Motor control system with double ir compensation

Claim 2

An energizing system for an electrical motor in which electrical energy is passed to the motor by a power circuit including at least one semiconductor switch, comprising: a control amplifier having an input circuit and an output circuit, means, including the control amplifier output circuit, connected to regulate operation of the semiconductor switch and thus regulate energization of said motor, means for applying to the control amplifier input circuit a signal related to the motor terminal voltage, means for providing a first IR compensation signal related to the current flow through the motor armature, means for providing a second IR compensation signal related to a current flow which varies as a function of the operation of said semiconductor switch, and means for applying the first and sEcond IR compensation signals to the input circuit of the control amplifier, to enhance the regulation over the entire motor speed range.

Claim 3

A motor energizing system as claimed in claim 1, in which said means for providing the second IR compensation signal includes a resistor, connected to provide a signal related to the current flow through said semiconductor switch, and means for summing the first and second IR compensation signals and for applying the resultant sum signal to the input circuit of the control amplifier.

Claim 4

A motor energizing system as claimed in claim 2 in which said control amplifier includes an operational amplifier having first and second input connections and an output connection, means for coupling said output connections to the circuit which regulates operation of the semiconductor switch, means for applying said signal related to the motor terminal voltage to the first input connection of the operational amplifier, and means for applying said resultant sum signal to the second input connection of the operational amplifier.

Claim 5

A motor energizing system as claimed in claim 1 in which a freewheeling diode is coupled in parallel with the motor to complete a continuous path for current flow when the semiconductor switch is turned off, and in which said means for providing the second IR compensation signal includes a resistor, coupled in series with said freewheeling diode, to provide a signal related to the current flow through the freewheeling diode.

Claim 6

An energizing system as claimed in claim 3 and further comprising means for providing a speed reference signal, and means for combining said speed reference signal with said resultant sum signal to produce a composite summation signal for application to the second input connection of the control amplifier.

Claim 7

An energizing system for an electrical motor in which electrical energy is passed to the motor by a power circuit including at least one semiconductor power switch regulated by a firing circuit, comprising: a control amplifier stage, including an operational amplifier having first and second input connections and an output connection; means for coupling the operational amplifier output connection to said firing circuit to regulate operation of said firing circuit and thus regulate energization of said motor; means for applying a signal related to the motor terminal voltage to the first input connection of the operational amplifier; means for providing a first IR compensation signal related to the current flow through the motor armature; means for providing a second IR compensation signal related to the current flow through the semiconductor switch; and means for summing the first and second IR compensation signals and for applying the resultant sum signal to the second input connection of the operational amplifier, such that the second IR compensation signal cancels an increasing portion of the first IR compensation signal as the motor speed increases to enhance the regulation over the entire motor speed range.

Claim 8

An energizing system for an electrical motor in which electrical energy is passed to the motor by a power circuit including at least one semiconductor power switch regulated by a firing circuit, comprising: a control amplifier stage, including an operational amplifier having first and second input connections and an output connection; means for coupling the operational amplifier output connection to said firing circuit to regulate operation of said firing circuit and thus regulate energization of said motor; means for applying a signal related to the motor terminal voltage to the first input connection of the operational amplifier; means for providing a first IR compensation signal related to the current flow through the motor armature; means for providing a second IR compensation signal related to the current flow through the semiconductor switch; and means for summing the first and second IR compensation signals and for applying the resultant sum signal to the second input connection of the operational amplifier, such that the second IR compensation signal cancels an increasing portion of the first IR compensation signal as the motor speed increases to enhance the regulation over the entire motor speed range.

Claim 9

An energizing system as claimed in claim 6 and further comprising means for providing a speed reference signal, and means for combining said resultant sum signal with said speed reference signal to produce a composite summation signal for application to the second input connection of the operational amplifier.

Claim 10

An energizing system as claimed in claim 6 and further comprising protective means, coupled between ground and the means for summing the first and second IR compensation signals, to protect the operational amplifier against damage by excess values of the resultant sum signal.