Motor control having improved speed regulation under intermittent loading

A control for energizing a DC motor by applying an armature voltage thereto, said control providing improved speed regulation under transient conditions, said control comprising:

• a regulating means having an output signal controlling the armature voltage applied to the motor;
• means for providing a speed reference signal corresponding to the desired speed of said motor to said regulating means;
• means for providing an input armature voltage feedback signal to said regulating means, said armature voltage feedback signal being supplied to subtract from said speed reference signal to produce an error signal for operating said regulating means to establish the armature voltage of the motor;
• means for sensing the armature current of the motor;
• means coupled to said current sensing means for providing an IR compensating signal to said regulating means to compensate for the voltage drop resulting from the resistance of the armature circuit, said signal being provided in a manner that is additive to said speed reference signal for altering the output of said regulating means in a manner tending to establish the speed of said motor at that corresponding to said speed reference signal;
• and
• means coupled to said armature current sensing means for obtaining a signal corresponding to an additional voltage drop resulting from the inductance of the armature circuit during transient conditions and for providing said signal to said regulating means in a manner that is additive to said speed reference signal for altering the output of said regulating means in a manner tending to establish the speed of said motor at that corresponding to said speed reference signal.