Electronic controls for linear and rotary actuators
DCFirst Claim
1. A method for controlling speeds of first and second actuators as a function of first and second outputs produced by respective ones of first and second transducers and a difference between said outputs, and for controlling a difference in speed between said actuators as a function of said difference between said outputs, which method comprises:
- a) user actuating said first transducer to selective input positions;
b) user actuating said second transducer to selective input positions;
c) producing said first output from said first transducer that is proportional to said selective positions thereof;
d) producing said second output from said second transducer that is proportional to said selective positions thereof;
e) reducing said difference between said outputs as an inverse and nonlinear function of said difference between said outputs; and
f) controlling said actuators as a function of said reduced difference.
2 Assignments
Litigations
0 Petitions
Accused Products
Abstract
A system (200) provides control of speeds and positioning of linear or rotary actuators (14A, 14B, 342A, 342B), and the system (200) may be used to control both speeds and steering of a conveyance (10). A transducer sensitivity control apparatus (202) provides selective control of sensitivity of transducers (28A, 28B) in an X-Y controller (26). The X-Y controller (26) delivers voltages to a steering sensitivity control apparatus (156, 180) that decreases, differences as an inverse and nonlinear function, in the two voltages supplied by the X-Y controller (26), thereby reducing steering sensitivity of the conveyance (10), increasing controllability in turns by decreasing sensitivity of joystick (34) movement, and/or automatically slowing the conveyance (10) when making sharp turns. A limit switch apparatus (204) shuts down the system (200) when an excessive voltage is developed by one of the transducers (28A, 28B) and a signal limiting apparatus (226) adjustably limits speeds of the actuators (14A, 14B, 342A, 342B). When an eyeglass X-Y controller (58) is used to control the conveyance (10), the system (200) provides head-actuated control of speed and steering, selective adjustment of tilt-angle sensitivity of the mercury-wiped transducers (62), selective adjustment of steering sensitivity, automatic slow-down when making sharp turns, automatic stopping of the conveyance (10) when either one of the two transducers (62) of the eyeglass X-Y controller (58)is tilted to an excessive tilt angle, and adjustable maximum speed of the conveyance (10).
27 Citations
29 Claims
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1. A method for controlling speeds of first and second actuators as a function of first and second outputs produced by respective ones of first and second transducers and a difference between said outputs, and for controlling a difference in speed between said actuators as a function of said difference between said outputs, which method comprises:
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a) user actuating said first transducer to selective input positions; b) user actuating said second transducer to selective input positions; c) producing said first output from said first transducer that is proportional to said selective positions thereof; d) producing said second output from said second transducer that is proportional to said selective positions thereof; e) reducing said difference between said outputs as an inverse and nonlinear function of said difference between said outputs; and f) controlling said actuators as a function of said reduced difference. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 26, 28, 29)
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12. A method for controlling both speed and steering of a conveyance, which method comprises:
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a) controlling said speed as a function of first and second input positions of first and second transducers; b) controlling said steering as a function of a difference in said input positions; and c) decreasing sensitivity of said steering to said difference as an inverse and nonlinear function of said difference. - View Dependent Claims (13)
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14. A method for controlling both speed and steering of a conveyance, which method comprises:
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a) controlling said speed as a function of first and second inputs to first and second transducers; b) controlling said steering as a function of a difference in said inputs; and c) automatically reducing said speed of said conveyance as a nonlinear function of said difference. - View Dependent Claims (27)
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15. A method for producing control signals, which method comprises:
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a) producing first and second control signals proportional to successive ones of first and second inputs; b) decreasing differences in said control signals as an inverse and nonlinear function of said differences whenever said first control signal is greater than said second control signal; and c) decreasing differences in said control signals as an inverse and nonlinear function of said differences whenever said second control signal is greater than said first control signal. - View Dependent Claims (16, 17, 18, 19)
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20. A method for producing control signals, which method comprises:
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a) producing successive ones of first and second control signals proportional to successive inputs with respect to a first axis; b) decreasing differences between said control signals as an inverse and nonlinear function of said differences whenever one of said control signals is larger than the other of said control signals; and c) said decreasing step comprises analog processing of one of said control signals. - View Dependent Claims (21)
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22. An X-Y controller (58) which comprises:
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eyeglass frames (60) having a pair of earpieces (64A and 64B); means, comprising first and second transducers (62), each having a sensing axis (68A and 68B), and both being mounted to said eyeglass frames, for producing first and second outputs that are proportional to inclinations of a head (70) of a person (56) wearing said eyeglass frames; and said sensing axes being disposed at equal and opposite angles to said earpieces, and being disposed at a larger angle to each other. - View Dependent Claims (23)
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24. A method for controlling speeds of first and second actuators as a function of first and second outputs produced by respective ones of first and second transducers, and for controlling differences in speeds of said actuators as a function of differences in said outputs, which method comprises:
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a) user actuating said first transducer to selective input positions; b) user actuating said second transducer to selective input positions; c) producing said first output from said first transducer that is proportional to said selective positions thereof; d) producing said second output from said second transducer that is proportional to said selective positions thereof; e) decreasing said first output as an inverse and nonlinear function of said second output whenever said first output exceeds said second output; and f) decreasing said second outpost as an inverse and nonlinear function of said first output whenever said second output exceeds said first output.
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25. A method for controlling speeds of first and second actuators in response to first and second outputs produced by respective ones of first and second transducers, and for controlling differences in speeds of said actuators in response to differences in said outputs, which method comprises:
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a) user actuating said first transducer to selective input positions; b) user actuating said second transducer to selective input positions; c) producing said first output from said first transducer that is proportional to said selective positions thereof; d) producing said second output from said second transducer that is proportional to said selective positions thereof; e) increasing said first output as an inverse and nonlinear function of said differences whenever said first output is lower than said second output; and f) increasing said second output as an inverse and nonlinear function of said differences whenever said second output is lower than said first output.
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Specification