US5101145A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Velocity proportional integral regulator with negative feedforward to control response of torque disturbances
Assignee: Allen Bradley Co LLC
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Filing: 1991-02-01
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Granted: 1992-03-31
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Expires: 2011-02-01
Abstract
Abstract A method and apparatus for control of one or more torque-regulated motors in a controlled system in which a feedforward velocity component is subtracted from an output of proportional-integral velocity regulator to soften the command response of the motor control, independent of torque disturbances reflected in the velocity feedback path. The velocity feedforward path is decoupled from the velocity feedback path. In a preferred embodiment, a digital-type motor controller is used to practice the method in controlling a paper processing line.
Inventors
- 👤 Thomas Rehm
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 18:01
CPC Classifications
H; H02; H02P; H02P5/00; H02P5/46; H02P5/50; H02P23/00; H02P23/16
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
143 words
A method for controlling a motor in which velocity feedback is transmitted through a velocity feedback path from a device coupled to the motor, the method comprising: generating a velocity reference command; comparing the velocity reference command and the velocity feedback to produce a velocity error; inputting the velocity error as an input to a proportional-integral velocity regulator; generating a proportional branch component and an integral branch component of a torque command output from the proportional-integral regulator; applying a feedforward gain factor to the velocity reference command independent of the velocity feedback path to produce a proportional velocity feedforward component; and algebraically summing the velocity feedforward component and the torque command output from the proportional-integral velocity regulator, wherein the velocity feedforward component of velocity reference command is of opposite polarity from the proportional branch component that commands torque out of the velocity regulator.
Claim 2
Independent Claim
143 words
A method for controlling a motor in which velocity feedback is transmitted through a velocity feedback path from a device coupled to the motor, the method comprising: generating a velocity reference command; comparing the velocity reference command and the velocity feedback to produce a velocity error; inputting the velocity error as an input to a proportional-integral velocity regulator; generating a proportional branch component and an integral branch component of a torque command output from the proportional-integral regulator; applying a feedforward gain factor to the velocity reference command independent of the velocity feedback path to produce a proportional velocity feedforward component; and algebraically summing the velocity feedforward component and the torque command output from the proportional-integral velocity regulator, wherein the velocity feedforward component of velocity reference command is of opposite polarity from the proportional branch component that commands torque out of the velocity regulator.
Claim 3
Dependent Claim
51 words
The method of claim 1, wherein the step of generating the velocity reference command comprises: receiving a position reference command; receiving a position feedback command responsive to a change in position in the controlled system; and algebraically summing the position reference command with position feedback to produce the velocity reference command.
Claim 4
Dependent Claim
23 words
The method of claim 1, wherein the feedforward gain factor is applied to the velocity reference command and not to the velocity feedback.
Claim 5
Dependent Claim
25 words
The method of claim 3, wherein a compensation function is applied to the velocity reference command to produce a result that controls the velocity regulator.
Claim 6
Dependent Claim
37 words
The method of claim 3, further comprising summing a line reference velocity with the velocity reference and the velocity feedback independent of the velocity feedforward component in determining the velocity error input to the proportional-integral velocity regulator.
Claim 7
Dependent Claim
175 words
Apparatus for controlling an AC motor which drives equipment in a controlled system, in which velocity feedback is transmitted through a velocity feedback path from a device coupled to the AC motor, the apparatus comprising: means for generating a velocity reference command; means for comparing the velocity reference command and the velocity feedback to produce a velocity error; a proportional-integral velocity regulator responsive to a velocity error input to produce a proportional branch component and an integral branch component of a torque command output; means for inputting the velocity error as an input to the proportional-integral velocity regulator; means for applying a feedforward gain factor to the velocity reference command independent of the velocity feedback path to produce a velocity feedforward component that is decoupled from the velocity feedback path; and means for algebraically summing the velocity feedforward component and the torque command output from the proportional-integral velocity regulator, wherein the velocity feedforward component of velocity reference command is of opposite polarity from the proportional branch component that commands torque out of the velocity regulator.
Claim 8
Dependent Claim
175 words
Apparatus for controlling an AC motor which drives equipment in a controlled system, in which velocity feedback is transmitted through a velocity feedback path from a device coupled to the AC motor, the apparatus comprising: means for generating a velocity reference command; means for comparing the velocity reference command and the velocity feedback to produce a velocity error; a proportional-integral velocity regulator responsive to a velocity error input to produce a proportional branch component and an integral branch component of a torque command output; means for inputting the velocity error as an input to the proportional-integral velocity regulator; means for applying a feedforward gain factor to the velocity reference command independent of the velocity feedback path to produce a velocity feedforward component that is decoupled from the velocity feedback path; and means for algebraically summing the velocity feedforward component and the torque command output from the proportional-integral velocity regulator, wherein the velocity feedforward component of velocity reference command is of opposite polarity from the proportional branch component that commands torque out of the velocity regulator.
Claim 9
Dependent Claim
59 words
The apparatus of claim 6, wherein the means for generating the velocity reference command comprises: means for receiving a position reference command; means for receiving a position feedback command responsive to a change in position in the controlled system; and means for algebraically summing the position reference command with the position feedback command to produce the velocity reference command.
Claim 10
Dependent Claim
23 words
The apparatus of claim 6, wherein the feedforward gain factor is applied to the velocity reference command but not to the velocity feedback.
Claim 11
Dependent Claim
29 words
The apparatus of claim 8, further comprising means for applying compensation to the velocity reference command to produce a result, wherein this result is fed to the velocity regulator.
Claim 12
Dependent Claim
34 words
The apparatus of claim 8, wherein the means for inputting includes a second input for receiving a line reference velocity independent of the velocity feedforward component for driving a motor in the controlled system.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1995-03-31 | 1995-09-30 | 1996-03-31 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1999-03-31 | 1999-09-30 | 2000-03-31 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2003-03-31 | 2003-09-30 | 2004-03-31 | $7700.00 | Window Closed / Lapsed |