Velocity determination with optoelectronic linear position transducer
阅读：794发布：2023-07-04
专利汇可以提供Velocity determination with optoelectronic linear position transducer专利检索，专利查询，专利分析的服务。并且A system for electronically determining the velocity of a linear motion actuator such as used in a magnetic disc file unit by processing the output from an opto-electronic position transducer associated with the actuator to obtain a velocity signal. One or both of the 90* phase-displaced output signals from a pair of photodetectors in the position transducer are time differentiated. The time derivative signal is positively or negatively full-wave rectified depending on the direction of actuator motion to produce a signal carrying velocity information in its peak-amplitude and polarity. According to one embodiment rectification is accomplished by appropriately gating the time derivative of one photodetector output and its inverse respectively through a pair of analog switches using gating pulses developed from the other photodetector output signal. The rectified combined signal is then peak detected and filtered to produce a substantially continuous DC velocity signal. An extension of this arrangement superimposes the 90* phasedisplaced full-wave rectified time derivative signals from both photodetectors to eliminate signal transitions for high performance applications. Another variation of the present invention provides minimal circuit component cost in an arrangement which uses the logical direction signal from the position transducer to gate either the positive or negative rectified time derivative signal through the switching network.，下面是Velocity determination with optoelectronic linear position transducer专利的具体信息内容。
1. An electronic velocity detection system for use with an optoelectronic position transducer associated with a linear motion actuator and having an illuminated pair of photo detectors which output first and second 90* displaced position signals, comprising: first circuit means responsive to said first position signal for generating the time derivative thereof; second circuit means responsive to said time derivative signal for full wave rectification thereof to produce an output having a peak magnitude representative of actuator motion, said rectification means including signal inverting means for inverting said time derivative signal to form an inverted time derivative signal therefrom, pulse generating means responsive to said second position signal for generating a first pulse train in phase-synchronization therewith, pulse inverting means responsive to said first pulse train for producing a second pulse train 180* out of phase therewith, and a switching network for gating said time derivative signal to an output upon coincidence with pulses of said secodn pulse train and gating said inverted time derivative signal to said output upon coincidence with pulses of said first pulse train.
2. Apparatus according to claim 1 wherein said pulse generating means comprises a voltage comparator responsive to the difference between said second position signal applied to a first input and a fixed reference signal equal to one-half of the peak-to-peak amplitude of said second position signal applied to a second input, said comparator generating the pulses of said pulse train when said second position signal is greater than said reference signal.
3. Apparatus according to claim 1 wherein said switching network comprises a pair of gated analog switches including a first switch for gating said time derivative signal to an output upon coincidence with pulses of said second pulse train and a second switch for gating said inverted time derivative signal to an output upon coincidence with pulses of said first pulse train.
4. Apparatus according to claim 3 wherein the individual outputs from said first and second switches are applied to the input of a summing amplifier, whereby said time derivative signal is full-wave rectified with a polarity corresponding to the direction of actuator motion.
5. Apparatus according to claim 1 further comprising peak detecting and filtering means responsive to the peak amplitude of said full-wave rectified time derivative signal for producing a velocity signal therefrom.
6. An electronic velocity detection system for use with an opto-electronic position transducer associated with a linear motion actuator and having an illuminated pair of photo detectors which output first and second 90* displaced position signals, comprising: circuit means responsive to said firSt position signal for generating a full-wave rectified time derivative signal therefrom, said time derivative signal having an amplitude and polarity representative of actuator velocity; circuit means responsive to said time derivative signal for generating a velocity signal therefrom; circuit means responsive to said second position signal for generating a full-wave rectified time derivative signal therefrom, said time derivative signal having an amplitude and polarity identical to said first position signal rectified time derivative and being 180* out of phase therewith; a pair of positive half-wave rectifiers, each responsive to a corresponding one of said first and second position signal rectified time derivatives; a pair of negative half-wave rectifiers, each responsive to a corresponding one of said first and second position signal rectified time derivatives; a positive peak detector responsive to the combined outputs of said pair of positive half-wave rectifiers; a negative peak detector responsive to the combined outputs of said negative half-wave rectifiers; and a summing amplifier responsive to the combined outputs of said positive peak detector and said negative peak detector for producing a velocity signal therefrom.
7. An electronic velocity detection system for use with an opto-electronic position transducer associated with a linear motion actuator and having an illuminated pair of photo detectors which output first and second 90* displaced position signals, comprising: circuit means responsive to said first position signal for generating a full-wave rectified time derivative signal therefrom, said time derivative signal having an amplitude and polarity representative of actuator velocity; circuit means responsive to said time derivative signal for generating a velocity signal therefrom; a pair of differentiators responsive to said first position signal, including a first differentiator having a positive rectifier output and a second differentiator having a negative rectifier output; a pair of analog inverters including a first inverter responsive to the output of said second differentiator and having a positive rectifier output to produce a positive inverted time derivative signal therefrom and a second inverter responsive to the output of said first differentiator and having a negative rectifier output to produce a negative inverted time derivative signal therefrom; a first gated analog switch responsive to the combined outputs of said first differentiator and said first inverter for gating said signals to an output upon coincidence with a digital signal from said opto-electronic transducer indicative of actuator motion in a particular direction to produce a full-wave positive rectified time derivative signal at said output corresponding to actuator motion in that direction; a second gated analog switch responsive to the combined outputs of said second differentiator and said second inverter for gating said signals to an output upon coincidence with a digital signal from said opto-electronic transducer indicative of actuator motion in the opposite direction to produce a full-wave negative rectified time derivative signal at said output corresponding to actuator motion in that direction; and a summing amplifier responsive to the combined outputs of said first and second gated analog switches for producing a velocity signal therefrom.
8. A velocity detection system for indicating the velocity of a linear motion actuator having an opto-electronic position transducer of the type wherein a pair of photodetectors is illuminated with a light beam modulated by a shuttering mechanism responsive to actuator movement to produce 90* displaced first and second photodetector output signals, comprising: an analog inverter responsive to said time derivative signal for forming an inverted time derivative signal therefrom; a voltage comparator responsive to tHe difference between said second photodetector output signal applied to a first input and a fixed reference signal equal to one-half of the peak-to-peak amplitude of said second output signal applied to a second input, said comparator generating pulses of a first train when said second photodetector output is greater than said reference signal; a logic inverter responsive to the output of said voltage comparator for inverting said first pulse train to produce a second pulse train; a first gated analog switch responsive to the output of said analog inverter applied to the signal input thereof for gating said inverted time derivative signal to an output upon coincidence with pulses of said first pulse train applied to the gating input thereof; a second gated analog switch responsive to the output of said differentiator applied to the signal input thereof for gating said time derivative signal to an output upon coincidence with pulses of said second pulse train applied to the gating input thereof; a summing amplifier responsive to the combined outputs of said first and second gated analog switches for producing a combined signal therefrom; and a peak detector and filter responsive to said combined signal for detecting the peak amplitude thereof and filtering said peak amplitude to output a substantially constant velocity signal.
9. In a linear motion actuator having associated therewith an opto-electronic position transducer of the type wherein a shuttering mechanism responsive to the movement of said actuator modulates a light beam impinging on a spaced pair of photodetectors to generate first and second 90* phase-displaced output signals therefrom carrying position and direction information, the improvement comprising: a system for electronically processing said photodetector output signals to generate a signal representative of the velocity of said actuator including first circuit means responsive to said first output signal for generating a time derivative signal therefrom, said time derivative signal being 90* phase displaced from said first output signal so as to be frequency synchronized with said second output signal for one direction of actuator motion and 180* out of phase with said second output signal for the opposite direction of actuator motion; second circuit means responsive to said time derivative signal for producing a positive full-wave rectified signal therefrom corresponding to actuator motion in one direction and a negative full-wave rectified signal therefrom corresponding to actuator motion in the opposite direction; and third circuit means responsive to said rectified time derivative signal for detecting the peak amplitude and polarity thereof to generate a signal representing the velocity of said actuator.
10. Apparatus according to claim 9 wherein said third circuit means includes means for filtering said rectified time derivative signal to generate a substantially constant D.C. signal therefrom having a value representative of the speed of said actuator and a polarity representative of the direction of motion of said actuator.
11. Apparatus according to claim 9 wherein said second circuit means comprises: an analog inverter responsive to said time derivative signal for generating an inverted time derivative signal therefrom; pulse generating means responsive to said second photodetector output signal for generating a first train in frequency synchronization therewith; a logic inverter responsive to said first pulse train for generating a 180* phase-shifted second pulse train therefrom; and a pair of gated analog switches including a first switch for gating said time derivative signal to an output upon coincidence with pulses of said second pulse train, and a second switch for gating said inverted time derivative signal to said output upon coincidence with pulses of said first pulse train, whereby said time derivative signal is full-wave rectified with a polarity relfecting the direction of actuator motion.
12. Apparatus according to claim 11 wherein said pulse generating means comprises a voltage comparator responsive to the difference between said second output signal applied to a first input and a fixed reference voltage equal to one-half of the peak-to-peak amplitude of said second output signal applied to a second input, said comparator generating the pulses of said first pulse train when said second output signal is greater than said reference voltage.
13. Apparatus according to claim 9 further comprising: fourth circuit means responsive to said second output signal for generating the time derivative thereof; fifth circuit means responsive to said time derivative signal for producing a positive full-wave rectified signal therefrom corresponding to actuator motion in one direction and a negative full-wave rectified signal therefrom corresponding to actuator motion in the opposite direction, said fifth circuit means being identical to and electrically parallel with said second circuit means with the output of said second and fifth circuit means having identical amplitude and polarity and being 180* out of phase with each other; first positive and negative half-wave rectifiers responsive to the output of said second circuit means; second positive and negative half-wave rectifiers responsive to the output of said fifth circuit means; a positive peak detector responsive to the combined outputs of said first and second positive half-wave rectiifers; a negative peak detector responsive to the combined outputs of said first and second negative half wave rectifiers; and a summing amplifier responsive to the combined outputs of said positive and negative peak detectors and generating a velocity signal therefrom.
14. Apparatus according to claim 9 wherein said first circuit means comprises first and second differentiators responsive to said first output signal, said first differentiator having a positive rectifier output and said second differentiator having a negative rectifier output; a first analog inverter responsive to the output of said second differentiator and having a positive rectifier output; a second analog inverter responsive to the output of said first differentiator and having a negative rectifier output; a first gated analog switch responsive to the coincidence of the combined outputs of said first differentiator and said first analog inverter with a digital signal from said position transducer indicating forward motion of said actuator for gating said combined signal through said switch upon coincidence with said forward digital signal; a second gated analog switch responsive to the coincidence of the combined output of said second differentiator and said second analog inverter with a digital signal from said position transducer indicating reverse motion of said actuator for gating said combined signal through said switch upon coincidence with said reverse digital signal; and a summing amplifier responsive to the combined output of said first and second switches to produce a velocity signal therefrom.
15. The method of electronically determining the velocity of a linear motion actuator having associated therewith an opto-electronic transducer including a spaced pair of illuminated photo detectors comprising the steps of: detecting the output from a first one of said photodetectors; generating a time derivative signal from said first photodetector output; inverting said time derivative signal to obtain a 180* phase-shifted inverted time derivative signal; gating the positive half cycles of said time derivative signal and said inverted time derivative signal through a switching network upon movement of said actuator in one direction and the negative half cycles of said time derivative signal and said inverted time derivative signal through said switching network upon movement of said actuator in the opposite direction; detecting the peak value and polarity of the signal output from said switching network to produce a velocity signal therefrom.
16. The method of claim 15 wherein said gating step includes: detecting the output from the second one of said photodetectors; generating a first digital pulse train in synchronization with said second photodetector output signal, said pulse train being in synchronization with said time derivative signal for actuator motion in one direction and 180* out of phase with said time derivative signal for actuator motion in the opposite direction; inverting said first pulse train to form a second pulse train; applying said time derivative signal to the signal input of a first analog switch and said inverted time derivative signal input of a second analog switch while simultaneously applying said first pulse train to the gating input of said second analog switch and said second pulse train to the gating input of said first analog switch; combining the output of said first and second analog switches, whereby said time derivative signal is full-wave positive rectified for actuator motion in one direction and full-wave negative rectified for actuator motion in the opposite direction.
17. The method of claim 15 comprising the further step of filtering the peak value of the combined signal output from said switches to provide a substantially constant D.C. signal representative of actuator velocity.
18. The method of claim 15 comprising the further steps of: detecting the output from a second one of said photodetectors and generating therefrom a full-wave rectified time derivative signal having the same amplitude and polarity for a given direction of actuator motion as the full-wave rectified time derivative signal derived from said first photodetector output and being 90* phase displaced relative thereto; applying said first time derivative to first parallel negative and positive half-wave rectifiers; applying said second time derivative to second parallel negative and positive half-wave rectifiers; applying the combined output from said first and second positive half-wave rectifiers to a positive peak detector and the combined output from said first and second negative half-wave rectifiers to a negative peak detector; and applying the combined outputs from said positive and negative peak detectors to a summing amplifier to produce a velocity signal therefrom.
19. The method of electronically processing the 90* phase displaced output signals from a pair of photodetectors in an opto-electronic position transducer associated with a linear motion actuator to derive an actuator velocity signal therefrom, comprising the steps of: detecting a first one of said output signals and differentiating said signal to produce a first time derivative signal therefrom; inverting said first time derivative signal to obtain a first inverted time derivative signal 180* out of phase therewith; applying the second of said output signals to one input of a first comparator responsive to the difference between said second output signal and a fixed reference signal equal to one-half of the peak-to-peak amplitude of said second output signal applied to another input, said first comparator adapted to generate a first pulse train when said second output signal exceeds said reference signal, whereby said first pulse train is in phase synchronization with said second output signal; phase-shifting said first pulse train 180* to produce a second pulse train; gating said first time derivative signal through a first switching network to an output upon coincidence with pulses of said second pulse train and simultaneously gating said first inverted time derivative signal through said first switching network to said output upon coincidence with pulses of said first pulse train; generating a velocity signal from tHe output of said switching network.
20. The method of claim 19 comprising the further steps of: differentiating said second output signal to produce a second time derivative signal therefrom; inverting said second time derivative signal to obtain a second inverted time derivative signal 180* out of phase therewith; applying said first output signal to one input of a second comparator responsive to the difference between said first output signal and a fixed reference signal equal to one-half of the peak-to-peak amplitude of said first output signal applied to another input, said second comparator adapted to generate a third pulse train when said first output signal exceeds said reference signal, whereby said third pulse train is in phase synchronization with said first output signal; phase shifting said third pulse train 180* to produce a fourth pulse train; gating said second time derivative signal through a second switching network to an output upon coincidence with pulses of said fourth pulse train and simultaneously gating said second inverted time derivative signal through said second switching network to said output upon coincidence with pulses of said third pulse train; combining the outputs from said first and second switching networks; and detecting the peak amplitude and polarity of said combined signal to produce a velocity signal therefrom.
21. The method of claim 20 wherein the step of combining the outputs from said first and second switching networks includes applying the output from said first switching network to first positive and negative half-wave rectifiers and applying the output from said second switching network to second positive and negative half-wave rectifiers and wherein said peak detecting step includes applying the output from said first and second positive half-wave rectifiers to a positive peak detector, applying the output of said first and second negative half-wave rectifiers to a negative peak detector, and applying the combined outputs from said positive and negative peak detectors to a summing amplifier which outputs said velocity signal.
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