Digital signal processor for servo velocity control

• US 4,034,276 A
• Filed: 03/09/1973
• Issued: 07/05/1977
• Est. Priority Date: 12/28/1970
• Status: Expired due to Term

• Current Assignee: Gilbert P. Hyatt
• Original Assignee: Gilbert P. Hyatt
• Inventors: Hyatt, Gilbert P.
• Primary Examiner(s): Scott, James R.
• Application Number:
  US05/339,817
• Time in Patent Office: 1,579 Days
• Field of Search: 318/603, 318/607, 318/608, 318/618, 318/314, 318/318, 307/262, 307/216, 328/109, 328/133
• US Class Current: 318/608
• CPC Class Codes: B60R 16/0373 Voice control in general G10L
• CPC Class Codes: F21V 23/00 Arrangement of electric circuit elements in or on lighting devices characterised by cooling arrangements F21V29/508
• CPC Class Codes: G01S 15/897 using application of holographic techniques
• CPC Class Codes: G01S 15/8977 using special techniques for image reconstruction, e.g. FFT, geometrical transformations, spatial deconvolution, time deconvolution
• CPC Class Codes: G01S 7/52026 Extracting wanted echo signals Doppler systems G01S15/50; Doppler short range imaging systems G01S15/8979
• CPC Class Codes: G02F 1/13318 Circuits comprising a photodetector
• CPC Class Codes: G03F 9/7049 Technique, e.g. interferometric
• CPC Class Codes: G03F 9/7088 Alignment mark detection, e.g. TTR, TTL, off-axis detection, array detector, video detection
• CPC Class Codes: G04G 99/006 Electronic time-pieces using a microcomputer, e.g. for multi-function clocks
• CPC Class Codes: G05B 19/351 the positional error is used to control continuously the servomotor according to its magnitude
• CPC Class Codes: G05B 19/408 characterised by data handling or data format, e.g. reading, buffering or conversion of data
• CPC Class Codes: G05B 19/4083 Adapting programme, configuration
• CPC Class Codes: G05B 19/4086 Coordinate conversions; Other special calculations
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 19/4093 characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05B 19/4142 characterised by the use of a microprocessor G05B19/4141 takes precedence
• CPC Class Codes: G05B 2219/33182 Uart, serial datatransmission, modem
• CPC Class Codes: G05B 2219/34023 Risc processor
• CPC Class Codes: G05B 2219/34098 Slope fitting, fairing contour, curve fitting, transition
• CPC Class Codes: G05B 2219/34471 : Program memory is inhibited, not accessible as long as power fails
• CPC Class Codes: G05B 2219/34472 : Configure alterable memory as read only, to avoid erasing
• CPC Class Codes: G05B 2219/35262 : Macro instruction, canned cycles, subroutines, subprogram
• CPC Class Codes: G05B 2219/35263 : Using variables, parameters in program, macro, parametrized instruction
• CPC Class Codes: G05B 2219/35373 : Data storage, buffer
• CPC Class Codes: G05B 2219/35431 : Interactive
• CPC Class Codes: G05B 2219/35436 : Means, manual input, input reference, hand wheel
• CPC Class Codes: G05B 2219/35453 : Voice announcement, oral, speech input
• CPC Class Codes: G05B 2219/35472 : Mode selection
• CPC Class Codes: G05B 2219/35554 : Mirror, other conversions
• CPC Class Codes: G05B 2219/36152 : Panel
• CPC Class Codes: G05B 2219/36333 : Selection from standard forms, shapes, partprograms, enter value for variable
• CPC Class Codes: G05B 2219/36366 : Data, read in, distribution
• CPC Class Codes: G05B 2219/36379 : Read in
• CPC Class Codes: G05B 2219/36503 : Adapt program to real coordinates, software orientation
• CPC Class Codes: G05B 2219/36546 : Memory protection, protected fields
• CPC Class Codes: G05B 2219/41021 : Variable gain
• CPC Class Codes: G05B 2219/42237 : Pwm pulse width modulation, pulse to position modulation ppm
• CPC Class Codes: G05B 2219/45214 : Gear cutting
• CPC Class Codes: G05B 2219/45215 : Thread cutting
• CPC Class Codes: G05B 2219/49221 : Control of scale
• CPC Class Codes: G05B 2219/50047 : Positioning, indexing
• CPC Class Codes: G05B 2219/50048 : Jogging
• CPC Class Codes: G05B 2219/50083 : Power loss, measures again loss of power
• CPC Class Codes: G05B 2219/50151 : Orient, translate, align workpiece to fit position assumed in program
• CPC Class Codes: G06J 1/00 : Hybrid computing arrangements digitally-programmed analogue computers G06G7/06
• CPC Class Codes: G07G 1/12 : electronically operated digital data processing aspects G06Q20/00
• CPC Class Codes: G10L 19/00 : Speech or audio signals analysis-synthesis techniques for redundancy reduction, e.g. in vocoders; Coding or decoding of speech or audio signals, using source filter models or psychoacoustic analysis in musical instruments G10H
• CPC Class Codes: G11C 11/565 : using capacitive charge storage elements
• CPC Class Codes: G11C 16/3418 : Disturbance prevention or evaluation; Refreshing of disturbed memory data
• CPC Class Codes: G11C 16/3431 : Circuits or methods to detect disturbed nonvolatile memory cells, e.g. which still read as programmed but with threshold less than the program verify threshold or read as erased but with threshold greater than the erase verify threshold, and to reverse the disturbance via a refreshing programming or erasing step
• CPC Class Codes: G11C 19/287 : Organisation of a multiplicity of shift registers
• CPC Class Codes: G11C 19/36 : using multistable semiconductor elements
• CPC Class Codes: G11C 27/00 : Electric analogue stores, e.g. for storing instantaneous values
• CPC Class Codes: G11C 27/04 : Shift registers
• CPC Class Codes: G11C 7/16 : Storage of analogue signals in digital stores using an arrangement comprising analogue/digital [A/D] converters, digital memories and digital/analogue [D/A] converters
• CPC Class Codes: Y02P 90/02 : Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A digital signal processor is provided for processing analog signals with digital circuits. In a preferred embodiment, a servo feedback signal is processed with a digital arrangement to derive servo velocity information. Processing is performed by synchronizing a counter with a servo feedback signal and comparing the period of the feedback signal with a reference signal from the counter as being indicative of servo velocity.

Claims

1. A signal processing system comprising:

servo means for controlling a physical system, said servo means including feedback means for generating a feedback signal wherein said feedback signal is related to control of said physical system and

processor means for generating an output signal related to a frequency of the feedback signal, said processor means including

(a) detector means for generating a detector signal in response to a repetitive condition of the feedback signal;

(b) reference means for generating a reference signal in response to the detector signal; and

(c) output means for generating the output signal in response to the feedback signal and the reference signal.

2. The system as set forth in claim 1 above wherein said servo means includes;

(a) command means for generating a command signal,

(b) comparing means for generating a difference signal in response to the command signal and the feedback signal wherein the difference signal is related to a difference between the command signal and the feedback signal,

(c) compensation means for generating a control signal in response to the difference signal and the output signal, and

(d) controlling means for controlling said physical system in response to the control signal.

3. The system as set forth in claim 1 above wherein said output means includes;

(a) comparing means for generating a comparison signal in response to a period of the reference signal and a period of the feedback signal, and

(b) means for generating the output signal in response to the comparison signal.

4. The system as set forth in claim 1 above further comprising:

command means for generating a command signal;

wherein said servo means includes means for controlling said physical system in response to the command signal and the feedback signal; and

compensation means for controlling dynamics of said servo means in response to the output signal.

11. The system as set forth in claim 1 above wherein said feedback means is an electromagnetic sensor and wherein the output signal is related to velocity of said feedback means.

12. The system as set forth in claim 1 above further comprising compensation means for providing servo compensation in response to the output signal.

5. A control system comprising:

feedback means for generating a feedback signal, said feedback signal having a phase that is related to a controlled condition;

command means for generating a command signal, said command signal having a phase that is related to a command condition;

comparing means for generating a phase difference signal in response to the phase of the feedback signal and the phase of the command signal;

reference means for generating a reference signal;

compensation means for generating a compensation signal in response to the reference signal and the feedback signal;

combining means for generating a control signal in response to the phase difference signal and the compensation signal; and

means for controlling the controlled condition in response to the control signal.

6. The system as set forth in claim 5 above wherein said compensation means includes means for generating a frequency difference signal in response to the reference signal and the feedback signal and means for generating the compensation signal in response to the frequency difference signal.

7. The system as set forth in claim 5 above wherein said reference means includes a counter for generating the reference signal and synchronization means for synchronizing said counter with the feedback signal.

8. The system as set forth in claim 5 above wherein the reference signal has a reference time period related to a reference frequency, wherein the feedback signal has a feedback time period related to frequency of the feedback signal, wherein said reference means includes synchronization means for synchronization of the reference time period with a related feedback time period, and wherein said compensation means includes comparing means for generating a frequency difference signal in response to the reference time period and the related feedback time period and further includes means for generating the compensation signal in response to the frequency difference signal.

9. A signal processing system comprising:

clock means for generating clock pulses;

counter means for counting the clock pulses in response to an enable signal;

enable means for generating the enable signal in response to a first state of said counter means;

input means for generating an input signal; and

means for initializing said counter means to the first state in response to the input signal.

10. The system as set forth in claim 9 above wherein said counter means provides a counting operation in response to the clock pulses and wherein said initializing means includes means for synchronizing the counting operation to the input signal.

13. The system as set forth in claim 9 above further comprising output means for generating a period difference signal in response to a difference in a period of the input signal and a period of a counter state.

14. The system as set forth in claim 9 above further comprising feedback means for generating the input signal in response to motion of a physical system and output means for generating a velocity output signal in response to a state of said counter means and in response to the input signal.

15. A control system comprising:

servo means for controlling a machine;

an electromagnetic sensor for generating a sensor signal in response to the control of said machine, wherein the sensor signal has a frequency that is related to a sensed velocity;

input means for generating an input signal in response to a condition of the sensor signal;

counter means for enabling counting of clock pulses in response to a first counter state and for disabling counting of clock pulses in response to a second counter state;

means for setting said counter means to the first counter state in response to the input signal to synchronize the start of the counting with the condition of the sensor signal;

output means for generating an output velocity signal in response to the sensor signal and the state of said counter means; and

compensation means for compensating said servo means in response to the output velocity signal.

16. A control system comprising:

means for generating a repetitive signal and

means for generating a digital number in response to the repetitive signal wherein the digital number has a magnitude that is related to a characteristic of the repetitive signal.

17. The system as set forth in claim 16 above wherein said digital number generating means includes a digital counter for generating the digital number in response to clock pulses and means for providing the clock pulses in response to the repetitive sensor signal.

18. The system as set forth in claim 16 above wherein the digital number generating means includes means for generating the digital number in response to a velocity related characteristic of the repetitive sensor signal.

19. The system as set forth in claim 16 above wherein said digital number generating means includes means for generating an input signal in response to a characteristic of the repetitive sensor signal, means for generating a digital count in response to the input signal, and means for generating an output signal in response to the digital count.