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Angular position sensing and control system, apparatus and method

  • US 3,974,699 A
  • Filed: 03/10/1975
  • Issued: 08/17/1976
  • Est. Priority Date: 08/28/1973
  • Status: Expired due to Term
First Claim
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1. In apparatus for sensing the attitude relative to a local horizontal reference of a part on a machine having a framework supporting said part while said framework is free to move relative to the local horizontal reference, a linear accelerometer adapted to be mounted on said part having a sensitive axis for detecting departure thereof from the local horizontal reference and for producing a first signal representing a slow response angular displacement of said part, means for summing connected to receive said first signal and producing a summed output, means for receiving said summed output and for attenuating high frequencies therein, said last named means providing an error compensation signal, means adapted to be mounted on said part for sensing rotational motion thereof, said last named means producing a second signal representing a fast response indication of angular displacement of said part, means for combining said error compensation signal and said second signal and for providing a combined signal, means for feeding back said combined signal to said means for summing, said first signal and said combined signal having opposing sense for the same motion sense, whereby steady state errors in said second signal are compensated in said combined signal by said error compensation signal and transients in said second signal appear in said combined signal.

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