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    • 2. 发明公开
    • Apparatus for controlling the movement of a movable element
    • Einrichtung zum Kontrollieren der Bewegung eines bewegbaren Elementes。
    • EP0043732A1
    • 1982-01-13
    • EP81303104.4
    • 1981-07-07
    • XEROX CORPORATION
    • Gabor, AndrewDunfield, John Charles GeorgeRagen, Robert A.
    • B41J23/02
    • G05B19/232B41J1/24G05B2219/34215G05B2219/37313G05B2219/41326G05B2219/42182G05B2219/43006G05B2219/43181G05B2219/43194
    • Apparatus is disclosed for controlling the movement of a movable element (20 or 22) to bring said movable element to rest at a desired stopping position. The apparatus comprises a multi-phase drive motor (34 or 36) having a drive shaft (86) coupled to the movable element for driving same, a plurality of electrically conductive coils (76) mounted in position-displaced relationship about the shaft, and means coupled to the drive shaft (86) and responsive to the selective energization of the coils (76) by respective motor drive signals for causing the corresponding rotation of the drive shaft and movement of the movable element (20 or 22). A sensor (38 or 40) is coupled to the drive shaft (86) and is responsive to the rotation thereof for generating an electrical signal containing information indicative of the direction, speed and distance of movement of said movable element. Further, means (42 or 44) are included for detecting from the distance information indicated by the electrical signal whether the movable element is within a predetermined distance of the desired stopping position. When it is, a controller (26) controls the levels of the motor drive signals in dependence upon the direction information indicated by the electrical signal.
    • 公开了用于控制可移动元件(20或22)的移动以使所述可移动元件停在所需停止位置的装置。 该装置包括多相驱动电动机(34或36),其具有联接到用于驱动它的可移动元件的驱动轴(86),以轴为中心位置置换的多个导电线圈(76),以及 联接到驱动轴(86)的装置,并且响应于通过相应的电动机驱动信号选择性地激励线圈(76),用于引起驱动轴的相应旋转和可移动元件(20或22)的移动。 传感器(38或40)联接到驱动轴(86)并且响应于其旋转以产生包含表示所述可移动元件的移动方向,速度和距离的信息的电信号。 此外,包括用于从电信号指示的距离信息检测装置(42或44),可移动元件是否在期望的停止位置的预定距离内。 当控制器26根据由电信号指示的方向信息来控制电机驱动信号的电平时,
    • 6. 发明公开
    • Apparatus for controlling the movement of a movable element
    • 用于控制可移动元件的运动的装置
    • EP0043733A3
    • 1983-01-19
    • EP81303105
    • 1981-07-07
    • XEROX CORPORATION
    • Ragen, Robert A.Herendeen, Carl E.
    • G05B19/23B41J01/30
    • G05B19/232G05B2219/41326G05B2219/42182G05B2219/43006G05B2219/43047
    • Apparatus is disclosed for controlling the movement of a movable element (20 or 22) between an initial starting position and a final stopping position. The apparatus comprises drive means (34 or 36) coupled to the movable element and responsive to motor drive signals for moving the movable element (20 or 22) along a predefined path between the starting and stopping positions. The apparatus generates an actual velocity signal indicative of the actual speed of movement of the movable element, a position signal indicative of the distance remaining to travel by the movable element toward the desired stopping position and first and second command velocity signals respectively indicative of the minimum and maximum desired velocity levels for such particular distance remaining to travel. A controller (26) is responsive to the position signal for comparing the actual velocity signal with each of the first and second command velocity signals when the value of the position signal indicates the movable element has greater than a predetermined distance to travel, and for issuing the motor drive signals in response to such comparison for application to the drive means (34 or 36) to cause (a) the acceleration of the movable element (20 or 22) by the drive means when the comparison indicates the actual velocity of the movable element is less than the minimum desired velocity, (b) the coasting of the movable element when the comparison indicates the actual velocity of the movable element is more than the minimum desired velocity and less than the maximum desired velocity, and (c) the deceleration of the movable element by the drive means when the comparison indicates the actual velocity of the movable element exceeds the maximum desired velocity.
    • 7. 发明公开
    • Apparatus for controlling the movement of a movable element
    • Vorrichtung zum Steuern der Bewegung eines beweglichen Elements。
    • EP0043733A2
    • 1982-01-13
    • EP81303105.1
    • 1981-07-07
    • XEROX CORPORATION
    • Ragen, Robert A.Herendeen, Carl E.
    • G05B19/23B41J1/30
    • G05B19/232G05B2219/41326G05B2219/42182G05B2219/43006G05B2219/43047
    • Apparatus is disclosed for controlling the movement of a movable element (20 or 22) between an initial starting position and a final stopping position. The apparatus comprises drive means (34 or 36) coupled to the movable element and responsive to motor drive signals for moving the movable element (20 or 22) along a predefined path between the starting and stopping positions. The apparatus generates an actual velocity signal indicative of the actual speed of movement of the movable element, a position signal indicative of the distance remaining to travel by the movable element toward the desired stopping position and first and second command velocity signals respectively indicative of the minimum and maximum desired velocity levels for such particular distance remaining to travel. A controller (26) is responsive to the position signal for comparing the actual velocity signal with each of the first and second command velocity signals when the value of the position signal indicates the movable element has greater than a predetermined distance to travel, and for issuing the motor drive signals in response to such comparison for application to the drive means (34 or 36) to cause (a) the acceleration of the movable element (20 or 22) by the drive means when the comparison indicates the actual velocity of the movable element is less than the minimum desired velocity, (b) the coasting of the movable element when the comparison indicates the actual velocity of the movable element is more than the minimum desired velocity and less than the maximum desired velocity, and (c) the deceleration of the movable element by the drive means when the comparison indicates the actual velocity of the movable element exceeds the maximum desired velocity.
    • 公开了用于控制可移动元件(20或22)在初始起始位置和最终停止位置之间移动的装置。 该装置包括联接到可移动元件的驱动装置(34或36),并响应于马达驱动信号,用于沿起始位置和停止位置之间的预定路径移动可移动元件(20或22)。 该装置产生指示可移动元件的实际运动速度的实际速度信号,指示由可移动元件行进到所需停止位置的剩余距离的位置信号,以及指示最小值的第一和第二指令速度信号 以及保持行驶的这种特定距离的最大期望速度水平。 当位置信号的值表示可移动元件的值大于预定行驶距离时,控制器(26)响应于位置信号,用于将实际速度信号与第一和第二指令速度信号中的每一个进行比较, 电动机驱动信号响应于对驱动装置(34或36)的应用的这种比较,以使得当比较指示可移动的实际速度时(a)驱动装置的可移动元件(20或22)的加速度 元素小于最小期望速度,(b)当比较指示可移动元件的实际速度大于最小期望速度并小于最大期望速度时可移动元件的滑行,以及(c)减速度 当比较指示可移动元件的实际速度超过最大期望速度时,通过驱动装置移动可动元件。