Velocity proportional integral regulator with negative feedforward to control response of torque disturbances
First Claim
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1. 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.
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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.
22 Citations
10 Claims
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1. 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:
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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. - View Dependent Claims (2, 3, 4, 5)
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6. 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:
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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. - View Dependent Claims (7, 8, 9, 10)
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Specification