Speed-dependent traction motor controller for vehicles

In a vehicle having a driven wheel and a dc electric traction motor with separately excited armature and field windings, an apparatus for decoupling control of the vehicle de traction motor, comprising:

• a) a motor having an armature, an armature winding and a field winding, said windings being independently controlled;
• b) armature voltage amplifying means operatively connected to the armature of said motor for varying voltage applied thereto;
• c) armature current sensing means operatively connected to said armature winding for sensing armature current;
• d) field voltage amplifying means operatively connected to the field winding of said motor for varying voltage applied thereto;
• e) speed sensing means comprising encoder means positioned adjacent the driven wheel, the encoder means being operatively connected to the driven wheel for generating a signal representative of the speed of said driven wheel;
• f) means for providing a first reference signal proportional to desired driven wheel speed;
• g) means for providing a second reference signal proportional to desired armature current;
• h) decoupling controller means for receiving said first and second reference signals, said decoupling controlling means being operatively connected to said armature voltage amplifying means and to said field voltage amplifying means for controlling respective operation thereof;
• and
• i) said encoder means including means for applying said driven wheel speed signal to said decoupling controlling means.