Microprocessor controlled d.c. motor for controlling a load

US4630210A · kind A · utility

Assignee

• Pitney Bowes Inc. · US

Inventors

• Edilberto I. Salazar · Brookfield, US
• Wallace Kirschner · Trumbull, US

Key dates

• Filing date: Oct 4, 1984
• Grant date: Dec 16, 1986
• Expiry date: Oct 4, 2004

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S388/933
• WIPO field: Control
• WIPO sector: Instruments

Abstract

Apparatus is provided for controlling the velocity of a portion of a load in accordance with a trapazoidal-shaped velocity versus time profile. The apparatus includes a d.c. motor having an output shaft for driving the load; instrumentalities for sensing angular displacement of the motor output shaft; a microprocessor including a clock for generating successive sampling time periods, means for providing first counts respectively representative of successive desired angular displacements of the motor output shaft during successive sampling time periods to cause the load portion to be moved in accordance with a predetermined trapezoidal-shaped velocity versus time profile, means responsive to the sensing means for providing second counts respectively representatiave of actual angular displacements of the motor output shaft during successive sampling time periods, and means for compensating for the difference between the first and second counts during each successive sampling time period and generating a pulse width modulated control signal for controlling the d.c. motor, the motor control signal causing the actual angular displacement of the motor output shaft to substantially match …