Linear servoactuator with integrated transformer position sensor

• US 4,628,499 A
• Filed: 06/01/1984
• Issued: 12/09/1986
• Est. Priority Date: 06/01/1984
• Status: Expired due to Fees

• Current Assignee: Scientific-Atlanta Incorporated (Cisco Systems, Inc.)
• Original Assignee: Scientific-Atlanta Incorporated (Cisco Systems, Inc.)
• Inventors: Hammett, Geoffrey G.
• Primary Examiner(s): RUGGIERO, JOSEPH F
• Application Number:
  US06/616,292
• Time in Patent Office: 921 Days
• Field of Search: 364/167, 364/174, 364/183, 364/509, 364/510, 318/590, 318/597-600, 318/638, 318/645, 318/647, 318/652-661, 91/358 R, 91/361, 91/363, 91/364, 91/459, 340/870.35, 340/870.36
• US Class Current: 700/56
• CPC Class Codes: F15B 11/048 with deceleration control
• CPC Class Codes: F15B 15/2861 using magnetic means
• CPC Class Codes: F15B 2211/212 the pressure sources being accumulators
• CPC Class Codes: F15B 2211/3057 having two valves, one for each port of a double-acting output member
• CPC Class Codes: F15B 2211/31558 having a single output member
• CPC Class Codes: F15B 2211/31576 having a single pressure source and a single output member
• CPC Class Codes: F15B 2211/328 with signal modulation, e.g. pulse width modulation [PWM]
• CPC Class Codes: F15B 2211/35 Directional control combined with flow control
• CPC Class Codes: F15B 2211/6313 the pressure being a load pressure
• CPC Class Codes: F15B 2211/6336 representing a state of the output member, e.g. position, speed or acceleration
• CPC Class Codes: F15B 2211/665 Methods of control using electronic components
• CPC Class Codes: F15B 2211/7053 Double-acting output members
• CPC Class Codes: F15B 2211/755 Control of acceleration or deceleration of the output member
• CPC Class Codes: G01D 5/2291 Linear or rotary variable differential transformers (LVDTs/RVDTs) having a single primary coil and two secondary coils
• CPC Class Codes: G05B 19/353 with speed feedback only
• CPC Class Codes: G05B 2219/34002 Analog multiplexer
• CPC Class Codes: G05B 2219/34003 Tri state driver
• CPC Class Codes: G05B 2219/34215 Microprocessor
• CPC Class Codes: G05B 2219/37019 Position detection integrated in actuator, lvdt integrated linear actuator
• CPC Class Codes: G05B 2219/37133 Linear, rotary variable differential transformer, lvdt, rvdt
• CPC Class Codes: G05B 2219/37399 : Pressure
• CPC Class Codes: G05B 2219/37491 : Compensate non linearity of transducer by lookup table
• CPC Class Codes: G05B 2219/39466 : Hand, gripper, end effector of manipulator
• CPC Class Codes: G05B 2219/41301 : Pilot valve, linear fluid control valve and power cylinder
• CPC Class Codes: G05B 2219/42115 : Switch from continuous drive to pwm, near stop or out of acceleration period
• CPC Class Codes: G05B 2219/42123 : Position loop then force, current loop
• CPC Class Codes: G05B 2219/42237 : Pwm pulse width modulation, pulse to position modulation ppm

Abstract

A linear servoactuator including an integrated split-secondary differential transformer position sensor and a fluid driven linear actuator controlled by solenoid poppet valves. Signals from the position sensor transformer are digitized and linearized by a control microcomputer by using digitized transformer signals as addresses for a programmable read only memory. The linearized output is compared to a command position to determine an error value. When the error reaches a predetermined magnitude, indicating that the actuator is approaching the command position, solenoid poppet valves are actuated by a pulse-width modulated signal from the microcomputer to progressively decrease the fluid flow to the actuator for deceleration.

Claims

1. An integrated servomechanism and position sensor apparatus, comprising:

an actuator including a variably positionable magnetically permeable portion confined to move only within a predetermined space;

a split secondary transformer having a primary coil and a pair of spaced-apart secondary coils;

means for exciting said primary coil to produce a time-varying electromagnetic field within said predetermined space,

movement of said magnetically permeable portion within said predetermined space coupling said electromagnetic field into said secondary coils;

circuit means connected to said secondary coils for providing a coil signal which varies as a function of the position of said magnetically permeable portion of said actuator;

means responsive to said coil signal for transforming said coil signal into an actual position signal which varies as function of the position of said actuator;

command position signal means for providing a desired position signal corresponding to a desired position for said actuator;

means for providing a driving signal as a function of the difference between said desired position signal and said actual position signal; and

actuator moving means responsive to said driving signal for generating an actuator driving force within said predetermined space for causing said actuator to move toward said desired position.

2. The apparatus of claim 1, wherein said actuator comprises a linear fluid-driven cylinder having a movable piston.

3. The apparatus of claim 2, wherein said actuator moving means comprises a source of pressurized fluid and selectively actuatable valve means for allowing pressurized fluid into said cylinder to move said piston.

4. The apparatus for claim 3, further comprising pressure sensing means operatively coupled to said cylinder for providing a pressure signal related to the pressure within said cylinder, whereby the force exerted by said actuator against a workpiece is sensed.

5. The apparatus of claim 3, wherein said valve means is actuated by a modulated signal having a duration related to the difference between said desired position signal and said actual position signal.

6. The apparatus of claim 5, wherein said modulated signal has a progressively decreasing duty cycle.

7. The apparatus of claim 5, wherein said modulated signal has a progressively decreasing cycle time.

8. The apparatus of claim 3, wherein said comparing means is responsive to provide said driving signal as a pulse width modulated signal for actuating said valve means, said pulse width modulated signal having an on-portion for actuating said valve means to allow pressurized fluid into said cylinder to move said piston and an off-portion for blocking off pressurized fluid from said cylinder.

9. The apparatus of claim 8, wherein said pulse width modulated signal has a duration related to a difference between said desired position signal and said actual position signal.

10. The apparatus of claim 2, wherein said piston comprises said magnetically permeable portion of said actuator.

11. The apparatus of claim 1, wherein said actual position signal is a digital actual position signal and said desired position signal is a digital desired position signal;

and

wherein said transforming means, said position signal means, and said driving signal means comprises;

conversion means for converting said coil signal into a digital position signal, and

a programmed microcomputer operative for transforming said digital position signal to said digital actual position signal and for providing said driving signal as a function of the difference between said digital desired position signal and said digital actual position signal.

12. The apparatus of claim 11, further comprising preprogrammed memory means for storing digital signals corresponding to said digital actual position signal at addressable locations corresponding to said digital position signal.

13. A position sensor apparatus, comprising:

a magnetically permeable member which is variably positionable within a predetermined space;

a split secondary transformer having a primary coil positioned between a pair of spaced-apart secondary coils;

means for exciting said primary coil to produce a time-varying electromagnetic field,

said magnetically permeable member being operative to couple said electromagnetic field into one of said secondary coils at all positions within said predetermined space;

circuit means connected to said secondary coils for providing a coil signal which varies in a nonlinear manner corresponding to the spatial position of said magnetically permeable member in said predetermined space;

conversion means for converting said coil signal into digital address signals;

programmed memory means for storing digital actual position signals corresponding to a linearized actual position of said magnetically permeable member in said predetermined space at addressable locations corresponding to said digital address signals; and

means responsive to said digital address signals for reading said digital actual position signals from said memory means and for providing said digital actual position signals as an output signal incicative of the actual position of said magnetically permeable member within said predetermined space.

14. The apparatus of claim 13, wherein said position of said magnetically permeable member is an axial position.

15. A linear servomechanism apparatus, comprising:

a fluid driven linear actuator including an axially variably positionable actuator rod having a magnetically permeable portion confined to move only within a predetermined space;

a split secondary transformer having a primary coil positioned between a pair of spaced apart secondary coils;

means for exciting said primary coil to produce a time-varying electromagnetic field within said predetermined space, movement of said magnetically permeable portion coupling said electromagnetic field into said secondary coils;

circuit means connected to said secondary coils for providing a coil signal which varies as a function of the position of said actuator rod;

means responsive to said coil signal for transforming said coil signal into an actual position signal which varies as a function of the axial position of said actuator;

command position signal means for providing a desired position signal corresponding to a desired axial position for said actuator rod;

error signal means for providing an error signal as a function of a difference between said desired position signal and said actual position signal;

modulation means for providing a modulated actuator driving signal which varies as a function of the magnitude of said error signal, said driving signal comprising an on-portion and an off-portion; and

valve means responsive to said driving signal for introducing pressurized fluid into said predetermined space to move said actuator rod during said on-portion of said driving signal and for blocking off said pressurized fluid from said predetermined space during said off-portion of said driving signal.

16. An integrated servomechanism and position sensor apparatus, comprising:

an actuator including a magnetically permeable portion which is variably positionable within a predetermined space;

a split secondary transformer having a primary coil positioned between a pair of spaced-apart secondary coils;

means for exciting said primary coil to produce a time-varying electromagnetic field,

said magnetically permeable portion being operative to couple said electromagnetic field into said secondary coils at positions within said predetermined space;

circuit means connected to said secondary coils for providing a coil signal which varies in a nonlinear manner corresponding to the spatial position of said magnetically permeable portion of said actuator;

means responsive to said coil signal for transforming said coil signal into a linearized actual position signal which varies linearly as a function of the position of said actuator within said predetermined space;

command position signal means for providing a desired position signal corresponding to a desired position for said actuator;

means for providing a driving signal as a function of the difference between said desired position signal and said actual position signal; and

actuator moving means responsive to said driving signal for causing said actuator to move toward said desired position.

17. An integrated servomechanism and position sensor apparatus, comprising:

an actuator including a variably positionable magnetically permeable portion confined to move only within a predetermined space;

means for generating an actuator driving force within said predetermined space for moving said actuator and said magnetically permeable portion;

p1 electromagnetic coil means for sensing movement of said magnetically permeable portion within said predetermined space; and

control means responsive to said electromagnetic coil means for deriving position information of said actuator from movement of said magnetically permeable portion and for causing said actuator driving force generating means to move said actuator and said magnetically permeable portion toward a desired position.

18. The apparatus of claim 17, wherein said actuator driving force is a fluid force.

19. The apparatus of claim 18, wherein said actuator comprises a linear fluid-driven cylinder having a movable piston.

20. The apparatus of claim 19, wherein said actuator driving force generating means comprises a source of pressurized fluid and selectively actuatable valve means for allowing pressurized fluid into said cylinder to move said piston.

21. The apparatus of claim 19, wherein said piston comprises said magnetically permeable portion of said piston.

22. The apparatus of claim 17, further comprising means for generating an electromagnetic field within said predetermined space, and wherein said electromagnetic coil means senses variations in said electromagnetic field produced by movement of said magnetically permeable portion within said predetermined space.

23. The apparatus of claim 22, wherein said electromagnetic field generating means and said electromagnetic coil means comprises a variable differential transformer.

24. The apparatus of claim 17, further comprising command position signal means for providing a desired position signal corresponding to said desired position for said actuator, wherein said control means derives an actual position signal which varies as a function of the position of said actuator, and wherein said control means causes said actuator driving force generating means to move said actuator as a function of the difference between said desired position signal and said actual position signal.

25. The apparatus of claim 24, wherein said control means comprises a programmed microcomputer operative for receiving said desired position signal, deriving said actual position signal as said position information from signals from said electromagnetic coil means, and providing a driving signal for causing said actuator driving force generating means to move said actuator and said magnetically permeable portion.