VELOCITY PI REGULATOR WITH NEGATIVE FEEDFORWARD TO CONTROL RESPONSE OF COMMAND INPUTS INDEPENDENT OF TORQUE DISTURBANCES

摘要

A method and apparatus for control of one or moretorque-regulated motors in a controlled system in which afeedforward velocity component is subtracted from an outputof proportional-integral velocity regulator to soften thecommand response of the motor control, independent of torquedisturbances reflected in the velocity feedback path. Thevelocity feedforward path is decoupled from the velocityfeedback path. In a preferred embodiment, a digital-typemotor controller is used to practice the method incontrolling a paper processing line.