Dc motor controllers with ir compensation for extended speed range

Claim 2

In a speed control circuit for DC electric motors, including an amplifier, a reference speed command electrically connected to said amplifier, means for establishing a signal representing armature speed electrically connected to said amplifier, and means for establishing an IR compensation correction signal input electrically connected to said amplifier, the improvement comprising means for automatically varying the gain applied to said IR compensation correction signal input to said amplifier with speed of said DC electric motor, said means including a rectifier connected in parallel with the armature of said DC motor.

Claim 3

The improvement of claim 1 further characterized by a switch, responsive to conduction of said rectifier, electrically connected to said rectifier and to said IR compensation establishing means and operatively adapted to reduce IR compensation signal input gain to said amplifier as motor speed increases.

Claim 4

The improvement of claim 2 wherein said switch is a transistor.

Claim 5

In a speed control circuit for DC electric motors, including an amplifier, a reference speed command electrically connected to said amplifier, means for establishing a signal representing armature speed electrically connected to said amplifier, means for controlling armature voltage electrically connected to said amplifier, and means for establishing an IR compensation correction signal electrically connected to said amplifier, said IR compensation correction means comprising a compensation resistor electrically connected in series with the armature, a first diode having an anode and a cathode, which cathode is electrically connected to said compensation resistor, means for biasing said first diode electrically connected to the anode of said first diode, and an IR compensation transistor having a base electrically connected between said first diode and said first diode biasing means, and an output electrically connected to said amplifier; the improvement comprising a second diode electrically connected in parallel with said compensation resistor and the armature of said motor, a resistor, and a transistor switch having base and collector electrodes said resistor being electrically connected between said second diode and the base of said transistor, and said collector being electrically connected to the base of said IR compensation transistor, wherein said second diode is nonconductive for a portion of a cycle, thereby developing a voltage across said second diode, which voltage acts upon said resistor to bias the transistor into conduction, which conduction reduces the ability of said IR compensation transistor to amplify said IR compensation correction signal, thereby controlling the gain of said IR compensation signAl to said amplifier.

Claim 6

In a speed control circuit for DC electric motors, including an amplifier, a reference speed command electrically connected to said amplifier, means for establishing a signal representing armature speed electrically connected to said amplifier, means for controlling armature voltage electrically connected to said amplifier, and means for establishing an IR compensation correction signal electrically connected to said amplifier, said IR compensation correction means comprising a compensation resistor electrically connected in series with the armature, a first diode having an anode and a cathode, which cathode is electrically connected to said compensation resistor, means for biasing said first diode electrically connected to the anode of said first diode, and an IR compensation transistor having a base electrically connected between said first diode and said first diode biasing means, and an output electrically connected to said amplifier; the improvement comprising a second diode electrically connected in parallel with said compensation resistor and the armature of said motor, a resistor, and a transistor switch having base and collector electrodes said resistor being electrically connected between said second diode and the base of said transistor, and said collector being electrically connected to the base of said IR compensation transistor, wherein said second diode is nonconductive for a portion of a cycle, thereby developing a voltage across said second diode, which voltage acts upon said resistor to bias the transistor into conduction, which conduction reduces the ability of said IR compensation transistor to amplify said IR compensation correction signal, thereby controlling the gain of said IR compensation signAl to said amplifier.

Claim 7

A control circuit for a DC dynamoelectric machine having a stator and an armature with armature windings connected to a source of DC power, which comprises: an amplifier having an input side and an output side; a reference speed command control electrically connected to said amplifier input side; means for establishing a signal representing uncorrected armature speed, electrically connected to said amplifier input side; means for establishing an IR compensation correction signal electrically connected to said amplifier input side; means for automatically varying gain applied to said IR compensation correction signal in response to motor speed electrically connected to said means for establishing an IR compensation correction signal; and means, responsive to said amplifier output, for controlling armature voltage electrically connected to said amplifier output side.

Claim 8

A control circuit for a DC dynamoelectric machine having a stator and an armature with armature windings connected to a source of DC power, which comprises: an amplifier having an input side and an output side; a reference speed command control electrically connected to said amplifier input side; means for establishing a signal representing uncorrected armature speed, electrically connected to said amplifier input side; means for establishing an IR compensation correction signal electrically connected to said amplifier input side; means for automatically varying gain applied to said IR compensation correction signal in response to motor speed electrically connected to said means for establishing an IR compensation correction signal; and means, responsive to said amplifier output, for controlling armature voltage electrically connected to said amplifier output side.

Claim 9

The control circuit of claim 5 wherein said means for automatically varying gain applied to said IR compensation signal includes a rectifier electrically connected in parallel across said armature winding.

Claim 10

The control circuit of claim 6 wherein said means for automatically varying gain applied to said IR compensation signal further comprises a switch, responsive to conduction of said rectifier, electrically connected to said rectifier and to said means for establishing an IR compensation signal such that conduction of said rectifier opens said switch and nonconduction of said rectifier closes said switch, whereby closing said switch reduces gain of said IR compensation correction signal.

Claim 11

The control circuit of claim 7 wherein said switch is a transistor.

Claim 12

The control circuit of claim 6 wherein said means for establishing an IR compensation comprises: a resistor electrically connected in series with said armature winding, a diode having an anode and a cathode electrically connected to said resistor at said cathode, a second resistor electrically connected to said anode of said diode and to said power source, an IR compensation transistor having an input side electrically connected between said second resistor and the anode side of said diode, and an output side electrically connected to the input side of said amplifier; and said means for automatically varying gain of said IR compensation signal comprises: a potentiometer electrically connected to the output side of said IR compensation transistor and mechanically coupled to said reference speed command control whereby movement of said speed command control so as to require increased armature speed increases output impedance of said IR compensation transistor and reduces the gain of said IR compensation signal.

Claim 13

In a control circuit for a DC dynamoelectric machine having a stator and an armature with armature windings connected to a source of DC power, which comprises: an amplifier having an input side and an output side; a reference speed command control electrically connected to said amplifier input side; means for establishing an uncompensated signal representing armature speed, electrically connected to said amplifier input side; means for establishing an IR compensation correction signal electrically connected to said amplifier input side, said means comprising a resistor electrically connected in series with said armature winding, a diode having an anode and a cathode electrically connected to said resistor at said cathode, a second resistor electrically connected to said anode of said diode and to said power source; an IR compensation transistor having an input side electrically connected between said second resistor and the anode side of said diode, and an output side electrically connected to the input side of said amplifier; means for varying gain applied to said IR compensation correction signal, said means comprising a potentiometer electrically connected to the output side of said IR coMpensation transistor and mechanically coupled to said reference speed command control whereby movement of said speed command control so as to require increased armature speed increases output impedance of said IR compensation transistor and reduces the gain applied to said IR compensation correction signal input to said amplifier; and means, responsive to said amplifier output, for controlling armature voltage, electrically connected to said amplifier output side.

Claim 14

In a control circuit for a DC dynamoelectric machine having a stator and an armature with armature windings connected to a source of DC power, which comprises: an amplifier having an input side and an output side; a reference speed command control electrically connected to said amplifier input side; means for establishing an uncompensated signal representing armature speed, electrically connected to said amplifier input side; means for establishing an IR compensation correction signal electrically connected to said amplifier input side, said means comprising a resistor electrically connected in series with said armature winding, a diode having an anode and a cathode electrically connected to said resistor at said cathode, a second resistor electrically connected to said anode of said diode and to said power source; an IR compensation transistor having an input side electrically connected between said second resistor and the anode side of said diode, and an output side electrically connected to the input side of said amplifier; means for varying gain applied to said IR compensation correction signal, said means comprising a potentiometer electrically connected to the output side of said IR coMpensation transistor and mechanically coupled to said reference speed command control whereby movement of said speed command control so as to require increased armature speed increases output impedance of said IR compensation transistor and reduces the gain applied to said IR compensation correction signal input to said amplifier; and means, responsive to said amplifier output, for controlling armature voltage, electrically connected to said amplifier output side.