Reversible motor control having alternatively operative dual amplifiers and automatic response adjustment

Claim 2

In a drive system including a d-c motor and power conversion means for supplying electric power to the armature and field of the d-c motor in response to a regulated control signal, improved control means for generating the regulated control signal comprising: a. means for producing a d-c command signal having a magnitude and polarity representative of desired motor performance, b. means for producing an electric feedback signal having a magnitude representative of attained motor performance, c. first amplifying means including input means and output means, d. second amplifying means including input means and output means, e. first network means including rectifying means coupled to said feedback signal producing means and said input means of each of said first and second amplifying means and being responsive to the feedback signal to supply a positive polarity signal to said first amplifying means and a negative polarity signal to said second amplifying means, said positive and negative polarity signals having magnitudes representative of attained motor performance, f. second network means coupled to command signal producing means and said input means of said first and second amplifying means and responsive to the command signal to supply to each of said input means a d-c signal having a magnitude and polarity representative of desired motor performance, g. said first amplifying means being operative when the signals supplied thereto by said first and second network means have a net negative polarity and said second amplifying means being operative when the signals supplied thereto by said first and second network means have a net positive polarity, h. and third network means coupled to said output means of each of said first and second amplifying means for receiving output signals therefrom and producing in response thereto a regulated control signal for delivery to the power conversion means.

Claim 3

Control means according to claim 1 in which said means for providing an electric feedback signal having a magnitude representative of attained motor performance comprises means coupled to the motor to operate at a speed proportional to that of the motor armature.

Claim 4

Control means according to claim 1 further comprising stabilizing means interconnecting said first and second amplifying means to stabilize the operative ones of said amplifying means during generation of a regulated control signal.

Claim 5

Control means according to claim 1 in which each of said first and second amplifying means includes rectification means disposed such that said first amplifying means is inoperative when the net signal supplied thereto is positive and such that said second amplifying means is inoperative when the signal supplied thereto is negative.

Claim 6

In control means for a drive system including a d-c motor and power conversion means for supplying electric power to the armAture and field of the d-c motor in response to a regulated control signal generated by the control means, improved amplification means comprising: first amplifying means, second amplifying means, first input circuit means connected to a command source to introduce therefrom a signal having a magnitude and polarity representative of a desired motor performance and direction of rotation, second input circuit means coupled to the motor to introduce therefrom an electrical feedback signal indicative of the attained motor performance in the desired direction of rotation, rectifier means connected to said second input circuit means to provide a pair of feedback signals of opposite polarity proportional to, and regardless of the polarity, wave shape and frequency of the electrical feedback signal, the attained motor performance, circuit means connected to said first input circuit means, said rectifier means, and said first and second amplifying means to supply the signal representative of the desired motor performance to both of said amplifying means and a selected one only of said feedback signals to each of said amplifying means, means connected to said first and second amplifying means to activate the one of said amplifying means to which signals of opposite polarity are supplied, common stabilizing means coupled to both of said first and second amplifying means to stabilize the operative one of said amplifying means during generation of a regulated control signal, and automatic response rate adjustment means coupled to the motor and said common stabilizing means to adjust the response rate of the operative one of said amplifying means in response to changes in the response rate of the motor.

Claim 7

In control means for a drive system including a d-c motor and power conversion means for supplying electric power to the armAture and field of the d-c motor in response to a regulated control signal generated by the control means, improved amplification means comprising: first amplifying means, second amplifying means, first input circuit means connected to a command source to introduce therefrom a signal having a magnitude and polarity representative of a desired motor performance and direction of rotation, second input circuit means coupled to the motor to introduce therefrom an electrical feedback signal indicative of the attained motor performance in the desired direction of rotation, rectifier means connected to said second input circuit means to provide a pair of feedback signals of opposite polarity proportional to, and regardless of the polarity, wave shape and frequency of the electrical feedback signal, the attained motor performance, circuit means connected to said first input circuit means, said rectifier means, and said first and second amplifying means to supply the signal representative of the desired motor performance to both of said amplifying means and a selected one only of said feedback signals to each of said amplifying means, means connected to said first and second amplifying means to activate the one of said amplifying means to which signals of opposite polarity are supplied, common stabilizing means coupled to both of said first and second amplifying means to stabilize the operative one of said amplifying means during generation of a regulated control signal, and automatic response rate adjustment means coupled to the motor and said common stabilizing means to adjust the response rate of the operative one of said amplifying means in response to changes in the response rate of the motor.

Claim 8

In a closed-loop motor control system including a drive motor with means responsive to the performance of the motor to create a feedback proportional to a parameter of the drive motor''s performance; a power control unit connectable to a source of electrical energy and to the drive motor to supply power to the motor in accordance with an input signal to the power control unit; a three wire, regulated d-c control power supply connected to the power control unit; a source of command signals to govern the drive motor''s performance, also connected to the three wire, regulated d-c power supply; and the improvement which includes an amplifier stage comprising in combination: a. two amplifiers, each of which is connected to the aforesaid three-wire regulated d-c control power supply; b. a signal input circuit and an output circuit connected electrically to each of said amplifiers; c. diode rectifiers in parallel circuit relationship with each of said amplifiers, the first of said diode rectifiers polarized to pass a positive signal from said signal input circuit of the first of said amplifiers to said output circuit of said first amplifier, and the second of said diode rectifiers polarized to pass a negative signal from said signal input circuit of the second of said amplifiers to said output circuit of said second amplifier; d. first and second output bridge circuits connecting said output circuit of said first amplifier to said output circuit of said second amplifier, each of said bridge circuits comprising an essentially center-tapped resistance including connection means at the center tap, the first of said output bridge circuits provides an output connection for said amplifier stage, said output connection being connectable to supply the aforesaid power control unit with its aforesaid input signal; e. a stabilizing circuit for said amplifier stage, said stabilizing circuit comprising the second of said output bridge circuits, which includes a potentiometer-connected resistance unit electrically and serially connected between said output connection of said second output bridge circuit and a common connection point of the aforesaid three-wire, regulated d-c control power supply, said potentiometer-connected resistanCe unit having a third connection point adjustable between its aforesaid connections to the output connection of said second output bridge circuit and to said common connection point, a resistor and a capacitor in a series circuit configuration, said capacitor electrically connected to said third connection point of said potentiometer-connected resistance unit, said resistor terminating in a junction point at the end remote from said capacitor, and a first input bridge circuit including an essentially center-tapped resistance unit, said resistance unit electrically connected between said signal input circuits of said first and second amplifiers and including connection means at the center tap, said connection means providing the junction point for said resistor of said resistor and capacitor series circuit; f. a command signal input bridge circuit, comprising an essentially center-tapped resistance bridge unit, connected between said signal input circuits of said first and second amplifiers, and including connection means at its center tap into which the aforesaid command signal source delivers a command signal representative of the desired performance of the aforesaid drive motor means with respect to a regulated parameter of drive motor performance; g. a feedback signal input bridge circuit comprising six resistors and a potentiometer-connected resistance unit, four of said resistors and the resistance unit of said potentiometer-connected resistance unit serially connected, said resistance unit in the center, location wise and resistance wise, said four serially connected resistors and said resistance unit forming a bridge circuit connected between said signal input circuits of said first and second amplifiers, the first of the remaining two of said six resistors, each having a termination at one end connected electrically at its end opposite the termination to a junction between the two of said six resistors connected to a first end of said resistance unit, the other and final of the remaining two of said six resistors connected electrically, at the end opposite its termination, to a junction between the two of said six resistors connected to a second end of said resistance unit, a third and adjustable connection of said potentiometer-connected resistance unit electrically connected to the common connection point of the aforesaid, three-wire regulated d-c power supply; and, h. a feedback adapter comprising single-phase full wave rectifier means, having two a-c and two d-c junctions with filter means connected between its d-c junctions, said full wave rectifier means incorporating connection means to accommodate the aforesaid feedback at its a-c junctions, said filter means including center-tapped capacitive means with terminals at each end and at the center thereof, connection means to connect the center terminal to the common connection point of the aforesaid three-wire regulated d-c power supply and the end terminals of the capacitive means to the aforesaid terminations of the aforesaid remaining two of said six resistors in said feedback signal input bridge circuit.

Claim 9

In a closed-loop motor control system including a drive motor with means responsive to the performance of the motor to create a feedback proportional to a parameter of the drive motor''s performance; a power control unit connectable to a source of electrical energy and to the drive motor to supply power to the motor in accordance with an input signal to the power control unit; a three wire, regulated d-c control power supply connected to the power control unit; a source of command signals to govern the drive motor''s performance, also connected to the three wire, regulated d-c power supply; and the improvement which includes an amplifier stage comprising in combination: a. two amplifiers, each of which is connected to the aforesaid three-wire regulated d-c control power supply; b. a signal input circuit and an output circuit connected electrically to each of said amplifiers; c. diode rectifiers in parallel circuit relationship with each of said amplifiers, the first of said diode rectifiers polarized to pass a positive signal from said signal input circuit of the first of said amplifiers to said output circuit of said first amplifier, and the second of said diode rectifiers polarized to pass a negative signal from said signal input circuit of the second of said amplifiers to said output circuit of said second amplifier; d. first and second output bridge circuits connecting said output circuit of said first amplifier to said output circuit of said second amplifier, each of said bridge circuits comprising an essentially center-tapped resistance including connection means at the center tap, the first of said output bridge circuits provides an output connection for said amplifier stage, said output connection being connectable to supply the aforesaid power control unit with its aforesaid input signal; e. a stabilizing circuit for said amplifier stage, said stabilizing circuit comprising the second of said output bridge circuits, which includes a potentiometer-connected resistance unit electrically and serially connected between said output connection of said second output bridge circuit and a common connection point of the aforesaid three-wire, regulated d-c control power supply, said potentiometer-connected resistanCe unit having a third connection point adjustable between its aforesaid connections to the output connection of said second output bridge circuit and to said common connection point, a resistor and a capacitor in a series circuit configuration, said capacitor electrically connected to said third connection point of said potentiometer-connected resistance unit, said resistor terminating in a junction point at the end remote from said capacitor, and a first input bridge circuit including an essentially center-tapped resistance unit, said resistance unit electrically connected between said signal input circuits of said first and second amplifiers and including connection means at the center tap, said connection means providing the junction point for said resistor of said resistor and capacitor series circuit; f. a command signal input bridge circuit, comprising an essentially center-tapped resistance bridge unit, connected between said signal input circuits of said first and second amplifiers, and including connection means at its center tap into which the aforesaid command signal source delivers a command signal representative of the desired performance of the aforesaid drive motor means with respect to a regulated parameter of drive motor performance; g. a feedback signal input bridge circuit comprising six resistors and a potentiometer-connected resistance unit, four of said resistors and the resistance unit of said potentiometer-connected resistance unit serially connected, said resistance unit in the center, location wise and resistance wise, said four serially connected resistors and said resistance unit forming a bridge circuit connected between said signal input circuits of said first and second amplifiers, the first of the remaining two of said six resistors, each having a termination at one end connected electrically at its end opposite the termination to a junction between the two of said six resistors connected to a first end of said resistance unit, the other and final of the remaining two of said six resistors connected electrically, at the end opposite its termination, to a junction between the two of said six resistors connected to a second end of said resistance unit, a third and adjustable connection of said potentiometer-connected resistance unit electrically connected to the common connection point of the aforesaid, three-wire regulated d-c power supply; and, h. a feedback adapter comprising single-phase full wave rectifier means, having two a-c and two d-c junctions with filter means connected between its d-c junctions, said full wave rectifier means incorporating connection means to accommodate the aforesaid feedback at its a-c junctions, said filter means including center-tapped capacitive means with terminals at each end and at the center thereof, connection means to connect the center terminal to the common connection point of the aforesaid three-wire regulated d-c power supply and the end terminals of the capacitive means to the aforesaid terminations of the aforesaid remaining two of said six resistors in said feedback signal input bridge circuit.

Claim 10

A closed-loop, motor control system according to claim 6, including an automatic response rate adjustment means to compensate for reduced motor torque capability, comprising in combination: a semi-conductor device with four operative connections, having a resistive signal input connection to a control electrode, a reference connection between a first electrode of said semi-conductor device and the aforesaid common system bus, a protective connection incorporating a rectifier between the first electrode of said semi-conductor device and said signal input connection, and an output connection from a second electrode of said semi-conductor device through a resistance to the aforesaid junction point of the aforesaid first input bridge circuit, said automatic response rate adjustment means being responsive to a signal impressed on said signal input connection to establish an electrical path through A junction of said semi-conductor device between said first electrode and said second electrode to provide an electrically conductive path from the aforesaid junction point of the aforesaid first input bridge circuit to the aforesaid common system bus.

Claim 11

A closed-loop motor control system according to Claim 7 wherein said semi-conductor device is a transistor.