JPH06108976A - Actuator parallel driving device - Google Patents
Actuator parallel driving deviceInfo
- Publication number
- JPH06108976A JPH06108976A JP4259719A JP25971992A JPH06108976A JP H06108976 A JPH06108976 A JP H06108976A JP 4259719 A JP4259719 A JP 4259719A JP 25971992 A JP25971992 A JP 25971992A JP H06108976 A JPH06108976 A JP H06108976A
- Authority
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- Japan
- Prior art keywords
- signal
- actuator
- parallel
- output
- actuators
- 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.)
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- Control Of Positive-Displacement Pumps (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、一対のアクチュエータ
を一対のセンサの出力に基づいて並列駆動するアクチュ
エータ並列駆動装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator parallel driving device for driving a pair of actuators in parallel based on the outputs of a pair of sensors.
【０００２】[0002]
【従来の技術】従来、図３に示すように、センサ（例え
ば圧力センサ）１０１及びアクチュエータ（例えばモー
タＭ駆動の負圧ポンプ）１０３と、センサ１０１の出力
信号を処理しそれに基づいてアクチュエータ１０３を断
続駆動制御する信号処理部（例えば比較器）１０２とか
らなる複数のアクチュエータ駆動系１００、２００を互
いに独立に並列駆動することにより系の信頼性向上が図
られている。2. Description of the Related Art Conventionally, as shown in FIG. 3, a sensor (for example, a pressure sensor) 101, an actuator (for example, a negative pressure pump for driving a motor M) 103, an output signal of the sensor 101, and an actuator 103 based on the processed signal. The reliability of the system is improved by driving a plurality of actuator drive systems 100 and 200, each of which is composed of a signal processing unit (for example, a comparator) 102 for intermittent drive control, independently of each other in parallel.
【０００３】上記アクチュエータ駆動系の一例として
は、例えば本出願人が出願した特開昭６３ー３１４３８
５号公報の車両用ポンプ駆動制御装置がある。これは、
圧力センサ、信号処理部、ポンプモータからなり、圧力
センサの信号を信号処理部で処理し、処理した信号によ
りポンプモータを駆動制御している。As an example of the actuator drive system, for example, Japanese Patent Application Laid-Open No. 63-31438 filed by the present applicant.
There is a vehicle pump drive control device disclosed in Japanese Patent No. 5 publication. this is,
It is composed of a pressure sensor, a signal processing unit, and a pump motor. The signal of the pressure sensor is processed by the signal processing unit, and the pump motor is drive-controlled by the processed signal.
【０００４】[0004]
【発明が解決しようとする課題】上記したアクチュエー
タ駆動系を複数設けて互いに独立に並列駆動する従来の
アクチュエータ並列駆動装置では、一系列のアクチュエ
ータ駆動系の運転に比べ、構成の冗長化とともにセンサ
その他の故障によるステムダウンを低減でき、信頼性の
向上が可能となる。In a conventional actuator parallel drive device in which a plurality of actuator drive systems described above are provided and are driven in parallel independently of each other, compared to the operation of a series of actuator drive systems, redundancy of the configuration and sensors and the like are provided. It is possible to reduce the stem down due to the failure of and improve the reliability.
【０００５】しかしながら、センサや信号処理部などは
たとえ同一構成であっても、製造ばらつきなどによりそ
の入出力特性が異なる。これらセンサや信号処理部の入
出力特性が異なる（言い換えれば感度が異なる）と、測
定対象の同じ状態変化に対しアクチュエータをオンする
信号処理部と、アクチュエータ駆動系をオンしないまま
のアクチュエータ駆動系とができ、結局、高感度のアク
チュエータ駆動系は低感度のアクチュエータ駆動系より
運転時間が長くなり、各アクチュエータ駆動系間の寿命
が異なってしまう。例えば、特定のアクチュエータだけ
が損耗（片減り）して短寿命となってしまう。However, even if the sensor, the signal processing unit, and the like have the same structure, the input / output characteristics differ due to manufacturing variations. When the input / output characteristics of these sensors and signal processing units are different (in other words, the sensitivities are different), the signal processing unit that turns on the actuator for the same state change of the measurement target and the actuator drive system that does not turn on the actuator drive system In the end, the high-sensitivity actuator drive system has a longer operating time than the low-sensitivity actuator drive system, and the life of each actuator drive system is different. For example, only a specific actuator is worn (decreased) and has a short life.
【０００６】更に、オンされたアクチュエータ駆動系が
測定対象の状態を例えばフィードバック制御により変化
させる場合、それにより低感度のアクチュエータ駆動系
の動作時間が極端に減少する場合も生じる。本発明は上
記問題点に鑑みなされたものであり、同一構成を有する
アクチュエータ駆動系を並列駆動する場合に、各アクチ
ュエータ駆動系の寿命の偏りを是正し、全体としての信
頼性を向上させたアクチュエータ並列駆動装置を提供す
ることを、その目的としている。Further, when the turned-on actuator drive system changes the state of the object to be measured by, for example, feedback control, the operating time of the low-sensitivity actuator drive system may be extremely reduced. The present invention has been made in view of the above problems, and when the actuator drive systems having the same structure are driven in parallel, the deviation of the life of each actuator drive system is corrected to improve the reliability as a whole. The aim is to provide a parallel drive.
【０００７】[0007]
【課題を解決するための手段】本発明のアクチュエータ
並列駆動装置は、感度同一に設計され同一測定対象の状
態に応じたアナログ信号を出力する複数のセンサと、感
度同一に設計され前記各センサの出力信号を個別に処理
して二値信号を個別に出力する複数の信号処理部と、同
一の駆動対象に作用する複数のアクチュエータを前記各
二値信号に基づいて駆動する駆動制御部とを備えるアク
チュエータ並列駆動装置において、前記各信号処理回路
から出力される二値信号の論理和信号を前記駆動制御部
に出力し、前記駆動制御部は入力される論理和信号に基
づいて各アクチュエータを並列に断続駆動するものであ
ることを特徴としている。SUMMARY OF THE INVENTION An actuator parallel driving apparatus of the present invention includes a plurality of sensors that are designed to have the same sensitivity and output analog signals according to the state of the same measurement target, and a plurality of sensors that are designed to have the same sensitivity. A plurality of signal processing units that individually process the output signals and individually output binary signals, and a drive control unit that drives a plurality of actuators that act on the same drive target based on the respective binary signals are provided. In the actuator parallel driving device, a logical sum signal of binary signals output from each of the signal processing circuits is output to the drive control unit, and the drive control unit parallelizes the actuators based on the input logical sum signal. It is characterized by being driven intermittently.
【０００８】なお、信号処理部はセンサに内蔵されても
よく、また、センサ自体が二値信号を出力する信号処理
部を兼ねてもよい。The signal processing unit may be built in the sensor, or the sensor itself may serve as a signal processing unit for outputting a binary signal.
【０００９】[0009]
【作用及び発明の効果】第１のセンサの出力信号は第１
の信号処理部で二値信号に処理され、第２センサの出力
信号は第２の信号処理部で二値信号に処理され、論理和
回路部は両二値信号の論理和信号を駆動制御部に出力
し、駆動制御部はこの論理和信号に基づいて両アクチュ
エータを並列に断続駆動する。The output signal of the first sensor is the first
Is processed into a binary signal in the signal processing unit, the output signal of the second sensor is processed into a binary signal in the second signal processing unit, and the logical sum circuit unit drives the logical sum signal of both binary signals into the drive control unit. The drive control section intermittently drives both actuators in parallel based on the logical sum signal.
【００１０】このようにすれば、両センサ間の感度（入
出力特性）のばらつきや両信号処理部の特性ばらつきに
かかわらず、各アクチュエータ間の動作時間がばらつき
を防止しできる。したがって、一部のアクチュエータの
作動が過多となって寿命が著しく低下するという欠点を
防止することができ、かつ、センサ、信号処理部、アク
チュエータを常時並列運転させることができるのでシス
テムの信頼性を大幅に向上することができる。By doing so, it is possible to prevent variations in the operating time between the actuators, regardless of variations in sensitivity (input / output characteristics) between both sensors and variations in characteristics of both signal processing units. Therefore, it is possible to prevent the drawback that some actuators are over-actuated and the life is significantly shortened, and the sensor, signal processing unit, and actuator can be operated in parallel at all times, thereby improving system reliability. Can be greatly improved.
【００１１】[0011]
【実施例】以下、本発明を車両用負圧ポンプ駆動装置に
適用した一例を図１を参照して説明する。この車両用負
圧ポンプ駆動装置は、２系統のポンプモータ制御装置
１、２と論理和回路（本発明でいう論理和回路部）３と
からなり、バッテリ４から給電されている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example in which the present invention is applied to a vehicle negative pressure pump drive device will be described below with reference to FIG. The vehicle negative pressure pump drive device includes two systems of pump motor control devices 1 and 2 and a logical sum circuit (logical sum circuit portion in the present invention) 3, and is supplied with power from a battery 4.
【００１２】第１のポンプモータ制御装置１は、圧力セ
ンサ１１、比較器１２、抵抗ｒ１、パワートランジスタ
１３、リレー１４、モータ１５、負圧ポンプ１６からな
り、第２のポンプモータ制御装置２は、圧力センサ２
１、比較器２２、抵抗ｒ２、パワートランジスタ２３、
リレー２４、モータ２５、負圧ポンプ２６からなる。圧
力センサ（本発明でいうセンサ）１１、２１は感度が等
しく設計されるとともに、負圧系のない車の空気圧式制
動倍力装置に負圧を供給する負圧タンクに装着され、負
圧タンクの負圧を検出して負圧に比例したアナログ信号
電圧を出力する（図２参照）。The first pump motor controller 1 comprises a pressure sensor 11, a comparator 12, a resistor r1, a power transistor 13, a relay 14, a motor 15 and a negative pressure pump 16, and a second pump motor controller 2 comprises , Pressure sensor 2
1, comparator 22, resistor r2, power transistor 23,
It comprises a relay 24, a motor 25, and a negative pressure pump 26. The pressure sensors (sensors referred to in the present invention) 11 and 21 are designed to have equal sensitivities, and are attached to a negative pressure tank that supplies negative pressure to a pneumatic brake booster of a vehicle without a negative pressure system. The negative pressure of is detected and an analog signal voltage proportional to the negative pressure is output (see FIG. 2).
【００１３】比較器（本発明でいう信号処理部）１２、
２２はしきい値レベルＶｒ（感度）が等しく設計されて
おり、両圧力センサ１１、２１から出力されるアナログ
信号電圧を個別に二値化して論理和回路３に出力する。
論理和回路３はベース電流抵抗ｒ１を通じてパワートラ
ンジスタ１３に、またベース電流抵抗ｒ２を通じてパワ
ートランジスタ２３のベースに信号電流を供給し、パワ
ートランジスタ１３、２３のエミッタは接地されてい
る。パワートランジスタ１３のコレクタはリレー１４の
励磁コイルを通じてバッテリ４の高位端に接続され、同
様に、パワートランジスタ２３のコレクタはリレー２４
の励磁コイルを通じてバッテリ４の高位端に接続されて
いる。リレー１４の常開接点はバッテリ４から直流モー
タ１５への給電を断続制御し、リレー２４の常開接点は
バッテリ４から直流モータ２５への給電を断続制御して
いる。直流モータ１５は負圧ポンプ（本発明でいうアク
チュエータ）１６を駆動し、直流モータ２５は負圧ポン
プ（本発明でいうアクチュエータ）２６を駆動してい
る。A comparator (a signal processing section in the present invention) 12,
22 is designed to have the same threshold level Vr (sensitivity), and binarizes the analog signal voltages output from both pressure sensors 11 and 21 individually and outputs the binarized analog signal voltage to the OR circuit 3.
The OR circuit 3 supplies a signal current to the power transistor 13 through the base current resistor r1 and a base of the power transistor 23 through the base current resistor r2, and the emitters of the power transistors 13 and 23 are grounded. The collector of the power transistor 13 is connected to the high end of the battery 4 through the exciting coil of the relay 14, and similarly, the collector of the power transistor 23 is connected to the relay 24.
It is connected to the high end of the battery 4 through the exciting coil. The normally open contact of the relay 14 intermittently controls power supply from the battery 4 to the DC motor 15, and the normally open contact of the relay 24 intermittently controls power supply from the battery 4 to the DC motor 25. The DC motor 15 drives a negative pressure pump (actuator according to the invention) 16 and the DC motor 25 drives a negative pressure pump (actuator according to the invention) 26.
【００１４】なお、抵抗ｒ１、パワートランジスタ１
３、リレー１４、直流モータ１５は第１の駆動制御部を
構成しており、抵抗ｒ２、パワートランジスタ２３、リ
レー２４、直流モータ２５は第２の駆動制御部を構成し
ている。また、バッテリ４は圧力センサ１１、２１及び
比較器１２、２２に給電しており、比較器１２、２２の
−入力端には図示しない共通の定電圧回路からしきい値
電圧Ｖｒが入力される。The resistor r1 and the power transistor 1
3, the relay 14, and the DC motor 15 constitute a first drive control unit, and the resistor r2, the power transistor 23, the relay 24, and the DC motor 25 constitute a second drive control unit. Further, the battery 4 supplies power to the pressure sensors 11 and 21 and the comparators 12 and 22, and the threshold voltage Vr is input to the-input ends of the comparators 12 and 22 from a common constant voltage circuit (not shown). .
【００１５】以下、上記装置の動作を説明する。製造上
のばらつきにより、圧力センサ１１の出力電圧Ｖ１と圧
力センサ２１の出力信号電圧Ｖ２とは直流レベル誤差と
感度誤差をもつのが通常である。また、比較器１２、２
２の二値特性にも多少の直流誤差がある。したがって、
いま、負圧タンクの負圧低下により圧力センサ１１、２
１の出力電圧が上昇する場合、上記誤差により、圧力セ
ンサ１１の出力電圧Ｖ１は圧力センサ２１の出力電圧Ｖ
２より高い場合、比較器１２の二値信号電圧Ｖａが比較
器２２の二値信号電圧Ｖｂより先にハイレベルとなる。The operation of the above apparatus will be described below. Due to manufacturing variations, the output voltage V1 of the pressure sensor 11 and the output signal voltage V2 of the pressure sensor 21 usually have a DC level error and a sensitivity error. In addition, the comparators 12, 2
The binary characteristic of 2 also has some DC error. Therefore,
Now, when the negative pressure in the negative pressure tank decreases, the pressure sensors 11, 2
When the output voltage of No. 1 rises, the output voltage V1 of the pressure sensor 11 becomes equal to the output voltage V of the pressure sensor 21 due to the above error.
When it is higher than 2, the binary signal voltage Va of the comparator 12 becomes high level before the binary signal voltage Vb of the comparator 22.
【００１６】従来ではパワートランジスタ１３、リレー
１４、モータ１５を駆動して負圧ポンプ１６を先行運転
する。その結果、リレー１４、モータ１５、負圧ポンプ
１６はリレー２４、モータ２５、負圧ポンプ２６よりも
消耗が激しく寿命が短くなり、故障し易くなる。また負
圧ポンプ１６の先行運転により負圧タンクの負圧の低下
速度がゆっくりであると、更に負圧ポンプ２６の運転開
始が遅れる。更に、負圧ポンプ１６の先行運転により負
圧タンクの負圧が一定となるか又はゆるやかに増加する
と、負圧ポンプ２６の運転は生じることがなく、負圧ポ
ンプ２６の稼働時間は大幅に減少する。このような作動
タイミングのずれは負圧タンクの負圧が増加してポンプ
１６、２６を停止する場合にも生じる。Conventionally, the power transistor 13, the relay 14 and the motor 15 are driven to drive the negative pressure pump 16 in advance. As a result, the relay 14, the motor 15, and the negative pressure pump 16 are more worn than the relay 24, the motor 25, and the negative pressure pump 26, and have a shorter life. Further, if the negative pressure of the negative pressure tank decreases slowly due to the preceding operation of the negative pressure pump 16, the operation start of the negative pressure pump 26 is further delayed. Further, when the negative pressure of the negative pressure tank becomes constant or gradually increases due to the preceding operation of the negative pressure pump 16, the operation of the negative pressure pump 26 does not occur, and the operating time of the negative pressure pump 26 is significantly reduced. To do. Such a shift in the operation timing also occurs when the negative pressure in the negative pressure tank increases and the pumps 16 and 26 are stopped.
【００１７】これに対し本実施例では、比較器１２、２
２の論理和信号Ｖｏｒによりポンプ１６、２６を並列駆
動しているので、上記した圧力センサ１１、２１や比較
器１２、２２の感度誤差や直流レベル誤差があっても、
ポンプ１６、２６の運転時間は全く均等となり、その消
耗の程度は等しく、一方だけが消耗することがない。更
に、圧力センサ１１、２１及び比較器１２、２２を二系
統設けているので、たとえ片方の圧力センサ１１又は比
較器１２が不良となって論理和回路３に常時ローレベル
を出力しても、正常な運転制御が可能となる。On the other hand, in this embodiment, the comparators 12, 2
Since the pumps 16 and 26 are driven in parallel by the logical sum signal Vor of 2, even if there is a sensitivity error or a DC level error of the pressure sensors 11 and 21 and the comparators 12 and 22 described above,
The operation times of the pumps 16 and 26 are completely equal, the degree of their consumption is the same, and only one of them is not consumed. Further, since the pressure sensors 11 and 21 and the comparators 12 and 22 are provided in two systems, even if one of the pressure sensor 11 or the comparator 12 becomes defective and a low level is constantly output to the logical sum circuit 3, Normal operation control is possible.
【００１８】以上圧力センサ１１、２１と負圧ポンプ１
６、２６の組合せからなるアクチュエータ並列駆動装置
を説明したが、他の種類のセンサ及び他の種類のアクチ
ュエータにも適用できることは当然である。Above the pressure sensors 11 and 21 and the negative pressure pump 1
Although the actuator parallel driving device including the combination of 6 and 26 has been described, it is needless to say that the present invention can be applied to other types of sensors and other types of actuators.
【図１】本発明のアクチュエータ並列駆動装置の一実施
例を示すブロック回路図である。FIG. 1 is a block circuit diagram showing an embodiment of an actuator parallel driving device of the present invention.
【図２】圧力センサの特性図である。FIG. 2 is a characteristic diagram of a pressure sensor.
【図３】従来のアクチュエータ並列駆動装置のブロック
回路図である。FIG. 3 is a block circuit diagram of a conventional actuator parallel drive device.
３ 論理和回路（論理和回路部） １１、２１ 圧力センサ（センサ） １２、２２ 比較器（信号処理部） １３、２３ パワートランジスタ（駆動制御部） １４、２４ リレー（駆動制御部） １５、２５ モータ（駆動制御部） １６、２６ 負圧ポンプ（アクチュエータ）。 3 OR circuit (OR circuit section) 11, 21 Pressure sensor (sensor) 12, 22 Comparator (signal processing section) 13, 23 Power transistor (drive control section) 14, 24 Relay (drive control section) 15, 25 Motor (drive controller) 16, 26 Negative pressure pump (actuator).
Claims (1)
応じたアナログ信号を出力する複数のセンサと、感度同
一に設計され前記各センサの出力信号を個別に処理して
二値信号を個別に出力する複数の信号処理部と、同一の
駆動対象に作用する複数のアクチュエータを前記各二値
信号に基づいて駆動する駆動制御部とを備えるアクチュ
エータ並列駆動装置において、 前記各信号処理回路から出力される二値信号の論理和信
号を前記駆動制御部に出力し、前記駆動制御部は入力さ
れる論理和信号に基づいて各アクチュエータを並列に断
続駆動するものであることを特徴とするアクチュエータ
並列駆動装置。1. A plurality of sensors which are designed to have the same sensitivity and output analog signals according to the state of the same measurement target, and a binary signal which is designed to have the same sensitivity and individually processes the output signals of the respective sensors. In the actuator parallel drive device including a plurality of signal processing units for outputting to a plurality of actuators, and a drive control unit that drives a plurality of actuators that act on the same drive target based on each of the binary signals, output from each of the signal processing circuits. Output the logical sum signal of the binary signal to the drive control unit, and the drive control unit intermittently drives the respective actuators in parallel based on the input logical sum signal. Drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4259719A JP2783734B2 (en) | 1992-09-29 | 1992-09-29 | Negative pressure pump parallel drive for vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4259719A JP2783734B2 (en) | 1992-09-29 | 1992-09-29 | Negative pressure pump parallel drive for vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06108976A true JPH06108976A (en) | 1994-04-19 |
| JP2783734B2 JP2783734B2 (en) | 1998-08-06 |
Family
ID=17337997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4259719A Expired - Fee Related JP2783734B2 (en) | 1992-09-29 | 1992-09-29 | Negative pressure pump parallel drive for vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2783734B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9133839B2 (en) | 2010-02-23 | 2015-09-15 | Artemis Intelligent Power Limited | Fluid-working machine and method of detecting a fault |
| US9739266B2 (en) | 2010-02-23 | 2017-08-22 | Artemis Intelligent Power Limited | Fluid-working machine and method of operating a fluid-working machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61118801A (en) * | 1984-10-31 | 1986-06-06 | ウエスチングハウス エレクトリック コ−ポレ−ション | Sensor signal processor based on microprocessors distributedfor compount process |
| JPS63314385A (en) * | 1987-06-17 | 1988-12-22 | Nippon Denso Co Ltd | Pump drive controller for vehicle |
| JPH0250481A (en) * | 1988-08-11 | 1990-02-20 | Nec Corp | Semiconductor device |
| JPH04183982A (en) * | 1990-11-19 | 1992-06-30 | Fujitsu Ltd | Redundant pump switching system |
-
1992
- 1992-09-29 JP JP4259719A patent/JP2783734B2/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61118801A (en) * | 1984-10-31 | 1986-06-06 | ウエスチングハウス エレクトリック コ−ポレ−ション | Sensor signal processor based on microprocessors distributedfor compount process |
| JPS63314385A (en) * | 1987-06-17 | 1988-12-22 | Nippon Denso Co Ltd | Pump drive controller for vehicle |
| JPH0250481A (en) * | 1988-08-11 | 1990-02-20 | Nec Corp | Semiconductor device |
| JPH04183982A (en) * | 1990-11-19 | 1992-06-30 | Fujitsu Ltd | Redundant pump switching system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9133839B2 (en) | 2010-02-23 | 2015-09-15 | Artemis Intelligent Power Limited | Fluid-working machine and method of detecting a fault |
| US9133838B2 (en) | 2010-02-23 | 2015-09-15 | Artemis Intelligent Power Limited | Fluid-working machine and method of operating a fluid-working machine |
| US9739266B2 (en) | 2010-02-23 | 2017-08-22 | Artemis Intelligent Power Limited | Fluid-working machine and method of operating a fluid-working machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2783734B2 (en) | 1998-08-06 |
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