polar
The pressure ports 6 and ‘I of the 4-way valves
ized relays 46, 41, 48 and 49 associated with the
G‘ of the units A, B, C and D are connected by 60 units A, B, C and D respectively for controlling
fluid lines I8 to the pump J as shown in Fig. 1,
the solenoids. Contact points 50 on certain cor
responding sides (the lower sides as shown in
whereas return lines I9 lead from the return
Fig. 1) of the relay armatures 45 are connected
ports I6 and H of said valves to the reservoir
K, and cylinder lines 20 and 2i lead from ports '
by conductors 5| connected to the other sides
III and I I to the several motors F of the units. 65 of the several solenoids 38 so that all of the sole
noids 30 will be energized when the relay arma
As here shown the motors F are in the form of
hydraulic cylinders 22'. A relief valve 23 is in
tures are moved into contact with the contact
points 50. Similar contact points 52 disposed on
terposed between lines I8 and I9 near the pump
and the reservoir ‘and arranged to open respon
the other (upper) sides of the relay armatures
sive to pressure above the predetermined work 70 45 are connected by conductors 53 to the other
ing pressure of the system, whereby ?uid from
sides of the several solenoids 3I so that when the
the pump is returned from line I8 to line I9 to
relay armatures 45 are moved to contact the
the reservoir without being delivered to the sev
contact points 52 all of the solenoids 3I will be
energized.
I
eral hydraulic units of the system. In the line
I8 near the connection thereof with valve G of 75
Before a detailed description is given as to the
2,413,907
means for controlling the relays 46, 41, 48 and 49
it should be noted with reference to the following
general description that the control of the relays
46, 41, 48 and 49, the several solenoids 30 and 3|
and the 4-way valves for the units A, B, C and D
, is primarily brought about by means of a plurality
of coordinated bridge circuits in an intercon
motor driven potentiometer drops and said relay
opens the valve actuating circuit of the associated
hydraulic unit thereby stopping the motor F
of said unit. When the motor operated poten
tiometer of unit A in continuing its movement
toward the position of the master potentiometer
L, moves out of the position corresponding to that
of said one motor driven potentiometer, potential
hydraulic units A, B, C and D is controlled by an
exchange is e?ected in favor of the “shut-off”
associated bridge circuit component responsive 10 unit, which latter then renews its operation.
however to initial operation of the bridge circuit
This control assures that all of the units will be
‘elements of the master unit A, there being a sub
positioned or, disposed in predetermined related
sequent “follow-up” operation of the other bridge
positions as determined by operation of unit A.
circuits and of the units B, C and D substantially
As soon as all of the resistance elements actuated
simultaneously with one another. The arrange 15 by the mechanisms or elements E reach a position
ment is such in the present instance, that the
corresponding to that of the master resistance
master control L comprises a manually oper
and control element L, the bridge circuits be
able variable resistance element such as a poten
a come balanced and the relays become deenergized
tiometer which is electrically connected in the
- thereby opening the circuits for the solenoids
bridge circuits together with the coils of the sev 20 which operate the 4-way valves which latter then
eral relays and a plurality of motor operated re- '
close and hydraulically lock the elements or
sistance elements (potentiometers) which latter
mechanism E in the position to which they are
respond only to the movements of the motors F
moved. This control assures that in the event of
- , 'nected arrangement wherein each of the electro
and associated elements E. The coils of the re
lays of the units B, C and D are connected in
parallel with one another but each is connected
in series with the coil of the relay of the master
externally applied loads to any one or more of
the operated mechanisms or elements E, tending
to cause one or more of them to be moved at a
different rate, the, system will operate to bring
all of the elements with but a momentary delay
movable elements of the two variable resistance
into corresponding positions as determined by the
units in the master unit. The master potenti 30 setting of the master potentiometer L.
ometer L and the associated motor operated po
Referring now more speci?cally to the draw
tentiometers when in corresponding positions
ings, particularly Fig. 1, it is seen that the bridge
are in “neutral” and no effective current then
circuit for the master unit is arranged with re
?ows in the circuits for operating the several
sistance element 55 of the potentiometer of the
unit A, which latter coil is in series ‘with the
relays which therefore remain “open” to main
tain the 4-way valves closed. When the mas
ter potentiometer L is manipulated to an oper
ative position all of the bridge circuits become un
balanced substantially simultaneously, but the
master control L, connected across the positive
and negative conductors 43 and 44 as is also the
resistance element 56 of the motor driven poten
tiometer 51. Forming a part of this primary
bridge circuit are the movable elements 58 and
59 of the two potentiometers L and 51 respec
tively, which are connected in series with the coil
of the relay 46 by means of conductors 66. The
bridge circuit of the master unit due to the man
ner in which it is arranged and its‘association
with the circuits for-‘the other relays,‘ causes the
relay 46 therein to become energized to operate
movable element 59 is actuated by means of a
one of the solenoids for controlling the 4-way
suitable drive means 6| connected with the ele
valve in unit A before the other relays in units 4; ment E actuated by the unit A. As here shown
B, C and D become operative to close'their asso
the movable elements 58 and 59 are normally in a
ciated solenoid circuits.
As a result of the ‘oper
ation of the relay 46 and the hydraulic compo
nents of the master unit A in advance of the other
corresponding mid-wayv position balancing the
bridge circuit in the master unit but when in all
corresponding positions will also balance \said
units, the element E operated by the master is 50 circuit.
moved before the elements E of the other units
The bridge circuit components for \the units
commence to move. Upon movement of. the
B, C and D include the motor operated potenti
eleinent E in the master unit, the motor operated
ometers 62, 63 and 64, the resistance elements
potentiometer controlled thereby is moved so that
resistance to the ?ow of current through it is
increased to the extent that the energy flow is
divided between relay 46 and the other relays
su?iciently to energize the later also, whereby the
4-way valves associated therewith, the hydraulic
components of units ,3, C and D and the ele 60
. ments E are substantially simultaneously oper
65, 56 and 61 of which are connected across the
positive and negative leads 43 and 44 respec
tively. A series of conductors 68’ provide for
connecting the movable elements 16 of the poten
vtiometers 62, 63 and 64 and the coils of the
relays 41, 48 and 49 in parallel with one another.
A conductor 69 is connected to the conductors
68 and the element 59 so that each of the coils
ated and follow the operation of unit A.
I , .of relays 41, 48 and 49 is connected in series with
As here provided the flow restrictor 24 is used
the coil of the master relay 46. A drive means
to limit the flow of operating ?uid to the motor
‘ll identical with the drive means 6| is pro
65
F of unit A whereby said motor has a limited
vided to connect each of the elements E of the
operational rate while the motors ,F of the other
units B, C and D with the movable elements 10
units B, C and D can operate at a fasterrate and
of the potentiometers associated with said units,
therefore will catch up to but will not get ahead
in the same manner as in the mastenunit A.
of the operation of the master unit motor F.
When any one of the motor-operated poten
tiometers of units B, C and D is moved to a
Operation
Assuming vthat the operator manipulates the
selective manually operable potentiometer L to
position corresponding to that of the motor driven
potentiometer of unit A, before‘ the‘ latter has
dispose the movable element 58 thereof in the
equalled the position of the master potentiometer
dotted line position shown in Fig. 2, the several
L, the potential in the relay circuit of said one 75 bridge circuits become unbalanced simulta
. 2,418,907’?
neously, but the bridge circuit ‘in the vmaster
'
82, 83 and 84 and the relays >41, 48 ‘and 49 asso
ciated therewith are controlled by the poten
unit energizes‘ the'relay 48 therein before the
tiometer 51 of the master unit as well as the
manually operated potentiometer L. 1
When, for example, the manually operated po
other relays are operated- inasmuch as thecur
rent will ?ow from the negative to the positive
side of the battery, and the resistance to this
flow across the resistance element 55 is such that
; tentiometer element 58 has been moved to the
a greater potential will followv the line oi.’ least
resistance and ?ow along the adjacent conduc
tor 43 through the resistance element'58/ to the
dotted position shown in Fig. 2 and the unit A
has first responded as hereinbefore noted and is
moving the motor driven potentiometer element
movable element 59, thence through conductor 50
10 59 toward a position corresponding to that of ,
and the coil of relay 45, element 58, right end
portion of resistance element 55 and conductor.
44 to 'the other side of the battery. Although
element 58 at a limited rate due to the how re
strictor 24, the other units B, C and D in not
being limited as to the rate of operation of their
motors will, with the‘ loads on the motors being
at this time the ‘current also ?ows from the
negative line 43 to the bridge circuits of the 15 equal, move simultaneously at a faster rate and
therefore bring their potentiometer elements
other units and through the conductor 59 and
simultaneously into the same positions as the
conductors 80 and coil of relay 46 to complete
motor driven element 59 of potentiometer 51 in
the bridge circuits, there is\a greater potential
the master unit before the latter element has
in the bridge circuit of the master unit which
reached a position corresponding to that of the
therefore operates before said other relays, and
master element 58, and as a result, the motor
lifts thetarmature 45 of relay 45 causing said
driven potentiometers 62, 63 and 64 are given
armature to engage contact 52. This will close
resistance value equal to that of potentiometer
the circuit for the solenoid 3| for the valve G
51 and the system than is in the same operative
in the master unit’A, through conductors 43, 53,
contact 52, armature 45, and conductors 44, 25 condition as when the bridge circuits were inl
thereby retracting the armature 34 of said sole
‘ tially unbalanced by movement of the master
noid so as to rock the rockers 32 and 33 to un
element 58, there being insufficient potential in
the circuits of relays 41, 48 and 49 to energize
them but sp?icient potential in the circuits for
relay 46’ to keep it energized. The valves G of
units B, C and D will now close and shut off the
motors F in said units preventing them from
“passing” motor F of unit A, until the latter then
continuing its operation to bring the poten
seat pressure valve 9 and return valve l2. .Pres
sure ?uid from the pump J is now eifective
through line l8, port 1, open valve 9, passage l5,
port ll, cylinder line 2| to the left end of the
cylinder 22 of motor F. The piston 28 is now
moved to the left (see Fig. 2) and through pis
ton rod 21, link 28 and crank arm 25 moves the
element E toward the dotted position shown in 35 tiometer 51 to the same position as potentiometer
Fig. 2. Return ?uid from, the rightend of cyl
L, has moved the element 59 sufficient to cause
inder 22 flows through line 20, port‘lll, past open
a division of the flow such that on operating po
return valve [2, port l5, line, l9 back to the
tential is present in the circuits for relays 41, 48
and 49 whereupon these units resume operation
reservoir K.
_,
When the element E of the master unit A is 40 and repeat this "catching up” performance until
moved as next above noted the drive means 8|
all the motor driven potentiometers have come
causes the movable element 59 of potentiometer
into the same position as the master potentiom
51 to move toward___its dotted positionshown in
eter L.
Fig. 2, thereby increasing the resistance of ele- ‘
If one of the motors F of units B, C and D is
ment 56 and dividing the flow so there is su?l
subjected to a greater load than the. other of said
cient potential then in the other bridge circuits
units due to wind pressure on the element E, fric
to operagz‘iesrelays, 41, 48, and 49 simultaneously.
tion or other causes, or for any reason one of
The ele rical energy now flows from lines 43,
the resistance elements 55, 86 and 61 of poten
said motors be operated at a slower rate, for
example in unit C, then units B and D moving at
tiometers 62, 83 and 84, the movable elements ‘10 60 a faster rate will cause the potentiometers 62
of said potentiometers, the conductors 68 and . and 64 to equal the value of potentiometer 51 of
the coils of said relays, the line 89 connected to ‘
the element 59, and lines 80 and the coil of the
relay to the positive conductor 44 through ele
ment 58 and right hand end portion of resistance
element 55.
the unit A before the slower actuated potentiom
- eter “catches up” with potentiometers 62 and 64,
thereby allowing the slower unit C to substan
55 tially “catch up” during the interval that units
B and D are stopped.
Upon this simultaneous energization of the re
This controlled operation continues until the
lays 41, 48 and 49 the solenoids 3| are operated
units A, B, C and D cease their operation as pre
to manipulate the valves G of units B, C and D,
determined by movement of the master manually
in the same manner as valve G of unit A, where
operable potentiometer L.
60
upon the motors F of said units and the elements
Cessation of operation of the motors F and
E controlled thereby are simultaneously oper
?nal positioning of the elements E takes place
ated and elements E move in the same direction
when the movable elements 59, 18, 1| and 12 of
as element E of unit A.
units A, B, C and D reach positions correspond
It should here be noted that due to the pres
ing to that of the master control element 58, at
65
ence of the flow restrictor 24 in the pressure line
which time the resistances in the bridge circuits
ill the ?ow of ?uid to the motor F of the master
are equal and the bridge circuits are balanced
E is restricted so that said motor cannot exceed
to the extent that no effective potential is ap
a predetermined rate of movement which rate is
plied to the relays 46, 41, 48 and 49. Thus these
slower than the rate of movement possible with
relays become deenergized and the armatures 45
the motors of units B, C and D. As a result of 70 move into position to open the circuits for the
this flow restriction, the unit I A becomes the
solenoids 3|. When these solenoids are deener
“pace setter” of the system permitting the other
gized the springs 40 thereof extend the arma
units to equal but not exceed its operational rate
tures 34 so as to move the rockers 32 and 33 into
and performance. This control is accomplished
inasmuch as the motor operated potentiometers 76 position for allowing the valves 9 and I2 to close
8,418,907‘
.
9
whereupon the hydraulic ?uid isrlocked in the
cylinders 22 and‘ the elements E are therefore
e?ectively held in the positions to which they
were moved by the motors.
_, ‘
When it is desired to move the elements E for
example from the dotted position shown in Fig. 2
being the full line position shown in Fig. 3 back
to the full line position of Fig. 2 which position
is shown in dotted lines in Fig. 3, the operator
moves the member 58 back to the position shown
in full lines in Fig. 1 and in dotted lines in Fig; 3.
Current now flows: from negative conductors‘ 43
through the left half 01' resistance element 55,
element 58, conductors 60, coil of relay 46, ele
ment 59, upper end portion of resistance ele
ment 56 to the conductor 44 thus completing the
circuit ior'relay 46 and causing it to operate to
move its armature 45 downwardly to engage con
.tact 50 and close the circuit for the solenoid .30,
of the master unit. It should here be noted that
the element 59 as well as corresponding elements
10 are disposed at this time in the dotted position
,shown in Fig. 2 so that the resistance elements
56, 65, 66, and 61 offer more resistance to ..?ow
of current therethrough from'conductors 43, than
does the resistance element 55 in the master con
trol unit L.
For ,this reason the eflective cur
rent flows from line 43 through resistance unit
55 as hereinbefore noted in order to operate the
relay 45 as previously stated. When the sole
noid 30 of unit A is operated, the rockers 732 and
33 are rocked so that pressure valve 8 and return
valve i3 are unseatedx Pressure ?uid now be
comes effective from the pump J, through line l8,
port ‘I, (past valve 8) passages l4, port I0, line 20,
-
10
connected to the source of current through a
switch .8 which when open renders the system
inoperative.
-
'
>
While I have shown and described a speci?c
embodiment oi! my invention I do not limit my
self to the exact details of construction set forth,
and the invention embraces such changes, mod
iilcations and equivalents oithe parts and their
:~.~ formation and arrangement as'come within the
10 purview of the appended claims.
I claim:
1. In a multiple unit electro-hydraulic system
for actuating a plurality oi’ mechanisms sub
stantially simultaneously, a master hydraulic
15 unit and a plurality of similar hydraulic units,
' each of the hydraulic units including a reversi
ble hydraulic motor, a drive means actuated by
the motor for operating one of said mechanisms,
and a normally closed valve for controlling the
20 ?ow of fluid under pressure from a source of sup
ply to operate the motor in either direction; in
combination with a ?ow restrictor for limiting
the rate of operation of the motor of the master
unit, electrically operable valve actuating devices
25 for the valve of each hydraulic unit which when
deenergized cause the valve to close, electrical
circuits for said valve actuating devices, a nor
7 mally openprelay operable for selectively closing
said circuits and operating said devices for each
30 valve, and control means for selectively operat
ing the relays including a manually operable
variable resistance unit, a motor operated _re~
sistance unit for each hydraulic unit, a drive
means for operatively connecting each of the
motor operated variable resistance units with its
associated motor, and a relay control circuit con
necting the resistance elements of all of said vari
right end of cylinder 22 of motor F thereby mov
- ing the‘ piston 28 to the right and through the
link 26 and crank arm 25 moving the element E
able resistance units in parallel and connecting
toward the dotted position shown in Fig. 3. Re
the movable element of said manually operable
turn ?uid from the cylinder 22 flows through line 40 resistance unit in series with the relay and the
2|, port ll, valve l‘3, port [1 and line l9 to the
movable element of the motor operated resist
reservoir K. When this operation of unit A has
ance unit associated with the master hydraulic
been started, the other units B, C andlD com
unit; each of the similar hydraulic units having
mence to operate and continue so to do until the
potentiometers thereor reach the same values as
the master potentiometer L, in the same manner
its associated relay and movable element of its
associated motor operated resistance unit inde
pendently connected in series with the relay and
movable resistance element associated with said
as previously described.
This operation is the
same in all respects as the ?rst described opera
master unit, whereby when all the variable re- '
tion except that the current ?ow through the
sistance units are in corresponding positions of
several bridge circuits is reversed as is also the 50 adjustment, the relays will open the circuits for
flow of operating ?uid to the motor.
said valve actuating devices, but upon movement
It will now be apparent that when the oper
of said manually operable unit to a position at
ator moves the member 58 of the selective con
variance with the positions of the motor operat
trol’ means L to the left of the center position
ed resistance units, the relay of the master unit
shown in Fig. l, for example the same extent as 55 will operate ?rst and close a circuit for the mas
when moved to the right as shown in dotted lines
in Fig. 2, the current ?ow following the lines'oi
ter unit valve actuating devices whereby such
valve will be operated to direct ?uid for operating
least resistance is from conductor 43 through
the motor in a vdirection as determined by the
left end portion of resistance element 55, element
movement ‘of the manual‘resistance unit, and
58, conductors 60.. and coil of relay 46, element 60 thereafter, and during said operation of the
59 of potentiometer 51, and upper half of the
master unit motor. the relays of the other hy
_ resistance element 56 to the conductor 44 con
draulic unit will be simultaneously actuated to
nected to the positive side of the battery. In all
other respects the system now operates in the‘
effect operation of the valves of the other units
for substantially simultaneously operating the
same manner as when the element 58 is moved 65 motors thereof in correspondence to the opera
from its full line position in Fig. 3 to the dotted
line position there shown, and the pistons 28 are
moved to the left thereby moving elements E,
‘downwardly. In other words the current ?ow in
the bridge and other circuits as well as the ?ow
of hydraulic ?uid to the motors F is the same
as when the control element 58 is moved from
tion of the master unit motor; the said relay con.
trol circuits ‘also operating when the motor ac
tuated resistance units are moved by their asso
ciated motors to positions corresponding to that
to which the manually operable resistance unit
has been moved. -to deenergize said relays and
open the circuits 'for said valve actuating devices
whereby the latter will operate said valves to shut
oif iiow of hydraulic ?uid to and stop said motors.
its full line position in Fig. 3 to the dotted posi
tion there shown;
It should be noted that the system maybe 75 * 2. In a multiple unit electro-hydraulic system
9,418,907
for operating a plurality of mechanisms substan
tially simultaneously, a master hydraulic unit, a
second hydraulic unit, each of the hydraulic
units including a reversible hydraulic motor, a
drive means actuated by the motor unit for ac
tuating one of said mechanisms, and a normally
_ source of energy, the movable element of the
manually operated potentiometer, one of said
relay ?eld coils and the movable element of one
of the motor operated potentiometers being con
nected in series with said source of electrical en
closed ?ow reversing valve for directing ?uid un
ergy and arranged to control the motor to which
the ?ow of ?uid is restricted, the ?eld coil of the
der pressure from a source of supply for operat
_ other relay and the movable contact element of
the other motor operated potentiometer being
ing said motor in either direction; in combina
tion with a ?ow restricting means for limiting 10 connected in series with the ?eld coil of said
one relay and said movable element of said man
the rate of operation of the motor of the master
unit, electrically operable valve actuating de
vices for each valve operating when deenergized
ually operable potentiometer.
4. In a multiple unit electro-hydraulic system
for operating a plurality of mechanisms substan
actuating devices, normally open relays operable 15 tially simultaneously, a master hydraulic unit, a
second hydraulic unit, each oi! the hydraulic units
for selectively closing the circuits for said de
including a reversible hydraulic motor, a drive
vices; and control means for selectively operating
the relays including a manually operable poten
means actuated by the motor unit for actuating
tiometer, a motor operated potentiometer for
one or said mechanisms, and a normally closed
- each hydraulic unit, a drive means for driving 20 ?ow reversing valve for directing ?uid under pres
to close the valve, electrical circuits for said valve
each motor operated potentiometer responsive to
Operation of its associated motor in accordance
sure from a source of supply for operating said
motor in either direction; in combination with a
flow restricting means for limiting the rate of
with the manipulation of said manually oper
able potentiometer; and a relay control circuit
operation of the motor of the master unit, elec
connecting the resissance elements of all said po 25 trically operable valve actuating devices for each
tentiometers in parallel and connecting the mov
valve operating when deenerglzed to close the
able element of said manually operable potenti
valve, electrical circuits for said valve actuating
devices, a normally open relay operable for selec
' ometer in series with the relay and the movable
element of the motor operated potentiometer as
tively closing the circuits for said devices in each
sociated with the master hydraulic unit, the sec 30 of said units, and control means for selectively
ond hydraulic unit having its associated relay
operating the relays including a manually oper
able potentiometer, a motor operated poten
and the movable element of its associated motor
operated potentiometer connected in series with
tiometer for each hydraulic unit, a drive means
the relay and the movable potentiometer element
for driving each motor operated potentiometer
associated with said master hydraulic unit 35 responsive to operation of its associated motor in
whereby when the manually operated potentiom
accordance with the manipulation of said man
eter is moved to a position at variance with the
ually operable potentiometer; and a relay control
positions of the motor operated potentiometers,
circuit connecting the resistance elements of all
the relay of the master unit will operate in ad
said potentiometers in parallel and connecting the
vance of the other relay and close a circuit for
movable element of said manually operable poten
one of the valve actuating devices of the master
tiometer in series with the relay and the movable
unit whereby the master unit valve will direct
element of the motor operated potentiometer as
?uid for operating the motor thereof and during
sociated with the master hydraulic unit, the
such operation of the master unit motor the said
second hydraulic unit having its associated relay
relay control circuits will direct electrical ener
and the movable element of its associated motor
gy for energizing the other relay and operating
operated potentiometer connected in series with
the other valve so that the other unit motor will
the relay and the movable potentiometer element
operate substantially simultaneously with the
associated with said master hydraulic unit where
by when the manually operated potentiometer
motor of the master unit unitl the motor oper
ated potentiometers are moved to positions cor 50 is moved to a position at variance with the posi
tions of the motor operated potentiometers, the
responding to that of the manually operated p0
relay of the master unit will operate in advance
tentiometer at which time said potentiometers
of the other relay and close a circuit for, one of
will operate to deenergize said relays and the
the valve actuating devices of the master unit
valve actuating devices so that said valves will
55 whereby the master unit valve will direct ?uid
close substantially simultaneously.
for operating the motor, and thereafter and
3. In a hydraulic system comprising a source
during such operation of the master unit motor
of hydraulic pressure, a pair of reversible hy
they said relay control circuits will direct elec
draulic motors, a flow reversing valve means in
trical energy for energizing the other relay and
terposed between each of said motors and said
source of pressure, and means interposed be 60 operating the other valve so that the motor of
the other unit will operate substantially simul
tween said source of pressure and one of said
taneously with and in the same direction as the
motors for restricting the flow of pressure ?uid
motor of the master unit until the motor operated
potentiometers are moved to positions corre
source of electrical energy, a circuit comprising 65 sponding to that oi! the manually operated po
tentiometer at which time said potentiometers will
a manually operated potentiometer, a potenti
deenergize said relays and the valve actuating 1
ometer operated by each of said motors, the re
devices so that said valve will close substantially
sistance elements of said potentiometers being
thereto compared to the ?ow to the other mo
tor; a remote control apparatus comprising a
simultaneously.
connected in parallel, a pair of polarized relays
5. In a multiple unit electro-hydraulic system
having their ?eld coils connected in series be 70
for operating a plurality of mechanisms substan
tween the contacts of adjacent potentiometers,
tially simultaneously, a master hydraulic unit,
and a pair of valve actuating solenoids for each
a second hydraulic unit, each or the hydraulic
of said ?ow reversing valves, each contact point
units including a reversible hydraulic motor, a
of said relays and one of said solenoids being
connected in series parallel relation with $31 75 drive means actuated by the motor unit for actu
"13
a r
2,415,907
ating one of said mechanisms, and a normally
closed ?owvlreversing valve for directing ?uid
under pressure from a source of supply for oper
ating said motor in either direction‘; in combina
tion with a flow restricting means for limiting
the rate of operation of the motor of the master
unit, electrically operable valve actuating devices
for each valve operating when deenergized to
close the valve, electrical circuits for said valve
actuating devices, a'normally open relay oppo
able for selectively closing the circuits for said
14
for driving each motor operated potentiometer
responsive to operation of its associated motor
infaccordance with a predetermined manipula
tion or said manually operable potentiometer, and
a relay control circuit connecting the resistance
elements of all 'said potentiometers in parallel
and connecting the movable element of said
manually operable potentiometer in series with
the relay and the movable element of the motor
10 operated potentiometer associated with the
master hydraulic unit, the second hydraulic unit ‘
devices in each of said units, and control means
having its'associated relay and the movable ele
for selectively operating the relays ‘including a
ment of its associated motor operated poten
manually operable potentiometer, a motor opertiometerconnected in series with the relay and
ated potentiometer for each hydraulic unit, a 15 the movable potentiometer element associated
drive means for driving each motor operated
with said master hydraulic unit whereby when
potentiometer responsive to operation of its asso
‘the manually operated potentiometer is moved
ciated motor in accordance with a previous
to a position at variance with the positions of the i
manipulation of said manually operable patch
motor operated potentiometers, the relayof the
tiometer, and a relay control circuit connecting 20 master unit will operate in advance of the other
the resistance elements of all said potentiometers
relay and close a circuit for one of the valve
in parallel and connecting the movable element oi
actuating devices of the master unit whereby
said manually operable potentiometer in series
the master unit valve will direct ?uid for oper
with the relay and the movable element of ‘the
ating the motor, and before completion of such
motor operated potentiometer associated with 25 operation of the master unit motor, the said relay
the master hydraulic unit, the second hydraulic
control circuits will direct electrical energy for
unit having its associated relay and the, mov
energizing the other relay and operating the
.‘ able element 01' its associated motor operated po
other valve so that the other unit motor will
tentiometer connected'in series with the relay
operate substantially simultaneously with the
and the movable potentiometer element asso 30 motor of the master unit until the motor oper
ciated with said master hydraulic unit whereby
ated potentiometers are moved'to positions corre'
when the manually operated potentiometer is
sponding to that of the manually operated poten
moved to a position at variance with the positions
tiometer at which time said potentiometers will
of the motor operated potentiometers, the relay
operate to deenergize said relays and the valve I
of the master unit willoperate in advance of
actuating devices so that said valves will close
the other relay and close a circuit for one of
the valve actuating devices of the master unit
substantially simultaneously, said potentiometers,
relays, valves and actuating devices and asso
whereby the master unit valve will direct fluid for
ciated circuits being arranged so that a direc
operating the motor, and thereafter and during
tional adjustment of said manually operable po
such operation of the master unit motor, the said 40 tentiometer will be followed by operation of said
relay control circuits will direct electrical energy
motors in a corresponding direction and to an
for energizing the other relay and operating the
extent predetermined by the extent of adjustment
other valve so that the other unit motor will oper
of the manually operable potentiometer.
ate substantially simultaneously with the motor
7. In a multiple unit electro-hydraulic system
of the master unit until the motor operated po
for operating a plurality of mechanisms substan
tentiometers are moved to positions correspond
tially simultaneously, a master hydraulic unit,
ing to that of the- manually operated poten
a second hydraulic unit, each of the hydraulic
tiometer at which time said potentiometers will
units including a reversible hydraulic motor, a
operate to deenergize said relays and the valve
drive means actuated by the motor unit for actu
actuating devices so that said valve will close
ating one of said mechanisms, and a normally
substantially simultaneously, the said valves oper
closed ?ow reversing valve for directing ?uid
ating when closed to hydraulically lock the motors
under pressure from a source Of supply for oper-'
against movement responsive to nonhydraulic
ating said motor in either direction; in combina
forces applied thereto.
tion with a ?ow restricting means for limitingr
6. In a multiple unit electro-hydraulic system
the rate of operation of the motor of the master
for operating a plurality of mechanisms substan
unit, electrically operable valve actuating devices
tially simultaneously, a master hydraulic unit, a
for each valve operating when deenergized to
second hydraulic unit, each of the hydraulic units
close the valve, electrical circuits for said valve
including a reversible hydraulic motor, a drive
actuating devices, normally open relays operable
means actuated by the motor unit for actuating 60 for selectively closing the circuits for said devices;
one of said mechanisms, and a normally closed
and control means for selectively operating the
?ow reversing valve for directing ?uid under pres
relays including a manually operable potenti
sure from a source of supply for operating said
ometer, a motor operated potentiometer for each
motor in either direction; in combination with a
hydraulic unit, a drive means for driving each
flow restricting means for limiting the rate of 65 motor operated potentiometer responsive to oper
operation of the motor of the master unit, elec
ation of its associated motor in accordance with
trically operable valve actuating devices for each
the manipulation of said manually operable po
valve operating when deenergized to close the
tentiometer; and a relay control circuit connect
valve, electrical circuits for said valve actuating
ing the resistance elements of all said potenti
devices, a normally open relay operable for selec
ometers in parallel and connecting the movable
tively closing the circuits for said devices in each
element of said manually operable potentiometer
of said units; and control means for selectively
in series with the relay ‘and the'movable element
operating'the relays including a manually oper
of the motor operated potentiometer associated
able potentiometer, a motor operated potenti
with the master hydraulic unit, the second hy
ometer for each hydraulic unit, a drive means 75 draulic unit having its associated relay and the
2,418,907
15
16
movable ‘element of its associated motor oper
ated potentiometer connected in series with the
relay and the niovable ‘potentiometer element
associated with said master hydraulic unit where
' manually operable potentiometer is in a position
is moved to a position at variance with the posi
tions of the motor operated potentiometers, the
relay oi’ the masterunit will operate in advance
ing to that of the motor operated potentiometer
in the master unit, the relay in the second unit
of the relay in the master unit, so that when the
at variance to that of the motor operated poten
tiometers, and the motor operated potentiometer
by when the manually operated potentiometer 91 in the second unit reaches a position correspond
will be deenergized and the hydraulic operators
, of the other relay and close a circuit for one of
of the secondpnit will close, but said relay will
' the valve actuating devices of the master unit 10 renew its operation when the motor operated po
whereby the master unit valve will direct ?uid
for operating the motor thereof and during such
operation of the master unit motor the said relay
control circuits will direct electrical energy for
energizing the other relay and operating the other
' valve so that the other unit motor will operate
substantially simultaneously with the motor of,
the master unit until the motor operated poten
tentiometer in the master unit moves out of posi
tion corresponding to that of the second unit
potentiometer, the operation of the master and
‘second units ceasing when the motor driven po
tentiometers reach positio‘ns ‘corresponding to
that of said manually operable potentiometer.
9. In an electro-hydraulic system for simul
taneously changing the position of elements to be
controlled by the system, responsive to manipula
tiometers are moved to positions corresponding to
that of the manually operated potentiometer at 20v tion of a master control element, the combination
which time said potentiometers will operate to
of a hydraulic system including a source of ?uid
deenergize said relays and the valve actuating
pressure, a plurality of reversible hydraulic
devices so that said valves will close substantially
motors connected to said source of ?uid pressure,
.simultaneously, said- relay control circuits and
a ?ow reversing valve for controlling each motor,
associated elements therein also operating when 25 a flow restricting means interposed between one
the motor operatedpotentiometer of said second
of ‘said valves and said source of pressure, to
unit reaches a position corresponding to that of
gether with electrically operated control means
the motor operated unit of the master unit, to
which comprises a source of electrical energy,
deenergize the relay of said second unit thereby
a master potentiometer, a secondary potenti
stopping the hydraulic operation thereof until 30 ometer associated with each motor, a drive means
the motor operated potentiometer of the master
for actuating the secondary potentiometers re
unit is moved out of a position corresponding to
sponsive to operation of said motors, a polarized
that of said second unit potentiometer.
relay associated with each motor; the resistance
8. In a multiple unit electro-hydraulic system
elements of said potentiometers being connected
for operating a plurality of mechanisms substan 35 in parallel with said electrical energy source and
tially simultaneously, a master hydraulic unit, a
the movable element of said master potenti
second hydraulic unit, each of the hydraulic units
ometer being connected in series with the ?eld
‘ including a reversible hydraulic motor, a drive
coil of the relay associated with the motor to
means actuated by the motor unit for actuating
which the pressure flow is restricted, and the mov
one of said mechanisms, and a normally closed 40 able element of the secondary potentiometer
?ow reversing valve for directing ?uid under
which is associated with said ?ow-restricted
pressure from a source of supply for operating
motor; each of the other reversible motors hav
said motor in either direction; in combination
, ing the movable element of its associated poten
with a ?ow restricting means for limiting the
tiometer and the ?eld coil of its associated relay
rate of operation of the motor of the master unit, 45 connected in series with the ?eld coil of the ?ow
electrically operable valve actuating devices for
restricted motor and with the movable element
each valve operating when deenergized to close
of said master potentiometer, a pair of solenoids
the valve, electrical circuits for said valve actuat
being connected with each valve for selective
ing devices, normally open relays operable for
- operation of said valves, said solenoids being con
selectively closing the circuits for said devices; 50 nected to said electrical source for selective ener~
and control means for selectively operating the
gization responsive to energization of said ?eld
relays including a manually operable potenti
coils; whereby upon shifting said master poten
ometer, a motor operated potentiometer for each
tiometer there will be produced an unbalance be
hydraulic unit, a drive means for driving each
tween it and the motor operated potentiometer
motor operated potentiometer responsive to oper 55 of the ?ow-restricted motor, and such motor will
ation of its associated motor in accordance with
be operated with incident movement of its asso
the manipulation of said manually operable po
ciated secondary potentiometer until the latter
tentiometer; and relay control circuits connect
restores a balance, said unbalance causing simul
ing the resistance elements of said potentiometers
taneous operation of the other motors whereby
in parallel as well as connecting the movable con 60 they will follow the restricted motor in a step
tact member of each of said motor operated po
by step movement until all the potentiometers
tentiometers in series with the coil of its asso
provide a balance in the electrical system.
ciated relay, while also connecting the coil of the
relay of the second unit in series with the coil
WALTER R. BRANT.
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