Integrated DC servo motor and controller

A digitally controlled integrated motor device comprising,

• a modular body housing a direct-current motor with a moveable rotor protruding from said body in a first direction and a plurality of rigid, electrically conductive pins protruding from said body in a second direction, said body including encoder means for sensing motion of said rotor compared to said body,
• a modular control unit having a plurality of holes fitting said pins, said control unit having a cross-sectional area equal to a cross-sectional area of said body, said modular control unit including a proportional integral derivative servo control system, a microprocessor, in data communication with both said encoder means and said control system via said pins, drive means, in data communication with said microprocessor and said proportional integral derivative servo control system, for moving said rotor in response to signals received from said microprocessor, and means for digitally storing data corresponding to motion parameters, said motion parameters including velocity and acceleration of said rotor with respect to said stator, wherein said drive means moves said rotor, with said encoder means transmitting information concerning motion of said rotor to said microprocessor, and said microprocessor determining variations between said motion sensed and one of said motion parameters and transmitting the same to said proportional integral derivative servo control system, with said proportional integral derivative servo control system transmitting a signal to said drive means to remove or reduce said variation determined.

A digitally controlled integrated motor device comprising,

• a body housing a direct-current motor having a rotor, a stator and means for determining a position of said rotor relative to said stator, said determining means including an encoder in optical communication with said rotor, said encoder including a source of light and a light detector, with said encoder adapted to transmit data corresponding to angular positions of said rotor with respect to said stator, defining sensed motion, and
• an encasement housing a controllers with said encasement having a cross-sectional area equal to a cross-sectional area of said body, said encasement being removably connected to said body, said controller being in electrical communication with both said motor and said encoder, and including a proportional integral derivative servo control system, a drive means, in data communication with said proportional integral derivative servo control system, for producing a selected quantity of motion by said rotor, means for digitally storing data corresponding to motion parameters, said motion parameters including velocity and acceleration of said rotor with respect to said stator, and means, in data communication with both said encoder and said storing means, for deriving variations between said sensed motion and one of said motion parameters, with said proportional integral derivative servo control system, being adapted to sense said variations and produce an actuation signal corresponding thereto to vary an operation of said drive means to move said rotor in accordance with said motion parameters.

A digitally controlled, integrated motor device, comprising:

• a modular motor body housing a direct current servo motor having a rotor and a stator;
• an encoder associated with said servo motor and adapted to sense incremental angular positions of said rotor with respect to said stator, said encoded transmitting incremental position data corresponding to sensed motion of said rotor;
• and
• a modular control unit in the form of an encasement, removably connected to said motor body in mating relationship therewith, said encasement housing a controller with a drive amplifier for said motor whereby said motor, encoder, controller and drive amplifier form a fully integrated compact unit within said motor body and encasement, said controller including a micro-processor in data communication with a communications port on said encasement to receive one or more digital motion parameter commands from an external source through said port, available motion parameter commands that can be received including a set of commands that indicate a desired position, velocity and acceleration of said rotor, said microprocessor also in data communication with said encoder to receive said incremental position data transmitted from said encoder, said microprocessor having means for digitally storing said received motion parameter commands, continually calculating and updating an actual rotor position from said received incremental position data, determining variations between the desired position or motion of said rotor corresponding to said stored motion parameter commands and the calculated actual position of said rotor, and producing an actuation signal to direct motion of said rotor in accordance with said motion parameter commands, said controller also including a proportional-integral-derivative (PID) servo control system in data communication with said encoder to receive said incremental position data therefrom and in data communication with said microprocessor to receive said actuation signal therefrom, said PID servo control system responsive to said incremental position data and said actuation signal to control operation of said drive amplifier, said drive amplifier in electrical communication with said motor to supply current to said stator to move said rotor in accordance with said motion parameter commands.

An integrated motor device, comprising:

• a body housing a direct-current motor having a rotor, a stator, and means for determining a position of said rotor relative to said stator;
• an encasement housing a controller, with said encasement removably connected to said body, said controller in electrical communication with both said motor and said position determining means and including a microprocessor, servo means for controlling a quantity of motion of said rotor as directed by said microprocessor, and associated drive means responsive to said servo means for producing said motion of said rotor;
• and
• means for synchronizing said controller with a controller of at least one other like integrated motor device, whereby a plurality of integrated motor devices may be synchronously interconnected.