DE2366094A1 - SERVO DEVICE FOR CONTROLLING THE APPLICATION OF ELECTRICAL ENERGY TO AN AC MOTOR - Google Patents

Description

Or. M. Kehler, ßlpl.-lftl C.

Hamburg 50 - King's Day 28
DlPL-MO. J. GLAESER t 6 JUNE 1077

Bm P

(Eliminated from P_23_ k ⁷ j 760.7-52) TRA IV

Kearney & Trecker Corporation, West Allis, Wisconsin (V.St.A.)

Servo device for controlling the application of electrical energy to an AC motor.

The invention relates to a device for controlling induction motors and, in particular, to the XUT control of the speed and torque of such motors in such a way that a quick response to the control signals is made possible when such motors are used in servo devices.

With a »servo system in which the motor torque and speed parameters according to a program or plan be changed, it is desirable to have an engine that responds quickly to programmed state changes DC motors were commonly used for such applications, but DC motors have the great disadvantage that they have brushes and a commutator

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make arrangement necessary, thereby reducing the motor system more complicated and the necessary warping work increased will. Therefore, it is desirable to use AC motors for this purpose, and in particular induction motors to use, so that the simpler construction of the "AC motor can be used advantageously. However, an induction motor will work at slower speeds operated than the nominal value speed, the relative high slip value leads to greater heating in the Engine, which is undesirable. Such warming not only results in less efficient engine performance, but can also fünron damage to the engine.

So an AC motor in a servo ring system can be used, the suggestion was made that. To supply the motor with variable frequencies, so that 'the motor at can run at many different speeds with a substantially constant slip. Of further it was suggested that the input voltage, applied to the motor is varied so that the output speed of the motor is primarily a function of the voltage input, and that both control methods are connected to each other so that the amplitude of the drive voltage and its frequency together by a fixed relationship can be controlled. However, the means developed up to now have not been entirely successful. the Motors responded relatively slowly to commands to change the speed and torque values, and those used Devices did not allow a high degree of precision and accuracy in motor control, nor one Adaptability in the relationship between frequency and voltage control.

A difficulty that you see with low frequency running is that a relatively long period of time between

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successive state changes in the windings, which generate the stator field elapses. With a three-phase motor, for example, there are only six changes in state per cycle, and the time interval zv / isch successive Change of state ^, i.e. 1 / 6th of the rotor cycle, gets quite long with low running speed. In addition, it can create the air gap between the stator and rotor The value of the river crossing the river can only be changed relatively slowly because the rotor has a high inductance. These along with other difficulties suggest that the use of an induction motor is not possible when precise control required at low rotor speeds are.

It is therefore a main object of the present invention to to provide a mechanism by which to precisely control the speed and torque of an induction motor is reached even at very low speeds.

Another object of the invention is that a flexible relationship is provided in controlling the frequency and voltage of the alternating current supplied to the motor.

Another object of the present invention is in that a mechanism for controlling an induction motor is provided in which it does not become a high degree of heating in the motor when it is running slowly.

Another object of the present invention is to provide a mechanism whereby the control of the engine speed and the torque by periodically repeated control signals with an im Relative to the motor speed relatively high frequency is made.

Another object of the invention is that

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a digital device for recording periodic digital Control signals from a numerical control device and using these signals to achieve a precise control of an Inciuktionsraotors provided is.

A further object of the present invention is that an apparatus and a method for generating periodic digital control signals in accordance with a certain algorithm, the the motor speed and the subsequent error of the servo system with the frequency and amplitude of this Motor supplied drive spinning into relationship, provided are.

Another object of the present invention is to provide an apparatus and method for periodic Calculation of the numerical values for the frequency and oscillation amplitude of the drive voltage as a function the engine speed and the subsequent error are provided, such a function for the Motor in which the device is used is determined empirically.

Another object of the present invention is that an apparatus and a method for direct "control of the state of the resulting magnetic flux in the motor stator as a function of the Motor speed and the subsequent servo error generated is provided.

Furthermore, it is an object of the present invention to provide an apparatus to disconnect the motor from its drive voltage in response to a condition of excessive motor current.

It is yet another object of the present invention to provide an apparatus and method

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be to the number of poles in a polyphase AC motor based on a calculation in which the motor speed and the subsequent servo error to be considered to change.

Another object of the present invention is to provide an apparatus and a method, the frequency of the drive voltage as a function of the motor speed and the subsequent servo error to calculate and then to select one of a number of separate frequency values and to to apply a hysteresis value in the above calculation to provide a feature for the selection of a frequency, and another feature for selecting a different frequency after selecting said first frequency determine.

After reviewing the following description and the accompanying drawings // earth these and others Objects of the present invention will be illustrated.

In an illustrative embodiment of the present invention, there are multiple current transistors connected to the different phases of a polyphase induction motor are connected, one with said transistors connected variable frequency voltage source and a variable DC voltage source selectively via said transistors to said motor in correspondence connected to said variable frequency is provided. Both the variable voltage source and the variable frequency source become periodic controlled by digital control signals. Set by connecting the variable frequency source to the motor the current transistors between the voltage source and the different phases of the motor for different lengths of time Periods of time connect to an accurate

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To achieve control.

The motor crom is sensed and an overstronic condition quickly and temporarily interrupts the connection between the voltage source and the motor, and continues then permanently (until a manual readjustment) this connection overrides if the high current state lasts beyond a certain period of time. The digital control signals // ground generated by a computing device, that the corresponding digital control signals periodically by means of an empirically determined algorithm, after which the motor speed and the subsequent servo error with the frequency and amplitude of the drive voltage are related, calculated. The engine lathe and the servo error will be in every consecutive Time segment of 8.3 milliseconds is tested on a trial basis, and the digital control signals are used in each time segment brought up to date. The digital control signal for the frequency of the drive voltage is chosen for a mode of operation so that the drive frequency either 30 Hz. or 60 Hz. depending on the current engine speed and that a variable frequency up to 90 Hz. is provided for the overdrive work mode. One Hysteresis variable is recognized when selecting the frequency, and under the condition of zero drive voltage, the motor configuration is changed when a transition to the or from overdrive. By using a fixed relationship between the voltage and the tracking error for the selected frequency the amplitude of the drive voltage is calculated so that the voltage is sufficient for the maintenance of the servo tracking error Generates the necessary torque at a certain height. '

In another embodiment of the present "In accordance with the invention, the digital control signals are calculated in such a way that

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that the frequency of the drive voltage is constant Slippage results and that the amplitude of the drive current is what is necessary to maintain the follow-up error Torque results.

In a further embodiment according to the invention, the digital control signals are calculated so that the frequency of the drive voltage corresponds to the motor torque proportional slip and that the amplitude of the drive current gives the torque required to maintain the Mach sequence error.

In another embodiment according to the invention, a digital control signal is calculated to predetermined To deliver combinations of current transistors, which are effective at any point in time to each phase of a synchronous motor with one or the other Connect the terminal connection of the variable · direct current source in such a way that the normal position of the stator flux within each period between the calculations of the corresponds to the engine speed and the follow-up error calculated, and another control signal is used for the control the amplitude of the drive current is calculated so that the drive current is used to maintain the follow-up error provides the required torque.

The following now refers to the accompanying drawings Referred to, where

Figure 1 is a functional block diagram of a system represents in which the present invention has been incorporated, using it in conjunction with a three-phase induction- motor is shown;

Fig. 2 is a partially in the form of a functional A schematic circuit diagram shown in the block diagram represents in which the current transistors and drives for them, which in turn are shown in the functional block diagram in Fig. 1 illustrated can be seen;

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5 shows a partially schematic circuit diagram Functional block diagram of the in Figure 1 shows the illustrated oscillator;

FIG. 4 is a schematic circuit diagram of the circuit diagram shown in FIG. 1 illustrates silicon controlled rectifier trip circuitry shown in FIG.

FIGS. 5a and 5b together show a schematic circuit diagram , partially shown as a functional block diagram, wherein the oscillator is the firing angle control and the logic amplifier of Fig. 1 are illustrated;

Fig. 6 is a graph of the operation of the in Fig. 5a and 5t> shown device generated group of Waveforms;

Figure 7 is a further graph of the group generated during operation of the device shown in Figures 5a and 5b of waveforms;

Figure 8 is a graph of the groups of waves generated in operation of the apparatus shown in Figure 5;

Fig. 9 is a functional block diagram partly in schematic circuit diagram form of an apparatus for Represents avoidance of an overcurrent condition;

10 illustrates a flow chart in which the operation of a servo system according to the invention using the apparatus shown in FIG. 1 will;

FIG. 11 is a graph showing an empirical relationship used in the apparatus of FIG gives;

12 illustrates a flow chart in which the operation a servo system incorporating the apparatus is shown in overdrive in Figure 1;

FIG. 15 is a graphical representation of one in FIG Apparatus of Fig. 12 gives an empirical relationship used;

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Figures 14-25 are logical block diagrams of a number of computer programs that can be used to create a Computer the operations of the flow chart in Fig. 10 and FIG. 12 can perform;

14 is a logic block diagram of the INIT program; which initiates the operation of the computer;

Figure 15 is a logical block diagram of the EXEC program showing the normal operation of the computer represents, illustrates;

16 is a logic block diagram of the X-SERVQ program; with which a numerical command is read periodically, represents;

17 is a logical block diagram of the SVIN program; with which the servo position is read periodically, represents;

18 is a logic block diagram of the first section of the SERVO program in which the frequency of the Drive current is calculated represents;

19 is a logical block diagram of the second section of the SSRVO program;

20 is a logical block diagram of the CYC 30 and 30 CYC 60 program in which the amplitude of the drive current for 30 Hz. and 60 Hz. operation ready for wix »d.

21 is a logic block diagram of the STORE program frame; in which a PS pole selection bit for operation at 30 Hz. and CO Hz. is calculated;

Fig. 22 is a logical block diagram of the SET program, in which the calculations of the computer are passed on to the devices of FIGS. 3 and 5a;

23 is a logic block diagram of the first section of the RT program in which the calculations for the operation to be carried out with the overdrive, represents;

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Figure 24 is a logical block diagram of the second Represents a section of the RT program;

25 is a logic block diagram of the STOR program; in the sin PS pole selection bit for the stepping gear is calculated represents;

Fig. 26 is a flow chart in which the operation of a further possible servo system according to the invention using the device according to FIG. 1 is illustrated;

Fig. 27 is a logical block diagram of a modification in the flow chart of FIG.

Fig. 28 is a graph showing a slip torque characteristic for an induction motor there;

29a and 29b show two graphical graphs a ratio between the desired torque and the drive current, which for the in Fig. Abiaurschema shown can be used show;

FIG. 30 is a flow diagram of a further servo system according to the invention, in which part of the device according to FIG. 1 is used together with a synchronous motor;

Fig. 5Ί an illustration of a two-pole Represents three-phase motor in a diagram;

52 is a graphical representation of the dem Motor of Figure 31 shows shafts fed thereto;

33 is a graph of a function; which refers to the stator bay position ordered, shows; -

Figure 34 is a list of the output data and interwords represents which in the flow chart of FIG Find use; and

FIGS. 35a and 35b are logic block diagrams of FIG Computer programs for carrying out the operations of the flow chart according to FIG. 30.

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In Fig. 1, a three-phase induction motor 10 is shown in a diagrammatic representation, each of the three phases having a separate connection to a number of current transformers 12 (which function as current switches) via one of the lines 14. The current transistors 12 consist of a plurality of transistor switches which are controlled by a signal received from a group of current transistor drives 16 to switch one of a group of. to connect silicon controlled Gleichrichtei ⁱ n (SGR) 18 obtained variable current excitation signal to the leads 14 selectively. The signal generated by the current transistor drives 16 has an adjustable frequency that can be controlled between 30 and 100 Hs. The frequency is determined by an oscillator 20 connected to the current transistor drives 16. The frequency generated by the oscillator 20 is regulated by means of the software device 22 in accordance with the conditions sensed by the transducers connected to the motor 10. The software device 22 is digital in nature, cooperating with a numerical control unit (not shown) that generates command signals for controlling the motor 10.

The power supplied by the group of silicon controlled rectifiers (SCR) 18 is obtained from a three phase power source 24 which is connected to the group of SCR's 18 via a transformer 26. The SCRs 18 operate as three-phase rectifiers, the ignition angle of each SCR from the group 18 being regulated by suitable signals received from a number of SCR tripping circuits 28. The SGR trigger circuitry 28 is responsive to the output data of a logic amplifier 30 . The amplifier 30 receives a generated by an oscillator 32

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th signal and a signal from an ignition angle control device 34 to generate a certain voltage across the trigger circuits 28 in the group of SCR ¹ S. The ignition angle control device 34 is regulated by the software device 36. The software device 36 is digital in nature and cooperates with a numerical controller (not shown) which generates command signals for controlling the motor 10.

A Hotor overcurrent protection 38 is attached to the current transistor drives 16 connected to the current transistor drives 16 to interrupt when a sensing device detects that there is a current overload in the motor.

In Fig. 2, the arrangement of the current transistors 12 and the Stromtrnasistorantrxebe 16 is now illustrated. The two connections from the SCR group 18 are represented by connection terminals 40 and 42 to which the positive and negative current output of the SGR ¹ s 18 is connected. Three current transistor drive circuits 16a, 16b and 16c are connected to terminal 40, as well as connected to the three separate terminals of induction motor 10, respectively. In the same way, drives 16ά, 16e and 16f are connected to terminal 4-2, and are each individually connected to the three terminals of the motor 10 via the current transistors 12d, 12e and 12f. Since all six electric motor drive circuits are identical, the description of a single circuit is sufficient and only the drive circuit 16c is fully illustrated in FIG. 2. In addition, all six power transistor circuits are identical. Therefore, only the drive circuit 16c and the current transistor 12c will be described in detail.

For a transformer 4-4 · its input is to a Mains voltage source and its output to a full-wave rectifier connected in Graetz circuit 46. Two Current limiting resistors 4-8 are connected to the two outputs

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the GTätzscho.ltung applied, each by a capacitor 50 with the volatility of the secondary voltage of the Transformer 44 is connected. Therefore voltages of the same and opposite polarity result the two capacitors 50.

From the oscillator 20, a control signal is applied to the connection terminal 52, which is connected to the base via a photoresistor of transistor 56 is connected, output. The photoresistor 54 is of a conventional type such as that of FIG Texas Instruments manufactured TIL 112. Both the photoresistor 54 as well as the collector of transistor 56 are connected to the positive capacitor 50. Of the Photoresistive circuit 5 ^ is also directly grounded and its output is connected to the negative capacitor through a resistor 58. The emitter of transistor 56 is via a voltage divider, the resistors 60 and 62 contains, grounded and the junction therebetween is connected to the base of the transistor, wherein the emitter with the negative capacitor 50 via a Resistor 66 and to the positive capacitor 50 across a resistor 67 is connected. The emitter of transistor 64 is also connected to the base of the current transistors 68 and 79 connected with all three terminals in parallel are arranged and the common, the current transistor circuit 12c form. The collectors of transistors 68 and 70 are as well as the collector of transistor 64 connected via the diode 72 to the terminal 40, and the emitters of transistors 68 and 70 are directly connected to one Motor terminal »10 connected. A diode 7 ^ is across from the current transistors 68 and 70 and the diode 72 existing circuit connected to a Line for the current flow in the opposite direction to form the transistors 68 and 70. It's the job of the Diode 72 to prevent the flow of base current when the transistors are turned off.

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In operation, a square wave is applied to the input terminal 52, which after passing through the photoresistor 54 alternately turns off transistor 56 and then saturates again. The transistor 56 acts as an emitter driver connected and its output signal will continue by a second emitter driver built into the transistor 64 amplified, which drives the current transistors 68 and 70. The transistors 56 and 64 function as current amplifiers and allow current transistors 68 and 70 to alternate in accordance with the signal applied to terminal 52 interrupt and saturate. Therefore, the connection terminal 76 to which the emitters of the current transistors 68 and 70 are connected selectively with the positive applied to terminal 4-0 Voltage connected and disconnected from it.

In the same way are the power transistor circuits 12a and 12b are connected from terminal 40 to terminals 78 and 80 of motor 10, respectively. As described below the signals applied to the ehotoresistive circuits of the drive circuits 16a * and 16b are 120 ° out of phase with one another and with respect to the one output at terminal 52 Signal so that a three-phase connection between the motor 10 and the positive terminal 40 is made. Likewise, the current transistor circuits 12d, 12e and 12f connect the three terminals of the motor 10 to the negative terminal 4-2 in a three-phase relationship. The one to the emitter the transistor circuits 12d, 12e and 12f and the connection terminal 42 connected resistor 79 develops at connection 81 a current flowing through the motor 10 proportional to this Voltage and is used in conjunction with the (overcurrent protection circuit 58, as described in more detail below, is used.

The control signals applied to terminal 52 are generated by circuits illustrated in FIG. Pig. explains the construction details of the oscillator 20, and the mode of operation in which the software unit 22 functions,

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mn suitable control signals for the drive circuits 16 to create.

The oscillator 20 consists of an astable multivibrator 82, the lead of which is connected to the tap of a potentiometer 84-. The terminals of the potentiometer 84 are connected between a terminal 86 to which a positive voltage source is connected and are grounded. The potentiometer 84 regulates the frequency of the multivibrator 82 and is set so that it results in a frequency of approx. 29,000 Hz at its output. A higher frequency can also be used if desired. A line 88 connects the output of the multivibrator 82 to the input of a binary counter 90 consisting of three bits. The overcurrent connection of the counter 90 is connected to the input of a binary counter 92 consisting of four bits. Together, counters 90 and 92 form a binary counter of the eighth order, so that an output pulse is generated on the overcurrent connection of counter 92 for 256 pulses applied to the input of counter 90 via line 88. Therefore, the frequency of the pulses generated at the output of counter 92 is approximately 113 Hz. Provided that counters 90 and 92 can operate to divide by 256 the frequency of the pulses applied to their inputs. However, means are provided for controlling the division to produce a variable output frequency at the output of counter 92 within the range of 113 Hz up to 29,000 Hz.

Each one of the counters 90 and 92 has multiple input lines 96, those with, the setting inputs of each the seven highest orders of the counters are connected. Each input line 96 is associated with a single input port 98 connected via a current-carrying gate 100 and a photoresistor 102 and its corresponding counter, so that

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the state of the! signal present on each line 96 the state of the voltage of the associated terminal 98 depends. The terminals 98 are with the Output of a memory register arranged within the NC device in connection which is a numerical quantity in the form of a binary character representing the desired pulse frequency represents, stores. If the lowest frequency of 113 Hz is desired, none of the terminals will be used energized and counters 90 and 92 operate normally. Will be a A frequency of approx. 600 Hz is desired, but signals representative of the binary character 208 are sent to the connection terminals 98 laid out so that every 4-8. supplied input pulse in the input line 08 an output pulse in line 94-, the is connected to the overcurrent connection of the counter 92, generated. If an intermediate value is desired for the frequency, a combination of the terminals 98 is in binary Shape representative of a number between 0 and 208, which is then excited to generate an overflow pulse in the line 94 · generated after a certain number of pulses have been delivered on input line 88, thereby increasing the pulse train speed is regulated. It is noteworthy that by connecting lines 96 to the seven largest orders of the counters 90 and 92, the binary number set in the binary counter is twice as large as the binary numbers shown on the input terminals 98. if E.g. the binary character 24- appears at the input terminals 98, so is the one set in counters 90 and 92 Size 48.

Line 94- is on, the T (or setting) inputs connected by three flip-flops 104, 106 and 108. The D (or reset) input of flip-flop 104 becomes made from an output of the flip-flop 106 ·. The D input of the flip-flop 106 is also from an output of the Flip-flop 108 is made, and the D input of flip-flop 108 is made from an output of flip-flop 104-.

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So

Since the inputs of the three flip-flops 104, 106 and 108 with their outputs are cross-connected, only one is able to determine its state at any given point in time to change from the state of the other two. It follows that the three flip-flops their state change in a temporal sequence, and that they therefore have a three-phase square wave at their outputs as Signal with a frequency that is 1 / 6th of the pulse frequency in Line 94, namely from 30 to 100 Hz., Corresponds. the Division by six results from the fact that it takes six pulses on line 94 to determine the state of each of the three flip-flops 104 *, 106 and 108 to change twice to complete one cycle, and thus the three Flip-flops return to their initial state.

The outputs of the flip-flops 104, 106 and 108 are with some inverters 110 connected. The inverters 110 invert the output signals from the three, respectively Flip flops. The output of the inverter 110 is each connected to its own delay devices 114. the Outputs of the delay devices 114 belonging to the flip-flop 104 are connected to their own subordinate gates 115 via their own Current gates 116, the outputs of which are connected to terminals 52 and 53, are connected. The exit of gate 114 leading to the re-setting (or Q) output of flip-flop 104 is also connected to the D input of flip-flop 108. The gates 115 each have an output connected to a terminal 112 which provides a signal indicating that the through the current flowing through the motor 10 is not too strong. If this signal disappears, the gates 115 are inhibited. The connector 52 is connected to the photoresistor 54 of the drive circuit 16c, which is shown in FIG. Terminal 53 has the same signal as terminal 52, however contains in reverse form, is attached to the photoresist circuit,

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belonging to the drive circuit 16f.

The delay devices associated with flip-flops 106 and 108 114 are connected to network gates, which invert the phase of the output signal provided desirably enable. The two delay devices 114 associated with flip-flop 106 are on one Input of gates 118 and 120 connected. The delay device 114, which is added to the set (Q -) output of the Flip-flop 106 is also connected to the D input of flip-flop 104. The remaining inputs to gates 118 and 120 are connected to terminal 121, which is energized as soon as the, a phase sequence is desired, and the in remains in an energized state if the reverse order is desired. The gates 118 and 120 have a connection of their outputs via energized gates 122 and 124 to terminals 126 and 128, respectively. The terminal 126 is to an input of the flip-flop 106 and to the photoresistor of the transistor drive circuit I6e connected, while the terminal 128 is connected to the input of the photoresistor 16d.

The outputs of the delay device 114, which belong to the flip-flop 106, are also to a terminal of the gates 130 and 132 connected. The delay device 114, which go to the setting (or Q) output of the flip-flop is in turn connected to the D input of flip-flop I06. The other input of the gates 130 and 132 is connected to a terminal 121 via an inverter 134. the Gates 130 and 132 are connected to energized gates 135 and 136, which, in turn, are connected to terminals 138 and 140 are connected * Terminal 138 is for the D input of the flip-flop 104 and the input of the photoresistor of the Drive circuit 16d connected, the terminal 140, however, is directly connected to the photoresistor of the drive circuit 16a. Therefore, if terminal 121 is not energized, effect

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the gates Ϊ3Ο and 132 connect the signals (the would otherwise be connected to control the drive circuits 16b and 16e) to instead control the circuits 16a and 16d .

Four additional gates were provided to complete the output of the flip-flop 108 with the two remaining drive circuits 16 to connect. Gates 142 and 144 each have one Input connected to the output of the delay devices belonging to flip-flop 108, during the second input is connected to terminal 121. Their outputs are to energized gates 135 and 136, respectively connected to the output of the flip-flop 108 to the Forward terminals 138 and 140 when terminal 121 is energized. The gates 146 and 148 each have an input, with the output of the delays associated with flip-flop 108 · »? ration devices is connected, while the second input is connected to the inverter 135. Their outputs are connected to energized gates 122 and 124, a signal generated by flip-flop 108 to terminals 126 and forward 128 if terminal 121 is not in one excited state. Terminal 112 is connected in such a way that it can be used as the third input for all gates 1-18, 120, 13ö>, 132, 142, 144, 148 and 146 act to prevent their actuation when the absence of a signal on terminal 112 indicates that the motor current is too strong.

In Fig. 8, the outputs of the three flip-flops 104, 106 and 108 illustrated. As can be seen in the drawing, the output of flip-flop 108 changes first its state after an arbitrary point in time at the beginning of the graphical representation, 60 ° later the flip-flop changes 106 its state, and 60 ° later the flip-flop 104 changes its state, so that all three flip-flops 104, 106 and 108 are in the reverse state than at the beginning of the curve shown in FIG. Then the flip-flops return

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108, 106 and 104 return to their previous state since they are shifted by 60 °. The process then continues in the same way to make a three-phase Square wave as a signal, with each of the three flip-flops inverted and non-inverted output signals generated. From this it can be seen that a new three-phase signal for each group of six on the output line 94- pulses generated by the counter 92 are introduced and that a frequency results which depends on the software input data at terminals 98.

As FIG. 4 shows, the silicon controlled rectifier (SCR) circuits 18a, 18b and 18c are associated with their respective ones Transformers 26a, 26b and 26c and their trip circuits 28a, 28b and 28c shown in more detail.

The primary lines of transformers 26a, 26b and 26c are each connected to the three-phase source 24 via the terminals 150 connected. As the design of the various SCR circuits and the transformers are identical in all cases, only one section will be described in more detail.

The secondary line of the transformer 26a has been provided with a center tap line which is grounded and which is connected to the terminal 42 via a line 152. The end terminals of the secondary line are each connected to the anodes of the SGRs 154 and 156, the cathodes of which are both connected to a line 158 which leads via a choke 160 to the terminal 40, at which the direct current voltage is fed to the current transistors 12 as described above . The gate of SCR 154 is connected to line 158 through a resistor i62 and the gate of SCR 156 is connected to line 158 through a resistor 164.

The resistor 162 is connected across the secondary lead of the transformer 166, and resistor 164 is connected across the secondary of the transformer line 168th Transformers 166 and 168 are both pulse transformers

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5, H.

and form part of the SCR trip circuit 28a, through which the SCR ¹ S 154 and 156 receive gate pulses at the correct point in time. One terminal of the primary lead of the transformer 166 connects between a terminal 170, which is connected to a positive voltage source, and the opposite terminal of the primary lead of the transformer 166 is connected via a resistor 172 to the collector of the transistor 174- Collector is grounded via a diode 176. In the same way, one terminal of the primary line of the transformer 168 is connected to a terminal 170, while the opposite terminal is connected via a resistor 178 to the collector of the transistor 180, the collector of which is in turn grounded via a diode 181. The bases of transistors 174- and 180 are connected to terminal 170 through resistors 182 and 184-, respectively. The positive voltage at terminal 170 gives the two transistors 174-180 and 180 a normally conductive bias. The base of the transistor 174- is also connected directly to the terminal 186, so that a negative pulse when it occurs at the terminal 186 interrupts the transistor 174-. Likewise, the base of transistor 180 is connected directly to terminal 188, so that a negative pulse on terminal 188 interrupts transistor 180. Two capacitors 190 and 192 are in parallel with the primary of windings 166 and 168 to shunt power from the transformer windings when transistors 174-180 are broken.

During the run, pulses are alternately supplied to terminals 186 and 188 in a certain phase relationship with the signal appearing at terminals 150. The pulse transformers 166 and 168 trigger their respective SCR "s 154 and I56, whereupon the SCR ¹ S remains conductive for the remaining positive-running half cycle of its excitation voltage. The SCR ¹ S 154- and I56 are alternating

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Half cycles energized, so it works as a full wave rectifier act, with a pulsating on line 158 DC supply one of the times at which, in each cycle, the pulses are applied to terminals 186 and 188, has the dependent square root value. The throttle 160 smooths the Terminal 40 applied voltage, and a voltage between this Terminal 40 and ground connected capacitor 194 causes also a smoothing. A diode 196 is provided as a connection between line 158 and ground, so that negative current can be derived.

The other two with transformers 26b and 26c related trip circuits 28b and 28c are triggered by signals which are mutually phase shifted by 120 ° and which are also 120 ° out of phase with the pulses appearing at terminals 186 and 188 are. Hence the two SCRs 154 and 156 act and the two further SGR pairs, which are connected similarly, together as a three-phase full-wave rectifier and provide a relatively smooth DC voltage on terminal 40.

In Figures 5a and 5b of the oscillator are now 32 (Fig. 5a) and the logic amplifier 30 (FIG. 5b), respectively. These units generate pulses which are applied to terminals 186 and 188 of FIG. The oscillator has a waveform circuit consisting of a series connected resistor 200 and a zener diode 202 connected across the source 203 of 60 Hz AC line voltage. Resistor 200 and zener diode 202 cause the resistor 200 and zener diode 202 to drop Line to the voltage applied to the zener diode, making the waveform square. The output is then connected to the base of transistor 204. The collector of transistor 204 is connected to the positive terminal of a DC voltage.

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as »

power source connected via a terminal 206, while its emitter is grounded via a resistor 208, The Transistor 204- acts as a current amplifier that alternates turned off and saturated via the input to make the waveform even more square. A diode 210 connects the base of the transistor to a ground fault to show the negative-going portion of the waveform Disconnect earth fault voltage. The emitter of the transistor 204 is successively connected through a pair of inverting amplifiers 212 and 214. The output of amplifier 214 represents a 60 Hz square wave and the output of amplifier 212 represents an identical signal in FIG reverse phase.

The output of the amplifier is connected to an input of a phase detector 216, the output of which is passed through a low pass filter, which consists of a resistor 218 and a capacitor 220, and: .Bua input of a voltage-regulated multivibrator 222, which has an output terminal 223, is forwarded. The multivibrator 222 is designed so that he at a frequency of 15 360 Hz. can work, and that of The voltage obtained from phase detector 216 enables multivibrator 222 to operate at that frequency. A first counter unit 224 is connected to the output of the multivibrator 222, and it is its task to Divide the pulse rate by 16, creating an overflow pulse in line 226 every sixteenth Pulse "generated by multivibrator 222. One second counter unit 228 is connected so that it Receives pulses on line 226 and divides their frequency again by a factor of 16, creating a pulse on the output line 230 is generated for each 256 pulses of the multivibrator 222. The line 230 is further than a Input connected to detector 216. The outcome of the

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~ | Γ ~ 2366034

The phase detector responds to the phase differences in its two inputs and changes them as far as it can is necessary to stabilize the frequency and phase of the multivibrator 222 so that a constant phase shift remains between the two inputs of the phase detector 216. Therefore the output of the Multivibrator 222 stabilizes at 15,360 Hz., And is phase locked with respect to the output of amplifier 214. The phase detector 216 should advantageously be a device of the type etv / a the MC 404-4. The multivibrator 222 should advantageously be a unit such as the MC 4024 and the counter units 224 and 224 22S should advantageously be devices such as the MC 4018, all of which are commercially available.

Two additional circuits 2 ^ 2 and 234 have been provided which are identical to the circuit containing the parts 200 214 described above, but are instead connected to two phases 236 and 238 of a 60 Hz mains voltage. Sources 236 and 238 are mutually 120 ° out of phase and also 120 ° out of phase with the signal generated by source 204, see above; that the circuits 232 and 234 with the outputs of the amplifiers 212 and 214 form a source for a three-phase square wave signal having a frequency of 60 Hz. The three phases are identified by the letters A, B and C. These outputs are in various combinations with a series of six gates 240 - connected 245 (Pig x 5b) i the SCR firing angle 34 bildeji- The logic amplifier 30, which communicates with the controller 34 in conjunction, provides an output signal which is amplified to provide the pulses to terminals 186 and 188, and also to provide pulses to the corresponding terminals of the two other SCR trip circuits 28 (Fig. 4). The operation of logic amplifier 30 is referred to

109845/0018

236S094

a?

on FIG. 6, in which a graphical representation of various developed cells for the generation of impulses to trigger the SCR's is described.

In Figure 6, waveform 245 illustrates the output of amplifier 214 and waveform 248 the output of amplifier 212. Waveforms 250 and 252 represent the inverted and non-inverted output signals of circle 252, and the wavy shapes 254- and 256 represent the inverted and not inverted Output signals of circle 254. These output signals form a three-phase square wave, each phase is shifted by 120 ° with respect to the other two, as can be seen in FIG. 6. Waveform 258 illustrates the output of gate 240 (Fig. 5b) and waveform 260 illustrates the output of gate 241. These two outputs are as inputs for Gate 262 switched, which at its output the signal represented by waveform 254 is generated.

The output of gate 262 is connected to the input of gate 256, with the other input on the output of the multivibrator 222 is connected via the terminal 225. Waveform 268 illustrates that of the signal generated by the multivibrator 222. The output of gate 266 is represented by waveform 270, which consists of the positive-going part of the waveform modulated by the 15 360 Hz strong signal. Waveform 270 appearing at the output of gate 256 becomes the input of one of three bits Binary counter 272, the task of which is to divide the pulse frequency by 8, is supplied. The output of the counter 272 is with a four-bit binary counter 274 connected, the generated at the output of the counter 272 Pulse divides its frequency by 16.

The output of gate 262 is on a line

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275 rait the reset inputs of counter 272 and of counter 274- so that both counters each time when the output of gate 262 is its lower value assumes that each half cycle of phase B lasts for the first 60 °, can be reset to zero. Therefore, counters 272 and 274 begin counting Pulses from the multivibrator 222 at 60 ° after the initiation of each half cycle of phase B, and count to at the end of this half. If an overflow occurs at counter 274-, a single pulse is generated, the a pulse of the multivibrator 222 as in waveform

280 shown corresponds. The moment in each half cycle at which the output pulse is generated depends on the state to which counters 272 and 274 are preset via terminals 278b. The presetting takes place in each cycle during the 60 ° in which no counting takes place. If the counters 272 and 274 are set to the binary value Λ2Γ} , the first pulse from gate 262 generates an overcurrent, whereby the output pulse is generated at the 60 ° point of each half cycle. If the counters 272 and 274 are preset to the binary value 45, then eighty three pulses must be counted before the overflow pulse is generated during each half cycle, whereby it occurs shortly before the end of each half cycle. Intermediate results are achieved when intermediate sizes are preset in counters 272 and 274 in the same manner as described with respect to counters 90 and 92 (FIG. 3).

Waveform 280 (5 ¹ Ig. 6) represents the output of counter 274, which is available on line 276. It consists of a series of positive pulses with a pulse train speed of 120 Hz. The width of the pulses is similar to a pulse at a frequency of 15 360 Hz. the

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Line 276 is at an input of either of the two Gates 232 and 284 connected, their other inputs to the inverted or non-inverted phase 3 outputs of circuit 232 are connected to their output signals in the "ellenforms 252 and 250, respectively, have shown (Fig. 6). The output of the gate 282 is connected to an input of the gate 286, which is cross-connected to another gate 288 so that the outputs of each of the two gates 286 and 288 are connected to an input of the other gate. The other input of the (J-atters 288 is via a line 290 is connected to the line 292, which leads to an output 293 of the circuit 232. Hence that is with the exit of gate 282, the signal generated a series of alternating pulses of waveform 280, and is through waveform 294 is shown. The one from the waveform Pulses removed from 280 occur when waveform 250 is relatively negative when gate 282 is inhibited.

The circuit containing gates 286 and 288 acts as a flip-flop that is output by gate 282 Pulsing is discontinued and re-adjusted by the trailing edge of waveform 250 via line 290. as Result of this is the waveform 296 shown in Fig. 6 * This waveform is identified as the BP signal, which. It was named because it triggers the positive half of the B phase. The leading edges of the pulses in waveform 296 all coincide with the pulses in waveform 294, while the curve is in its positive part of the B-phase, and its trailing edges fall at the end this half cycle together, as shown in FIG. That is fed to the terminal 188 of the circuit shown in FIG. 4 th signal is of this type.

Gate 284 is at an input of another

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connected flip-flops consisting of gates 298 and 300, its other input is connected to the reverse phase B output line 302 of circuit 232 is. The output of gate 284 is similar to waveform 294, having a pulse train rate of 60 Ha., apart from the fact that the alternating pulses removed to obtain waveform 294 of waveform 280 are reintroduced and the pulses present in waveform 294 instead removed. This conducts the BN signal (i.e. the Control signal for the negative half cycle in phase B) 180 ° after the BP signal its activity and lasts until the end of its half cycle. This signal is sent to terminal 186 of the circuit shown in FIG fed. As a result of this, the SCR trip circuit becomes energized by the applied to terminals 18S and 188 Pulses, whereby these pulses differ by approx. 180 ° (in relation to a 60 Hz-üignul), and their leading edges occur depending on the presetting in the counters 272 and 274 at a certain point in time.

The logic amplifier 30 consists of two additional ones Circles for the two remaining phases, the same as the circle already described above, which contains counters 272 and 274 are identical. Identical counters are provided for the other two phases and have the same values like counters 272 and 274 during the first 60 ° one preset each half cycle of their respective phases via 278c and 278a. The ones generated at their outputs Signals that are sent to the control terminals of the SCIi trip circuits 28b and 28c connected are formed in the same way with respect to their phases. Therefore, the, 6 SGR's of circuits 18 all fired at approximately the same time in relation to their respective phases, and

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everyone contributes roughly the same amount of savings to that present between terminals 40 and 42. Tension at. The order of magnitude of this direct current voltage changes according to that preset in the various counters Number.

Another terminal 3 ^ 0 is shown in Fig. ^ B , this terminal 3 ^ -0 via a line 3 ^ -2 to an input of the flip-flop 3 ^ 3 »that of the cross-connected gates 34-4 and 3 ^ 6 is connected. The other input to the flip-flop 3 ^ 3 is switched from the terminal 3 ^ 0 via an inverter 346. Each of the gates 344 and 3 ^ 6 has a third input which is connected in common to terminal 3 ^ 8, which emits a time pulse as soon as a signal arrives at terminal 340. Therefore, the flip-flop 3 ″ + 3 is set in one or the other of its states, depending on whether the input to terminal 340 is relatively high or low, and it remains in this state until the next time pulse. An output of flip-flop 343 is connected to a group of pole selection relays 350 connected to the motor. The pole selecting relays 350 have contacts connected to the motor windings to connect the motor usually in an eight pole three phase configuration, but when the relays 350 are energized by the flip-flop 3 ^ 3, the motor changes to a four pole Three phase configuration. Terminal 340 is energized in accordance with a pole select bit PS when overdrive operation is desired, as will be described in more detail below.

In Fig. 9 a schematic diagram is now shown, which is in part in the form of a logical block diagram and which shows the overcurrent protection circuit 38 of FIG Fig. 1 shows. The terminal 81 (which is connected to the resistor 79 of FIG. 2) is via a network of a

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Resistor 402 and a capacitor 404 with a ground fault switched. A potentiometer 405 is connected across the capacitor 404 and its tap is through a line 408 via an inverter 410 to an input of the flip-flop 411, which consists of cross-connected gates 412 and 414 besbeht, connected. The output of the inverter 410 is connected to the free input of the gate 414 connected. The free input of gate 412 is Connected to a positive voltage source at Klerane 418 via a resistor 416. Usually an open one Push button switch 420 provides the connection between the free input of gate 412 and the ground fault.

During operation, the flip-flop is in a stable state, in which the output of gate 412 is relatively high, offset by briefly pressing the push button 420 will. Then the flip-flop 411 will be in this for so long State remain until it is caused by the occurrence of tension at terminal 81, which is higher than the visual wave value, is operated. The value is selected so that the Rfcentiomeber 405 is set to correspond to the current considered excessive in the motor. V / is this Current exceeded, a relatively high voltage is generated in line 408, which according to the v / echselrichtun ™ by the inverter 410 actuates the flip-flop 411, whereby the output of gate 412 at its relatively low State is switched.

The output of gate 412 is connected to an input of gate 420, its output being connected to terminal 112 (also in FIG. 3) via an inverter 422. As long as the output of the gate 412 has a high value, the voltage at terminal 112 is also high, If the over-current threshold is exceeded, however, _r so the flip-flop 411 holds the voltage level at Klemme112 relatively low, whereby the work of the transit

7098A5 / 0018

sistor drives 16 is prevented until the Push-button switch 420 is reset.

The terminal 81 is over another from one Resistor 424 and a capacitor 425 existing network connected to a ground fault. A potentiometer 428 is connected in parallel with the capacitor 426, wherein its tap is connected to a second input of the gate 420 via an inverter 340. The circuit containing potentiometer 428 forms a further threshold setting circuit for overcurrent protection. if the voltage at terminal 81 is consistent with the position of the tap of the potentiometer 428 exceeds the set threshold value, falls that fed to the gate 420 via the converter 430 Voltage potential, whereby the output of the gate begins to rise in order to reduce the voltage at terminal 112 and to prevent the drives 16 from operating.

Exceeding the height value determined by the potentiometer 428 does not trigger the Flip-flop 411, so that the circuit containing the potentiometer 428 only shuts down the current transistor drives then .v'snn will cause excessive motor current according to Display of the voltage occurring at terminal 81.

The time constant of the potentiometer containing 428 Circle is set relatively briefly. The one containing potentiometer 4OS and capacitor 404 Circle has a longer time constant, so that this circle only triggers the flip-flop 411 when if the overcurrent condition persists for a certain minimum period of time. Hence the speaking of the potentiometer 428 containing circuit for short-term high current conditions on while a long-term high-current condition indicating a catastrophic failure the flip-flop 411 actuates, causing the system up to

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a resetting of the pushbutton 420 is switched off will. In this way the system is protected from an overcurrent within a short period of time Conditions are protected, and normal operation will be carried out after the termination of the temporary power state is restored.

Referring to FIG. 1O ₁ is a flow diagram for the work processes of the present invention verv / ended servo system will now be described in detail. A pulse generator 450 is in communication with the engine shaft to generate pulses on line 4-52 in accordance with engine speed. The pulses are fed to the input of the counter 454, which collects the pulses and receives an indication of the respective position of the drive connected to the rotor shaft. The pulse generator 450 should preferably generate a large number of pulses for each revolution of the motor shaft by optical means, for example, to allow good resolution in determining the motor shaft position at any given point in time. It has been found that 1500 pulses for each shaft revolution are successful, but a greater number of pulses per revolution can be used if a greater decomposition is desired. Another possibility is that the pulse generator 4-50 contains a shaft position encryption unit by which the position of the shaft can be read directly by observing the marks on a number of concentric circles on a disk coupled to the motor shaft, the marks according to the known Gray key has been encrypted.

The content of counter 454 is checked periodically, where the difference between the contents of the counter at two consecutive test times, i.e. X2, the one through the slide or the other from the motor shaft

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driven mechanism within dos between two consecutive Distance covered by inspections. The variable X2 is sent to a sum register 458 passed on via line 450. Line 460 as well like the other lines in Fig. 10, information flow represents V / Qge and do not necessarily correspond to a single line in the machine device. The sum register 458 receives the NC command pulses as a second input (X1) via input line 462. The sum of the command pulses in input line 462 depends on the type of the KC device used, but it describes the movement of the motor shaft to be carried out within the next page space, i.e. within the period between two / one successive interrogations of the counter 454, in all «" all. These inquiries ./ earth beneficial with at a rate of about 120 per second, or every 8.3 milliseconds, with a number of Command pulses are also emitted in line 462 every 8.3 ms.

The output of the sum register 458 is on an output line 464 which is connected to the input of the integrator 466 is available. The sum register 458 computes a difference between its two inputs and adds the difference to the sum previously stored in integrator 465. Therefore corresponds to the content of the integration device 466 the successor error, i.e. the difference between the position requested by the NC program at any given point in time and the actual position of the motor shaft, v / ie

it results from the signal on line 460. In another sense, the content of the integrator can be 4 ^ 5 as the sum of the positional errors, since it is the sum of the strung together La.; e errors that are within of every 8.3 ms long period.

909845/0018

The output dec (X>) of the integrator 466 is connected to a counter 470 via the line 458, while the output (X6) is connected to soffit 4-2. The counter 470 is; The task is to generate a signal au that corresponds to the tracking error multiplied by a corresponding factor so that the signal on line 472 corresponds to the desired speed or the commanded engine speed.

In the example shown in Fig. 10, the tracking error is divided by 8 to give the speed command to obtain. This number is selected according to the desired performance characteristics of the system.

The speed signal on line 472 is on connected to an input of the sum register 474, and Another input is connected from the line 450 via the counter 476 to the sum register 474, The counter 476 is used to count the represented by X2 Multiply the size by the factor * 2. The factor for the counter 476 is desired according to egg System performance indicators selected. The summer register 474 calculates the difference between the speed igkext command signal X6 and the output KX2 of the counter 476, so that the available in line 478 Output value (X7) of the sum register 4? 4 to the increasing Speed error of the system.

The output X7 of the total register 4? 4 is connected to the Line 478 to the input of the lead-delay network 430 connected. It is the job of the lead / lag network 480 that there is a variable gain obtained from the sum register 474 Signal. A counter 482 is from the Line 478 to an input of the sum register 484 switched, and an integrator 486 is from the soffit

709845/00 18

478 to a second input of the sum register 484 switched via a limiter 485. The totals register 484- adds the signals in its two inputs to to determine a composite signal at its output. The unit 486 acts like a low pass filter, to increase the gain of the system when the signal on line 478 is slowly changing V / ert, but limiter 485 limits the increase to a certain maximum.

In this way, the system responds best at low levels, i.e. when the rate of decrease of the speed error signal is slow.

The output value of the sum register 484 goes through a counter 488 ₄ which divides by eight the quantity represented by the signal and generated by the sum register 484. Line 490 is connected to one input of a sum register 492, and the second input of sum register 492 is connected to line 460 via line 503. The signal on line 505 corresponds to the actual speed of the motor and that on line. 496 existing difference corresponds to the desired change in the motor torque, via a counting unit 498 and then via a limiter 491 the line 496 is connected to a logic generator 500, which generates the signal fed to the terminals 278 of the logic amplifier $ 0 in order to determine the voltage amplitude in Mobor 10 control.

-This is done by calculating an output size based on the input size according to certain mathematical Relationships achieved.

Pig 11 illustrates a graphical curve of the relationship between those applied to terminal 278 within a signals applied every cycle as a puncture of the output value of the counting unit 498. There are two curve

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trains shown: one for operation at 50 Hz. and the second at 60 Hz. In this way, the amplitude of the drive voltage supplied to the motor 10 according to the output value of the sum register 492 in accordance with the 5 ° 0 determined by the function generator. relationship (Fig. 11) controlled.

The frequency of the yoke charging current is determined by a Device 502 controlled, which counters 90 and 92 (Fig. 3) adjusts to the appropriate values in each cycle. The frequency is selected based on the value X2, which Delivered to device 502 via line 4GO via line 503 will. If the value of X2 indicates that the motor 10 is running slowly, then 30 Hz is selected, while 60 Hz is selected becomes when the angular velocity of the motor is large.

A unit 504- examines the sign of the am Output of the counting unit 498 generated value and generated a signal on terminal 121 (Fig. 3) corresponding to this information so that the motor 10 is in the correct direction is excited.

The approach illustrated in FIG. 11 for modifying the voltage determined by the 3GH's 18 is empirically established in order to obtain the best motor performance of the motor 10 in terms of response values, maximum efficiency and minimum heating. The exact values and the exact shape of the curves for each frequency depend on the individual characteristics of the motor 10, but the curve shapes according to FIG. 11 are considered to be almost optimal. As can be seen in the curves, the increase in all curves is large for low values of the signal supplied by the counting unit 498 to the function generator 50b, while a smaller, positive increase was recorded for higher input values »

In Fig. 12 a flow chart is now shown in the modification of the one shown in the scheme of FIG

109845/0018

HO

Working method for a working method with high speed will be explained in more detail .. The pulse generator 450 and his associated counter ^ 54 and its counter 456 are identical to those shown in Fig. ΊΟ, as well as that Suramen register 4-58 and the inte;:; riergerät 466, the an whose output is connected. However, behind the integrator 466 was another counter 506 with his Input to that brought about by the output of the integrator 466 Line 468 connected. The counting unit 506 divides the size X5 shown in line 468 by the factor 54 and forwards the output (X9) to the Line 508 further. The value X9 in the line 508 corresponds to the desired stator frequency of the motor 10.

Line 508 is at one input of the sum register 510 connected, the other output via the Counter 514 from line 460 connects by means of line 512. The counter 514 modifies the size present on line 460 by such a factor that the RTF signal on line 512 corresponds to the rotor frequency. The sum register 510 calculates the difference between those represented by the signals on line 508 and. 512 represented values, and be Output is connected to line 515. Therefore corresponds to the meaning of the signal on line 513 cLem desired or motor slip entered as a command.

The line 515 is connected to the input of the limiter 516, which represents the size of the entered slip, which is represented by the signal in line 512 is limited ^ and forwards the limited signal to the output line 5I8. Line 5I8 is connected to an input of the sum register 520, its other input with the line 512, which the output value the counter 514 is connected. Such as the RTF signal on line 512 of the rotor frequency

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corresponds to the signal FRQ on the output line 522 the stator frequency entered as a command, the slip being the result of the operation of the limiter 5I6 is limited so that the slip is approximately on that fourth, which has the maximum torque values results and also limits the heating of the engine.

The line 522 is connected to the input of a function generator 524 connected, which the counters for voltage and Frequency control of the device according to FIG. 1 to be supplied Signal determined so that the motor 10 with the appropriate Combination of frequency and voltage is controlled. This relationship is shown diagrammatically in FIG. 12 by means of a connected between the unit 524 and the motor 10 Line 256 is shown which controls the engine 10 and a line 528 extending from the unit 524 to the motor 10 which indicates the control of the frequency of the drive voltage supplied to the motor 10. One unity 53O calculates the sign of the direction of rotation of the in Line 522 appeared signal and passed it over the Line 532 to motor 10 (via terminal 121 of Fig. 3) continue. In the device according to FIG. 12, the frequency up to 90 Hz, if high-speed operation is selected as the operating mode.

The frequency of the drive voltage supplied by the unit 524 is selected is indicated by that shown in FIG Relationship illustrated and determined. Fig, Figure 12 is a graph of the amounts applied to terminals 98 (in Figure 3) in relation to the FRQ signal of line 522. The specific shape of the curve is adapted so that the circle in FIG. 3 has a frequency for supply to the motor 10 that corresponds to the FRQ signal is proportional. If of course a different relationship between the FRQ signal and that fed to the stator Frequency is required, the function generator 524 be changed accordingly.

7 0 9 0 A 5/0 0 1 8

In the figures 14 to 25 the programs are now illustrated, which are diircbführung a computer, around those shown in the flow charts in FIGS Perform operations. The first program executed is the INIT program, through which the computer operates is set in order to carry out the calculations necessary for the correct operation of the servo system.

In the first program step 509 the amount X5 (i.e. the output value of the integrator 466) is set to zero. X13 (i.e. the output value of the integrator 486) set to zero. In addition, the counter no. And counter no. 2, which are intermediate counters, will be used in the following are described in more detail, set to 0, and the The amount of HYST is also set to O. The usage of the contents of the counters No. 1 and No. 2 and the use of the amount HYST is described in more detail below.

In the second program step 511, the control goes on the program piece: SVIN about. In the SVIN program (Fig. 17) the counter 454 is counted for the first time at step 513 is read and stored in the accumulator at step 515. As is known to those skilled in the art, this collector location is the computer section in which arithmetic functions are processed will. By entering parameters in the collector position !: Farameters are added in consecutive order, whereby the collector point then represents the sum of the parameters entered in this way.

The control then becomes the INIT program by means of step 5''7 transferred back to the point at which it stopped, and in the next step 519 the reading is of the counter 454 is negative, whereby the complementary number of the the amount read from the counter 454 is obtained so that a subtraction can be made by adding the complementary number to another number. In the next Step 521 is the contents of the collector location (i.e. the Complementary number of the number read from the counter 454)

1 G Π 9 4 ^r »/ 0 0 1 8

stored in a memory location with the designation XOLD, from which it can be retrieved again later, in the next step 523 turns the system's time generator into Operation set so that every 8.3 ms (or 120 times per second, which corresponds to a 60 Hz frequency every half cycle) a pulse is generated. In the next step 525, an interrupt panel is turned on to indicate ' that the IHIT program has ended, and the control is transferred to the execution program shown in FIG. The task of the breaker plate is to recognize a time pulse that marks the beginning of a new period means, and then to interrupt the computer so that it can perform additional program steps at this point in time can perform.

The execution program in FIG. 15 consists of program steps 527 »529 and 531», which are carried out repeatedly and in which control passes from program step 531 back to program step 527 so that the program steps can be carried out cyclically. The execution program steps cause the computer to perform calculations and programs other than those covered by the present invention. The Ausführungsprogramni is not limited to three steps as $ eäe any number can be run over by other programs. The present invention uses the computer to execute its programs when a time pulse is recognized, in which case the normal sequence of execution of the execution program is interrupted in order to enable the calculation of the various parameters necessary for the application according to the invention. The occurrence of a time pulse (at intervals of 8.3 bs) interrupts the execution program in its execution and transfers the control to the X-SERVO program (according to Fig. 16).

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The first S ^ liritt 532 of the X-SSRVO-Pro or amine leads to that the Xl parameter is read in by the NC unit, what the indication means for how far the motor 10 should be further shifted (or pushed back) in the course of the next 8.3 ms long period · When a reverse rotation by Xl is displayed, it is supplied as a complementary number from the NG unit, so that its addition to the other Size leads to their algebraic subtraction. The content of the Saramlerstelle, i.e. the Xl value is through step 536 is stored in memory and control transfers to SVIN routine in step 538. The SVIN program (Fig. 17) is performed in the manner already described by taking a new reading on counter 454-, and control then passes back to the X-SERVO program in step 540, in which the contents of the collector location (i.e. the new reading from counter 454) in place of XNEW in Memory is saved; then the control goes back to the SERVOS program (Pig. 18).

In Fig. 18, the first step 542 of the SERVOS program the XNEW value from the memory into the collection point retrieved. This is the value that is entered in the Memory has been saved. In step 544 this value is answered in the negative, and is then repeated at another point Step 546 is entered into memory. Step 548 compares the difference between XNEW and XOLD, then leaves transfer control to step 550. With the aid of step 550, the contents of the memory location specified in step 546 are saved and the collector swapped so that the negative version of the XNEW is in the collector, and the difference between the was calculated after step 548, for storage to the in Step 546 is returned. Control passes to the next step 552 through which the negative XNEW quantity entered into memory at position XOLD to form a revised Msqged of the XOLD, which

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aann for use in a subsequent invoice from your Memory is being accessed. The difference calculated in step 54-8 is transferred to memory cell X2 in step 554 and control transfers to step 555. In 556, X2 calculated twice and stored in memory, then Control transfers to step 562 where the size X5 is calculated, which is equal to the value Xl minus X2 plus the content of the memory location X5. With the help of the size X5 the size X5 is thus determined as the collection of increasing position errors. The control then opens Step- 564- about where the contents of the collector are in memory place X5 is saved. In the next step 566 the value X13 is calculated, which results as the value which 1/8 of the value X5 minus two times X2 plus the content of the memory location X13 is equal to. In the next step 568 the Contents of the collector (i.e. X13) to plus or minus 2047 limited to the size X13 within the eleven digit binary To hold the bit capacity of this computer section. In step 570 the contents of the collector (the limited Value of X13 in the memory at memory location X13 entered.

In the next step 571, the size is X7 as 1/8 of X5 calculated minus two times X2. Control then passes to step 572 where XIl is then used as the equivalent of X7 times the constant K is calculated. Control then passes to step 573 where X8 is taken as the sum of 1/8 th XIl plus 1 / 8th X13 is calculated, whereupon the steering proceeds to step 575. At step 575, the amount X14 is calculated as the equivalent of 3/2 (X8-X2), whereupon then the value of X14 is limited to plus / minus 64 in step 574- will. Control then passes to step 576 where LX14 sets the limited value of X14 in accordance with it Determination of step 574, is stored in memory. In the next step 578, the LX14 value is set to its sign

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examined. If the sign is negative, the The value in step 580 is negated (to be equal to the absolute value of LX14) and control then exits to step 582. If size LX14 is positive control passes directly to step 582 where the contents of the collector, i.e. the absolute value of X14, stored in memory.

The next step 584 becomes the absolute value of X2 added to the quantity HYST, which is originally zero as already described, and the sum becomes with the quantity 65 compared. If the sum is equal to 65, control goes to the CYC-30 program via branch 586. Is the If the sum is equal to or greater than 65 », control is passed Branch 588 to step 590 over which the sum with the size 160 is compared. If the total is less than 160, then control passes to the GYC-60 program via branch 592, However, if the sum is equal to or greater than the value 160, the control goes to the RT (high-speed program above.

Assuming that the calculated in step 584 If the sum is less than 65, the control proceeds as in Fig. shown on the GX0-3O program above. In the first step 596 the HYST size is set to zero, whereupon the control Advances to step 598 where the EREQ is set to 44 and control transfers to step 600.

In step 600, the limited size LX14 (i.e., the absolute value), which was saved in step, is taken from the memory and compared with the size 16. If the The value of LX14 is less than or equal to 16 becomes branch 602 is selected and step 604 is performed by calculating a value for TRIG as the equivalent of two times LX14 plus 18 will. Then control is transferred to the STORE program via branch 606. Is that in step compared amount is greater than 16, then step 608 takes over

7 0 9 8 4!> / 0 0 1 8

the controller by making another comparison of the value LX14- with the size 64 · carried out v / ird. Is the sum the same or less than 64, branch 610 is selected and step 612 is performed to enter a new value for the TRIG to be determined, namely? / 16 (LX14 - 16) + 50. Is the sum greater than 54-, branch 614 is selected and step 616 becomes executed by entering a value for TRIG according to a third formula, namely 1/8 (LX14- - 64) + 71 is found. The three values for TRIG calculated as a function of the LX14 value perform a calculation of the ordinate of the curve shown in FIG. 11 (for the 30 Ha. curve) as a function of Abscissa LX14. The program in Fig. 20 actually divides the curve into three sections of constant slope.

If branch 592 is selected as the result of steps 584- and 590, the CY0-60-ProEramm takes over control, and step 618 is carried out immediately after step 590. In step 618, the quantity EIST is set equal to 20, and the quantity FREQ is set equal to 86 in the following step 620 thereafter. The quantity FfiEQ is the number set in counters 90 and 92 (Fig. 5) which determines the frequency of the current supplied to the motor. Step 598 of the CXC-30 program sets these counters to the binary number 44- which results in operation at 30 Hz. Step 620 sets it to 86, thereby achieving 60 Hz operation.

Subsequent to step 620, step 622 examines the variable LX14 · whether it is greater or less than the value 18 · If it is less than or equal to 18, branch 624 · is selected and step 626 is carried out in order to calculate a value for TRIG which is equal to two times LX14 plus 19. Otherwise, branch 628 is selected and step 630 is performed to determine a different value for TRIG, namely 3/8 (LX14- 18) + 55. The steps 626 and 630, where the values are calculated for TRIG, perform a calculation of in Fig. 11

709845/0018

illustrated equation for the frequency of GO Hz. through the calculation divides the curve into zv / ei sections constant increase.

If branch 594 is selected as the result of step 590 the high-speed RT program begins, which is described in more detail below.

After calculating the TRIG value using one of the Steps 604,612; 616, 626 and 530, you enter the STORE (Memory) program (Fig. 21). In the first step 632, the quantity X14 is examined and if it is negative step 634 is performed, whereby a binary 1 is selected indicating that the direction of rotation of the motor 10 should be reversed, followed by step 636 control takes over. If XI4 is positive, then control takes over directly in step 636, after which automatically a binary Selects Hull for the direction binary. The step stores the direction binary in memory, then passes it he transfers control to step 638.

In step 638, counter No. 2 is set equal to minus 5, and the sign of counter # 1 is checked in step 640. If the size in counter no.1 is positive, branch 642 is selected, whereby control passes directly to the SEO? (setting) program. Otherwise it will Branch 644 is selected, in which further processes are carried out before going over to the SET program.

If branch 644 is selected, the next step 646 is to increment the contents of counter # 1 at one. In the following step 648, the sum of the contents of the counter is no. 1 plus 2 for the signs. checked. If it is positive, branch 650 is selected, If step 652 is performed, the PS bit is zero puts. Otherwise branch 654 is selected and step 656 is executed, which sets the PS bit equal to 1. The PS bit determines the configuration of the motor 10th run with eight poles becomes zero through a PS bit, and the run has four poles

70 9845/0018

Huh

is indicated by a PS bit one. A four-pole operation is used when running fast. If "Branch 642 is selected, the PS bit remains zero without having to be set. After steps 652 and 656, control transfers to that SET-Programni (Pig. 22) above.

The first step 658 of the SET program sets an output pointer which identifies a memory address in the buffer area of main memory. The next step 660 introduces the variable TRIG into the collector, and in the following step 662 the pole selection bit PS _1, which was calculated in steps 652 and 656, is also entered into the collector at a position not occupied by the TRIG value. In the next step 664, the contents of the collector, which now contains the Ü} RIG drawing and the pole selection unit PS, are transferred to the buffer memory at the address identified in step 658. In the next step 666, the output pointer is incremented in order to obtain access to the location in the buffer memory which is closest to the address location addressed in step 658. In step 668 the direction bit from step 6J6 is entered into the collector and in the following step 670: "The variable FREQ is also entered into the collector according to the calculation in steps 598 and 620. The direction bit and the PREQ symbol are entered at different Entries of the collector so that they do not conflict with one another.In one embodiment, the direction bit takes bit position 5 of the collector, and the PREQ character takes the position 4 - 11. In the following steps, the collector content, which is now the PREQ Character and the direction bit are entered into the buffer memory in the position identified in step 656. The next step 674 causes the two words input into the buffer memory in steps 664 and 672 to be applied to terminals 98, 278 | 121 and 340 that have already been described earlier

70 9 8 4 5/0018

SO

Control via branch 676- "on the execution program (Fig. 15) at the point where it was interrupted, to carry out the X-SERVO program.

In Fig. 19, when the branch 594 is selected as a result of step 590, the RT (fast-up program is started (Fig. 23). The first step "678 of the RT program leads to the setting of the character HTST to 70» Control passes to step 630 where the character RTF is calculated in value as the equivalent of 3/8 of size X2. In the next step 684, size X9 is calculated from X5 as 1/64 of size X5 Step 686 determines the amount SLIP corresponding to the desired slip (line 5 ^ 5 in Figure 12) as the equivalent value of X9 (the commanded stator frequency) minus the rotor frequency RTF, and control passes to step 688. In The sign of the quantity SLIP is compared with the sign of the quantity RTF in step 688. If both are equal, an acceleration condition is identified for the motor 10 and branch 690 is selected, otherwise branch 692 is selected in view of a decelerating B condition in motor 10. In an accelerating condition, step 694 limits the amount of slip to plus or minus 24 and transfers control to step 692. In case of decelerating conditions, the amount SLIP is limited to plus or minus 12 in step 695, and the Control transfers to step 692. The reason for the different limits on acceleration and neglect is that they allow the engine to operate in approximately the same way under both conditions. If the limits were set by equal values, under these conditions the motor would slow down more rapidly than it could be accelerated due to the two-way asymmetry of the circuitry using the charging transistors 12.

709845/0018

In step 692, the character. RTF the collector's content added (the limited slip calculated in steps 694 and 695) to calculate the desired stator frequency, whereupon control passes to step 696 where the content of the collector (the target stand frequency) is limited to plus or minus 560. That causes a limitation of the upper ones frequency used in this mode of operation to 90 Hz, since the quantity stored in the collector at this point in time is four times the nominal stator frequency. The content the collector is then examined in step 698 to determine its sign. If the sign is positive, indicating that there is a fast run in the forward direction as the command, step 700 is performed, to transfer the contents of the collector to memory, whereupon step 702 is performed to save the Set direction bit equal to zero, which means the forward direction. If the size in the collector is negative, it becomes branch 704 is selected and step 706 is performed to select the character to negate (to calculate the absolute value of the limited stator frequency), whereupon the negated quantity is converted into a Memory location is transferred by means of step 708, and that Direction bit is set equal to one in step 71 °. To Step 702 or step 710 transfers control to step 712 of FIG. This step is the size FRQ in its memory position FRQ, in which it was entered by step 700, reduced by 75, and the sign the resulting result is checked. If it is positive, branch 714 is selected and control goes direct to step 7I6. Otherwise the collector will step in 7I8 discarded its contents before moving on to step 7I6 passes. In step 716, the collector contents are sent to the Storage location ITEM is transferred and in the following step 720 the size stored at ITSM is reduced by 50, and checked for their sign. If the sign is negative

709845/0018

(which indicates that the Size is less than 50), branch 722 is selected and Step 724 is performed by setting the FREQ to the the same size is set as that stored in the storage location ITEM. In other circumstances the Branch 726 is selected and control transfers to step where size FRQ is compared to size 181. If FRQ is less than 181, branch 730 is selected and Step 732 is performed by setting the FREQ equal to a value of 7/16 (FRQ-125) + 50. Is FRQ greater as 181, branch 734 is selected and the step takes over the control, in which the variable FRQ is compared with the variable 245. If FRQ is less than 245, branch 738 is selected and step 740 is carried out, otherwise branch 742 is selected and step 744 executed. Step 740 computes the value of the FREQ as the equivalent of 7/32 (FRP-181) +75 while Step 744 calculates the value of FREQ as the equivalent of 7/64 (FRQ-245) + 89 calculated. Steps 724,732,740 and comprise a calculation of the curve shown in FIG. 13, where the value of the quantity FREQ is calculated according to the value of FRQ. The calculation actually divides the curve into four sections of constant slope. Control then passes to the STOR program illustrated in FIG. 25. In the first step 746, the counter No. 1 set to minus 5. Control then passes to step 748 where the sign of the number stored in counter # 2 Size is checked.

As already described above, the counter 2 was set to minus 5 in the course of the process shown in FIG Program so that the No. 2 counter is determined to be set to minus 5 in step. In this case branch 750 is selected and step 752 is executed, in which the size stored in counter no. 2 is increased by 1

709845/0018

Otherwise branch 754 is selected which has control to step 756 ..

If branch 750 is selected, the counter in is incremented by 1 in step 752 and control goes on Step 758 transfers to the sign of the unit stored in counter # 2, increased by two is being investigated. If this quantity is negative, then becomes Branch 7SO is selected, which transfers control to the step 782 passes. In step 732 the collector is set to 0, whereupon control passes to step 784, wherein the large TRIG corresponds to the collector contents (which has just been set to zero has been set) is equated. Then it goes Control to the SET program (Fig. 22), which is already has been described. If the result of step 778 is positive, 786 is selected as the branch, the collector is set to 0 by step 788 and control is passed to step 790. Step 790 limits the value of the collector contents to plus or minus 122, whereupon control passes to step 792 which sets the PS bit equal to 1, which indicates four-pole operation. After step 792, the Control passed to step 784 which determines the size TSIG equates with the collector content (which has just been set to zero).

If branch 754 is the result of step 748 is selected, step 756 calculates a size that with the value 3/8 PRQ + 20 is equal, and enters this in the collector. Subsequent to step 756, the Transfer control to step 790, which controls the Ilaximuni limited in the collector, whereupon step 792 takes place, which triggers the BS bit in the manner described above.

The purpose of the counter Kr. 2 in that shown in FIG The program is designed to provide a guarantee

7 0 ^r i 8 4 h / 0 0 1 8

that the motor 10 does not have any during the change in the motor configuration from eight poles to a four-pole arrangement Electricity is supplied. This is achieved as follows.

Initially, counter no.2 is set to either minus 5 or zero, depending on whether a CYC-30 or a CYC-60 program has been carried out. Usually such a program was carried out, so that counter no. 2 is at the first entry into a STOR program is in the minus 5 position. Therefore, execution of step 74-8 selects branch 750, and at Increasing the counter by 1 through step 752 performs the The work done in step 778 to select the branch 780, As a result of this, the value of TRIG is set to 0, whereby the supply of current to the motor via the charging transistors 12 is inhibited. At the next time pulse, which approx. 8.3 ms. occurs later, the program of Fig. 25 starts again. In this case, the content is of counter no. 2 minus 4. Step 752 increases it by 1 to minus 3 »and step 778 again leads to Selection of branch 780, which causes the voltage to be 0 for a further 8.3 ms. is held. In the third run of the STOR program, the counter content of No. 2 is minus 3 »but step 752 increases it by 1 to minus 2, whereupon step 778 becomes active again and selects branch 786. The collector (and therefore the value of TRIG) stay up 0 is set, but step 792 changes the pole select bit PS in response to the command of the four-pole operation of the motor. There If this takes place in the third cycle and the voltage value has been kept at 0 while the two previous cycles were running, the motor configuration can be safe without the Creation of a high transient current can be changed. E3 however, sufficient time must be made available to enable the contact devices to switch over before power is returned to the motor.

70 9 8 A B / 0018

Therefore, the TRIG value remains after this point in time and during of the two following periods to zero.

After the fourth period of time, the content of counter no. 2 is minus 2, so that branch. 750 again goes through step 74-8 is selected, and branch 786 from step 778 is selected. In the fifth cycle, the content of the Counter No. 2 minus 1, so that branch 750 and branch 786 can be selected again, the TRIG value remaining zero all this time. In the sixth period however, if counter # 2 is zero, branch 754 is selected, thereby setting the TRIG value accordingly the calculation performed by step 756 is adjusted. Branch 754 is selected for all following periods as long as the RT-Erogra.mm in step (Fig. 19) remains selected.

Transition counters # 1 and # 2 act in the same way to drive the charge transistors when transitioning from overdrive to inhibit normal workflow, the latter using either GYG-30 or CYO-60 programs will. These two programs each include the STORE program shown in FIG. Will be on the high-speed program RT passed before going to the STORE program, the counter becomes number 1 as the result of the stage 746 (Fig. 25) is set to minus 5.

In Fig. 21, in which the STORE-Progx * amm illustrates will be the transition counters from this program operated during the transition from high-speed to normal, with either the CYO-JO or CYO-60 at Normal run is used. In step 658, the counter No. is set to minus 5 and in step 640 the content of meter no. 1 checked. If it is negative, as is the case after the overdrive, where branch 644 is selected and the counter is incremented by 1 in step 646, after which this quantity plus 2 is checked for its sign. The first Entering the STORE program, the counter is set to minus 4 increased, whereupon step 648 the negative program

7098AB / 0018

selects branch 654 so that the PS bit is set to 1 and the value of the TRIG quantity itself is set to be zero will. Therefore, the motor 10 remains in the four-pole configuration, but the voltage drops to zero.

During the second run through the program, counter no. 1 is increased again by minus 3, and the branch 654 is selected again with the same result. When the program is run for the third time, the content of the counter is No. 1 now minus 2 so that branch 650 goes through the step 64-8 is selected with the result that the motor configuration switches to eight poles while the voltage remains 0. The branch 650 is in turn for the fourth and fifth periods selected, during which the counter content of No. 1 is increased twice to 0 «, With the branch 642 is selected via step 640, so that the previous period for TRIG in the in Pig · 20 is used, with the pole selection bit PS remaining at the 0 value for the eight-pole mode of operation remains.

As already mentioned, the HiST size was set to any Value during steps 596 and 618 in FIG. 20 and the step 678 in FIG. 23 are set. The HYST value is provided for a hysteresis in the servo response parameters to be introduced so that the value of X2, which is a switch from a CYC-30 program to a CYC-60 program causes it to be significantly different from the value of X2 which causes the return to the CYC-30 program. Likewise the HYST value requires a significantly different value of X2, which must be present for the CYC-60 program to work in the RT program is switched, and much differently than the comparable X2 value, which causes the reversal of this transition.

This feature prevents the system from quickly switching back and forth between 30 and 60 cycle operation, for example, in the event that the X2 value has a value about the division between the CYC-30 mode of operation and corresponds to the CYC-60 mode of operation. If the value

709 845/0018

therefore increases from X2 to a point where a 60 cycle frequency is applied to the word so will the transition to 60 Hz «made, and the return to one How it works GYO-JO »in the current with 30 Hz Motor 10 is fed, is only done until X2 one lower value reached. The difference between the two values of X2 that initiate the two transitions will be referred to as hysteresis, and it is the job of the HYST variable to produce a hysteresis of this type.

As shown in Fig. 20, the HYST value is around 20 units higher for the CYG-60 program than for the CYC-JO program, while the HYST value for the RT program (Fig. 23) was around 50 Units is greater than for the CYG-oO program. The hysteresis between the RT program and the normal programs was set high to reduce the number of transitions between the RT program and the normal work programs to a minimum, as there are five periods of the program sequence are required to make such a transition.

From the above it follows that the programs after Figures 14-25 in a digital computer more generally Nature can be used to carry out the operations shown in the flowcharts in FIGS. The program sequence described is carried out every 8.3 ms, to output data at a speed of 120 times per Second to bring it up to date.

Referring now to Fig. 26, there is a flow chart of a modified one Program series that instead of the one in connection with the flowcharts The programs discussed in FIGS. 10 and 12 can be used, and those for the programs in FIGS

declared programs can be used. In the in that The procedure described in FIG. 25 is the Slip of the induction motor controlled so that a constant Slippage worth is maintained-. This prevents the heating in the Motoi directly proportional to the torque developed by the engine,

7CHl 8 AEl / QQ 18

and as a result, a maximum torque for the engine and an upper limit for heat radiation set in the engine.

The sum register 800 is the same as the register 458 of Fig. 10, and input line 462 has has the same meaning as described with reference to FIG. 10 became. The variable X2, which is characteristic of the rotor frequency, is sent to the sum register 800 via the line 802 moves, "during your increasing positional error corresponding difference can be tapped on the output line 804. An integrating unit 806 is on the line 804 and supplies to its output line 808 the totalized position error, or the flat sequence error, of the system, The line 808 is connected to a counting unit 810 which, on its output line 812, receives the speed command corresponding signal or the speed required by the system, to keep the succession error generated. Line 812 has an input of the name register 814 connected which has another input with the line 802 in connection. The difference between the two inputs representing the velocity error are generated on output line 816. This is done through a Compensation network 818, which is the lead-delay network 10 is identical, processed, and the output of this network is modified by a further counter 820, to an output line 822 to that from the engine Required torque corresponding signal to maintain the follow-up error. The commanded one Torque size, which is generated by the counting unit 820, is determined as a function of the speed error signal on line 816. In this way, any increase in magnitude will produce the speed error signal on line 816 an increase in that represented by the signal on line 822 Greatness, the meaning of which is that they

7 0 fl B 4 F. / 0 0 1 8

-s »- 236609A

represents the amount of torque required by the machine. The line 822 is at the input of a puncture generator 824, with which the value of the TKIG variable is calculated, connected, the latter being fed to terminals 278 (Fig. 5b) »namely the terminals 278 of the motor 10 over line 826.

Line 822 is also on. a unit 828 is connected which has the sign of that commanded by line 822 Torque and generates one or two separate signals on its output line 830 according to the sign of the signal on line 822. The signal generated by unit 828 acts as a proportional quantity to it the desired slip of the motor 10. The slip is either positive or negative in sign, in agreement with the sign of the commanded torque, which is indicated by the signal in line 822 «Die The magnitude of the signal on line 830 is constant and corresponds to the constant slip that is desired for the engine 10. Line 830 is with a buzzer amplifier 832 connected, the second input of which is connected to line 834. Line 834 is from line 802 (the the X2 signal, which indicates the rotor frequency, is connected by a counter 838 via the line 836. The counter 838 changes the scale from X2 to the measure i; a.b by the signal present in line 830 represented size. The sum generated by the sum register 832, which is output to the output line 840, is typical of the stator frequency commanded. This is connected to the motor 10 via the terminals 98 (Fig. 3) in der.Form des FREQ character delivered in the manner described above.

The TRIG variable supplied via line 826 becomes determined by function generator device 824 as a function of the requested torque magnitude. A second entrance to function generator device 824 is through a line 824

709845/0018

formed, which carries a signal corresponding to the rotor frequency. Therefore, the output of line 826 depends on both the required torque and the observed runner frequency of the engine 10.ab.

The computation performed by function generator 824 is illustrated in Figures 29a and 29b $ the two curves of the output as a function of the input to the unit 824 for two different rotor frequencies represent. The relationship shown in curve 29a is used when the rotor frequency is low, and the relationship in curve 29b is used when the rotor frequency is high. In either case, the size of the required torque generated by the signal on the line 822 is shown, with the increase in the relevant The factor corresponding to the curve is multiplied, the value thus generated being the TRIG value that is to be supplied to the motor 10 Voltage corresponds. The slopes of the curve in FIGS. 29a and 29b are different because they are the function of the Represent the instantaneous value of the rotor frequency, which is illustrated by the signal on line 842. The multiplication factor, which is used to calculate the TRIG value is derived from the value of X2 which is in the line 842 is present, calculated.

The similarities of the flow appear to be apparent in Figs. 26 and 12, and the flows prescribed by the flowchart in Fig. 26 can be easily implemented by programming a general digital computer in the manner described above (with reference to Figs 25) can be achieved for the flow diagrams of FIGS. 10 _t and 12. Referring to the detailed description of the programs of Figures 14 through 25s given herein, a person of average skill in this field can easily program a computer to do the appropriate calculations for voltage and frequency

709845/0018

To carry out steps according to the flow chart according to FIG.

In another embodiment according to the invention the unit 844 (Fig. 27) can the unit 828 in the in Replace the flow chart shown in FIG. The mode of action unit 844 is similar to that of unit 828, there a quantity for the required motor slip is calculated on the basis of the required torque parameter.

The unit 844, however, calculates the slip as proportional to the required torque at low values of the required torque, with a maximum slip for high prescribed torque values. The maximum Plus and minus values, which are determined for the slip by the limitations, correspond to the dashed ones Lines 846 and 848 in Fig. 28 showing a typical induction motor characteristic shows. The abscissa of the curve in Fig. 28 is in slip units, that in rpm (i.e. in the difference between stator and rotor revolutions per minute), and the ordinates represent that of the Induction motor in response to the slip generated torque value. From Fig. 28 it can be seen that within a limited slip range, the torque developed by the engine is generally proportional to the slip. The boundaries shown by dashed lines 846 and 848 are at the outer ends of the range to which an approximately linear relationship applies.

The signal obtained for the purpose of voltage control for the motor is derived from the prescribed torque calculated for each specific rotor frequency as described in FIG. Since yes for low values the prescribed torque different slip values are used, however, the voltage applied to the motor 10 is not the same when the unit 844 or the unit 828 can be used. As a function of the prescribed Torque calculated voltage value

709-845 / 00.18

is found by the application of an empirically determined relationship according to the type described in connection with the flow chart in FIGS. In either case, the empirical ratio for a particular motor can be determined by applying a constant frequency of a power source to the stator of the motor and determining the torque to voltage ratio at that frequency for the motor. This relationship forms a basis for the operation of function generator 824 so that the torque developed by the motor in response to the applied voltage is equal to the prescribed torque represented by the signal on line 822. If it is now determined that the voltage / torque parameters are not the same for all motor frequencies, a number of ratios are determined for a limited frequency range in each case, and the voltages to be applied to the motor are determined by using the appropriate voltage-torque Ratios calculated a value. This method is shown in FIG. 20, in which specific voltage characteristics were calculated for the motor work at 30 and 60 Hz. After unit 828 has been replaced by unit 84-4-, the device of Figure 26 may be referred to as a proportional slip arrangement since the prescribed slip for the low commanded torque values is proportional to the commanded torque value. 29a shows a graph of the relationship which the unit 824 uses to obtain the voltage-controlling information which is to be fed to the motor via the terminals 278 (FIG. 5b). Fig. 29b shows another ratio that is used when it is desirable that the disappearance of the applied voltage is prevented at a prescribed torque of zero.

709845/0018

From the above description it is clear that the flow diagrams of FIGS. 26 and 2? for the schemes of Figures 10 and 12 can be used, depending on whether the "working method with the constant Slip or those with proportional slip are desirable is.

All of the systems described so far control the voltage and frequency of the drive voltage applied to the motor by means of the apparatus illustrated in Figures 2-5. However, it is also possible to control the drives 16 (FIG. 1) of the charging transistors 12 directly by a signal which is the result of the processing of information in a digital computer system. In such a case, neither the oscillator 20 nor the SGR trip circuits 28 and associated devices are required. The SGR's 18 can be controlled directly by the information received from the computer. A system for achieving direct control of the devices 16 and the SCR ¹ S 18 will now be described below.

A flowchart is now shown in FIG. 30, which contains a program for the direct maintenance of signals for controlling the drives 16 and the SCR ¹ S 18 directly as a result of the information relating to the commanded torque, which as described above at the output 822 of the unit 820 (Fig. 26) is tapped, illustrates. The line is connected (in FIG. 30) to a unit 850 which generates a signal on an output line 852 representing the absolute value of the commanded torque, the sign (direction) of the commanded torque not being taken into account. The line 852 is connected to one input of the sum register 854 ·.

Another input value in the flow chart according to Fig. 30 is the quantity X2, which is proportional to the engine speed, and that on line 802 as the result of the output value

709845/0018

- β * - ■

2386094

from unit 838 is available. Line 802 is connected to an integrator 856 with which the Motor speed proportional signal X2 to a value like this is integrated so that a value corresponding to the rotor position RTP is obtained. The output of the integrator 856 is with an input of the sum register 858 tied together. The other input of the sum register 858 is connected to line 822 via a counter 860. The two inputs of the sum register 858 are added, whereupon they generate a signal corresponding to the rotor position on an output line 861, which is dependent on the in the Counting unit 860 used multiplication factor has been increased by a factor which is the amount of the commanded torque is proportional. The line 861 is connected to one input of the sum register 862, while the other The input is connected to the line 802 via the counting unit 864 is. The sum of the two entries in the sum register 862 is made available on an output line 866 and corresponds to the desired rotor field position. The desired The rotor field position is that caused by the signal in the line 861 plus one from the multiplier the counting unit 864 determined proportional to the rotor speed Size, same. Therefore, the stator field position is over the current position of the rotor by an amount which represents the sum of the factor proportional to the commanded torque and the factor proportional to the rotor speed, turned further. Therefore ό © is greater the rotor speed, the wider the stator field position will be at any given, commanded torque »The greater also the commanded Torque, the wider the stator field position will be for any given rotor speed. The line 866 is connected to the input of a function generator 868, the line 8? 0 signals to control the application of force developed on the various phases of the stator windings of the motor 10.

709845/0018

A second input from the line 802 via the counting unit 853 is connected to the sum register 854-, and it has a device 855 * which determines the absolute values of the rotor speed in the form modified by the counting unit 855 without taking the sign into account. In sum register 854- this quantity is added to the absolute value of the commanded torque, whereby a signal is generated on line 857. The signal on line 857 corresponds to the commanded torque increased by an amount proportional to the rotor speed. It is connected to the input of a unit 859 j which contains the SCRs 18.

The signal on line 866 is often updated at regular intervals, so that the commanded stator field position signal on the line changes when the motor needs to be caused to do so runs in the programmed way. In one embodiment, the signal on the line 866 every 8.3 ms., i.e. 120 times a second, updated.

Fig. 31 shows a schematic diagram of a two-pole Three phase motor with three pairs of pole units, A-A, B-B, and C-c, spaced evenly around the circumference of the Runner S are arranged. 32 illustrates a three-phase Square wave which is applied to the three pairs of poles in the case of the one shown in Fig.

31 motor shown can be applied. The square waves in Fig. 32 are such that at any point in time they display one of Supply two values, depending on how the corresponding pole is to be excited. That is, one pole of each pair is either a magnetic Nprdpol and the opposite pole represents a magnetic south pole, or vice versa. As Fig.

32 shows, at an arbitrarily selected point in time t _Q, the AA pole pair is excited in one direction, while the other pole pair is excited in the opposite direction. This is shown in FIG. 31 by arrows pointing in the direction of flow of the magnetic current at this point in time indicate. From Fig.

709845/0018

31 it can be seen that the resulting flow in his Direction is aligned with the pole pair A-A. After 1/6 of the At time t-, the pole pair B-B has the direction of the cycle Magnetic field reversed, so that a review of Fig. 31 proves that the resulting magnetic field is then aligned with the pole pair C-C. After another sixth of the Cycle, at the time to have the pole pair C-C changed their field direction, which then the magnetic flux in the direction of the pole pair B-B.

In the first third of a revolution since t _Q , the direction of the magnetic flux has therefore rotated from AA to CC to BB, ie a third of the distance around the rotor. This process continues in the same manner, with the direction of the magnetic field shifting 60 ° each time a change of state occurs in one of the waveforms shown in FIG. Therefore, the stator's magnetic field rotates around the barrel setting in a series of steps, with the resulting magnetic field occupying one of only 6 positions at any one time.

If the commanded stand position to which the signal on line 866 corresponds is one of the six possible positions, which can be taken up by the resulting stator flux, then the pole pairs of the motor are excited in such a way that that the resulting magnetic flux is generated in the right direction .. However, it is often the case that the through the signal on line 866 indicated stator flux position is not one of the six directions assumed by the stator flux when excited by the waveforms shown in FIG. Therefore, it is It is desirable that the various pole pairs of the motor are excited in such a way and at such times that they have a Generate average mean flow direction, namely during an 8.3 ms. Interval according to the commanded stand position for that interval. This is done through the

709845/0018

Implementation of the programs according to FIGS. 35a and 35b achieved, which selectively control the waveforms shown in Fig. 32 when modified within an 8.3 msec period so as to that a mean stator flux direction is generated according to the desired value.

The instantaneous values of the commanded stator field position are obtained from the program shown in FIG. 35a the line 866 tappable value, which is the value of the size STP, or the commanded stator bay position, is determined. The first step taken after the start of the In the program of FIG. 35a, step 872 is.

In step 872, the commanded stator field position STP is checked to determine whether it is less than 0 is. If the variable STP is less than zero or equal to zero, program branch 874- is selected, whereupon the sum 1250 is added to the STP size in step 876. The size STP can be less than 0 when the engine is moving backwards rotates so that the desired stator field position during each successive readjustment of the desired Stand field position is pushed further less. If the size STP during the previous 8.3 ms. Interval went beyond zero, step 876 therefore returns it to a value within the range between and brought in 1250. The for addition with the STP position in The quantity selected in step 876 corresponds to the number of pulses generated for each revolution of the motor shaft; will as in the described embodiment 1250 pulses are generated during each rotation, the addition of the Size 125O in step 876 the correct position of the stander field .

If the size STP is greater than 0, branch becomes 878 is selected, whereupon step 888 checks whether the size STP is greater than the sum 1250. If it is (what indicates that the motor shaft is beyond the switching position

709845/0018

is rotated forward), branch 882 is selected, whereupon step 884 decreases the size STP by 1250. Will If it is found in step 880 that the size STP is less than 1250, branch 886 is selected and the step 884 is ignored.

After steps 884 or 876 or via the branch 886, step 888 is initiated. The updated value is checked by STP to determine whether it is smaller than size 209. If so, branch 890 is selected, followed by step 892 stores the size STP in the storage location STPTM. In the following Step 894 is the START address location in the PHASE location is entered and control passes to step 896.

Branch 890 is selected when the commanded stator bay position lies within the first 60 ° beyond the rotor switch position, in which case the pulse generator we? - has emitted less than 209 pulses since the switch position was exceeded. However, if the size STP is greater than 209 branch 897 is selected, indicating that the commanded stand position will be used for the first 60 degrees after exceeding the switching position, whereupon the following step 898 checks whether the size STP is less than 418. If so If this is the case, branch 900 is selected, the size STP-209 is entered in memory location STPTM in step 902, and in step 904 the storage location PHASE is stored with the address START + 1, whereupon control is passed to the Step 896 skips.

If it is determined that STP is greater than 418, branch 906 is selected, followed by step 908 another review takes place. Sequential steps 910 and 912 are performed to determine whether the size STP is of such a kind that the commanded Stäaderstellung in the third, fourth, fifth or sixth 60 ° -

109845/0018

Sector falls in relation to the switching division. The six sectors correspond to the possible field orientations of the two-pole three-phase motor. How great is STP also in its value may be, there will be a value in the STFTM position regardless stored, which corresponds to the extent of the advance of the commanded stator field position in the respective öekbor, whereupon a suitable address is placed in the storage location PHASE. The state of the six charging transistors 12 descriptive output word is stored in the memory location; its address is stored in the PHASE location, reference being made to this output word to set the various current transistors 12 in the manner described below za control.

In step 896 the size is 13/32 times the size. ße STPIM (i.e. those in steps 892, 902, etc. in the STPM stored size) is calculated and then stored in the TIME storage location. the The TIME digit then saves the number of 0.1 ms. long time intervals by which the commanded stator field position in has penetrated their sector. This size is then used to switch between consecutive States of the three-phase signal fed to the various motor windings to that described below Kind of attainable.

Following step 896, step 914 is carried out, in which a number of different values are stored in a plurality of memory locations. The address stored in the storage location PHASE is forwarded and stored in the storage location QRIG ₁ . In addition, the memory location stored in PHASE is increased by 8, whereupon it is then stored in memory location PHAS1. The address stored in PHASE is then increased by 1 and stored in PHASE. In addition, the memory position PEBl is set to minus 1, as is the memory position FLAGA

309845/0018

is set to minus 1.

In the subsequent step 916, the quantity TCTOT (from line 857 in FIG. 30) is added to the value -68 in order to calculate the ignition point for the SCR's 18, whereafter control is passed to step 917 in which the value 28 is added once or twice as required, in order to obtain a result between 0 and -28, which is then stored in the memory location TEMP by step 919. This memory location is used later to control the ignition points of the SCR ¹¹ S 18. After step 919 has ended, control is again passed to the executing program via branch 918.

At time intervals of 0.1 ms. the executing program is interrupted by a timer (not shown), after which control to steps 920 and 922 (Fig. 35b) overrides the ignition of the SCR's 18 according to the in step 919, in a manner to be described in greater detail below, control the size stored in memory location TEMP. Then goes control transfers to step 94-2.

In step 94-2 the contents of the memory location PER increased by 1, then in the next step 94-4- the Content compared to 0. If it is found equal to 0, branch 946 is selected, whereupon step 94-8 denotes The content of the storage location PHASE is inserted into the storage location PHAS2, which represents the output point. The following one Step 9 ^ -9 gives the control word, the address of which is in PHAS2 is stored, whereupon step 950 then increases the content of the memory location, FLAGA by 1, after which FLAGA is compared to zero in step 950. FLA.GA isn't equals 0, branch 953 is selected and control is passed to the execution program until the next interruption returned by the next millisecond via branch 95 ^ ·. If FLÄ.GA is determined to be equal to zero in step 952,

70984 5/0018

branch 956 is selected, whereupon step 958 denotes Insert the value TIME in negative form in the storage location PERl, after which the content of the storage location ORIG into the location PHASE is entered, after which the control is then returned to the execution program via branch 95 ^ is returned.

If it is determined by step 94-4 that the in Storage location FER stored size is not zero, so will branch 960 is selected, the size stored in PERl is stored in the step 961 increased, whereupon the size stored in FER1 is checked in step 962. Is that in FERl. saved Size 0, branch 964- is selected and the content location FHASE 1 is substituted into location FHAS2 by step 966. This is done in the following step 968 the address stored in PHAS2 identified control word directly to the drives 16 via the output register (not shown) output, which represents the output word until a new output word is selected. The PER is set to -1 by step 970, after which control passes back to the execution program via branch 954-.

When the program shown in FIG. 35b is entered for the first time, following an _{interruption of 0.1 ms 0,} an output word is output to the drives 16, which sets them to an intermediate state in which one phase is controlled so that the two with charging transistors connected to this phase are interrupted. After 0, ". I ms., After the next interruption, the continued phase word is output to the control terminals of the transistors, and a variable corresponding to the time interval for which the phase is to last is entered in negative form in the counter, which is then entered in each ol ms long interruption interval is increased by 1 until it reaches 0. At this point in time, the intermediate word for controlling the charging transistors is switched off again.

709845/0018

and 0.1 ms later the output word that corresponds to the previous phase condition is output to control the charging transistors. This condition lasts until the next 8.3 ms. long interruption is introduced into the back the program according to Fig. 35 ^a.

As an example of the operation of the programs according to FIGS . 35a and 35b, the assumption is made that the commanded stator field position resulting as the result of an 8.3 ms. Interruption step was calculated, 4-0 ° over the "A" phase of the stator field (with respect to Fig. 31 counterclockwise) away. In this case, the stator field should be aligned with the "B" phase (20 ° before the commanded stator field position) for two thirds of the next period, while it should be aligned with the "A" phase (40 ° behind the commanded stator bay position should be aligned to obtain a center stator bay position aligned with the commanded posture. Therefore, if the stator bay position is aligned with the ^M A "phase at the beginning of the period, the" B "phase will be for 5-5 ms. reversed in their direction in order to be again in their original direction for the next 2.8 ms. of the 8.3 ms. long period of time The response passed to the runner is the same as if the stator field had been so restricted that it had developed a resultant flow direction that would last with the stator field position commanded d of the entire period wair.

The steps 892, 902, etc. in the STPTM office stored size is the extent of advance of the commanded stator field position in one of the six in uniform Spaced sectors. The value stored at TIME calculated by step 896 is the ordinate the curve according to Fig. 33. " io which the commanded stand position

709845/0018

forms the abscissa. The PHASE position stores one of six consecutive addresses in your memory, in which the six the six different combinations of stator pole excitation corresponding output words are located.

The routine of Fig. 35a runs once every 8.3 ms. run through, and the routine of FIG. 35b runs once every 0.1 ms. run through as described above. If the program of Fig. 35b is started for the first time after completing the program of FIG. 35a, branches 960 and 964 will go through steps 944 or 962 elected. Initiate steps 966 and 968 then the output to terminal 52 of the drives 16 via an output register, wherein the output word stored in a location has an address eight units higher than the one stored in the PHASE location. Fig. 34 illustrates a group of twelve output words, six of which have an address from START to START + 5, while the six other addresses that are eight units larger than the first six words. The first six words are those Output values that control the drives 16, while the remaining six words represent intermediate words that are used in transitions can be used between the output words.

34 shows that two bits of each output word can be used for each phase of the motor 10. The first two bits control the phase A drives, for example. Are the first two bits 10, the poles of phase A are excited in a first direction, and if the first two bits represent 01, so the poles of phase A are excited in the opposite direction. The other two phases are followed by the two other pairs of bits in each word are controlled similarly. It will be clear that in the output words each phase in one or other direction is excited, while in the intermediate words one phase remains unexcited. The intermediate words cause the two drive transistors are briefly interrupted for a certain phase before the flow direction of the through

709845/0018

this phase generated flow is changed to every possibility a short circuit in the power supply line due to the simultaneous conducting of both charging transistors in to avoid a certain phase.

That in an address that is eight units larger as the address of any output word, stored-word is the appropriate intermediate word for use between this output word and the next advanced output word that is at the next higher address. If therefore the output word stored at START is that word stored at step 914 * at ORIG, which means that the commanded stator field position is in the first sector, is the intermediate word at START + 8, which the B phase de-energizes, the appropriate intermediate word to use before switching the motor poles into the next Sector, which is carried out via the output word located at START + 1, and thereby the polarity of the B phase is reversed.

This is exactly the process that takes place when the commanded sector position is set 4-0 ° beyond phase point A in the above example. Therefore, if branch 964 * is selected in step 962, the intermediate word at START + 8 is output via step 968. Then PER is set to -1 by step 970, so that on the second pass through the program of FIG. 35 *> 0.1 ms. later, the branch will ■■ selected by the step 94A 94-6, and steps 94-8 and 94-9 ^{2U the} output lead of that word, whose address is stored in phase whereby the next advanced state output word, namely at START + 1 stored word is output. This output word is then presented for a specific period of time, which is determined by the value of the variable stored at TIME, which was calculated in step 896. In the example in which the commanded stand field position is 4-0 ° before the position of the

70 98 k 5/0 018

Phase A, i.e. two-thirds in the first sector, is the value of the unit TIME 55 (the number of 0.1 ms. intervals that are required by 2/3 of the 8.3 ms. interval time correspond to). Step 958 performed immediately after steps 948 and 950 negates the steps shown in FIG TIME saved size and gives it (as -55) in the PERl-Stel-Ie whereupon the address stored in PHASE is changed. so that the output word (i.e. START) that corresponds to the stator field position occurs at the beginning of the sector that contains the commanded stator bay position.

Further passes through the program of FIG. 35b, the at intervals of 0.1 ms. are started, select branches 960 and 954 and return control directly to the execution program, but -each pass the size stored at PBRl increased. After 55 runs it is the size stored at PSRl has been increased to 0, so that branch 964 is then selected again, thus again the intermediate word is output, whereby PER is set equal to -1 by step 9? 0, which in turn leads to the selection of the branch 946 leads through the program on the next pass. Thereupon becomes the original again through steps 948 and 949 Output word (START) output. By the step 950 the size stored in FLA.GA is increased so that it is no longer ITuIl and step 958 is bypassed. Subsequent runs through the program of the Pig. Select 35b hence branches 960 and 9.54 for the remainder of the 8.3 ms. long period of time until a subsequent run through the program of FIG. 35a.

From the above _; it follows that the routine of Figures 35 & 35b causes the motor to be controlled in the required manner. The further the commanded stator field position advances, the greater the proportion of an 8.3 msec long period of time that is devoted to the advanced output word until the commanded one is aligned

0 9 8 k 5/0 0 1 3

Stand position with the field generated at the poles "C", the "advanced" output word for the entire 8.3 ms Period is excited. A further advance of the commanded stator field position leads to the selection of the next Output word as an "advanced" ■ output word.

A corresponding command is saved in the START + c position, immediately after the last output word, a suitable manner of working in the position of those commanded To enable stator field position in the last sector, in which case the first output word as the "advanced" Word is selected. Such a command leads to an automatic jump from the START + 6 = position to the START position, as is well known to all experts.

It also appears that no change in the operation of the engine is required. Takes the ordered one Stand field position, less and less time is devoted to the "advanced" output word until the commanded one Stand position enters the previous sector, where then a new output word is the "advanced" output word will.

Returning to FIG. 35b, the control of the ignition points of the SCRs 18 will now be described in the following. In which Step 920 increments the TEMP memory position each time the program of FIG. 35b begins its cycle. In step 919 (FIG. 35a), a size was entered in the TEMP location which corresponds to -68, which is represented by the TCTOT size after its calculation in line 857 (Fig. 30), which corresponds to the total commanded torque. The subsequent passes through the program of Fig. 35b increase this size until zero is reached, in which case branch 923 is then selected, whereupon the step 925 causes the ignition of one of the SCR's 18. Afterward is through step 92? the size TEMP set again,

709845/0018

and control transfers to step 942. After 28 0.1 ms. long periods of time, branch 923 is back is selected and an SCR 18 is re-ignited through step 925, after which TEMP again through step 927 is set to -28. Therefore, the SCR's are at intervals of 2.8 ms., which corresponds to a phase of a 60 Hz. frequency, ignited. The firing order of the SCR's 18 is always glexchblexbend, so that there can never be an uncertainty about which SCR will ignite next shall be. There are also the six SCRs at intervals of 60 ° each are ignited, each contributes equally to that supplied to the engine 10 via the transistors 16 Output voltage at.

The one stored at TEMP during step 919 negative size is multiplied in step 917 increased from 28 to a value between 0 and -28 which then results in the first SCR within 2.8 ms. is ignited after executing the program according to FIG. 35a. This is achieved by continuously adding 28 to the TEMP size and the sign of the the resulting value is examined; iot a positive sign has been displayed, the size 28 is subtracted, so that a value between 0 and -28 is achieved for the first SCR ignition.

The SCR ¹ S are fired in the correct order by successively output words has been described in the same manner as described in connection with the program of Fig. 35b are selected for their control. Successive SCRs can be energized alternately by rigidly wired devices consisting of three flip-flops as described in FIG. 3.

5/0018

From the foregoing it will be seen that the embodiment according to Figures 30 and 35 directly the control the position of the stator field thereby causes the middle positions for the stator field at frequent intervals rather than controlling the frequency fed to the motor. A much higher degree of Control is possible using this embodiment, but it requires a relatively larger amount of computer capacity than the others here described embodiments, since the program of FIG. 35b must be run through significantly more often than the others Programs.

The embodiments described herein are applicable to a variety of AC motors, including the conventional as squirrel cage motors, induction motors with a rotor winding, synchronous motors, reluctance motors, as well Hysteresis and other known motor types designated motors applicable.

In the directory below that is available for use with one from Digital Eqipment Corp. manufactured data processor PDP8 is planned, the programs of Figures 14-25 performed. The program directories are written in machine language.

709845/0018

00001

00001 005402

00002 005037

00020 00020 00021 00022 00023 00024 00025 00026 00027 00030 00031 00032 00033 00034 00035 00036 00037

00040 00040 00041 00044 00044 00052 00052 00057 00057 00074 00074 00075 00154 00154 00155 00156 00157

005712 005734 000000 000000 000000 000000 000000 000000 OO7773 000000 000000 000000 005414 000000 000000 006000

LIMITX, ARSX, FREQ, TRIG, DIREK, CTR1, CTR2, HYST, - / 7773, SSABS, X2,

FRQAB, STOREX, SSPDC XNEW, B6000, /

004000 002000

000200 000002 007700

007756 007760

QOOO22 # 22, 007720 # 7720, 000062 # 62, 000107 # 107,

05000

05000 007200

05001 003653

05002 003654

05003 003025

(! 37

JMP XSERV

PRELIMINARY BASE STORAGE AREA

»20 LIMIT ARS O '

7773

TO SAVE

6000

BASE CONSTANT

4000 2000

7700

7756 7760 «154 /// TEMP ///

22/18

7720 * / -48 62/50 107/71

PRELIMINARY INTRODUCTION PROGRAM

"5000

DCA I X5X / UNLOCK X5.

DCA I X13X / UNLOCK X13.

DCA CTR1 / UNLOCK CTRI.

709845/0018

-W-

2388094

05004 003026 DCA CTR2 05005 003027 DCA HYST 05006 007000 NOP 05007 007000 NOP 05010 004223 JMS SVIN 05011 007041 CIA 05012 003261 DCA XOLD 05013 007000 NOP 05014 006531 6531 05015 006001 ION 05016 005217 JMP EXEC

/ UNLOCK CTR2. / RELEASE HYST.

/ TAKE THE FIRST FEEDBACK COUNTER READING.

/ NEGATE.

/ STORE AS ORIGINAL XOLD,

/ POSSIBLE INTERRUPTION FROM OUTSIDE. / MAKE AN INTERRUPTION. / JUMP TO EXECKREIS AND STAY IN IT.

05017 007000 EXEC, / NOP EXEC ITEMPO 4th ITEMPO 05020 007000 NOP TWICE 05022 005217 JMP 4th SVIN + 1 05023 007000 SVIN ZEI
NOP ITEMPO 05024 006514 651 ? / = 3777 05025 003164 DCA 05026 006514 651 I SVIN 05027 007041 CIA 05030 001164 TAD 05031 007440 SZA Ο5Ό32 005224 JMP 05033 001164 TAD 05034 000256 AND 05035 007000 NOP 05036 005623 JMP

/ COMPUTER RUNNING PROGRAM HERE / WAITING FOR NEXT INTERRUPTION

/ STARTING POINT

/ AND WITH 3777.
/ RETURN.

05037 007000 XSERV

NOP

05040 007604 READ . + 3 05041 007500 SMA 05042 005245 JMP BITO 05043 007041 CIA 05044 001040 TAD

/ START SCROLLING HERE IF _{ INTRODUCTION HAS BEEN / ENTRY FROM SWITCH REGISTER. / BIT OA 1?
/ NO, X1 IS POSITIVE. / YES, NEGATE.

/ 4000 ADD TO FORM A NEGATIVE X1.

709845/0018

- 78 * -

05045
05046
05047
05050
05051
05052

05053
05054
05055
05056
05057
05060
O5O6T

05160
05160

05161
05162
05163
05164
05165
05166
05167
05170
05171
05172
05173

003655 007000 004223 003036 007000 005360

005320 005322 005317 003777 001651 001722 000000

X5X,

X13X,

X1X, "# 3777» # 1651, # 1722,

XOLD,

007000 SERVOS,

007200 001036 007041 007421 001261 001036 001037 OO75QO 001040 001041 007521

05174 003261

05175 007701

05176 003032

05177
05200
05201
05202
05203
05204
05205
05206

007701 007104 007000 007000 003167 007701 007000 003166 DCA I X1X / SAVE AS X1.

NOP JMS SVIN DCA XNEW NOP JMP SERVOS

/ ENTER F.B. COUNTER. / SAVE AS XNEW.

/ SWITCH TO SERVOS.

X5 X13 X1 3777 1651 1722

* 516O NOP X2 TAKE OFF THE COUNTER.

CLA TAD XNEW CIA MQL TAD XOLD TAD XNEW TAD B6000 SMA TAD BITO

/ XNEW PIPE.

/NEGATE.

/ IN MQ. LIFT.

/ PIPE XÖLD.

/ DIFFERENT.= XNEW + XOLD.

/ DIFFERENCE -2000

/ (DIFFERENCE -2000)> O?

/ YES, 4000 ADDED.

TAD BIT1 / DIFFERENCE-2000+200O=DIFFERENCE. SWP / DIFFERENT! CANCEL IN MQ,

-XNEW TAPPED FROM MQ.

ADD DCA XOLD / XOLD WITH -XNEW. ACL / DIFFERENCE DETERMINE. SAVE DCA X2 / AS X2. / CALCULATE POSITION, SPEED AND VOLTAGE DRYING. TAP ACL / X2 CLL RAL / MULTIPLE WITH 2. NOP NOP

DCA ITEMP3 / KX2 = 2 * X2. TAP ACL / X2. NOP

. DCA ITEMP2 / X2P = X2. / CALCULATE POSITION ERROR.

9845 / 0018-

05207 007701 ACL / XP0S = X2. / X6 = 1/8 * X5. / X7P = KX2. / X7P TAP. / SSPDC = (X8 + X2P) * 3. / SSPDC. EXTRACTED. 05210 001317 TAD X1 / ADD TO X1. / Times 2. / SSPDC POSITIVE? 05211 001320 TAD X 5 / OVERALL POSITION ERROR X5 = X5 + X1 + X2 / PLUS X13. /IF NOT. NEGATE. 05212 004420 JMS I LIMITX / THE ORDER WILL BE REMOVED. / OVERALL SPEED ERROR = X13 = 05213 003777 3777 X13 + X6 + KX2. 05214 003320 DCA X5 / SPEED ERROR --- DELAY NETWORK JMS I LIMITX / X13 TO + 37 7 7. JMS I LIMITX / SSPDC TO + 100 LIMIT. 05215 001320 TAD X 5 TO CALCULATE. 3777 100 05216 004421 JMS I ARSX TAD ITEMP3 DCA X13 DCA SSPDC 05217 007777 -1 DCA X7P TAD X7P / X8 = 1/8 * (2 * X7P + X13) TAD SSPDC 05220 007775 -3 TAD X7P CLL RAL • / CALCULATE VOLTAGE CIRCUIT. SPA 05221 007000 NOP TAD X13 TAD X13 TAD X8 CIA 05222 007000 NOP JMS I ARSX TAD ITEMP2 -1 JMS I ARSX -3 -3 05223 001167 NOP _ ι 05224 003323 NOP NOP 05225 001323 DCA X8 NOP 05226 001322 05227 004420 05230 003777 05231 003322 05232 001323 05233 007104 05234 001322 05235 004421 05236 007777 05237 007775 05240 007000 05241 007000 05242 003321 05243 001321 05244 001166 05245 004421 05246 007775 05247 007777 05250 007000 05251 007000 05252 004420 05253 000100 05254 003035 05255 001035 05256 007510 05257 007041

7 09845/0018

05260 003031

05261 05262 05263

05 264 05265 05266 05267 05270 05271 052 72 05273

05274 05275 05276 05277 05300 05301 05302 05303 05304 05305 05306 05307 05310 05311 05312 05313 05314 05315

05316 05317 05320 05321 05322 05323 05324 05325 05326 05327 05330 05331 05332

001032 007510 007041

001027 001327 007510 005333 001324 007700 005716 007000

001325 CYC60, '

00302

001326

003022

001031

001074

007500

005311

007200

001031

007104

001330

005434

004421 HIGH,

007775

007775

001331

005434

005440 000000 000000 000000 000000 000000 007641 000024 000126 007677 000023 000101 000054

/ RAPIDX,

X1,

X5,

X8,

X13,

X7P,

# 7641,

# 24,

SAVE DCA SSABS / ABS SSPDC AS SSABS. ON 30 HZ., 60 HZ. OR TEST FAST RUN. DETERMINE TAD X2 / X2. SPA / X2 POSITIVE? CIA / IF NO, NEGATE TO MAKE THE SAME POSITIVE. TAD HYST / X2TST = ABS X2 + HYST. TAD f / 7677
SPA

JMP CYC30 / X2TS1X65 TAD # 7641 / X2TST> 65 SMA CLA

JMP I RAPIDX / X2TST> 160 NOP / S2TST <160

TAD φ 24

DCA HYST

TAD # 126

DCA FREQ

TAD SSABS

TAD # 7756

SMA

JMP HIGH

CLA

TAD SSABS

CLL RAL

TAD φ 23

JMP I STOREX JMS I ARSX

/ 20

/ HYST = 20. / DCE / FREQ = 86.

/ -18

/ SSABS) 18 / SSABS <18 / 2 * SSABS + T9

# 7677,

# 101, # 54,

TAD # 101/3/8 * (SSABS-18) +65 JMP I STOREX

RAPID

7641 / -95 24 * / 20 126/86 7677 / -65 23/19 101/65 54/44

O 9BA 5 / 0.0.18

23660SA

05333 007200 CYC30, . / SETX, CLA / HYST = O. TAD # 772Ο / -48 / SSABS> 64 / -75 05334 003027 / # 106, DCA HYST / DCE 44 SMA / SSABS ^ 64 / -5O 05335 001332 RTF, TAD φ 54 / FREQ = 44. JMP HI / -56 05336 003022 NRTF, DCA FREQ CLA / 75 05337 001031 X8X, TAD SSABS / -16 TAD ITEMPO / 89 05340 001075 SLIP, TAD φ 7760 / SHORT-TERM SAVE. JMS I ARSX 05341 003164 # 14, DCA ITEMPO -7 / 7/16 * (SSABS-16) + 5O 05342 001164 # 7665, TAD ITEMPO -4 / JMP TO SAVE. 05343 007500 # 7704, SMA / SSABS) 16 TAD - ^ 62 05344 005354 # 7710, JMP INTER / SSABSO 6. JMP I STOREX 05345 007200 # 113, CLA JMS I ARSX 05346 001031 # 131, - TAD SSABS / 2 * SSABS. / 1/8 * (SSABS-64) +71 05347 007104 CLL RAL -3 JMP I STOREX / SPRING TO SAVE. 05350 007000 NOP TAD # 1o7 . * 54ΟΟ 05351 007000 NOP / 2 * SSABS + 18. SETT 05352 001154 TAD # 22 / JMP TO SAVE .. 106 05353 005434 JMP I STOREX O 05354 001155 INTER, O 05355 007500 XS 05356 005366 ⁰ t 05357 007200 U 05360 001164 7665 05361 004421 7704 05362 007771 7710 05363 007774 113 05364 001156 131 05365 005434 05366 004421 HI, 05367 007777 05370 007775 05371 001157 05372 005434 05400 05400 005632 05401 000106 05402 000000 05403 000000 05404 005321 05405 000000 05406 000014 05407 007665 05410 007704 05411 007710 05412 000113 05413 000131

709845/0018

05414 007000 STORE, I. 001030 / 001032 / 001203 NOP / IN TRIGGER. / -5 / DETERMINE X2. / SLIP = NRTF + X8. 05415 007000 003026 007041 001604 NOP / SSPDC TAP. / CENTER = - ^. /NEGATE. 05416 -003023 001025 007000 003205 DCA TRIG / NEGATE SSPDC? / DETERMINE THE CENTER. 05417 001035 007500 004421 001203 TAD SSPDC / IF YES, SET BIT4 TO 1 /CENTER! NEGATIVE? 05420 007 700 005600 007775 000040 SMA CLA / SAVE AS DIRECTION BIT. /POSITIVE. 05421 001044 007001 OO777S 001205 TAD BIT4 CHECK AFTER TRANSITIONING FROM HIGH SPEED. / YES, INC. CTR.1. 05422 003024 003025 003202 007421 DCA DIREK TAD # 7 7 73 / RTF = 3/8 * X2 001025 001202 007701 DCA CTR2 / DETERMINE CENTER1. / DETERMINE RTF. 05423 001052 007041 007104 TAD CTR1 / ADD 2. /NEGATE. / CHARACTERS DIFFERENT - ACCEL. 05424 007240 003203 "743" SMA /NEGATIVE? / NRTF = -RTF. / EQUAL CHARACTERS - SLOWLY. 05425 001044 001206 JMP I SE / IF NO, SWITCH TO 8-POLE CALCULATE SLIP AND FRQCM. 05426 003025 001206 IAC / TRIG = O. TAD NRTF 05427 005600
/
007000 RAPID, 003274 DCA CTR1 / SKIP TO SET. TAD I X8X 05430 001201 TAD CTR1 DCA SLIP 05431 ÖO3O27 TAD BIT10 / 70 TAD NRTF. 05432 CMA CLA / HYST = 70. AND BITO 05433 TAD BIT4 FAST ACCESS FREQUENCY. TAD SLIP 05434 DCA TRIG TAD X 2 MQL 05435 JMP I SETX CIA ACL 05456 NOP NOP CLL RAL 05437 TAD # 106 JMS I ARSX SZL 05440 DCA HYST -3 TAD J> \ 4 05441 -3 TAD # -1 4 05442 DCA RTF DCA. + 3 TAD RTF 05443 CIA 05444 DCA NRTF 05445 05446 05447 O54SO 05451 05452 05453 05454 05455 05456 05457 05460 05461 05462 05463 05464 05465 05466 05467 05470 05471

709845/0018

05472 007701 j 001033 ACL / DIRECTION BIT = O. / -75 05473 004420 001207 JMS I LIMITX / FRQCMX) 05474 000000 007510 0 / DIRECTION BIT = 1 / FRQAB <75 05475 001202 007200 TRAD RTF / FRQAB> 75 05476 004420 003164 JMS I LIMITX CALCULATE FREQUENCY; 05477 000500 001164 500/320 TAD FRQAB / FRQAB-125 / -5C 05500 007500 001210 SMA / FRQCM TAD / 7665 ■ 05501 005305 007500 JMP. + 4 SPA / FRQABM 25 05502 007041 005325 CLA 05503 003033 007200 DCA ITEMPO / FRQAB ^ I25 05504 005307 001164 TAD ITEMPO / (FRQAB-75) 05505 003033 007000 TAD # 7704 05506 001044 005360 SMA / FRQAB-125 05507 003024 003164 SECND, JMP SECND 001164 CLA / FRQAB-181 05510 001211 TAD ITEMPO 05511 007500 CIA /FRQCM4.0 NOP / FRQAB> 181 05512 005341 DCA FRQAB JMP STOR 05513 007200 JMP. + 3 DCA ITEMPO / FROABO81 05514 001164 DCA FRQAB TAD ITEMPO 05515 004421 TAD BIT4 TAD ^ 771O 05516 007771 DCA DIREK SMA 05517 007774 JMP THIRD / 7/16 * (FRQAB-12 05520 001156 CLA 05521 005360 TAD ITEMPO / FRQAB-181 05522 003164 THIRD, JMS I ARSX / FRQAB-245 05523 001057 -7 05524 007500 -4 / FRQAB) 245 05525 005354 TAD / 62 05526 0072OO JMPSTOR / FRQABC245 05527 001164 DCA ITEMPO • 05530 004421 TAD / 7 700 05531 007771 SMA t 05532 007773 JMP FORTH 05533 CLA 05534 TAD ITEMPO 05535 JMS I ARSX 05536 -7 05537 -5 05540 05541 05542 05543 05544 05545 05546 05547 05550 05551

709845/0018

- 8Λ--

05552 001212 FORTH, / STANDARD, SETT, TAD Φ1 1 3 ^ 7773 TRIG , TRIG / 7/32 * CFRQAB-181) +75 05553 005360 / JMP . STURGEON CTR1 BIT2 / JMP ON SAVE. 05554 004421 / JMS I ARSX CTR2 05555 007771 -7 SVOUTI 05556 007772 STURGEON, -6 STANDARD 05557 001213 TAD # 131 / 7/64 * (FRQAB-245) +89 05560 003022 STORI, DCA FREQ CTR2 / IN FREQ. TAKE OFF. 05561 007000 NOP CTR2 05562 007000 NOP BIT10 05600 * 56OO ST0R1 05600 001030 ST0R1 + 5 05601 003025 / CTR1 = 5. 05602 001026 FRQAB / DETERMINE CTR2. 05603 007500 / I ARSX / IS CTR2 NEGATIVE? 05604 005214 /NO. 05605 007001 / YES, INC. CENTER2. 05606 003026 # 260 05607 001026 / DETERMINE CTR2. 05610 001052 # 7600 / PLUS 2. 05611 007500 TRIG. TO CALCULATE. I LIMITX / (CTR2 + 2) NEGATIVE? 05612 005222 TAD / NO, SWITCH TO 4-POLE 05613 005227 DCA 05614 007200 TAD RAL 05615 001033 SMA RAL 05616 004421 JMP TRIG 05617 007775 IAC OUTPUT FREO., 05620 007775 DCA NOP 05621 001271 TAD CLA / 3/8 * (FRQAB) +176 05622 007000 TAD TAD 05623 001272 SMA TAD / 4-POLE CIRCUIT. 05624 004420 JMP NOP / LIMIT TO + -122. 05625 000172 JMP JMS 05626 007000 CLA CLA 05627 007104 TAD 05630 007104 JMS 05631 003023 -3 -3 ., DIRECT. 05632 007000 TAD 05633 007200 NOP 05634 001023 TAD / TRIG. DETERMINE. 05635 001042 'JMS / 8-POLE CIRCUIT. 05636 007000 172 05637 004276 NOP 05640 007200 CLL CLL DCA

709845/0018

05641
05642
05643
05644
05645
05646
05647
05650

05651
05652
05653
05654
05655
05656
05657
05660
05661
05662
05663
05664

007000 001024 007421 001022 007501 007000 004304 007000

007200 001032 007106 007106 007000 006551 007200 001035 007106 007106 007000 006552

TAD DIREIC

TAD FREQ

JMS SVOUT

OUTPUT TO DAC

CLA TAD X CLL RTL CLL RTL NOP 6551 CLA TAD SSPDC CLL RTL CLL RTL NOP 6552

/ DETERMINE DIRECTION BIT, / OR IN FREQ. WORD.

/ DETERMINE X2. / X2 * 16. / OUTPUT TO DAC.

/ DETERMINE SSPDC. / SSPDC * 16.

/ OUTPUT TO DAC.

05665 006511

05666 007000

05667 006001 05670 005675

JMP I EXECX

/ ENABLE INTERRUPTION / EMIT INTERRUPTION.

05671 000260 - £ 260,

05672 007600 # 7600,

05673 001600 # 1600,

05674 001700 ^ 1700,

05675 005017 EXECX,

05676 007000 SVOUT1,

05677 006515

05700 007040

05701 006516

05702 007000

05703 005676

05704 007000 SVOUT,

05705 006535

05706 007040

05707 006536

05710 007000

05711 005704

260/176

7600 7-12-8

IOBB PRELIMINARY IOBB ISSUE PROGRAM

6516 t

JMP I SVOUT1

JMP I SVOUT

/ FREE OUTPUT REGISTER. / OUTPUT DATA

709845/0018

- «he -

/ LIMITATION PROGRAM: THIS PROGRAM LIMITS A SIGNED NUMBER TO A + PARAMETER / VALUE.

/ FOLLOWS:

/ TAD A NUMBER / E.G., OCT

/ JMS LIMIT (JMS I LIMITX)

/ 1000 / PARAMETERS

/ RETURN WITH 1000 IN AC.

05712 007000 LIMIT, NOP

05713 007421 MQL

05714 007701 ACL

05715 007104 CLL RAL

Ioo1

05717 007500 SMA I LIMIT 05720 007041 CIA CLA 05721 001712 TAD . + 5 05722 007700 SMA I LIMIT 05723 005330 JMP 05724 001712 TAD 05725 007430 SZL 05726 007041 CIA 05727 007410 SKP LIMIT 05730 007701 ACL 05731 002312 ISZ I LIMIT 05732 007000 NOP 05733 005712 JMP

/ INPUT POINT.

/ KEEP THE NUMBER IN MQ. / ENTER THE NUMBER IN AC. / THE SIGN BIT INTO THE L BIT INPUT.

/ IS THE NUMBER NEGATIVE? / IF NO, NEGATE. / ADD TO PARAMETER. / IS THE NUMBER <PARAMETER? /YES.

/ NO, DETERMINE PARAMETERS. / WAS THE NUMBER NEGATIVE? / IF YES, NEGATE.

/ THE ORIGINAL NUMBER OF MQ IN AC

INPUT.
/ INC. LIMIT.

/TO RETURN.

/ THE ARS PROGRAM PERFORMS THE FOLLOWING CALCULATIONS

/BY:

/ AC = AC * (PARAMETER NO. 1) / 2 ** (+ PARAMETER NO. 2)

EXAMPLE
ARSX)

/ PARAMETER NO. 1
/ PARAMETER NO. 2
I IN AC (30 * 3/8 = 11).

/ INPUT POINT.

/ THE ARG. SHORT-TERM SAVE.

/1. DETERMINE PARAxMETERS.

/ KEEP AS A CENTER.

/ THE ARG. DETERMINE.

/ INC CENTER LAST?

/ NO, ARG. TO AC. ADD.

/YES.

007000 / FOLLOWS TAD OCT 30 TO 003165 / JMS ARS (JMS 001734 / -3 003164 I. -3 ί 001165 I. REWIND WITH OCT 002164 I.
ARS. NOP 05734 005340 DCA ITEMP1 05735 002334 TAD I ARS 05736 DCA ITEMPO 05737 TAD ITEKPO 05740 ISZ ITEMPO 05741 JMP -2 05742 ISZ ARS 05743

709845/0018

»05744 007421 MQL I ARS 05745 001734 TAD ITEMPO 05746 003164 DCA 05747 007701 ACL 05750 007100 CLL 05751 007510 SPA 05752 007120 STL 05753 007010 RAR ITEMPO 05754 002164 ISZ .-5 05755 005350 JMP ARS 05756 002334 ISZ 05757 007000 NOP I ARS 05760 005734 JMP

/ AC IM MQ. TO SAVE. / 2. DETERMINE PARAMETERS. / AS A CNTR. STORE. / STORAGE FROM MQ AC. / SET THE LINK BIT EQUAL TO THE PRE / TIME BIT.

/ DIVIDING BY 2.

/ INC. CNTR., LAST?

/ NO, THEN DRIVE COUPLING, / AND DIVIDING AGAIN BY 2, /YES.

/ ROCKING UP.

/ S ■

The following program directory was created for use with a data processing system with the model number 2114A of the Planned company Hewlett Packard, which carries out the programs according to Figures 35a and 35b. The program is in machine language written.

114020 ASMB, AMB, L, T, X 1OB X13 i 00010 000000 ORG 2OB, I TBG XS 00010 000000 JSB X2 00011 000000 NOP SSPDC 00012 114024 NOP RTP 00013 000000 NOP 24B, I. X1 00014 000000 JSB TBG 00015 000000 NOP TBG, C 00016 000071 NOP 00017 000000 NOP TIMER 00020 000000 DEF 00021 000000 NOP 00022 000431 NOP 00023 NOP TIME 2 00024 102100 DEF 4OB 00040 002400 ORG INIT STF O 00040 070722 CLA 00041 070712 STA 00042 070703 STA 00043 070672 STA 00044 070750 STA 00045 070702 STA 00046 102610 STA 00047 103710 OTA 00050 STC 00051

709845/0018

00052 103712 STC 101, C

00053 103714 'STC 102, C

00054 102514 PEN LIA

00055 010717 AND MASKI

00056 070714 STA XOLD

00057 102514 LIA 102

00060 010717 AND MASK1

00061 050714 CPA XOLD

00062 024064 JMP * + 2

00063 024054 JMP PEN

00064 Ό6Ο635 LDA N80

00065 070553 STA PER

00066 060561 LDA START

00067 O7OS55 STA PHASE

00070 024120 JMP EXEC

00071 000000 TIMER NOP

00072 103100 CLF 0

00073 070537 STA J.

00074 034733 ISZ FIRCT

00075 024077 JMP SON

00076 024453 JMP FIRE

00077 034732 SON ISZ FIRC2

00100 024102 JMP MA

00101 024465 JMP FIRE2

00102 034736 MA ISZ HCCTR

00103 024106. JMP MIKE

00104 003400 CCA

00105 070731 STA XFLAG

00106 034553 MIKE ISZ PER

00107 024111 JMP DON

00110 014475 JSB FRQCY

00111 034554 DON ISZ PER1

00112 024114 - JMP JACK

00113 014514 JSB FREQ1

00114 060537 JACK LDA J

00115 103110 CLF TBG

00116 102100 STF O

00117 124071 JMP TIMER, I.

00120 060731 EXEC LDA XFLAG

00121 002020 SSA

00122 024126 JMP XSERV + 1

00123 000000. NOP

00124 024120 JMP EXEC

00125 000000 XSERV NOP

00126 002400 CLA

00127 070731 STA XFLAG

XI TAPPED FROM SWR

00011 ADC EQU 11B

00130 103111 CLF ADC

00131 102311 SFS ADC

00132 024131 JMP «-1

50 USEC + PROGRAM BRANCHES IGNITION = 56 USEC IGENDEM2 = 50 USEC RESET * 10 USEC

709845/0018

00133 102511 LIA ADC NOP XPOS X1 COUNTER READINGS 00134 102501 LIA SWR NOP XPOS MICRB SECTORS IN EQUALS 00135 000000 NOP STA X5 00136 070702 STA X1 NOP X2P P8000 * X2 FROM THE COUNTER EXTRACTED NOP LIMIT 00137 102514 JOE LIA 102 STA XS YES. XNEW IS ALSO IN A 00140 010717 AND MASK1 NOP KX2 ARS NO. REPEAT. 00141 070713 STA XNEW NOP CALCULATE POSITION FAULT RETURN XOLD 00142 1O2S14 LIA 102 STA LDA XOLD NEGATE. 00143 010717 AND MASK1 ADA X6 BRINGING XOLD UP TO NEW STANDARDS 00144 050713 CPA XNEW ADA XNEW - XOLD = X2. 00145 024147 JMP * + 2 LDB ) (ä $ L $ & JMP JOE JBS BIGGER THAN O? 00147 064714 LDB XOLD STA NO. 256 ADDED 00150 007004 CMB , INB ARS, 00151 070714 STA XOLD ARS BIGGER THAN O? 00152 040001 ADA 1 NOP YES. 256 SUBJECT 00153 040666 ADA P2O47 . STA 00154 002020 SSA SAVE X2 00155 040716 ADA POS 00156 040667 ADA N4O94 00157 002021 SSA. , RSS AND VOLTAGE DRYING 00160 040715 ADA NEG 00161 040666 ADA P2O47 00162 070703 STA X2 00163 070701 STA RTF 00164 003004 CMA ₁ . INA KVOLT POSITION, SPEED TO CALCULATE 00165 000000 00166 000000 00167 070621 00170 000000 00171 000000 00172 070620 00173 000000 00174 000000 00175 070617 00176 050702 00177 040621 00200 040712 00201 064662 00202 014413 00203 070712 00204 001121 00205 001100 00206 000000 00207 070624

709845/0018

9a

236S094

040617 SPEED ERROR - LEAD DELAY NETWORK 00210 070616 ADA KX2 00211 000000 STA X7P 00212 001000 NOP 00213 070721 AS 00214 060616 STA XI1 00215 040722 LDA X7P 00216 064633 ADA X13 00217 014413 LDB P16TH 00220 070722 JSB LIMIT 00221 040721 STA X.13 00222 001121 ADA X11 00223 001121 ARS, ARS 00224 001100 ARS, ARS 00225 000000 ARS (KV) 00226 070704 ^■: NOP 00227 STA X8 040620 CALCULATE VOLTAGE CIRCUIT AND ATTACHMENT ANGLE 00230 000000 ADA X2P 00231 000000 NOP 00232 001121 NOP 00233 001121 ARS, ARS 00234 064614 ARS, ARS 00235 014413 LDB P28 00236 070747 JSB LIMIT 00237 002020 STA TORCM 00240 003004 SSA 00241 070754 CMA, INA 00242 060703 STA TCABS 00243 064000 LDA X2 00244 001020 LDB O 00245 070753 AS AS 00246 040001 STA BETA 00247 001121 ADA 01 00250 001121 ARS, ARS 00251 002020 ARS, ARS 00252 003004 SSA 00253 040754 CMA.INA 002 S 4 070755 ADA TCABS 00255 064000 STA TCTOT OO2S6 044603 CALCULATE LDB O FINISH TIME 00257 006021 ADB N2 ( 00260 024265 SSB, RSS 00261 001000 JMP * + 4 00262 040632 AS 00263 024266 ADA N70 00264 040631 JMP OUT 00265 070726 ADA N68 00266 060750 OUT STA TEMP1 00267 040703 LDA RTP 00270 070750 ADA X2 00271 STA RTP

709845/0018

2366084

00324 00325 00326 00327 00330 00331 00332 00333 00334 00335

00336 00337 00340 00341 00342 00343 00344 00345 00346 00347 00350 00351

060747 001020 001020 001020 001020 064650 014413 040750 040753 070743 002021 024313 040657 064750 044657 074750 024323 040660 002021 024320 060743 024323 064750 044660 074750 070743

070751 040641 064561 002020 024335 070751 040641 006004 024327 074555

060751 064000 001020 044000 001000 044000 005121 005121 005100 006003 006004 074744

LDA TORCH , RSS STPTM STOR - i O AS ,AS * + 3 N2O9 STPTM BRS AS ,AS STP - BEGIN N2O9 BRS AS ,AS STORE TEST SSA AS ,AS RTP JMP TEST RSS LDB P156 N125O STA L STB PHASE JSB LIMIT RTP ADA STPTO TIME ADA RTP STORE STA STP INB O ADA BETA STA JMP AS STA STP ADA STOF O SSA , RSS LDB LDA JMP HIGH LDB ADA P125O AS, LDB RTP ADB ADB P125O AS STB RTP ADB JMP STORE BRS, HIGH ADA N125O BRS, SSA BRS JMP SZB, LDA INB JMP STB LDB ADB STB

709845/0018

ar

00352 103TOO FIRCT & 060734 CLF O 00353 060555 003004 LDA PHASE 00354 070745 040726 STA ORIG 00355 040607 064733 ADA PS 00356 070556 006021 STA PHASI 00357 060555 024402 LDA PHASE 00360 002004 044000 INA 00361 050570 006020 CPA LAST 00362 060561 024401 LDA START 00363 070555 007400 STA PHASE 00364 003400 074733 CCA 00365 070554 040732 STA PER1 00366 070727 002020 STA FLAGA 024406 BRING FIRC2 UP TO DATE 00367 003400 LDA FIRTM 00370 070732 CMA, INA 00371 060726 ADA TEMPI 00372 070734 LDB FIRCT 00373 102100 SSB, RSS 00374 024123 JMP JEFF 00375 000000 ADB 0 00376 070711 SSB 00377 002020 JMP * + 2 00400 003004 CCB 00401 007004 STB FIRCT 00402 040001 JEFF ADA FIRC2 00403 002021 SSA 00404 002400 JMP * + 2 00405 007004 CCA 00406 040001 STA FIRC2 00407 064711 LDA TEMPI 00410 006020 STA FIRTM 00411 003004 STF O 00412 124413 JMP EXEC * 3 00413 LIMIT NOP 00414 STA GEO 00415 SSA IN ¹¹ E "AND ENTER 00416 CMA, INA 00417 CMB, INB _t ^ff A "= fAf-B = OVFLO 004 20 ADA 1 00421 SSA, RSS 00422 CLA 00423 CMB, INB 00424 ADA 1 "A" »t RESULTf 00425 LDB GEO 00426 SSB 00427 CMA, INA 00430 JMP LIMIT, I ROCK BACK

70984 5/0018

00431 000000 TIME2 NOP 00432 103100 CLF 0 00433 070540 STA JI 00434 060736 LDA HCCTR 00435 040632 ADA N70 00436 002020 SSA 00437 024447 JMP THICK 00440 060636 LDA N83 00441 070736 STA HCCTR 00442 060734 LDA FIRTM 00443 040614 ADA P28 00444 070733 STA 'FIRCT 00445 003400 CCA 00446 070731 STA XFLAG 00447 060540 DICK LDA J1 00450 103114 CLF L02 00451 102100 STF 0 00452 124431 JMP TIME2, I. 00453 060541 FIRE LDA BEGI 00454 002004 INA ΌΟ455 070542 STA BEGIN 00456 160000 LDA 0.1 00457 070730 STA TRIG 00460 030557 IOR PHAS2 00461 102614 OTA 102 00462 060613 LDA N28 00463 070732 STA FIRC2 00464 024077 JMP SON 00465 034542 FIRE2 ISZ BEGIN 00466 160542 LDA BEGIN, I. 00467 070730 STA TRIG 00470 030557 IOR PHAS2 00471 102614 OTA 102 00472 060613 LDA N28 00473 070732 STA FIRC2 00474 024102 JMP MA 00475 000000 FRQCY NOP 00476 070536 STA H ■ 00477 160555 LDA PHASE, I. 00500 070557 STA PHAS2 00501 030730 IOR TRIG 00502 102614 OTA 102 00503 034727 ISZ FLAGA I 00504 024512 JMP «+6 00505 060744 LDA TIME 00506 003004 CMA, INA 00507 070554 STA PERI

709845/0018

00510 060745 LDA ORIG OCT 1111 00511 070555 STA PHASE PP512 060536 LDA H 00513 124475 JMP FROCY, I. 00514 000000 FREQI NOP 00515 070535 STA G 00516 160556 LDA PHAS 1.1 00517 070557 STA PHAS2 00520 030730 IOR TRIG 00521 102614 OTA- 102 00522 003400 CCA 00523 070553 STA PER OOS24 060535 LDA G 00525 124514 JMP FREQ1,1 00526 001111 0CT1 00527 000000 A NOP 00530 000000 B NOP 00531 000000 C NOP 00532 000000 D NOP 00533 000000 E NOP 00534 000000 F NOP 00535 000000 G NOP 00536 000000 H NOP 00537 000000 J NOP 00540 000000 J1 NOP 00541 000542 BEG1 DEF BEGIN 00542 000543 BEGIN DEF * + 1 00543 035400 OCT 35400 00544 037000 OCT 37000 00545 027400 OCT 27400 • 00546 033400 OCT 33400 00547 036400 OCT 36400 00550 017400 OCT 17400 00551 037400 OCT 37400 00552 037400 OCT 37400 00553 000000 PER NOP 00554 000000 PERI NOP 00555 000000 PHASE NOP 00556 000000 PHAS1 NOP 00557 000000 PHAS2 NOP ^s 00560 000561 STAR DEF START 00561 000562 START DEF * + 1 00562 000142 OCT 142 00563 000242 OCT 242 00564 000222 OCT 222 00565 000230 OCT 230 00566 000130 OCT 130 00567 000150 OCT 150 00570 000570 LAST DEF * ■

709845/0018

000567 000342 000262 000232 000330 000170 000152

177777 000001 000002 177776 000003 000005 177773 000010 000012 177770 000017 177744 000034 000000 000000 000000 000000 000000 000000 000031 000036 000050 177704 177703 177700 177674 177672 000120 000123 177660 177655 000400 177400 177457 000000 001400 000144 177634 000177 177601

LASTI DEF * -2 OCT OCT OCT OCT OCT OCT TBG EQU 10B DAC EQU 13B 101 EQU 12B 10? EQU 14B SWR EQU 1B N1 DEC -1 P1 DEC P2 DEC N2 DEC -2 P3 DEC P5 DEC N5 DEC -5 P8 DEC P10 DEC N8 DEC -8 P15 DEC N28 DEC -28 P28 DEC CTR NOP X7P NOP KX2 NOP X2P NOP XPOS NOP NX2P NOP P25 DEC P30 DEC P40 DEC N60 DEC -60 N61 DEC -61 N64 DEC -64 N68 DEC -68 N70 DEC -70 P80 DEC P83 DEC N80 DEC -80 N83 DEC -83 B400 OCT N400 OCT -400 N2O9 DEC -209 X6 NOP

P1400 OCT 1400 P100 DEC N100 DEC -100 P127 DEC N127 DEC -127

709845/0018

00650 000234 PI56 DEC 156 00651 177402 N254 DEC -254 00652 000353 P235 DEC 235 00653 000377 P255 DEC 255 00654 000310 P200 DEC -200 00655 177470 N200 DEC -200 00656 003720 P2000 DEC 2000 00657 002342 P125O DEC 1250 00660 175436 N125O DEC -1250 00661 007640 P4000 DEC 4000 00662 017500 P8000 DEC 8000 00663 037200 P16TH DEC 16000 00664 001000 B1000 OCT 1000 00665 000620 P400 DEC 400 00666 003777 P2O47 DEC 2047 00667 170002 N4O94 DEC -4094 00670 100,000 MASK6 OCT 100000 00671 000000 SSOLD NOP 00672 000000 SSPDC NOP 00673 000000 SSABS NOP 00674 000000 VLTCM NOP 00675 000000 VLTFB NOP 00676 000000 VLTEH NOP 00700 000000 CHG NOP 00701 000000 RTF NOP 00702 000000 XI NOP 00703 000000 X2 NOP 00704 000000 X8 NOP 00705 000000 X9 NOP 00706 000000 XIO NOP 00707 004000 VOLT OCT 4000 00710 002000 FREQ OCT 2000 00711 000000 GEO NOP 00712 000000 XS NOP 00713 000000 XNEV / NOP 00714 000000 XOLD NOP 00715 170000 NEG DEC-4096 00716 010000 POS DEC 4096 00717 007777 MASK1 OCT 7777 00720 000200 MASK2 OCT 200 00721 000000 XiI NOP 00722 000000 XI3 NOP 00723 000000 SST NOP 00724 000000 PER1T NOP 00725 000000 DCERR NOP 00726 000000 TEMPI NOP 00727 000000 FLAGA NOP 00730 000000 TRIG NOP 00731 000000 XFLAG NOP 00732 000000 FIRC2 NOP 00733 000000 FIRCT NOP 00734 000000 FIRTM NOP 00735 000000 OLDFT NOP 00736 000000 HCCTR NOP

7098A5 / 0018

000000 DYCTR NOP 000000 STF NOP 00737 000000 STFAB NOP 00740 000000 SSCHG NOP 00741 000000 STP NOP 00742 000000 TIME NOP 00743 000000 ORIG NOP 00744 000000 YOU NOP OO74S 000000 TORCM NOP 00746 000000 RTP NOP 00747 000000 STPTM NOP 00750 000000 STP NOP 00751 000000 BETA NOP 00752 000000 TCABS NOP OO7S3 000000 TCTOT NOP 00754 END 00755

70984 5/0018

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Claims (1)

• Claims
for split registration 17 (1. / Servo device for controlling oil-based AC ™ motors for driving a movable rope in accordance with a special program, which determines the speed and the movement path of the movable part , with a device, including the motor We cn is real · - To supply power, and a transducer connected to be operated upon movement of the movable part to indicate the distance of movement of the movable part, characterized by a register sum recording the output of the transducer, a reading device which reads the data periodically reads in the register at equal time intervals, means for generating a control signal; to generate a special program of work processes of the moving part. 2 · device according to. Claim 1, characterized by a Prequence direction which responds to the control signal in order to regulate the Trequtns of the ¥ «chselstrofaensrgie» u. 3. Device according to claim 1 or 2, characterized in that the device responsive to the control signal 70984 5/0018 ... BAD OBIOINAL regulates the amplitude of the alternating current energy. 4. Device according to one of claims 1 to 3j characterized by means for modifying the frequency means to an extent accordingly a predetermined slip between the stator field of the Motor and its rotor. ■ 5. Device according to one of claims i to 4-, characterized by a switching device connected to the motor to optionally connect the motor to work with at least two different numbers of poles, and by a device which responds to the control signal and is connected to the switching device, to cause the motor to be connected to operate on a first set of poles in response to a range of values of the control signal and to operate on a further set of poles in response to a different range of values of the control signal. 6. A method of controlling the application of electrical energy to an AC motor having a movable Part drives, the movable part being in correspondence moved with a special program, which determines the movement distance of the movable part, and where the extent the movement of the movable part is recorded in a register, using a servo, thereby characterized in that the register is read periodically at equal time intervals to reflect the actual travel distance of the movable part during each of these time intervals to determine, in a register, the programmed movement distance which is carried out by the program during the same time interval it is required, recorded, a tax 709845/0018 BATH ORIGINAL - -inn- signal is generated in response to the two records in the registers and that the flow of alternating current energy to the alternating current motor is regulated in response to the control signal in order to invoke the particular work program for the movable part, 7. The method according to claim 6, characterized in that that the frequency of the alternating strotnenergie when responding to the control signal is regulated. 8. The method according to claim 6 or 7 ■> wherein the program also determines the speed of movement of the movable part, characterized in that the actual speed of the movable part is calculated from the actual movement distance during each of the time intervals wix'd, the control signal in response is regulated to the actual speed of the movable part and that the rotational speed of the motor is regulated in accordance with the control signal in order to produce the programmed speed of the movable part « 7098A5 / 0018 BATH