Multi-loop direct current motor regulating system protected against windup by a clamp circuit
First Claim
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1. In a motor control system having at least an inner and an outside control loop, wherein said inner loop includes limiter means for holding the output control signal of said control system for said motor within a predetermined control level, the combination of:
- means responsive to limiting operation of said limiter means and operative with said outside loop for establishing an overriding error signal in relation to a control level existing in said outside loop upon initiation of said limiting operation;
with said outside control loop including an input control signal representing a system variable and an integrator responsive to said input control signal for establishing a continuous integrated voltage characteristic of said control level for said system variable;
with said overriding error signal establishing means including means normally responsive to said integrated voltage for storage thereof as a stored voltage;
said storage means becoming non-responsive to said integrated voltage when said limiter means is under limiting operation.
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Abstract
A regulating system for direct current motor control having an inner and an outside loop is prevented from winding up in the outside loop, when the inner loop saturates, by a clamping circuit storing the value of the controlling voltage of the outside loop reached at the moment of saturation and generating an overriding error signal by reference to said stored value for providing effective control after saturation has ended.
12 Citations
6 Claims
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1. In a motor control system having at least an inner and an outside control loop, wherein said inner loop includes limiter means for holding the output control signal of said control system for said motor within a predetermined control level, the combination of:
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means responsive to limiting operation of said limiter means and operative with said outside loop for establishing an overriding error signal in relation to a control level existing in said outside loop upon initiation of said limiting operation;
with said outside control loop including an input control signal representing a system variable and an integrator responsive to said input control signal for establishing a continuous integrated voltage characteristic of said control level for said system variable;with said overriding error signal establishing means including means normally responsive to said integrated voltage for storage thereof as a stored voltage;
said storage means becoming non-responsive to said integrated voltage when said limiter means is under limiting operation. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification