Train speed control using current and velocity sensing
View Patent ↗A method for speed control for a motor of a locomotive of a model electric train is presented. A method in accordance with the present invention includes sensing an operating velocity of the motor and the operating current provided to the motor, and then producing a signal corresponding to the operating velocity and a signal corresponding to the operating current. A method in accordance with the present invention further includes providing the operating velocity signal and operating current signal to a controller and establishing a target motor velocity. A method in accordance with the present invention still further includes calculating a target current configured so that the motor reaches the target motor velocity, and then changing the operating current to the target motor current to achieve the target motor velocity.
1. A method for speed control for a motor of a locomotive of a model electric train, comprising:
sensing an operating velocity of said motor and producing an operating motor velocity signal;
sensing an operating current provided to said motor and producing an operating motor current signal;
providing said operating velocity and current signals to a controller;
establishing a target motor velocity;
calculating a target motor current configured so that said motor reaches said target motor velocity; and
changing said operating current to said target motor current to achieve said target motor velocity.
2. A method in accordance with claim 1 further comprising the step of selecting a velocity set point for said motor.
3. The method in accordance with claim 1 wherein said step of sensing said operating motor current further comprises:
sensing an operating voltage proportional to the motor current and producing an operating voltage signal; and
providing said operating voltage signal to said controller.
4. The method in accordance with claim 1 wherein said step of establishing a target motor velocity further comprises:
selecting a velocity in a velocity window stored in a memory of said controller using said sensed motor operating current.
5. The method in accordance with claim 1 wherein said step of calculating said target motor current further comprises the substep of:
calculating said target motor current using said sensed operating velocity, said sensed operating current, and information relating to the motor to gear ratio and wheel diameter for said train.
6. The method in accordance with claim 1 wherein said step of calculating a target current further comprises:
determining a minimum current that enables the motor to operate at a lowest motor velocity within a velocity window.
7. The method in accordance with claim 1 wherein said step of changing an operating current to the electric motor further comprises:
decreasing the current if a velocity is too low for a velocity window; and
increasing the current if the velocity is too high for the velocity window.
8. An apparatus for speed control for a locomotive of a model electric train, comprising:
an electric motor;
a current sensor for sensing an operating current of said motor;
a velocity sensor for sensing an operating velocity of said motor; and
a controller connected to the motor wherein the controller is operative to calculate a target motor current for a target motor velocity and to adjust the operating current to the electric motor to reach the target current.
9. The apparatus in accordance with claim 8 further comprising an H-Bridge connected between said controller and said motor configured to control the direction and speed of said motor in response to a control signal generated by said controller.
10. The apparatus in accordance with claim 8 wherein the controller is configured with a standard proportional integral loop to control said motor velocity and reduce overshoot when changing said motor velocity.
11. The apparatus in accordance with claim 8 further comprising:
a resistance wire that senses an operating voltage proportional to the operating motor current; and
a circuit whose function is to amplify said operating voltage, provide an amplified input to said controller, and to isolate said operating voltage.
12. The apparatus in accordance with claim 11 wherein said circuit includes an operational amplifier.
13. The apparatus in accordance with claim 8 further comprising a velocity sensor connected to an output shaft of said motor.
14. The apparatus in accordance with claim 8 wherein the controller comprises:
a microprocessor with peripheral memory chips.
15. The apparatus in accordance with claim 14 wherein said peripheral memory chips store information regarding the motor to gear ratio and wheel diameter for said train.
16. The apparatus in accordance with claim 8 wherein the controller comprises:
a microcontroller.
17. The apparatus in accordance with claim 8 wherein two or more locomotives are coupled together in a lashup configuration.
18. The apparatus in accordance with claim 8 wherein at least one locomotive is located in the middle of a consist.
19. The apparatus in accordance with claim 8 wherein at least two locomotives are coupled in the middle of a consist.
20. The apparatus in accordance with claim 8 , wherein any number of locomotives are joined in a combination of at least two of the following coupling configurations:
coupled in lashup;
coupled in the middle of the consist; and
coupled at the end of the consist.