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Патент USA US2287835

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June 30, 1942.
H, A, SATTERLEE
2,287,835
APPARATUS FOR CONTROLLING ROTATION
Filed Dec. 23, 1940
INVENTOR
Howard A. §af7€2r/ee
Patented June 30, 1942
‘
UNITED STATES PATENT‘ OFFICE
2,287,835 a
APPARATUS FOR CONTROLLING ROTATION
Howard A. Satterlee, Dayton, Ohio, assignor to
Submarine Signal Company, Boston, Mass., a
corporation of Maine
;
o
Application December 23, 1940, Serial No. 371,332
12 Claims. (Cl. 172-239)
The present invention relates to motor speed
control and remote positioning systems.
Various systems have heretofore been pro
posed for controlling the speed of a motor
through a relatively wide range and also in'
the application of such systems to the control of
the position of an object located at a point re
mote from the control point.
21 and the resistances 28 and 29. The condensers serve to increase the power factor of
the ?eld winding circuit so that the required
?eld current can be obtained; the resistors serve
to quench the high voltage which appears across
the ?eld windings when the recti?er tubes cut
off. The grids of the recti?ers are normally
biased to cut o? by means of the biasing battery
I! and potentiometer l3 which is connected be
‘It is an object of the present invention to pro
vide an improved system whereby the speed of i0 tween the common cathode connection and
the motor may be varied through a wide range
through two resistances l4 and ii to the grids
of speeds while maintaining a substantially ?at
of the two recti?ers I 0 and II, respectively.
speed-torque characteristic and whereby the
Current-limiting resistors l6 and I1 respectively
speed of the motor may be controlled from a reare also inserted in series with the grids of the
mote point.
.
15 two tubes. The control circuit for the grids of
It is a further object of the present invention
the two recti?ers further includes in series a
to provide a system whereby a remotely situated
source of direct potential and the motor arma
object may be rotated into any desired position
ture 4.
'
from a conveniently located control point;
The direct controlling potential may be pro
These and other objects of the present inven- 20 vided in several ways two of which, are shown
tion as well as the mode of operation of the
in Fig- 1. It may be Provided, for eXamD1e,bY
same will best be understood from the following description taken in connection with the
a generator l8 having an armature 20 and a permanent magnet ?eld or a direct current excited
accompanying
electromagnet ?eld l9. The armature 20 of the
drawing which
represents
a
schematic view of the invention,
‘25 generator It may be manually rotated by means
As shown in the drawing the object I to be
of the handwheel 2| connected to the armature
rotated is driven by a motor 2 having a sepashaft, through suitable gearing if desired. One
rately excited direct current ?eld winding 3 and
terminal of the armature 20 is connected to the
an armature A which is supplied with energy
terminal 22 at the junction of resistors l4 and it.
from the armature 5 of a generator 6.
The Ii" The other terminal of the armature 20 is con
armature 5 is continuously rotated by a motor
mooted through a single-polo, double-throw
or other prime mover 1. The generator 6 is proswitch 23 to one side of the motor armature 4.
vided with two ?eld windings 8 and 9 which,
The other side of the motor armature 4 is con
when excited with current of suitable polarity‘,
nected to the terminal 24 which iS at the junc
‘provide magnetic ?ux in opposite directions so J15 tion of resistors i5 and I ‘l. The connections are
that when the winding 8 is energized, the polarmade in Such a Way that the motor armature
ity of the generator armature voltage will be
Voltage is in Opposition to the Voltage Produced
in one direction; while when the ?eld winding 9
by the armature 20. The algebraic 811m of these
is energized, the polarity of the generator arma—
two voltages is thus impressed across the series
ture Voltage will be in the opposite direction. 40 connected resistors l4 and I5. These resistors
are preferably made of a high value so that only
The generator ?eld winding excitation circuit
a very small current flows through them. The
includes two grid controlled recti?ers l0 and II
grid circuit of recti?er“! then includes the po
preferably of the gaseous type operating in a
tential drop across resistor H and the biasing
half-wave manner. The cathodes of the two
recti?ers are tied together, the anode of each in potential provided by potentiometer I3. Simi
larly, the grid circuit of recti?er ll includes the
recti?er being connected to one terminal of one
potential drop across the resistor IS in series with
of the ?eld windings 8 or 9, the other terminals
the biasing potential 13.
of these windings being common and comiected
The operation of the system so far described
through a source of alternating current to the
common cathode connection of the two recti I, O is as follows: With the generator armature 5
being continuously rotated and the generator
?ers. The anode current of recti?er It thus
supplies ?eld winding 8 and the anode current of
recti?er ll supplies ?eld winding 9. It is usu
ally desirable to shunt each of the ?eld wind
ings with a ?lter such as the condensers 26 and 55
armature 20 at rest, the ?eld windings 8 and 9
will receive no excitation. Consequently the
generator armature 5 will produce no voltage
and the motor 4 will remain at rest. When the
-
2
_ 2,287,836
handwheel 2| is rotated in one direction, say
clockwise, the'switch 23 being thrown to the
Y right, the voltage produced by the armature 20
is all impressed across the terminals 22 and 24
causing a current to ?ow through the resistors 5
Thus, if the handwheel be stopped abruptly, the
grid-controlling potential is only that existing
across the motor terminals. The polarities of
the grids of the tubes are therefore abruptly re
versed, thereby reversing the ?eld ?ux of gener
ator 5 and causing it to reverse the polarity of
l4 and I5. If we assume that the potential drop
thereby created is such as to make the terminal
generated potential, and tending to reverse the
22 positive and the terminal 24 negative, the grid
motor 2. Since, however, the grids have thereby
of recti?er It will have applied to it the algebraic
again been reversed in polarity, the motor does
sum. of the drop across resistor l4 and the bias 10 not actually reverse, but rapidly comes to a
potential l3. Since these two under the assumed
conditions of polarity oppose each other, the grid
standstill. The regenerative eifect also tends to
stop the system.
-
of recti?er ID will become positive. If the po
When the system is being used for the purpose
tential drop across resistor I4 is su?iciently large,
of rotating the object I into a desired prede
recti?er ID will pass currentexcit‘ing the ?eld 15 termined position, it may be desirable to provide
winding 8. The generator armature 5will there
at the location of the handwheel 2| a position
by generate a potential which is impressed across
repeater such as a conventional self-synchro
the motor armature 4 causing the latter to ro
nous motor system which will indicate at the
tate. When the voltage generated by armature
position of handwheel 2| the position of the
5 becomes approximately equal to the voltage 20 driven object I.
generated by armature 20, the grid of the tube
If it is desired to drive the object continuously
ID will again become negative, cutting off the
in one direction or the other, there is substituted
further excitation of ?eld winding 8 for a su?l
for the generator |8 a potentiometer 30. To this
cient number of cycles to reduce the voltage of
end the switch 23 is thrown to the left. The
armature 5 to the point where the motor ter 25 grid controlling potential impressed across ter
minal voltage is again enough below the voltage
minals 22 and 25 and which is in series with the
of armature 20 to permit the recti?er Hi again
motor armature potential is then provided by
to press current. It will be evident that the ex
the potentiometer 30 having a center tap 32 and
citation of ?eld winding 8 by the recti?er II!
a movable contact 3|. The extremities of the
will be just su?icient to generate in armature 30 potentiometer resistance 30 are connected across
5 a voltage just su?icient to drive the motor 4
a source of direct current. It will be observed
at a speed proportional to the speed of the hand
that the center tap 32 is connected to the ter
wheel 2|. Moreover, with the handwheel 2| be
minal 22 and the movable contact 3| is con
ing rotated at a constant speed, the motor 2
nected to the terminal 25. Thus the portion of
will run at a constant speed even though the
the potentiometer between the center tap 32 and
load produced by the driven object I may vary.
the movable contact 3| is in series with the motor
It will be observed that when the potential
armature 4 and the resulting potential is im
acrossterminals 22 and 24 is such as to make the
grid of tube In positive, the grid of tube II
will be highly negative since the drop across
the resistor l5 will be in such a direction as to
increase the negative bias provided by potentiom
Ieter l3. The ?eld winding 9 will therefore under
pressed across terminals 22 and 24.
It will now -
be evident that when the movable contact 3|
is on one side of the center tap 32, the voltage
drop in the potentiometer 30 will be in such a
direction as to tend to make one of the recti?er
grids positive and the other negative; while
these conditions remain deenergized.
when the contact 3| is on the other side of the
If, now‘, the handwheel 2| ‘be rotated in the 45 centertap 32, thepolarities of the grids will be
counter-clockwise direction, the potential pro
reversed. The direction of rotation of the motor
duced by armature 20 will reverse so that ter
2 can thus be selected at will. It will also be
minal 24 will become positive and terminal 22
observed that the magnitude of the control po
negative. The grid of tube || therefore will be
tential provided by the potentiometer can be
positive while the grid of tube I0 is negative;
varied merely by varying the position of movable
consequently ?eld winding 9 will be excited
contact 3| whereby the speed of the motor 2 can
whereas ?eld winding 8 will be deenergized. The
be varied at will. For any given setting of the
armature 5 will therefore produce a potential
contact 3|, the motor 2 will maintain a constant
of opposite polarity, causing themotor arma
speed regardless of the variations in the load
ture 4 to reverse its direction of rotation. j The 65 driven by the motor by reason oi’ the back cou
speed of motor 4 will, however, again be pro
pling of the motor armature in the recti?er grid
portional to the speed of the handwheel 2|. In
circuits as described above. . The motor can also
order to obtain a close proportionality between
be rapidly stopped by moving contact 3| to the
the speed of armature 4 and the speed of the
center point 32.
handwheel 2|, the armature 4 should have a low 60
Having now described my invention, I claim:
internal resistance so that the difference be
1. A variable speed motor system comprising
' tween the terminal voltage of armature 4 and
a motor having an armature, a generator ,for
its back EMF is as small as possible. Further
supplying power to said'motor and having a con
more, it is desirable to design the generator i8 to
tinuously driven armature and two ?eld wind
produce a relttively high voltagev substantially 65 ings,
a pair of gaseous grid-controlled recti?ers,
equal to that required, by the motor 2 when
one of said recti?ers being connected to supply
operating at full speed. The armature 20
current from an alternating source to one of
should produce this voltage when the handwheel
said ?eld windings to provide a ?ux in one direc
2| is being rotated at a convenient speed.
tion and the other recti?er being connected to
The effect of the above arrangement is to 70 supply current to the other ?eld winding to pro
produce a very close coupling between the hand
vide a ?ux in the other direction and a grid
wheel 2| and the driven object I, for the back
circuit for said recti?ers including a common
coupling between the motor 2 and the grid con
cathode connection, a center-tapped resistor con
trol potential for the tubes l8 and H substan
nected by one end to the grid of one recti?er and
tially eliminates all elasticity from the system. 75 by the other end to the grid of the other recti
a'aa'asas
3
5. A variable speed motor system comprising
?er and by its center tap to the common cathode
connection and means for impressing a con
a motor having an armature, a generator for
trolled potential across said resistor comprising
supplying power to said motor and having a con
tinuously driven armature and two ?eld wind
ings, a pair of gaseous grid-controlled recti?ers,
one of said recti?ers being connected to supply
a source of direct potential controllable in po
larity and magnitude connected in series with
the motor armature.
2. A variable speed motor system comprising
current from an valtemating source to one of
a motor having an armature, a. generator for
supplying power to said motor and having a con
said ?eld windings to provide a ?ux in one di
rection a d the other recti?er being connected
vto supply
tinuously driven armature and two ?eld wind
ings, a pair of gaseous grid-controlled recti?ers,
one of said recti?ers being connected to supply
rrent to the other ?eld winding to
provide a ?ux in the other direction and a grid
circuit for said recti?ers including a ‘common
cathode connection, a center-tapped resistor con
nected by one end to the grid of one recti?er and
by the other end to the grid of the other recti?er
and by its center tap ‘to the common cathode
current from an alternating source to one of said
?eld windings to provide a ?ux in one direction
and the other recti?er being connected to supply
current to the other ?eld winding to provide a.
?ux in the other direction and a grid circuit for
connection and means for impressing a control
potential across said resistor comprising a man
said recti?ers including a common cathode con
ually operated direct current generator having a
nection, a center-tapped resistor connected by one
end to the grid of one recti?er and by the other 20' separately excited ?eld and an armature con
end to the grid of the other rectifier and by its
nected in series with said motor armature, the
manually operated generator being designed to
center tap to the common cathode connection
and means for impressing a controlled potential
produce at a convenient maximum speed of ro
tation a potential substantially equal to the full
across said resistor comprising a source of direct
potential controllable in polarity and magnitude 25 load, full-speed potential across said motor ar~
connected in series with the motor armature in
mature.
6. A variable speed motor system comprising
a direction to make the polarity of the potential
across the rotating motor armature opposite to
a motor having an armature, a generator for
the polarity of said controllable potential.
supplying power to said motor and having a
3. A variable speed motor system comprising 30 continuously driven armature and two ?eld wind
ings, a pair of gaseous grid-controlled recti?ers,
a motor having an armature, a generator for
one of said recti?ers being connected to supply
supplying power to said motor and having a con
tinuously driven armature and two ?eld wind
current from an alternating source to one of
said ?eld windings to provide a ?ux in one direc—
ings, a pair of gaseous grid-controlled recti?ers,
tion and the other recti?er being connected to
one of said recti?ers being connected to supply
supply current to the other ?eld winding to
current from an alternating source to one of said
provide a ?ux in the other direction and a grid
?eld windings to provide a flux in one direction
circuit for said recti?ers including a common
and the other recti?er being connected to supply
current to the other ?eld winding to provide a ?ux
cathode connection, a center-tapped resistor con?
in the other direction and a grid circuit for said 40 nected by one end to the grid of one recti?er
and by the other end to the grid of the other
recti?ers including a common cathode connec
recti?er and by its center tap to the common
tion, a center-tapped resistor connected by one
cathode connection and means for impressing a
end to the grid of one recti?er and by the other
control potential across said resistor comprising
end to the grid of the other recti?er, a source
of grid bias potential connected by its positive 45 a center-tapped potentiometer having a movable
contact, the extremities of said potentiometer
terminal to said common cathode connection and
being connected across a source of direct poten
by its negative terminal to said center tap, said
bias potential being adjusted, in the absence of
tial, the center tap being connected to one end
of the center-tapped resistor and the movable
other grid potentials, to out of! conduction
through both recti?ers and means for impressing 60 contact being connected in series with said mo
a control potential across said resistor compris
tor armature to the other end of said center
a
tapped resistor.
ing a source of direct potential controllable in
polarity and magnitude connectedin series with
7. A variable speed motor system comprising
the motor armature.
a motor having an armature, a generator for
4. A variable speed motor system comprising 55 supplying power to said motor and having a con
a motor having an armature, a generator for
tinuously driven armature and two ?eld wind
supplying power to said motor and having a con
ings, a pair of gaseous grid-controlled recti?ers,
tinuously driven armature and two ?eld wind
one of said recti?ers being connected to supply
ings, a pair of gaseous grid-controlled recti?ers,
current from an alternating source to one of said
one of said recti?ers being connected to supply 60 ?eld windings to providev a ?ux in one direction
current from an alternating source to one of
and the other recti?er being connected to supply
said ?eld windings to provide a ?ux in one di
current to the other ?eld winding to provide a
rection and the other recti?er being connected
?ux in the other direction and a grid circuit for
to supply current to the other ?eld winding to
said recti?ers including a common cathode con
provide a ?ux in the other direction and a grid 65 nectlon, a center-tapped resistor connected by
circuit for said recti?ers including a common
one end to the grid of one recti?er and by the
cathode connection, a center-tapped resistor
other end to the grid of the other recti?er and by
connected by one end to the grid of one recti?er
its center tap to the common cathode connection
and by the other end to the grid of the other rec
and means for impressing a controlled poten
ti?er and by its center tap to the common cathode 70 tial across said resistor comprising a source of
connection and means for impressing a control
direct potential controllable in polarity and mag
potential across said resistor comprising a man
nitude connected in series with the motor arma
ually operated direct current generator having a
ture and a resistor and a condenser connected in
parallel across each of‘ said generator ?eld wind
separately excited ?eld and an armature con
75 ings.
nected in series with said motor armature.
,4
2,287,836 .
8. A variable speed motor system comprising
generator being designed to produce at a con
venient maximum speed of rotation a potential
a motor having an armature, a generator for
supplying power to said motor and having a con
substantially equal to the full-load, full-speed
tinuously driven armature and two ?eld wind
ings, a pair of gaseous grid-controlled recti?ers,
potential across said motor armature.
10. In combination, a prime mover, a direct
one of said recti?ers being connected to supply
current machine mechanically driven thereby
and having a pair or balanced ?eld windings, a
pair of grid-controlled recti?er tubes having
their cathodes connected through an alternating
current from an alternating source to one of said
?eld windings to provide a ?ux in one direction
and the other recti?er being connected to supply
current to the other ?eld winding to provide a 10 current power source to the common junction be
?ux in the other direction and a grid circuit for
tween the windings and their anodes to the other
said recti?ers including a common cathode con
terminals of said windings, and a series circuit
nection,‘ a center-tapped resistor connected by
including two opposed reversible . generating
one end to the grid of one recti?er and by the ‘
sources one of which is manually controlled and
other end to the grid of the other recti?er, a 15 the other of which is the armature 01' said direct
source of grid bias potential connected by its
current machine, said circuit having a common
positive terminal to said common cathode con
point connected to said cathodes and impedance
nection and by its negative terminal to said cen
devices on opposite sides thereof connected to
ter tap, said bias potential being adjusted in the
said control grids for controlling the potentials
absence of other grid potentials to cut off con 20 thereof.
duction through both recti?ers and means for
11. In combination, a prime mover, a direct
impressing a control potential across said re
current generator mechanically driven thereby
sistor comprising a manually operated direct cur
and a ?eld excitation circuit for said generator
rent generator having a separately excited ?eld
including a pair of grid-controlled recti?er tubes
connected with an alternating current power
and an armature connected in series with said
motor armature in a direction to make the po
larity of the potential across the rotating motor
source and with said generator field so that the
current through one ?eld will produce a magnetic
?eld in one direction and current through the
armature opposite to the polarity of the simul
taneously rotating manually operated generator.
other tube will produce amagnetic a?eld in the
9. A variable speed motor system comprising 30 opposite direction, a series circuit including two
a motor having an armature, a generator for sup
plying power to said‘motor and having a. con
.opposed potential sources, one of which is said
direct current machine and means connected to
tinuously driven armature and two ?eld windings,
said circuit for simultaneously impressing upon
said control grid potentials of opposite polarity
a pair of gaseous grid-controlled recti?ers, one of
said recti?ers being connected to supply current 3. respectively, the said polarities being determined
from an alternating source to one of said ?eld
windings to provide a ?ux in one direction and ‘
I
by the polarity of the potential difference be
tween said potential sources.
the other recti?er being connected to supply cur
12. A variable speed motor system'comprising
rent to the other ?eld winding to provide a ?ux _ a motor having an armature, a generator for sup
in the other direction and a grid circuit for said 40 plying power to said motor and having a con
recti?ers including a common cathode connec
tinuously driven armature and two ?eld wind
tion, a center-tapped resistor connected by one
ings, a pair of gaseous grid-controlled recti?ers,
end to the grid of one recti?er and by the other
one of said recti?ers‘being connected to supply
end to the grid of the other recti?er, a source of
current from an alternating source to one of said
grid bias potential connected by its positive ter- - ?eld windings to provide a ?ux in one direction
mina] to said common cathode connection and
and the other recti?er being connected to supply
by its negative terminal to said center tap, said
current to the other ?eld winding to provide a
bias potential 'being adjusted in the absence of
?uxin the other direction and a grid circuit for
other grid potentials to cut off conduction
said recti?ers including a common cathode con
through both recti?ers and means for impressing
nection, a tapped resistor connected by one end
a control potential across said resistor compris
to the grid of one recti?er and by the other end
ing a manually operated direct current generator
to the grid 01' the other recti?er and by its tap
having a separately excited ?eld and an armature
connected in series with said motor armature in
a direction to make the polarity of the potential ,
across the rotating motor armature opposite to
the polarity of the simultaneously rotating man
ually operated generator, the manually operated
to the common cathode connection and means
for impressing a controlled potential across said
resistor comprising a source of direct potential
controllable in polarity and magnitude connected
in series with the motor armature.
HOWARD A. SA'I'TERLEE.
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