JP2534669B2 - PWM drive - Google Patents
PWM driveInfo
- Publication number
- JP2534669B2 JP2534669B2 JP61116179A JP11617986A JP2534669B2 JP 2534669 B2 JP2534669 B2 JP 2534669B2 JP 61116179 A JP61116179 A JP 61116179A JP 11617986 A JP11617986 A JP 11617986A JP 2534669 B2 JP2534669 B2 JP 2534669B2
- Authority
- JP
- Japan
- Prior art keywords
- pwm
- solenoid valve
- solenoid valves
- duty
- flow rate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Magnetically Actuated Valves (AREA)
Description
【発明の詳細な説明】 ＜発明の利用分野＞ 本発明は電磁弁をPWM発生装置で駆動するPWM駆動装置
に関する。The present invention relates to a PWM drive device for driving a solenoid valve with a PWM generator.
＜従来技術＞ 電磁弁をPWM発生装置で駆動するPWM駆動装置の従来例
を第６図に示している。<Prior Art> FIG. 6 shows a conventional example of a PWM drive device that drives a solenoid valve by a PWM generator.
同図において、１は人あるいは指令装置からの目標指
令値を受ける入力装置、２は入力装置１からの信号を受
けてPWM信号を発生するPWM発生装置、３はPWM信号を受
けて作動する電磁弁、４は電磁弁３によつて制御された
作動流体によつて動作するアクチユエータである。In the figure, 1 is an input device that receives a target command value from a person or a command device, 2 is a PWM generator that receives a signal from the input device 1 and generates a PWM signal, and 3 is an electromagnetic device that operates by receiving a PWM signal. The valves 4 are actuators operated by the working fluid controlled by the solenoid valve 3.
今、電磁弁３をPWM発生装置２からのPWM信号に基づい
て第７図に示すように1PWM周期内でON、OFFすると、こ
の切り換わりによつて作動流体に流量変化が生じ、この
ため負荷を含めたアクチユエータ４では速度変化Δv1が
生ずる。この時のPWM駆動装置がマニプレータ等の物を
把持する装置であつた場合、作動流体の流量変化による
アクチユエータ４の速度変化Δv1が大きいと、把持して
いる物体がずれるなどの不具合が発生し、その把持特性
に悪影響を与えてしまう。Now, when the solenoid valve 3 is turned on and off within one PWM cycle as shown in FIG. 7 based on the PWM signal from the PWM generator 2, this switching causes a change in the flow rate of the working fluid, which results in a load. In the actuator 4 including, the speed change Δv 1 occurs. If the PWM drive device at this time is a device that grips an object such as a manipulator, if the speed change Δv 1 of the actuator 4 due to a change in the flow rate of the working fluid is large, a problem such as the object being gripped may occur However, the gripping characteristics are adversely affected.
これに対して従来の対策は、PWM周期を早くして作動
流体の流量変化による変動を抑えようとしたが、特に大
流量のものにおいては電磁弁３の切り換え時間が必要と
するPWM周期を実現できる程早くないため、実用上困難
であつた。また管路にアキユームレータを接続して作動
流体の流量変化を抑えることも考えられるが、系の応答
性が悪くなり、これも実用的ではない。On the other hand, the conventional measures tried to suppress the fluctuation due to the change in the flow rate of the working fluid by speeding up the PWM cycle, but especially for large flow rate, the PWM cycle that requires the switching time of the solenoid valve 3 is realized. It was not practically possible, so it was difficult in practice. It is also possible to connect an accumulator to the pipeline to suppress changes in the flow rate of the working fluid, but the response of the system deteriorates, and this is also not practical.
＜発明が解決しようとする問題点＞ 従つて、一般にはサーボ弁を用いるが、D/A変換器や
サーボアンプ等が必要であり、制御装置とのインターフ
エスが複雑で、かつ高価なものとなつてしまう。またサ
ーボ弁はフイルターによる作動流体の清掃管理を必要と
する。このため、電磁弁を用いて作動流体の流量変化に
よる変動を抑制することが望まれている。<Problems to be solved by the invention> Therefore, a servo valve is generally used, but a D / A converter, a servo amplifier, etc. are required, and the interface with the control device is complicated and expensive. I'm going out. The servo valve also requires cleaning management of the working fluid by the filter. Therefore, it is desired to suppress the fluctuation due to the change in the flow rate of the working fluid by using the solenoid valve.
本発明は、上記した従来技術における実情に鑑みてな
されたもので、その目的は、電磁弁を用いて、しかも作
動流体の流量変化を抑えることのできるPWM駆動装置を
提供することにある。The present invention has been made in view of the above-mentioned conventional circumstances, and an object thereof is to provide a PWM drive device using an electromagnetic valve and capable of suppressing a change in the flow rate of a working fluid.
＜問題点を解決するための手段＞ この目的を達成するために本発明は、PWM発生装置か
らの信号によつて電磁弁を駆動し、この電磁弁を介して
アクチユエータの作動流体を制御するものにおいて、PW
M発生装置とアクチユエータ間に複数の電磁弁を並列に
接続し、これら電磁弁は、同一PWM周期で位相差をもつ
て動作するように設定するとともに、デユーテイが上述
の複数の電磁弁の流量の総和に対する一部の電磁弁の流
量の割合に相応する所定値かどうかを判別し、該所定値
であるときに、上記一部の電磁弁だけをONにする手段を
設けた構成にしてある。<Means for Solving Problems> In order to achieve this object, the present invention drives a solenoid valve by a signal from a PWM generator and controls a working fluid of an actuator via the solenoid valve. At PW
Multiple solenoid valves are connected in parallel between the M generator and the actuator, and these solenoid valves are set to operate with a phase difference in the same PWM cycle. There is provided a means for determining whether or not a predetermined value corresponds to the ratio of the flow rate of some of the solenoid valves to the total, and turning on only some of the solenoid valves when the predetermined value is reached.
＜作用＞ 本発明は上記のように構成したので、１つの電磁弁の
機能を複数の電磁弁の位相差を利用した協動によつて果
たすことができ、したがつて当該複数の電磁弁のそれぞ
れを上述の１つの電磁弁におけるより小さい容量に設定
でき、これによつて上述の電磁弁におけるより早いPWM
周期を得ることができ、作動流体の流量変化を抑えるこ
とができる。また、デユーテイが所定値であるときには
一部の電磁弁だけをONして当該電磁弁による流量のみを
供給し、これによつて当該所定値における流量の変化を
防止できる。<Operation> Since the present invention is configured as described above, the function of one solenoid valve can be achieved by the cooperation utilizing the phase difference of the plurality of solenoid valves. Each can be set to a smaller capacity in the one solenoid valve described above, which allows faster PWM in the solenoid valve described above.
The cycle can be obtained, and the change in the flow rate of the working fluid can be suppressed. Further, when the duty is a predetermined value, only some of the solenoid valves are turned on to supply only the flow rate by the solenoid valve, whereby the change in the flow rate at the predetermined value can be prevented.
＜実施例＞ 以下、本発明のPWM駆動装置を図に基づいて説明す
る。<Example> Hereinafter, a PWM drive device of the present invention will be described with reference to the drawings.
第１図は本発明のPWM駆動装置の一実施例を示す油圧
回路図である。この図において、１は人あるいは指令装
置からの目標指令値を受ける入力装置、４はアクチユエ
ータで、これらのものは前述した第６図に示すものと同
等である。2aは入力装置１からの信号を受けてPWM信号
を発生するPWM発生装置、５、６はPWM発生装置2aとアク
チユエータ４との間に並列に、複数例えば２つ配置した
電磁弁で、これらの電磁弁５、６のそれぞれの容量は、
前述した第６図に示す電磁弁３の容量の例えば半分に設
定してある。また上記したPWM発生装置2aは第２図に示
すように構成してある。すなわち、入力装置１からの指
令値は、ROM7に内蔵したプログラムによりRAM9等をワー
クエリアとして、CPU11で処理される。この処理に基づ
いて、CPU11は例えばインターフエイス８をON、OFFし、
これをドライバ回路10で増幅して電磁弁５、６に伝え
る。このPWM発生装置2aは、電磁弁５、６に与える信号
が位相差有するように設定する手段を具備しており、例
えば電磁弁５の信号に対してPWM周期で180度遅れて電磁
弁６に信号が与えられるように設定してある。また、こ
のPWM発生装置2aは、所定のPWM周期で電磁弁５、６をO
N、OFFしたときのON時間の割合、すなわちデユーテイが
所定値、例えば２つの電磁弁５、６の流量の総和に対す
る一部の電磁弁、つまり一方の電磁弁５の流量の割合に
相応する50％程度の値かどうかを判別し、該所定値であ
るときに、電磁弁５だけをONにする手段を具備してい
る。FIG. 1 is a hydraulic circuit diagram showing an embodiment of the PWM drive device of the present invention. In this figure, 1 is an input device for receiving a target command value from a person or a command device, and 4 is an actuator, which are equivalent to those shown in FIG. 6 described above. Reference numeral 2a is a PWM generator that receives a signal from the input device 1 and generates a PWM signal. Reference numerals 5 and 6 are solenoid valves arranged in parallel between the PWM generator 2a and the actuator 4, for example, two solenoid valves. The capacity of each of the solenoid valves 5 and 6 is
It is set to, for example, half the capacity of the solenoid valve 3 shown in FIG. The PWM generator 2a described above is constructed as shown in FIG. That is, the command value from the input device 1 is processed by the CPU 11 with the RAM 9 or the like as a work area by a program incorporated in the ROM 7. Based on this processing, the CPU 11 turns on and off the interface 8, for example,
This is amplified by the driver circuit 10 and transmitted to the solenoid valves 5 and 6. This PWM generator 2a is provided with means for setting the signals given to the solenoid valves 5 and 6 so as to have a phase difference. It is set to give a signal. Further, this PWM generator 2a turns on the solenoid valves 5 and 6 at a predetermined PWM cycle.
N, the ratio of ON time when OFF, that is, the duty corresponds to a predetermined value, for example, the ratio of the flow rate of one solenoid valve 5 to some solenoid valves to the sum of the flow rates of the two solenoid valves 5 and 6. It is provided with a means for determining whether the value is about%, and turning on only the solenoid valve 5 when the value is the predetermined value.
第３図はこの実施例においておこなわれる処理手順を
示すフローチヤートである。FIG. 3 is a flow chart showing the processing procedure performed in this embodiment.
はじめに、1PWM周期を決めるタイマが始動し、入力装
置１からの目標指令値を取り込んでデユーテイの計算を
おこない、デユーテイが零でないならば電磁弁５をONに
する。次にデユーテイが50％近傍にあるかどうか判断す
る。なお、同第３図中のεはデユーテイが50％の前後の
どの位の範囲を出力流量50％と定めるかを決める値であ
り、設定する者の意思により所望の値を取りうる。そし
てデユーテイが50％の近傍にある場合は、1PWM周期が終
了するまで電磁弁５だけを開き、電磁弁６は閉じたまま
にする。これによりデユーテイが完全に50％でなくて
も、出力流量は50％となる。デユーテイが50％の近傍に
ない場合は、電磁弁５と電磁弁６の位相差は180度であ
るので、1PWM周期の半分か否かを判別し電磁弁６をONす
る。また、計算されたデユーテイに基づき電磁弁５、６
をOFFする。このようにして、目標指令値からデユーテ
イを計算し、タイマと比較しながら電磁弁５、６をON、
OFF制御する。First, a timer that determines one PWM cycle is started, the target command value from the input device 1 is fetched, the duty is calculated, and if the duty is not zero, the solenoid valve 5 is turned on. Next, determine whether the duty is near 50%. Note that ε in FIG. 3 is a value that determines how much range before and after the duty is 50% is determined as the output flow rate 50%, and can take a desired value depending on the intention of the person who sets it. Then, when the duty is near 50%, only the solenoid valve 5 is opened and the solenoid valve 6 is kept closed until the end of one PWM cycle. This results in an output flow rate of 50% even if the duty is not completely 50%. When the duty is not near 50%, the phase difference between the solenoid valve 5 and the solenoid valve 6 is 180 degrees, so it is determined whether or not it is half of one PWM cycle and the solenoid valve 6 is turned on. Also, based on the calculated duty, the solenoid valves 5, 6
To OFF. In this way, the duty is calculated from the target command value, the solenoid valves 5 and 6 are turned on while comparing with the timer,
OFF control.
第４図はデユーテイが50％未満の値であるとき、アク
チユエータ４の速度がどのように変化するかを示してい
る。同第４図に示すように、速度変化Δv2は従来より大
幅に小さくなり、作動流体の変動が抑制されていること
が分かる。この実施例では、アクチユエータ４に必要な
全流量の半分の容量を持つ電磁弁５、６を用いているた
め、デユーテイが50％未満では、片方の電磁弁５を第６
図に示す電磁弁３のPWM周期を半分にしてデユーテイを
２倍にして駆動した場合と同じ特性が得られる。しかも
流量の小さな電磁弁５を用いているので、第６図に示す
大きな流量の電磁弁３の場合に比べて早いPWM周期で電
磁弁５を切り換え駆動でき、電磁弁５の切り換えによる
作動流体の変動を少なくすることができる。FIG. 4 shows how the speed of the actuator 4 changes when the duty is less than 50%. As shown in FIG. 4, it can be seen that the speed change Δv 2 is significantly smaller than in the conventional case, and the fluctuation of the working fluid is suppressed. In this embodiment, since the solenoid valves 5 and 6 having a capacity of half the total flow rate required for the actuator 4 are used, when the duty is less than 50%, one solenoid valve 5 is connected to the sixth valve.
The same characteristics can be obtained as when driving the solenoid valve 3 shown in the figure by halving the PWM cycle and doubling the duty. Moreover, since the solenoid valve 5 having a small flow rate is used, the solenoid valve 5 can be switched and driven at a PWM cycle faster than that of the solenoid valve 3 having a large flow rate shown in FIG. Fluctuations can be reduced.
また、デユーテイが50％の近傍では１つの電磁弁５だ
けが開き、このため作動流体の変動を生じない。Further, in the vicinity of the duty of 50%, only one solenoid valve 5 is opened, so that the working fluid does not fluctuate.
そして、デユーテイが50％を越える場合は、第５図に
示すように、電磁弁５を開状態に保持し、電磁弁６を第
６図に示す電磁弁３のPWM周期を半分にしてデユーテイ
から50％を引いた値を２倍にして駆動した場合と同じ特
性になり、前述したデユーテイが50％未満の場合と同じ
く、電磁弁６の切り換えによる作動流体の変動を少なく
することができる。When the duty exceeds 50%, the solenoid valve 5 is held in the open state as shown in FIG. 5, and the solenoid valve 6 is halved the PWM cycle of the solenoid valve 3 shown in FIG. The characteristics are the same as when the value obtained by subtracting 50% is doubled, and the variation of the working fluid due to switching of the solenoid valve 6 can be reduced as in the case where the duty is less than 50%.
上述のように、この実施例にあつては、高価で複雑な
サーボ弁を設けることなく、電磁弁５、６によつて、そ
の切り換え時の作動流体の変動を抑制することができ、
またデユーテイが50％の近傍のときには電磁弁５のみが
開き、したがつてこのときの作動流体の変動を防止でき
る。なお、電磁弁の位相差はほぼ360度／（電磁弁の
数）とするのが望ましい。As described above, in this embodiment, it is possible to suppress the fluctuation of the working fluid at the time of switching by the solenoid valves 5 and 6 without providing an expensive and complicated servo valve.
Further, when the duty is in the vicinity of 50%, only the solenoid valve 5 is opened, so that the fluctuation of the working fluid at this time can be prevented. It is desirable that the phase difference of the solenoid valve is approximately 360 degrees / (number of solenoid valves).
＜発明の効果＞ 以上説明したように本発明は、複数の電磁弁を並列接
続し、それらのPWM周期は同一で位相を異ならせてある
ので、高価なサーボ弁を設けることなく作動流体の流量
変動を抑制でき、それ故、アクチユエータの速度変化の
抑止を安価に実現できる。また、デユーテイが所定値の
とき、一部の電磁弁だけをONにする手段を設けてあるの
で、当該所定値にあつては作動流体の流量変動を防止で
き、アクチユエータの速度変化を生じることがなく、当
該アクチユエータによつて高い精度の作業を実現でき
る。<Effects of the Invention> As described above, according to the present invention, since a plurality of solenoid valves are connected in parallel and their PWM cycles are the same and the phases are different, the flow rate of the working fluid can be increased without providing an expensive servo valve. Fluctuations can be suppressed, and therefore suppression of speed changes of the actuator can be realized at low cost. Further, since a means for turning on only some of the solenoid valves when the duty is a predetermined value is provided, fluctuations in the flow rate of the working fluid can be prevented and a speed change of the actuator may occur at the predetermined value. Instead, it is possible to realize highly accurate work with the actuator.
第１図は本発明のPWM駆動装置の一実施例を示す油圧回
路図、第２図は第１図に示す実施例に備えられるPWM発
生装置を示すブロツク図、第３図は第１図に示す実施例
においておこなわれる処理手順を示すフローチヤート、
第４図および第５図は第１図に示す実施例において得ら
れるアクチユエータの速度変化を示す特性図、第６図は
従来のPWM駆動装置を示す油圧回路図、第７図は第６図
に示すPWM駆動装置において得られるアクチユエータの
速度変化を示す特性図である。 １……入力装置、2a……PWM発生装置、４……アクチユ
エータ、５、６……電磁弁。FIG. 1 is a hydraulic circuit diagram showing an embodiment of a PWM drive device of the present invention, FIG. 2 is a block diagram showing a PWM generator provided in the embodiment shown in FIG. 1, and FIG. 3 is shown in FIG. A flow chart showing the processing steps performed in the example shown,
4 and 5 are characteristic diagrams showing the speed change of the actuator obtained in the embodiment shown in FIG. 1, FIG. 6 is a hydraulic circuit diagram showing a conventional PWM drive device, and FIG. 7 is shown in FIG. It is a characteristic view which shows the speed change of the actuator obtained in the PWM drive device shown. 1 ... Input device, 2a ... PWM generator, 4 ... Actuator, 5,6 ... Solenoid valve.
Claims (1)
駆動し、この電磁弁を介してアクチユエータの作動流体
を制御するPWM駆動装置において、上記PWM発生装置と上
記アクチユエータ間に複数の電磁弁を並列に接続し、こ
れら電磁弁は、同一PWM周期で位相差をもつて動作する
ように設定するとともに、デユーテイが上記複数の電磁
弁の流量の総和に対する一部の電磁弁の流量の割合に相
応する所定値かどうかを判別し、該所定値であるとき
に、上記一部の電磁弁だけをONにする手段を設けたこと
を特徴とするPWM駆動装置。Claim: What is claimed is: 1. A PWM drive device, comprising: a solenoid valve driven by a signal from a PWM generator; and a working fluid of the actuator controlled via the solenoid valve, wherein a plurality of solenoids are provided between the PWM generator and the actuator. Connect the valves in parallel, set these solenoid valves to operate with a phase difference in the same PWM cycle, and set the duty to the ratio of the flow rate of some solenoid valves to the sum of the flow rates of the above multiple solenoid valves. The PWM drive device is provided with means for determining whether or not a predetermined value corresponding to the above, and turning on only a part of the solenoid valves when the predetermined value is reached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61116179A JP2534669B2 (en) | 1986-05-22 | 1986-05-22 | PWM drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61116179A JP2534669B2 (en) | 1986-05-22 | 1986-05-22 | PWM drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62274172A JPS62274172A (en) | 1987-11-28 |
| JP2534669B2 true JP2534669B2 (en) | 1996-09-18 |
Family
ID=14680755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61116179A Expired - Fee Related JP2534669B2 (en) | 1986-05-22 | 1986-05-22 | PWM drive |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2534669B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002206566A (en) * | 2001-01-11 | 2002-07-26 | Toyoda Mach Works Ltd | Driving force transmission controller |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE349603T1 (en) * | 2004-03-12 | 2007-01-15 | Fiat Ricerche | METHOD FOR PHASE SHIFTING THE ACTUATION OF ELECTROMAGNETIC ACTUATORS TO AVOID CURRENT OVERLOAD |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59195266U (en) * | 1983-06-13 | 1984-12-25 | シ−ケ−デイ株式会社 | Drive device for multiple solenoid valves |
| JPS60148816U (en) * | 1984-03-07 | 1985-10-03 | 東芝熱器具株式会社 | oil burner |
-
1986
- 1986-05-22 JP JP61116179A patent/JP2534669B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002206566A (en) * | 2001-01-11 | 2002-07-26 | Toyoda Mach Works Ltd | Driving force transmission controller |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62274172A (en) | 1987-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0190703B1 (en) | Control system for hydraulic circuit | |
| US4625622A (en) | Power transmission | |
| JPH02164940A (en) | Teaching playback method for working machine | |
| JP2534669B2 (en) | PWM drive | |
| JPS6217631A (en) | Apparatus for controlling position of shift lever | |
| DE19543873A1 (en) | Motor control unit e.g. using PWM | |
| WO2004079462A1 (en) | Control system having virtual power monitor for realizing function to evaluate/analyze stability of control object | |
| WO1990007651A1 (en) | Hydraulic controller | |
| JP2844476B2 (en) | Control method of hydraulic actuator | |
| JPS61105601A (en) | Pwm driving device | |
| JP2733881B2 (en) | Adaptive sliding mode control method based on PI control loop | |
| JPH0514803B2 (en) | ||
| JPS6347577A (en) | Valve controller resting on joy stick operating input | |
| JP2004509420A5 (en) | ||
| JPH04244305A (en) | Chuck control device | |
| JPH0798001A (en) | Direction and speed controller for hydraulic actuator | |
| JPS6140841B2 (en) | ||
| JP2946101B2 (en) | Operating device for fluid actuator | |
| JP2767376B2 (en) | Operation control method of solenoid proportional valve | |
| JPS5914803Y2 (en) | valve control device | |
| JPS6131343B2 (en) | ||
| SU1439296A1 (en) | System for controlling electrohydraulic manipulator | |
| SU1043598A1 (en) | Stepping motor program control device | |
| JP2000205204A (en) | Spool type directional selector valve pilot system | |
| JPH01219909A (en) | Robot arm control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |