Patent GB-718280-A (GB)
Title: Improvements in servo systems responsive to multiple variables
IPC: G06G7/34
Filed: 1950-08-01
Abstract: 718,280. Electric analogue calculating systems. SOC. D'ELEGTRONIQUE ET' D'AUTOMATISME. Aug, 1, 1950, [Aug: 3, 1949] No. 19193/50. Class 37. In a multiple variable servosystem applicable to the solution of mathematical problems and responsive to a group of m input signals xi (i = 1, 2, 3 .... m) to produce a unique group of n controlled output signals Yj (j = 1, 2, 3 n) each of which is a definite function of the input signal group in accordance with the generalized relation: (1) g u (Y j ) = f u (x j ) (u-1, 2, 3 ....  r) the input signal group is converted by an operator or "F" matrix analogue network into a group of n signals Xi denned generally by (2) X i =f i (x i ) the output signal group is converted by a coefficient or "G" matrix analogue network into a group of n signals Y i  defines. generally by (3) Y i =g j (v j ) and the two resultant signal groups are compared according to their respective indices, to produce a group of n error signals E; which are applied to regulate an amplification or "A". matrix analogue network (comprising e.g. n amplifiers or servomotors) generating. the group of output signals, so that the respective values of X; and Y i  tend to equality and the group of error signals as a whole tends to zero; there being inserted in the path of the error signal group (or the output signal group) a further transfer or "H" matrix analogue network in which the m input lines are selectively connected to then output lines so that each input line may be connected to any one output line and each output line to any one input line, whereby n linearly independent output signals are obtained from m linearly independent input signals, and the stability of the system is assured. Fig. 1 shows a generalized servosystem of this kind wherein m input signals x i  are applied to the analogue network 1 of the "F" matrix of operator f(x i ) to produce n signals X i  applied to corresponding comparison circuits 3 1  to 3 n : together with a group of n signals Y i  derived from the analogue network 2 of the "E" matrix of coefficient g(y j ), to produce a group of n error signals E i  which are connected to their respective amplifiers or servomotors 4 1  to 4 n  (equivalent to the analogue network of an amplification matrix "A"). The resultant group of n output signals y j  is connected to the "G" matrix analogue network 2 through the "H" transfer matrix analogue network 5 ensuring stability, and the latter may instead be inserted at 5<SP>1</SP> between the comparison circuits 3 and the output signal generators 4, where it is denoted as matrix "H<SP>1</SP>." It is shown by operational calculas from the generalized relation (i) above that the group of signals y j  defines a vector y in a functional space of n dimensions, and is equivalent to the transformation of the group of signals x i  # which define a vector x in a functional space of m dimensions and that (4) y = Fx which is transformable into the relation (5) # =[Fij (p)] ... # where # j (P) is the Laplace transformation of y j (t) ...# i (P)is the Laplace transformation of x i (t) t is time P=jW, a complex pulsatance with j=#-1 #, # are the vectors of # j (P) and #i(P) It is also shown that the group of signals X i  is equivalent to the application of matrix "X" to the vector and the group of signals Y i  is equivalent to the application of matrix "G" to the vector #, so that the error signals E i  are equivalent to an error vector e given by (6) #e = #F# - #G# When the network 5<SP>1</SP> representing matrix "H'" is inserted in the path of the group of error signals E i  it is shown that, where I n  is a unit matrix of order n, i.e. a diagonal matrix having its terms equal to unity, (7) # = [I n + AH<SP>1</SP>G]<SP>-1</SP> AH<SP>1</SP> F # while where the network 5 representing matrix "H" is inserted in the path of the group of output signals y j  it is shown that (8) # = [I n  + HAG]<SP>-1</SP> HAF # The matrices H and H<SP>1</SP> are such that HA =AH<SP>1</SP>, so that H =H<SP>1</SP> when all elements of the diagonal matrix "A" are equal (as is usual in servosystems), and the matrix "H" must be related to the matrix "G" in such manner that the matrix "HG" has no roots in p in the half plane R(P)>O. The analogue networks 1, 2, 5 of matrices "F," "G," "H" comprise square or rectangular multipoles (Fig. 2) wherein input feeders G 1  to G n  represent the columns of the matrix and are coupled to the grouped output terminals A  11  to A 1n , A 21  to A 2n , .... A n  1  to A nn  by adjustable grouped impedances Z 11  to Z in) Z 21  to Z 2n  .... Z n1  to Z nn , which may be directly or inductively coupled to the feeders, each impedance group representing a line of the matrix. The impedances may comprise active amplifying elements, e.g. valves or servomotors. Negative values may be attached to the matrix analogue networks by doubling each column feeder, the corresponding input being connected directly to one conductor and to the other through a phase inverting amplifier of unity gain, each impedance element being connectible to one or other conductor by a two-way switch (Fig. 3 not shown). The analogue network of the "H" matrix is in practice derived by permutation of the lines or columns of the unit matrix I n , in the form of a multipole having n columns and lines selectively interconnectible by switches to obtain n linearly independent output signals from n linearly independent input signals by closing one switch per line and one per column, chosen to ensure that having regulated the structure of matrix "G" to solve a given problem, the matrix "H" is such that the determinant/HG/>0, and that the terms of the diagonal of matrix "HG" are the greatest terms in their particular lines and columns of the matrix. Fig. 4 shows an application to the resolution of three linear simultaneous equations. and the elements of the matrix analogue 2 considered as adjustable potentiometers are adjusted to give attenuation Of 0.4 in the ist feeder of the 1st row, of o.6 in the 2nd feeder of the 2nd row, and so on by line and column in accordance with the y coefficients. To satisfy the above criteria, the matrix "HG" is For stability the matrix analogue 51 is switched so that the input of column I is linked to line II; column II is linked to line I, and column III to line III as shown in Fig. 4. Each comparator 3  1 3  2  3 3  compares to zero the sum of the three elementary voltages from a corresponding row of the matrix analogue 2 and readjust the outputs Y 1 , Y 2 , Y 3 , of the servomotors or amplifiers 4 1 , 4 2 , 4 3 , in accordance with the respective error signals to reduce the latter to zero, at which the outputs Y  1 , Y 2 , Y 3 , represent the solution. Fig. 5 shows the organization of a multiple variable servosystem wherein the "H" matrix analogue network 5 is a selectively interconnectible multipole as above, and the impedance elements of the analogue networks 2 and i of the "G" and "F" matrices are grouped potentiometers P 11 ... P  1n , P 21  ... P 2n , P n1  ... Pnn and P<SP>1</SP> 11  ... P<SP>1</SP>  1m , P<SP>1</SP> 21 ... P<SP>1</SP>  2m , P<SP>1</SP>: 1  ... P<SP>1</SP> nm , respectively the sliders being coupled to grouped terminals A<SP>1</SP> and A with corresponding indices, whereby the signals X i  and Y i  produced in the networks are distributed respectively to the terminals B<SP>1</SP> to B<SP>1</SP> n  and B to B n  of the star impedance networks R<SP>1</SP> to R<SP>1</SP> n  and R 1  to R n  whose common points are linked according to their indices with the output signal generators (amplifiers or servomotors) 4 1  to 4 n , and which taken in pairs R 1 - R<SP>1</SP> 1  ... R n  - R<SP>1</SP> n  constitute the comparison circuits, which are associated. with the respective lines U 1  ... U n  to which reference signals or auxiliary parameters may-be injected. The n signals from the several output signal generators are connected to the columns of the "H" matrix analogue network 5, which on selective closure of one switch per line and column produces n linearly independent output signals Y j , corresponding to the m input signals x i  from which they were derived, which are connected back to the columns of the "G" matrix analogue network 2 in the manner set forth. The comparison circuits may comprise combinations of inductance, capacitance, and resistance, e.g. in the form of integrating circuits. The analogue networks and 2 of the "F" and "G" matrices may be constituted by conductor networks disposed similarly to the above defined networks representing a matrix structure, and their impedance elements may be transferred into the respective branches of the comparison circuits. (Fig..6 not shown). The analogue network of the "G" matrix of order n may be subdivided into networks representing partial subordinate matrices of order P<SP>1</SP> (an integral submultiple of n) whereby multiple servosignal loops are set up to traverse in succession plural subordinate matrix analogues, with the introduction therein of successive differentiating or integrating circuits, or circuits introducing e.g. trigonometrical, hyperbolic, logarithmic or exponential functions, or circuits for multiplying together the resultant signals before application to the comparison circuits. (Figs. 7, 8 not shown). The input of a single comparison circuit may be connected successively to the n paths and n lines of the analogue of the "G" matrix by an electronic or electromechanical commutator having n<SP>2</SP>   positions arranged in groups of n positions severally linked to n lines of the analogue, and a further synchronized commutator having n positions connects the output signal generator successively, at intervals corresponding to the columns of the "G" matrix analogue, to n storage capacitors across the n inputs of the "H" matrix analogue, so that each capacitor is initially discharged by a second commutator arm and subsequently memorises the n incomin