JPH04255481A - Motor driving system - Google Patents
Motor driving systemInfo
- Publication number
- JPH04255481A JPH04255481A JP1426891A JP1426891A JPH04255481A JP H04255481 A JPH04255481 A JP H04255481A JP 1426891 A JP1426891 A JP 1426891A JP 1426891 A JP1426891 A JP 1426891A JP H04255481 A JPH04255481 A JP H04255481A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- phase
- motor
- counter
- signals
- 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.)
- Pending
Links
- 238000010586 diagram Methods 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Landscapes
- Motor And Converter Starters (AREA)
Abstract
Description
【０００１】0001
【産業上の利用分野】本発明は、産業機器、及び情報機
器等に用いられるモータを滑らかに起動させる駆動方式
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive system for smoothly starting motors used in industrial equipment, information equipment, and the like.
【０００２】0002
【従来の技術】従来のエンコーダを位置検出器として用
いたモータ駆動システムは、回転子の磁極に応じた転流
信号（以下ＣＳ信号という）と、位置パルス（以下Ａま
たはＢ相信号という）及び原点パルス（以下Ｚ相信号と
いう）とを同時に出力するエンコーダを備え、Ｚ相信号
を一度検出するまでは、ＣＳ信号により矩形波電流駆動
にて起動し、Ｚ相信号検出後は正弦波電流駆動に切り替
えていた。[Prior Art] A motor drive system using a conventional encoder as a position detector generates commutation signals (hereinafter referred to as CS signals) according to the magnetic poles of the rotor, position pulses (hereinafter referred to as A or B phase signals), and Equipped with an encoder that outputs the origin pulse (hereinafter referred to as Z-phase signal) at the same time, it starts with rectangular wave current drive by CS signal until the Z-phase signal is detected once, and after detecting the Z-phase signal, it starts with sine wave current drive. I was switching to
【０００３】以下、図を参照しながら従来の技術につい
て説明する。図３は、三相のモータ駆動方式を示し、１
０はモータ、１１はエンコーダ、１２はモータを駆動す
る制御装置である。１３はエンコーダからのＡ，Ｂ相信
号により、モータの一回転の位置信号θを得るカウンタ
である。[0003] The conventional technology will be explained below with reference to the drawings. Figure 3 shows a three-phase motor drive system, with 1
0 is a motor, 11 is an encoder, and 12 is a control device that drives the motor. Reference numeral 13 denotes a counter that obtains a position signal θ of one rotation of the motor based on the A and B phase signals from the encoder.
【０００４】カウンタ１３の位置信号θを正弦波テーブ
ル１４により正弦波信号に変換し、その後トルク指令と
乗算し電流アンプ１５によってモータに電流を供給して
いる。The position signal θ of the counter 13 is converted into a sine wave signal by a sine wave table 14, and then multiplied by a torque command, and a current amplifier 15 supplies current to the motor.
【０００５】しかしながらカウンタ１３の位置信号θは
、Ｚ相信号によってのみリセット又はプリセットされる
ため、最初のＺ相信号を検出するまでは位置信号θは不
定となり、モータ電流の位相も不定となってしまう。However, since the position signal θ of the counter 13 is reset or preset only by the Z-phase signal, the position signal θ is undefined until the first Z-phase signal is detected, and the phase of the motor current is also undefined. Put it away.
【０００６】そこで最初のＺ相信号を検出するまでは、
ＣＳ信号を演算器１６によりモータ電流にふさわしい矩
形波に変換し電流指令としていた。図４は、その動作波
形を示したものである。[0006] Until the first Z-phase signal is detected,
The CS signal was converted by the calculator 16 into a rectangular wave suitable for the motor current and used as a current command. FIG. 4 shows its operating waveform.
【０００７】[0007]
【発明が解決しようとする課題】このような従来のモー
タ駆動方式では、最初のＺ相信号を検出するまでは矩形
波駆動となりトルクリップルが発生し滑らかな起動がで
きず、またエンコーダと制御装置とはＡ，Ｂ，Ｚ相信号
及び、三相のＣＳ信号の計６種の信号線の結線が必要で
あり機器への組み込みに大変な労力が必要であるという
問題があった。[Problems to be Solved by the Invention] In such a conventional motor drive system, until the first Z-phase signal is detected, the drive is driven by a square wave, causing torque ripples and making smooth startup impossible. However, there was a problem in that a total of six types of signal lines, A, B, and Z phase signals and three-phase CS signals, were required to be connected, and a great deal of effort was required to incorporate them into the equipment.
【０００８】本発明は上記課題を解決するもので、滑ら
かな起動とエンコーダと制御装置間の省配線化を可能と
したモータ駆動システムを提供することを目的とする。The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a motor drive system that enables smooth startup and reduced wiring between an encoder and a control device.
【０００９】[0009]
【課題を解決するための手段】本発明は上記目的を達成
するために、電源投入直後はＣＳ信号を、一定時間後は
Ａ，Ｂ，Ｚ相信号を同一信号線上に出力するエンコーダ
を備え、制御装置はエンコーダがＣＳ信号を出力する間
に概略の電流位相を認識し、モータ起動時から正弦波駆
動とし、最初のＺ相信号により正規の電流位相に補正す
るものである。[Means for Solving the Problems] In order to achieve the above object, the present invention includes an encoder that outputs a CS signal on the same signal line immediately after power is turned on, and outputs A, B, and Z phase signals on the same signal line after a certain period of time. The control device recognizes the approximate current phase while the encoder outputs the CS signal, drives the motor in a sine wave from the time of startup, and corrects the current phase to the normal current phase using the first Z-phase signal.
【００１０】0010
【作用】本発明は上記した手段により滑らかな起動と、
エンコーダと制御装置間の省配線化を得るものである。[Operation] The present invention achieves smooth startup and
This results in a reduction in wiring between the encoder and the control device.
【００１１】[0011]
【実施例】以下、本発明の一実施例について図面を参照
しながら説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.
【００１２】図１に示すように、エンコーダ１１は、Ｃ
Ｓ信号とＡ，Ｂ，Ｚ相信号とを切り替えるスイッチ２０
を備え、スイッチ２０は電源投入直後はＣＳ信号を出力
し、その一定時間後はＡ，Ｂ，Ｚ相信号を出力するよう
にスイッチ制御手段２１にて制御されている。As shown in FIG. 1, the encoder 11 has C
Switch 20 for switching between the S signal and the A, B, and Z phase signals
The switch 20 is controlled by a switch control means 21 so as to output a CS signal immediately after the power is turned on, and output A, B, and Z phase signals after a certain period of time.
【００１３】三相モータの場合、ＣＳ信号は図２に示す
ように、６状態の信号が６０°（電気角）毎に出力され
ている。すなわち最大±３０°の誤差にて回転子の位相
を知ることができる事になる。In the case of a three-phase motor, as shown in FIG. 2, the CS signal has six states and is output every 60° (electrical angle). In other words, it is possible to know the phase of the rotor with an error of ±30° at maximum.
【００１４】カウンタセット手段２２は、エンコーダ１
１がＣＳ信号を出力している期間中に、カウンタ２３の
値をＣＳ信号の状態に応じて正規の電流位相に対して±
３０°となるように位置信号θを定められた値にセット
する。The counter setting means 22 includes the encoder 1
During the period when 1 is outputting the CS signal, the value of the counter 23 is adjusted to ± with respect to the normal current phase according to the state of the CS signal.
The position signal θ is set to a predetermined value so that the angle is 30°.
【００１５】次に制御手段２１がスイッチ２０をＡ，Ｂ
，Ｚ相信号に切り替えた後は、カウンタ２３はセットさ
れた位置信号θからＡ，Ｂ相信号によってカウントを行
い、この状態の後、モータを回転させる指令があれば位
置信号θにより正弦波電流にてモータを駆動する。Next, the control means 21 switches the switch 20 between A and B.
, After switching to the Z phase signal, the counter 23 counts from the set position signal θ using the A and B phase signals. After this state, if there is a command to rotate the motor, the sine wave current is generated by the position signal θ. Drive the motor.
【００１６】その後、Ｚ相信号が一度でも入力されると
カウンタ２３は正規の電流位相となるような位置信号θ
にセットされ、図２に示すように続けて正弦波電流にて
モータは駆動される。Thereafter, when the Z-phase signal is input even once, the counter 23 outputs a position signal θ that makes the current phase normal.
, and the motor is continuously driven with a sine wave current as shown in FIG.
【００１７】[0017]
【発明の効果】以上の実施例から明らかなように、本発
明によれば非常に簡単な構成によってモータ起動直後よ
り正弦波電流で駆動でき、トルクリップルのない滑らか
な駆動ができる。またエンコーダとモータ駆動装置間の
結線が従来の半分になるなど機器組み込みが非常に容易
となる。As is clear from the above embodiments, according to the present invention, with a very simple configuration, the motor can be driven with a sine wave current immediately after starting, and smooth driving without torque ripple can be achieved. In addition, the number of connections between the encoder and motor drive device is reduced to half of the conventional method, making it extremely easy to integrate into equipment.
【００１８】なお本実施例では、ＣＳ信号とＡ，Ｂ，Ｚ
相信号の切り替えはある一定時間後としたが、切り替え
タイミングを明確にするために、信号切り替え前後にす
べての信号を“Ｈ”または“Ｌ”とするような識別手段
を設けてもよい。また、最初のＺ相信号によって正規の
電流位相にセットするとしたが、正規の電流位相への移
行を、瞬時ではなくある一定時間をかけて移行してもよ
い。In this embodiment, the CS signal and A, B, Z
Although the phase signals are switched after a certain period of time, in order to clarify the switching timing, an identification means may be provided to set all the signals to "H" or "L" before and after the signal switching. Further, although it has been described that the normal current phase is set by the first Z-phase signal, the transition to the normal current phase may not be instantaneous but may take a certain period of time.
【図１】本発明の一実施例のモータ駆動システムの構成
を示した図FIG. 1 is a diagram showing the configuration of a motor drive system according to an embodiment of the present invention.
【図２】同モータ駆動システムの動作を示した図[Figure 2] Diagram showing the operation of the motor drive system
【図３
】従来のモータ駆動システムの構成を示した図[Figure 3
] Diagram showing the configuration of a conventional motor drive system
【図４】
同モータ駆動システムの動作を示した図[Figure 4]
Diagram showing the operation of the motor drive system
１０ モータ １１ エンコーダ １２ モータ駆動装置 １３ カウンタ １４ 正弦波テーブル １５ 電流アンプ １６ カウンタ ２０ スイッチ ２１ スイッチ制御手段 ２２ カウンタセット手段 ２３ カウンタ 10 Motor 11 Encoder 12 Motor drive device 13 Counter 14 Sine wave table 15 Current amplifier 16 Counter 20 Switch 21 Switch control means 22 Counter setting means 23 Counter
Claims (1)
信号を出力し、一定時間経過後は位置パルス及び原点パ
ルスを前記転流信号にかわって出力するエンコーダを備
え、前記転流信号出力中にモータ回転子の概略位相を認
識し、原点パルス検出以前は前記概略位相に応じた正弦
波電流にてモータを駆動し、原点パルス検出以後は正規
の位相の正弦波電流にてモータを駆動する装置を備えた
モータ駆動システム。1. An encoder that outputs a commutation signal according to the magnetic poles of the rotor immediately after power is turned on, and outputs a position pulse and a home pulse instead of the commutation signal after a certain period of time, the commutation The approximate phase of the motor rotor is recognized during signal output, and before the origin pulse is detected, the motor is driven with a sine wave current according to the approximate phase, and after the origin pulse is detected, the motor is driven with a sine wave current of the normal phase. A motor drive system with a device that drives the.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1426891A JPH04255481A (en) | 1991-02-05 | 1991-02-05 | Motor driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1426891A JPH04255481A (en) | 1991-02-05 | 1991-02-05 | Motor driving system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04255481A true JPH04255481A (en) | 1992-09-10 |
Family
ID=11856345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1426891A Pending JPH04255481A (en) | 1991-02-05 | 1991-02-05 | Motor driving system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04255481A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008078756A1 (en) * | 2006-12-27 | 2008-07-03 | Toyota Jidosha Kabushiki Kaisha | Control device for variable valve mechanism |
-
1991
- 1991-02-05 JP JP1426891A patent/JPH04255481A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008078756A1 (en) * | 2006-12-27 | 2008-07-03 | Toyota Jidosha Kabushiki Kaisha | Control device for variable valve mechanism |
| JP2008163802A (en) * | 2006-12-27 | 2008-07-17 | Toyota Motor Corp | Control device for variable valve train |
| JP4655036B2 (en) * | 2006-12-27 | 2011-03-23 | トヨタ自動車株式会社 | Control device for variable valve mechanism |
| US8205584B2 (en) | 2006-12-27 | 2012-06-26 | Toyota Jidosha Kabushiki Kaisha | Control device for variable valve mechanism |
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