US3664234A - Digital electrohydraulic servo actuator - Google Patents
Digital electrohydraulic servo actuator Download PDFInfo
- Publication number
- US3664234A US3664234A US31905A US3664234DA US3664234A US 3664234 A US3664234 A US 3664234A US 31905 A US31905 A US 31905A US 3664234D A US3664234D A US 3664234DA US 3664234 A US3664234 A US 3664234A
- Authority
- US
- United States
- Prior art keywords
- actuator
- stepper motor
- arm
- valve
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
- F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
- F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/40—Open loop systems, e.g. using stepping motor
Definitions
- the fluid is controlled through fluid impingement on one or the other of the two receiver orifices. Flow through each orifice causes the second stage spool to move. This motion ports fluid to the ram, and also as in the flapper type, provides the necessary feedback. Both of these control mechanisms are generally satisfactory but the flapper-nozzle has a failure characteristic which leads to hard-over actuation, the jet pipe is relatively expensive, and neither is adaptable to an existing boost actuator for converting the latter to a servo boost actuator without extensive modifications.
- the application describes a typical hydraulic boost actuator whose metering shuttle control arm has been modified by the addition of a stepper motor actuator to thereby convert it to a servo boost actuator.
- the metering shuttle control arm was a simple bar which carried the human pilot input to the metering shuttle by pivoting the arm and stroking the metering shuttle. This action ports fluid to the ram, which causes the actuator or shuttle valve housing to move to restore the metering shuttle to its neutral position.
- a stepper motor is introduced as an actuating mechanism.
- the stepper motor is in a locked position and operation of the boost actuator is the same as a normal boosted manual system.
- the stepper motor When the automatic control system is active and the input control demands a motion from the actuator, the stepper motor receives a prescribed number of pulses in one direction which incrementally opens the metering shuttle, causing the ram to move. Immediately following the removal of the input command, the stepper motor rotation is reversed by'a spring centering mechanism or by electronic means whereby the same number of pulses of an opposite sense are fed to the stepper motor. Other means for returning the stepper motor to its initial position are also anticipated. By whatever means are selected, the return of the stepper motor to its original position will close the metering shuttle. This will cause the ram to stop its motion, but it will be in a new position gained as a result of the motion during the time the metering shuttle was open. If the demand of the control system is still not satisfied, another train of pulses is fed to the stepper motor to again open the metering shuttle, etc. until the control system is at a closed loop null.
- the described system is admirably suited to airborne manual boost control systems, for example in helicopters, where precise controlled movement is paramount without extensive complex feedback arrangements.
- the invention may be easily incorporated into existing hydraulic boost systems at only a nominal weight increase.
- the input signal may be analog or digital from the receiver of a remote control system or it may be the input from a flight stabilization or computer controlled system.
- a primary advantage of the instant invention is to provide a low cost, low weight digital system for controlling a hydraulic boost actuator.
- Another advantage of the invention is to provide a system requiring only the addition of a stepper motor to an existing hydraulic boost actuator to convert it to a servo boost actuacontrol system for a hydraulic boost actuator that can be im- I plemented by analog input signals.
- Another advantage of the invention is to provide a hydraulic boost actuator that can be simply implemented to operate in either a parallel or series mode.
- FIG. 1 illustrates a basic electronic circuit for driving the stepper motor
- FIG. la illustrates the pulse count control circuitry
- FIG. 2 illustrates a means for attaching thestepper motor and gear train to a hydraulic boost actuator
- FIG. 2a and FIG. 2b illustrate modifications affording a selfcentering stepper motor.
- FIG. 1 illustrates an electronic control circuit that may be used to command and control the hydraulic boost actuator.
- a detailed description of the circuit is incorporated in patent application entitled Digital Automatic Control System with Pseudo Position Feedback and Monitor," Ser. No. 31,986, filed Apr. 27, 1970, and assigned to the instant assignee. In general, the circuit functions in the following manner.-
- An input signal represented by the signal source 1 may be an analog signal indicative of a desired change or an error signal.
- This initial command signal is shaped in shaper 2 to render it compatible with the circuit and appears at the summing junction 4.
- a takeofi from the shaper output is fed through integrator 3 to isolate and determine long term errors, and appears at summing junction 4-.
- the algebraic sum of the signals from summing junction 4 is fed to a threshold circuit 5 having positive and negative levels.
- the initial signal as modified by the summing junction 4, if of sufficient absolute magnitude will cause the threshold circuit 5 to enable either flip-flop 6 or flipfl0p 7 (See FIG. la).
- the output of pulse generator 9 is fed via the pulse count control 8 to the motor pulse sequencer 11 which in turn provides the intelligence to drive the stepper motor 12 the desired number of steps inthe desired rotational direction.
- the output arm 17 is displaced in proportion to the amount of motor movement and controls the hydraulically operated portion of the actuator 14.
- the response of the actuator 14 in FIG. 2 is conditioned upon two independently variable parameters, the amount of displacement and the rate of displacement.
- these two parameters are easily and simply controlled by electronic means and thereby allows the establishment of optimum hydraulic parameters which need not have variation capabilities and their attendant complexity.
- the amount of displacement is controlled by the time during which the pulses are fed to the stepper motor 12 and the time required to return the stepper motor 12 to its initial position.
- pulse count control 8 may control the displacement by determination of a preselected, but variable pulse train time period. This time period may be determinable by the magnitude of the input to the threshold circuits, contingent upon some other condition, preselected and fixed, or manually variable.
- the angular displacement and return or full cycle of the stepper motor 12 and the linear displacement and return of the control arm 17 is dependent upon the time period specified.
- FIGS. 2a and 2b Two alternatives for re-centering the control arm 17 that are economical and reliable, are presented in FIGS. 2a and 2b. This recentering feature is required for parallel operation of the actuator, as described below, but will not be required for series operation, also described below.
- FIG. 2a illustrates a simple helical spring or coil 31 attached to both the stepper motor shaft 30 and its casing.
- the stepper motor 12 under command of the circuit in FIG. 1 will rotate the specified amount and wind coil 31.
- Rotation of stepper motor 12 will translate shuttle valve 16, say to the right, porting pressure oil to the left side of actuator ram 26 thereby moving output arm 27 and valve housing 14 to the right, return oil being ported from the right side of ram 26 to the sump through the fluid relief.
- stepper motor 12 Since the stepper motor 12 cannot translate relative to housing 14 in the parallel mode, it must be returned to its normal zero position when the ram has moved the commanded amount. This is accomplished by the return springs of FIG. 2a or 2b. After completion of rotation and the input command satisfied there will not be any electromotive force holding the stepper motor 12 at the new position and the force of the wound coil 31 will return the stepper motor shaft 30 to its initial position arresting the flow of oil to ram 26 and stopping movement of the control surface. Thus the surface is deflected an amount proportional to the command signal.
- the pulse count control unit 8 can be made to generate a steady signal when a commanded pulse train is not present which corresponds to the initial position of the stepper motor 12 and thus insure an accurate return to and hold at the initial position.
- Some hysteresis may be present in the coil 31 and the generated initial position steady signal will obviate problems stemming therefrom.
- a simple centering spring 36 shown in FIG. 212, may be employed.
- the spring 36 is mounted on post 37 attached to the motor casing with its legs 34, 35 extending to either side of post 32 attached to motor shaft 30.
- Two stop posts 33, 33 attached to the casing established the positional center for each of spring legs 34, 35.
- rotation of the motor will cause post 32 to be angularly displaced normal to the axis of rotation. Movement of the post 32 will displace one or the other of legs 34, 35, the other leg being forced against and held by its respective post 33 or 33 and wind the spring 36.
- the force of the spring 36 will center the motor shaft 30.
- the pulse count control unit 8 can be made to generate a signal to electrically center the stepper motor 12 at its initial position.
- the pulse count control unit 8 may be designed to generate a train of pulses equal in number and rate to the commanded train of pulses but of opposite polarity. This second train of pulses would then command the motor pulse sequencer 11 to rotate the stepper motor 12 in the reverse direction and return the stepper motor 12 and its output arm 17 to the initial starting position. Should an error signal enter the system such that the return movement would be incomplete, the shuttle 16 would fail to finally close the hydraulic ports and resulting effect would be a hard-over condition. To obviate this result an auxiliary spring could be attached to the motor shaft 30 as described to insure a full return to the starting position.
- the rate of displacement of the hydraulic actuator 14 is dependent upon the quantity of fluid which is metered to the actuator during a given time period, and is proportional to the .rate at which the port is opened.
- the rate of port opening is controlled by the stepping rate of the stepper motor 12, or the pulse repetition rate of the pulse generator 9.
- the displacement is normally controlled by the absolute magnitude of the input signal source, but may also be limited to a definite number of steps.
- the displacement rate may be contingent upon any condition existing within the circuit, fixed or preselected or manually variable and implemented by changing the repetition rate of the pulse generator 9. In this manner, both the amount and rate of displacement of the actuator may be individually controlled.
- the synchronizing feature may operate at a point other than that of the zero position of the hydraulic ram 27 by simple modification of the pick-off device 29 and the memory element 1 1.
- the pulse count control circuit 8 may be described in more detail as follows. If an error exists at the output of the summing junction 4 demanding movement of the actuator ram 27, the appropriate control flip-flop 6 or 7, is set on.” This does two things. First, it assures that the other control flip flop cannot be turned on until a complete cycle is accomplished. Second, the activated flip-flop supplies an input to the full pulse circuit 40 which will then gate out the next series of'full pulses from the pulse generator 9. The output from the full pulse circuit 40 is ANDed with the appropriate buffer 41 or 42 to drive the corresponding clockwise or counterclockwise motor drive in the motor pulse sequencer 11.
- the full pulse circuit 40 drives a power amplifier 44 through a buffer 43 so that only a reduced voltage is applied to the stepper motor 12 between pulses and between cycles.
- the full pulse circuit 40 also drives a differentiator 45 through a buffer and into a modulo 4 counter 46.
- the modulo 4 counter 46 along with the count 3 decode 47 and end of count 3 reset 48 insure that the counter 46 will proceed through a single cycle of 4 counts each time that the threshold 5 is exceeded or, it will produce a series of 4 count cycles if the threshold 5 remains exceeded during the reset time.
- the count 3 decode 47 feeds a power amplifier 49 so that the power is withdrawn from the stepper motor 12 during the three count so that the spring on the stepper motor 12 can begin to center the stepper motor 12. After the third count, reduced voltage is applied to hold the stepper motor 12 at the start or null position.
- the stepper motor 12 and gear train 13 may be built as a unit for simplicity having an output arm 17 which extends and retracts. If desired, a pivoting angular motion may be incorporated without departing from the scope of the invention. Attached to the output arm 17 is the metering shuttle arm 15. The operation of the metering shuttle arm is simply that of moving the shuttle 16 to control the input of hydraulic fluid to the hydraulic ram system 26 in a well known manner.
- the stepper motor 12 and gear train 13 unit is pivotally attached to the actuator housing at point 24 through the rigid arm 18, 25.
- a rigid arm 21 and brake device 23 is attached to the actuator housing 14.
- the rigid arm 21 is connected to the control arm 18 through a lockable sloppy link connection 20.
- the stepper motor 12 and gear train 13 form an integral assembly with the normal valve actuator arm 18, 25 of the otherwise conveontional boost actuator.
- the actuator may operate as either a parallel or a series ac tuator.
- the brake 23 activated by a manually controlled switch 30 locks the sloppy link connection and units 21, 18, 13 and become a rigid or integral unit. Any movement of the stepper motor 12 will be reflected in a lateral movement of the output shaft 17 and metering shuttle arm 15 such that the shuttle or pilot valve 16 is moved. Movement of the shuttle 16 will operate the hydraulic system 26, causing the ram 27 to move. For example, if motor 12 moves shuttle 16 to the right, pressure oil will be ported to the left side of ram 26 and return oil from the right side of ram 26 will be ported to the sump. Output 27 will thus move to the right carrying housing 14 with it.
- a movement of the control stick will reflect through arm 19 a movement of the control arm 18 within the confines of the sloppy link 20.
- the gear train within unit 13 maybe reversible, and as such, movement of unit 13 may or may not be reflected at output arm 17 depending on the amount of friction present.
- the gear train could be made nonreversible but would then have to be much stronger and larger to withstand loads in the non-reversible direction.
- the presently used small size gear train 13 may be used provided that the movement of the output arm 17 be limited so that a force exerted on the unit 13 will be reflected through movement of the output arm 17 and acting through the limit positions.
- the degree of freedom between the limit positions must be less than half of the relative total movement of sloppy link 20, otherwise a movement of control arm 18 would be absorbed by the relative movement between the output arm 17 and unit 13 resulting in no movement of the shuttle 16.
- Some slop would be present under the means of manual control described above, but manual control would be maintained even if the stepper motor 12 or its control system failed. During a non-failure condition when the pilot wished to provide full time manual control, the motor could be locked electronically by simple switching means and thus the above-described slop would not be present.
- the sloppy link 20 plays a critical role.
- the brake is disengaged by switch 30 to allow movement of the pin 22 within the sloppy link 20. If, by means of a commanded control signal, the output shaft 17 and metering shuttle arm 15 were displaced to the right, the movement could be absorbed in two areas, depending on which one offered a greater frictional resistance to motion. Either the shuttle 16 would move within the actuator housing 14 causing a flow of hydraulic fluid, or the units 25, 13 and 18 would pivot about point 24 causing the control stick arm 19 to move.
- the hydraulic ram 27 would then reflect the desired change.
- movement of the ram 27 could still be effected by the pilot resisting the movement of the control stick arm 19, but this places an undesirable burden on the pilot.
- the control stick arm 19 should be configured to have more friction or spring load than the shuttle mechanism.
- the movement of the housing 14 will cause movement of the control arm 18, through units 13 and 25 and pivot 24. Because of the aforementioned frictional resistance of the control stick arm 19, the control arm 18 will tend to pivot about the point of attachment of the control stick arm 19 and control arm 18. Thus, for relatively small correctional control movements, the motion of the housing 14 and ram 27 will not be reflected at the control stick. If the commanded controlsignal requires a movement greater than the restriction, preferably 50 percent of available movement, the excess will be reflected at the pilot's control stick. Unless this restriction is imposed, there will not be an incremental distance within which the control stick can be moved by the pilot if he wishes to supplement a commanded signal.
- a control system for comprising, a hydraulic boost actuator of the type having valve means displaced in one direction or the other from a zero position to control the flow of hydraulic fluid to move said actuator a source of error signal in the form of discrete pulses,
- a control system as set forth in claim 1 including further means responsive to said error signal going to zero for impressing upon said stepper motor a holding signal coincident with the stepper motor zero position.
- a hydraulic boost actuator system for operating an output member from a manual input member comprising a hydraulic actuator having a fixed part and a movable part coupled with said output member,
- control valve housing coupled with the movable part of said actuator and including valve means for controlling the flow of fluid to said actuator
- valve means actuating arm pivoted on said housing and coupled with said manual input member for moving said valve means upon movement of said manual member whereby movement of said arm by said manual means ports fluid to said actuator to move said output member and simultaneously to return said valve means to its unactuated position
- a stepper motor mounted on said valve actuating arm and adapted upon energization to move said valve means independently of said arm
- said servo boost actuator may be operated as a series actuator.
Abstract
Description
Claims (6)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US3190570A | 1970-04-27 | 1970-04-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
US3664234A true US3664234A (en) | 1972-05-23 |
Family
ID=21862045
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US31905A Expired - Lifetime US3664234A (en) | 1970-04-27 | 1970-04-27 | Digital electrohydraulic servo actuator |
Country Status (5)
Country | Link |
---|---|
US (1) | US3664234A (en) |
CA (1) | CA948294A (en) |
DE (1) | DE2120661A1 (en) |
FR (1) | FR2086381A1 (en) |
GB (1) | GB1343681A (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3763745A (en) * | 1972-01-28 | 1973-10-09 | Chandler Evans Inc | Closed center valve control system |
US3768373A (en) * | 1972-08-28 | 1973-10-30 | Chandler Evans Inc | Linearized pressure gain module |
US4235156A (en) * | 1978-11-16 | 1980-11-25 | Zenny Olsen | Digital servovalve and method of operation |
US4587883A (en) * | 1981-10-10 | 1986-05-13 | Robert Bosch Gmbh | High resolution control system for a pressure-responsive positioning device |
US5129310A (en) * | 1990-06-15 | 1992-07-14 | Hydraulic Units, Incorporated | Auto rigging for servo actuator system |
US5178053A (en) * | 1992-02-13 | 1993-01-12 | Johnson Service Company | Electronic pilot positioner |
US5560275A (en) * | 1994-03-21 | 1996-10-01 | Mannesmann Aktiengesellschaft | Drive of the fluid or electric type with a control |
US20020093113A1 (en) * | 2000-01-03 | 2002-07-18 | Ansell Scott Frederick | Mold for forming a contact lens and method of preventing formation of small strands of contact lens material during contact lens manufacture |
US20110271667A1 (en) * | 2009-01-23 | 2011-11-10 | Voith Patent Gmbh | Hydraulic drive device having two pressure chambers and method for operating a hydraulic drive device having two pressure chambers |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2140871A (en) * | 1983-06-03 | 1984-12-05 | Bowthorpe Hellermann Ltd | Piston and cylinder actuator control |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3079899A (en) * | 1959-05-29 | 1963-03-05 | Fuji Tsushinki Seizo Kk | Feedback-type oil-hydraulic drive |
US3216331A (en) * | 1963-05-24 | 1965-11-09 | Robertshaw Controls Co | Electric-pneumatic process controller |
US3222996A (en) * | 1963-03-29 | 1965-12-14 | Honeywell Inc | Controlling apparatus |
US3266378A (en) * | 1964-06-16 | 1966-08-16 | Jared W Shaw | Variable gain solenoid valve control system |
-
1970
- 1970-04-27 US US31905A patent/US3664234A/en not_active Expired - Lifetime
-
1971
- 1971-01-05 CA CA102,031A patent/CA948294A/en not_active Expired
- 1971-04-26 FR FR7114701A patent/FR2086381A1/fr not_active Withdrawn
- 1971-04-26 GB GB1131371*[A patent/GB1343681A/en not_active Expired
- 1971-04-27 DE DE19712120661 patent/DE2120661A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3079899A (en) * | 1959-05-29 | 1963-03-05 | Fuji Tsushinki Seizo Kk | Feedback-type oil-hydraulic drive |
US3222996A (en) * | 1963-03-29 | 1965-12-14 | Honeywell Inc | Controlling apparatus |
US3216331A (en) * | 1963-05-24 | 1965-11-09 | Robertshaw Controls Co | Electric-pneumatic process controller |
US3266378A (en) * | 1964-06-16 | 1966-08-16 | Jared W Shaw | Variable gain solenoid valve control system |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3763745A (en) * | 1972-01-28 | 1973-10-09 | Chandler Evans Inc | Closed center valve control system |
US3768373A (en) * | 1972-08-28 | 1973-10-30 | Chandler Evans Inc | Linearized pressure gain module |
US4235156A (en) * | 1978-11-16 | 1980-11-25 | Zenny Olsen | Digital servovalve and method of operation |
US4587883A (en) * | 1981-10-10 | 1986-05-13 | Robert Bosch Gmbh | High resolution control system for a pressure-responsive positioning device |
US5129310A (en) * | 1990-06-15 | 1992-07-14 | Hydraulic Units, Incorporated | Auto rigging for servo actuator system |
US5178053A (en) * | 1992-02-13 | 1993-01-12 | Johnson Service Company | Electronic pilot positioner |
WO1993016287A1 (en) * | 1992-02-13 | 1993-08-19 | Johnson Service Company | Electronic pilot positioner |
AU656503B2 (en) * | 1992-02-13 | 1995-02-02 | Johnson Service Company | Electronic pilot positioner |
US5560275A (en) * | 1994-03-21 | 1996-10-01 | Mannesmann Aktiengesellschaft | Drive of the fluid or electric type with a control |
US20020093113A1 (en) * | 2000-01-03 | 2002-07-18 | Ansell Scott Frederick | Mold for forming a contact lens and method of preventing formation of small strands of contact lens material during contact lens manufacture |
US20110271667A1 (en) * | 2009-01-23 | 2011-11-10 | Voith Patent Gmbh | Hydraulic drive device having two pressure chambers and method for operating a hydraulic drive device having two pressure chambers |
US9121419B2 (en) * | 2009-01-23 | 2015-09-01 | Voith Patent Gmbh | Hydraulic drive device having two pressure chambers and method for operating a hydraulic drive device having two pressure chambers |
Also Published As
Publication number | Publication date |
---|---|
FR2086381A1 (en) | 1971-12-31 |
GB1343681A (en) | 1974-01-16 |
CA948294A (en) | 1974-05-28 |
DE2120661A1 (en) | 1972-11-09 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: SP-COMMERCIAL FLIGHT, INC., A DE CORP.,MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SPERRY CORPORATION;SPERRY RAND CORPORATION;SPERRY HOLDING COMPANY, INC.;REEL/FRAME:004838/0329 Effective date: 19861112 Owner name: SP-COMMERCIAL FLIGHT, INC., ONE BURROUGHS PLACE, D Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:SPERRY CORPORATION;SPERRY RAND CORPORATION;SPERRY HOLDING COMPANY, INC.;REEL/FRAME:004838/0329 Effective date: 19861112 |
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AS | Assignment |
Owner name: HONEYWELL INC. Free format text: ASSIGNMENT OF ASSIGNORS INTEREST. EFFECTIVE DEC 30, 1986;ASSIGNOR:UNISYS CORPORATION;REEL/FRAME:004869/0796 Effective date: 19880506 Owner name: HONEYWELL INC.,MINNESOTA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:UNISYS CORPORATION;REEL/FRAME:004869/0796 Effective date: 19880506 |