# US 4,350,941 A · Control for automatic machine tool drive

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- Number: US 4,350,941 A
- Document ID: US4350941A
- Status: Granted
- Kind: A
- Application number: 06/188,449
- Filed: 1980-09-19
- Granted: 1982-09-21
- Earliest claimed: 1980-09-19
- Assignees: Ford Motor Company
- Inventors: George W. McClure; Veljko Milenkovic
- Web page: https://patentgrep.com/patent/US4350941A

## CPC

- G05B 19/232: {with speed feedback only}
- G05B 2219/34215: Microprocessor
- G05B 2219/37154: Encoder and absolute position counter
- G05B 2219/37183: Marker or index or coded information as well as position pulses
- G05B 2219/41047: Recirculating ballnut, ballscrew, preloaded bearing
- G05B 2219/41092: References, calibration positions for correction of value position counter
- G05B 2219/42182: Memory is Rom for servo control
- G05B 2219/43006: Acceleration, deceleration control
- G05B 2219/43097: Table, rom, ram speed table
- G05B 2219/43152: Feed in, transfer line, rapid traverse to work, grip speed
- G05B 2219/43182: Speed control with feedback and as reference the programmed value
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A motion control system includes a single stage gear reducer and power screw, a brushless variable-speed electric motor with position and velocity sensing instrumentation, a solid state power amplifier, and a programmable controller. During operation an absolute positional reference is established when the slide actuates a non-contacting limit switch to signal that the slide is within less than one motor revolution of the correct starting point. A memory accessible by a microprocessor has paired values of velocity and position stored in a table representing ideal such values for deceleration portions of the motion cycle. Alternatively, the microprocessor computes each new value of position and velocity in real time as required to update the velocity commands sent to a comparator. The comparator compares the predetermined slide position to the actual slide position and signals the microprocessor that a change in output to the motor power supply is required. A digital to analog converter converts the motor velocity signal that issues from the microprocessor to a variable d.c. voltage whose magnitude varies over a range that determines the sense of direction and speed of the drive motor.

## Claims

### Claim 1

In a drive system wherein a variable speed electric motor produces cyclical movement of a slide along a path, a control system adapted for connection to the motor power supply comprising:
encoder means producing a constant number of electrical pulses during each revolution of the motor shaft;
means for determining a reference position for the slide and for initializing the control system;
a memory wherein predetermined paired values of slide velocity and position representing ideal such values for the slide at multiple incremental target positions along its path are stored;
data processing means comprising a binary counter for counting and registering encoder pulses following initialization, the count representing the actual position of the slide with respect to the reference position a microprocessor adapted to recall from said memory the slide velocity-position pair that corresponds to a slide target position and adapted to produce a digital signal representing the slide velocity corresponding to the slide target position; and a comparator receiving input signals representing a slide target position and the actual slide position, producing an output signal when said input signals are identical, whereby the signal representing the slide velocity corresponding to the slide target position is produced by the microprocessor if the output signal is received from said comparator; and
means for converting the output signal of said processing means to an analog voltage whose magnitude determines the velocity of the slide and whose polarity determines the sense of direction of the slide.

### Claim 2

In a drive system wherein a variable speed electric motor produces cyclical movement of a slide along a path, a control system adapted for connection to the motor power supply comprising:
encoder means producing a constant number of electrical pulses during each revolution of the motor shaft;
means for determining a reference position of the slide and for initializing the control system;
a memory wherein coded, predetermined paired values of slide velocity and position relative to the reference position are stored, the pairs defining the desired velocity and position of the slide at points along the slide path at which the rate of change of slide velocity with respect to slide position changes abruptly;
means for computing target slide velocity-position paired values, each pair corresponding to a slide position intermediate the slide position of the predetermined pairs;
data processing means comprising a binary counter for counting and registering encoder pulses following initialization, the count representing the actual position of the slide with respect to the reference position; a microprocessor adapted to produce a digital signal representing a computed slide velocity corresponding to a slide target position; and a comparator receiving input signals representing a slide target position and the actual slide position, producing an output signal when said input signals are identical, whereby the signal representing the computed slide velocity corresponding to the slide target position is produced by the microprocessor if the output signal is received from said comparator; and
means for converting the output signals of said processing means to an analog voltage whose magnitude determines the velocity of the slide and whose polarity determines the sense of direction of the slide.

### Claim 3 (depends on 1, 2)

The control system according to claim 1 or 2 further including encoder means producing a signal representing the absolute number of rotor shaft revolutions that occur following the initializing signal.

### Claim 4 (depends on 1, 2)

The control system according to claim 1 or 2 wherein said encoder means produces one marker pulse per motor shaft revolution and wherein said reference positioning means comprises:
a metallic vane mounted on the slide; and
a circuit including a proximity switch adapted to close the circuit when the vane is moved by slide motion to the location of the switch, whereby a reference position for the slide is established at its position when a marker pulse first occurs following closure of the switch.

### Claim 5 (depends on 1)

The control system according to claim 1 wherein said data processing means further comprises:
a digital-to-analog converter receiving the digital velocity signal corresponding to the slide target position from the microprocessor and converting the digital signal to an analog velocity signal;
a tachometer producing an output signal representing the actual motor shaft speed; and
means for minimizing the difference between the velocity signal produced by the digital-to-analog converter and the velocity signal produced by the tachometer, whereby the motor speed and its direction of rotation are controlled in response to a signal that minimizes such difference.

### Claim 6 (depends on 2)

The control system according to claim 2 wherein said data processing means further comprises:
a digital-to-analog converter receiving the digital velocity signal corresponding to the slide target position from the microprocessor and converting the digital signal to an analog velocity signal;
a tachometer producing an output signal representing the actual motor shaft speed; and
means for minimizing the difference between the velocity signal produced by the digital-to-analog converter and the velocity signal produced by the tachometer, whereby the motor speed and its direction of rotation are controlled in response to a signal that minimizes such difference.