JPS5872390A - Driving device - Google Patents
Driving deviceInfo
- Publication number
- JPS5872390A JPS5872390A JP56169158A JP16915881A JPS5872390A JP S5872390 A JPS5872390 A JP S5872390A JP 56169158 A JP56169158 A JP 56169158A JP 16915881 A JP16915881 A JP 16915881A JP S5872390 A JPS5872390 A JP S5872390A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- phase
- phase switching
- brushless motor
- movable member
- 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
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は駆動装置に関し、特に可動部材をブラシレスモ
ータを用いて駆動する駆動装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a drive device, and more particularly to a drive device that drives a movable member using a brushless motor.
ブラシレスモータはコイル電流整流用のブラシを有さす
、そのかわりにモータの界磁発生磁石の極性変化とコイ
ル電流との適正な位相関係を得るために位置検出器を必
要とする。これはブラシ伺モータのブラシに相当する働
きをさせるためにどうしても必要であり、従来はレゾル
バ等の位置検出器をモータ製作時等にｎｊＪ記界磁発生
磁石との位相関係ｔ［Ｉｉ して取り付け、その出力を
ブラシの−きを代替する相切換１え信号の発生に用いて
きた。Brushless motors have brushes for coil current commutation, but instead require a position detector to obtain the proper phase relationship between the polarity changes of the motor's field generating magnets and the coil current. This is absolutely necessary in order to have the function equivalent to the brush of a brush motor. Conventionally, position detectors such as resolvers were installed with a phase relationship t[Ii with the njJ recording field generating magnet when manufacturing the motor. , and its output has been used to generate a phase switching signal that replaces the brush drive.
一方、一般にモータを可動部材の運動方向、速度及び位
置を制御するサーボ制御装置内で用いる場合、ＭｊＪ記
６■動部材の位置に対応した高分解能な位置信号が必要
であり、そのために高分解能な位置検出器がモータある
いは前記可動部材に取り付けて使用される。On the other hand, when a motor is generally used in a servo control device that controls the moving direction, speed, and position of a moving member, a high-resolution position signal corresponding to the position of the moving member is required. A position detector is attached to the motor or the movable member.
さて、ブラシレスモータをサーボ制御装置内の駆動回路
で駆動する場合、初めに述べた相切換え信号発生用の位
置検出器を２番目に述べた高分解能な位置検出器で兼ね
、特に相切換え信号発生のためだけに別の位置検出器を
持つことはしない改良された駆動回路の提案がないばか
りか、更にはこのようにした場合に相切換え信号の位相
を界磁発生磁石の極性変化の位相に適合させ常に一定位
相を保つことがサーボ制御装置の必要条件であるがこれ
に対する具体的な提案も成されていない。Now, when a brushless motor is driven by a drive circuit in a servo control device, the first position detector for generating phase switching signals is also used as the second high-resolution position detector, especially for generating phase switching signals. Not only is there no proposal for an improved drive circuit that does not have a separate position detector just for Although it is a necessary condition for a servo control device to adapt and always maintain a constant phase, no concrete proposal has been made for this purpose.
本発明の目的はこの問題を解決し、相切換え１＠号を他
の検出器を用いることなくサーボ制御用の高分解能な位
置検出器のみを用いて発生するとともに、前記相切換え
信号と界磁発生磁石との位相合せを通常のサーボ制御動
作に先だつ初期セット動作により人手な分子ことなく無
調整で行う駆動装置を提供することにある。The object of the present invention is to solve this problem, to generate the phase switching signal 1@ only by using a high-resolution position detector for servo control without using any other detector, and to generate the phase switching signal and the field signal. It is an object of the present invention to provide a drive device that performs phase alignment with a generating magnet without manual adjustment by an initial setting operation prior to a normal servo control operation.
本発明によれは、ａＪ動郡材を駆動するブラシレスモー
タと、該可動部材もしくは該ブラシレスモータに接続さ
れ該可動部材の一定距離の変位に対して変位量及び方向
を示す方ｌ′ＩＩＪパルスを発生する方向パルス発生手
段と、前記方向パルス及び外部の制御回路により発生さ
れる初期セ・Ｉ）信号を入力し該初期セント信号により
初期セ゛ットされ、それ以後は前記づ動部材の変位に対
して前記ブラシレスモータの界磁発生磁石の極性変化と
同じ周期で変化しかつ適正な位相関係を保つ相切換え信
号を発生する相切換九信号発生手段と、該相切換え（８
号と前記初期セット信号及び前記外部の制御回路により
発生される制御信号とを入力し前記初期セット信号によ
りあらかじめ定められた特定の駆動信号を前記ブラシレ
スモータに印加しその後は別記制御信号に対応した駆動
信号を前記ブラシレスモータに印加する駆動手段を有し
、前記相切換ｔ−他号をサーボ制御用の為分解能の位置
検出器のみを用いて発生するとともに、初期セント動作
により前記相切換え信号と前記界磁発生磁石の極性変化
との位相合せを行なう駆動装置が得られる。According to the present invention, a brushless motor that drives the aJ moving member, and a pulse l'IIJ that is connected to the movable member or the brushless motor and indicates the amount and direction of displacement with respect to the displacement of the movable member over a certain distance are provided. The directional pulse generator generates a directional pulse, and inputs the directional pulse and an initial set signal generated by an external control circuit. a phase switching signal generating means for generating a phase switching signal that changes at the same cycle as the polarity change of the field generating magnet of the brushless motor and maintains an appropriate phase relationship;
a specific drive signal predetermined by the initial set signal is applied to the brushless motor, and thereafter corresponds to the control signal specified separately. It has a driving means for applying a driving signal to the brushless motor, and generates the phase switching signal for servo control using only a high-resolution position detector, and also generates the phase switching signal and the other signal by an initial cent operation. A driving device that performs phase matching with the polarity change of the field generating magnet is obtained.
次に本発明の一実施例を図面を参照して詳細に説明する
。なお、以下の説明において信号線と信号とを区別せず
同一用語で表示することがある。Next, one embodiment of the present invention will be described in detail with reference to the drawings. Note that in the following description, a signal line and a signal may be expressed using the same term without distinguishing them.
第１図は本発明の駆動装置の一実施例を示すブロック図
である。FIG. 1 is a block diagram showing an embodiment of the driving device of the present invention.
本発明の駆動装置ｌは、制御回路８及び可動部材２とと
もにサーボ制御装置を構成し、前記制御回路３の指令に
もとづいて前記可動部材２を駆動する。本発明の駆動装
置ｌを含むこのサーボ制御装置においては、通常のサー
ボ制御モードに先だうて初期セクトモードが設定される
。前記初期セットモードにおいては前記制御回路８から
初期セット信号８１か入力され、該初期セット信号８１
に応答して６４１記可動部材２の初期位置決めすなわち
初期セント及び萌期駆動装置ｌの初期セットを行い、前
記サーボ制御モードにおいては、別記駆動装置ｌは前記
制御回路８から制＃他号８２が人力され、該制御信号８
２に応じて前記可動部材２を駆動する。The drive device 1 of the present invention constitutes a servo control device together with the control circuit 8 and the movable member 2, and drives the movable member 2 based on commands from the control circuit 3. In this servo control device including the drive device 1 of the present invention, an initial sector mode is set prior to the normal servo control mode. In the initial set mode, an initial set signal 81 is input from the control circuit 8, and the initial set signal 81 is inputted from the control circuit 8.
In response to the above, the initial positioning of the movable member 2 of No. 641 is performed, that is, the initial setting of the initial centrifugation and the initial stage driving device l is performed. The control signal 8
2, the movable member 2 is driven in accordance with 2.
前記サーボ制御モードでは、前記駆動装置ｌにお１／１
て以下の動作が行われる。前記制御回路８より発生され
た別記制御信号３２は駆動回路７に入力され駆動信号７
０を発生する。該駆動信号７０はブラシレスモータ４に
入力され、これに接続さ、れた前記可動部材２’＆駆動
する。Ｍｉｌ記可動部材２の動きは、接続された方向パ
ルス発゛生器５によって検出され、方向パルス信号５０
として出力され、前記制御回路８にフィードパンクされ
る。又、該方向パルス信号５０は相切換え信号発生器６
にも入力され、−ｊ記号動部材２の変位に対して前記ブ
ラシレスモータ令の界磁発生磁石の極性変化の周期と等
しい周期で変化する相切換え信号６０を発生する。該相
切換丸信号６０は前記駆動回路７に入力され、前記駆動
信号７０と前記界磁発生磁石の極性変化とを常に一定の
位相関係に保つ。以上の動作により、前記駆動装置１１
前記可動部材２、及び前記制御回路８はサーボ制御回路
を構成し、前記制御信号：３２に応じてＩｌｌ記Ｍ−ｆ
動部材２が制御される。ここで前述したようにＭ’＋ｊ
記相切換Ａ伯号６信号位相を前記界磁発生磁石の極性変
化の位相に対して、あらかじめ遮切な位相関係に設定し
ておく必要があるが、この動作が前記サーボ制御モード
に先だつ前記初期セシトモードで行われる。In the servo control mode, the drive device l has a 1/1
The following operations are performed. The separate control signal 32 generated by the control circuit 8 is input to the drive circuit 7 and the drive signal 7
Generates 0. The drive signal 70 is input to the brushless motor 4 and drives the movable member 2' connected thereto. The movement of the movable member 2 is detected by a connected directional pulse generator 5, which generates a directional pulse signal 50.
The signal is outputted as a feed-puncture signal to the control circuit 8. Further, the direction pulse signal 50 is transmitted to the phase switching signal generator 6.
-j is also inputted to generate a phase switching signal 60 that changes with respect to the displacement of the moving member 2 at a period equal to the period of polarity change of the field generating magnet of the brushless motor. The phase switching signal 60 is input to the drive circuit 7, and the drive signal 70 and the polarity change of the field generating magnet are always kept in a constant phase relationship. With the above operation, the drive device 11
The movable member 2 and the control circuit 8 constitute a servo control circuit, and the movable member 2 and the control circuit 8 constitute a servo control circuit.
The moving member 2 is controlled. Here, as mentioned above, M'+j
It is necessary to set the phase changeover A number 6 signal phase in advance to a phase relationship that is isolated from the phase of the polarity change of the field generating magnet, but this operation is performed in the initial stage prior to the servo control mode. It is done in Sesito mode.
ｒ’ｐｔ記初期セシトモードでは、前記駆動装置ｌにお
いて以下の動作が行われる。前記制御回路８より発生さ
れた初期セヅト信号８１は前記相切換え信号発生器６と
駆動回路７とに入力される。前記駆動回路７はこの初期
セット信号８１が入力されると、特定パターンを有“ｆ
る駆動信号７０を発生する。この特定パターンを有する
駆動信号７０は前記ブラシレスモータ４に入力され、目
す記号動部材２を前記界磁発生磁石の配列と前記特定パ
ターンを有する駆動信号７０とにより定まる前記界磁発
生磁石の極性変化の特定位相の位置に位置決めする。一
方、前記相切換え信号発生器６は、前記初期セクト信号
８１が人力されると８１記相切換え信号６０を、前記の
位置決め位置において目１」記界磁発生磁石のａ性変化
の位相に対して適切な位相となるよう初期セットする。In the initial reset mode described in r'pt, the following operations are performed in the drive device I. An initial reset signal 81 generated by the control circuit 8 is input to the phase switching signal generator 6 and the drive circuit 7. When this initial set signal 81 is input, the drive circuit 7 generates a specific pattern "f".
A drive signal 70 is generated. The drive signal 70 having this specific pattern is input to the brushless motor 4, and the polarity of the field generating magnet is determined by the arrangement of the field generating magnets and the drive signal 70 having the specific pattern. Positioning at a specific phase of change. On the other hand, when the initial sector signal 81 is manually inputted, the phase switching signal generator 6 generates the 81st phase switching signal 60 at the positioning position according to the phase of the a-type change of the field generating magnet. Initial setting is performed so that the phase is appropriate.
以上のごとき前記初期セ・ｉトモードにおいて、前記界
磁発生磁石の極性変化の位相に対して前記相切換え信号
６００位相が適切な位相関係に設定され、以後のサーボ
制御モードにおいて前記駆動信号７０と前記界磁発生磁
石の極性変化とは好ましい位相関係に保たれる。In the initial set mode as described above, the phase of the phase switching signal 600 is set to have an appropriate phase relationship with respect to the phase of the polarity change of the field generating magnet, and in the subsequent servo control mode, the phase of the phase switching signal 600 is set to have an appropriate phase relationship with the phase of the polarity change of the field generating magnet. A favorable phase relationship is maintained with respect to the polarity change of the field generating magnet.
第２図はｗＩ１図の方向パルス発生器５０ｍ１の実施例
を示すブロゾク図である。FIG. 2 is a block diagram showing an embodiment of the directional pulse generator 50m1 in the wI1 diagram.
検出器ドライバ５８はクロック発生器５４より発生され
たクロック５５が入力され、周期と振幅がほぼ等しくか
つ位相が互いに９０°ずれた２相の検出器ドライブ信号
５６を発生する。位置検出器５１はいわゆる位相変調誘
導型トランスデユーサで、前記ブラシレスモータ４及び
前記可動部材２に接続されており、（図中４０で示す）
、前記検出器ドライブ信号５６が入力され前記可動部材
２の変位に対応して位相の変化する位相変調出力５７を
出力する。パルス発生回路５２は、前記クロック５５と
前記位相変調出力５７とを受け、内１１記位相変調出力
５７の位相変化を検出し前記可動部材２の変位に応じて
一定量の変位ごとにその方向に応じて正方向パルス５０
ａ１負方向パルス５１１ ｂを出力する。なお、第１図
では前記２つの方向パルス５（ｌａ、５１１ｂは方向パ
ルス５０としてまとめて示しである。この種の方向パル
ス発生器は、例えば特願昭５４−５２６９４号明細書（
特開昭５５−１４６５１５号公報）に述べられており、
これを用いてよい。The detector driver 58 receives the clock 55 generated by the clock generator 54 and generates a two-phase detector drive signal 56 having substantially the same period and amplitude and 90 degrees out of phase with each other. The position detector 51 is a so-called phase modulation induction transducer, and is connected to the brushless motor 4 and the movable member 2 (indicated by 40 in the figure).
, the detector drive signal 56 is input, and a phase modulation output 57 whose phase changes in accordance with the displacement of the movable member 2 is output. The pulse generating circuit 52 receives the clock 55 and the phase modulation output 57, detects the phase change of the eleventh phase modulation output 57, and generates a signal in that direction every certain amount of displacement according to the displacement of the movable member 2. forward pulse 50 accordingly
A1 negative direction pulse 511b is output. In FIG. 1, the two direction pulses 5 (la, 511b) are collectively shown as a direction pulse 50. This type of direction pulse generator is disclosed in, for example, Japanese Patent Application No. 54-52694 (
JP-A-55-146515),
You can use this.
第８図は第１図の方向パルス発生器５の第２の実施例を
示すブロック図である。FIG. 8 is a block diagram showing a second embodiment of the directional pulse generator 5 of FIG. 1.
前記ブラシレスモータ４及び前記可動部材旧二接続され
た（図中４０で示Ｔ）位置検出器５１は０り記司動部材
２の一定量の変位を１周期とし互いにほぼ９０°位相の
ずれた２相の位置信号５８ａ、５８ｂを出力する。パル
ス発生回路５２は前記２相の位置信号５８ａ、５８ｂを
受け、前記２相の位置信号５８ａ、ｂ８ｂの位相関係及
び該位置信号５８ａ、５８ｂの立上り、立下りを検出す
ることにより、ｍ４記ｇ］動部材２の一定域の変位ごと
にその方向に応じて正方向パルス５０ａ、負方向ノ（ル
ス５（１ｂを出力する。なお弗１図では前記２つの方向
パルス５（ｌａ、５０ｂは方向パルス５０としてまとめ
て示しである。前記位置検出器５１としては、フォトエ
ンコーダ、あるいは誘導型トランスデユーサ等が知られ
ており前記２相の位置伯゛号５８ａ、５８ｂは矩形波出
力のものと正弦波出力のものが一般的である。又、前記
パルス発生回路５２′も公知であり、例えば特願昭５４
−８９１６８号明細書（特開昭５５−１８８１１８号公
報）に示されており、前記方向パルス発生回路５はこれ
らのパルス発生回路を用いて構成してよい。A position detector 51 connected to the brushless motor 4 and the movable member (indicated by 40 in the figure) has a phase shift of approximately 90° from each other, with one period of displacement of a certain amount of the driving member 2. Two-phase position signals 58a and 58b are output. The pulse generating circuit 52 receives the two-phase position signals 58a and 58b, and detects the phase relationship between the two-phase position signals 58a and b8b and the rise and fall of the position signals 58a and 58b, thereby generating the signal m4 g. ] For each displacement in a certain range of the moving member 2, a positive direction pulse 50a and a negative direction pulse 5 (1b) are output depending on the direction. In Figure 1, the two direction pulses 5 (la, 50b are The pulses are collectively shown as 50. As the position detector 51, a photo encoder or an inductive transducer is known, and the two-phase position signals 58a and 58b are of rectangular wave output. The one with a sine wave output is common.The pulse generating circuit 52' is also known, for example, as disclosed in Japanese Patent Application No. 54
The directional pulse generating circuit 5 may be constructed using these pulse generating circuits.
第４図は第１図のｍ切換え信号発生器６の一実施例を示
すブロック図である。FIG. 4 is a block diagram showing one embodiment of the m switching signal generator 6 of FIG. 1.
前記方向パルス発生器５より出力、された正方向パルス
５０ａ、負方向パルス５０ ｂはそれぞれカウンタ６１
のアツプカクント端子ダウンカウント端子に入力され、
前記カウンタ６１の内容を増算もしくは減算する。ロリ
記カクンタ６１は削記界磁発生磁石の極性変化の周期に
一致した周期で最上位ビット出力ｔｉｌｌが変化するよ
う、前記界磁発生磁石の配置と前記方向パルス５０の１
パルス相当の前記可動部材２の変化量とから定まる分周
率を有するカウンタであり、前記最上位ビット出力６１
１と、前記最上位ビット出力６１１のｌ／２の周期を有
し、がっ位相が等しい、坤も前記最上位ビット出力６１
１の極性反転時にはかならず同時に極性が反転する第２
位ビット出力６１２を出力する、なお、第１図では前記
最上位ビット出力６１１と、前記第２位ビット出力６１
２とをまとめて相切換え信号６（）と表わしている。−
万、前記初期セット信号８１は前記カウンタ６１のクリ
ア端子ＣＬに入力され、前記初期セット信号８１が人力
された時前記カウンタ６１の内容を零とする。ここで、
第４図では、前記初期セット信号８１は前記カウンタ６
１のクリア端子ＣＬに入力され前記カウンタ６１の内容
を零とする構成としたが、前記初期セット信号８１が図
示されていない前記カウンタ６１のロード端子に入力さ
れ前記カウンタ６１の内容を任意の好ましい初期値にセ
ットする構成としてもよい。以上の構成により前記相切
換え信号６０は、前記初期セット信号８１により初期セ
ットされ、その後は前記界磁発生磁石の極性変化に対し
て、初期セットされた時点での前記界磁発生磁石の極性
変化に対する位相関係を有する信号となる。The positive direction pulse 50a and the negative direction pulse 50b output from the direction pulse generator 5 are each output by a counter 61.
is input to the up count terminal and down count terminal of
The contents of the counter 61 are incremented or subtracted. Loli's kakunta 61 is arranged so that the most significant bit output till changes at a period corresponding to the period of polarity change of the field generating magnet and one of the direction pulses 50.
The counter has a frequency division rate determined from the amount of change in the movable member 2 corresponding to a pulse, and the most significant bit output 61
1 and the period of l/2 of the most significant bit output 611, and the phases are equal, gon also the most significant bit output 61.
When the polarity of 1 is reversed, the 2nd polarity is always reversed at the same time.
In FIG. 1, the most significant bit output 611 and the second significant bit output 61 are output.
2 are collectively referred to as phase switching signal 6(). −
The initial set signal 81 is input to the clear terminal CL of the counter 61, and when the initial set signal 81 is input manually, the contents of the counter 61 are set to zero. here,
In FIG. 4, the initial set signal 81 is applied to the counter 6.
However, the initial set signal 81 is input to a load terminal (not shown) of the counter 61 and the contents of the counter 61 are set to zero by inputting the initial set signal 81 to the clear terminal CL of the counter 61, which is not shown. It may also be configured to be set to an initial value. With the above configuration, the phase switching signal 60 is initially set by the initial set signal 81, and thereafter, the polarity of the field generating magnet changes at the time of initial setting in response to the polarity change of the field generating magnet. The signal has a phase relationship with respect to
第５図は第１図の駆動回路７の１つの実施例を示すブロ
ック図である。FIG. 5 is a block diagram showing one embodiment of the drive circuit 7 of FIG. 1.
前記初期セントモードにおいて−ｉＪ記初期セット信号
８１が２つの初期セｙ）スイッチυ１１７４ｂに入力さ
れると、前記初期セソトスイ゛ツチ７４１、？４ｂの端
子７４１ａ、７４１ ｂにあらかじめ各々等しく設定さ
れた電圧がそれぞれ人相パワーアンプ７５ａ、Ｂ相パワ
ーアンプ７５ｂを介して前記ブラシレスモータ令の人相
、Ｂ相の２相コイルに印加され、前記２相コイルにほぼ
等しい電流が流れる。この結果前記ブラシレスモータ会
は、前記２相コイルのコイル部分の中心と前記界磁発生
磁石の極性変化点とが一致した位置に位置決めされる。In the initial cent mode, when the -iJ initial set signal 81 is input to the two initial setting switches υ1174b, the initial setting switches 741, ? Voltages set in advance to be equal to the terminals 741a and 741b of the brushless motor 4b are applied to the two-phase coils of the human phase and B phase of the brushless motor through the human phase power amplifier 75a and the B phase power amplifier 75b, respectively. Approximately equal currents flow through the two-phase coils. As a result, the brushless motor assembly is positioned at a position where the center of the coil portion of the two-phase coil and the polarity change point of the field generating magnet coincide.
なお、ここでは前記２相コイルの両方に通電する構成と
したが、前記端子？４１２，７４１ｂのいずれか一方の
みに電圧を印加し、他方を接地電位とすることにより、
■相のコイルのみに通電する構成としてもよく、この場
合には前記ブラシレスモータ令は通電したコイルの中心
と前記界磁発生磁石の極性変化点とが一致した位置に位
置決めされる。In addition, here, the configuration is such that both of the two-phase coils are energized, but the terminal? By applying voltage to only one of 412 and 741b and setting the other to ground potential,
A configuration may be adopted in which only the phase (2) coil is energized; in this case, the brushless motor is positioned at a position where the center of the energized coil and the polarity change point of the field generating magnet coincide.
一方、前記サーボ制御モードにおいては、前記初期上ノ
ド信号８１は入力せず、初期セードスイッチ７４ａ、７
４ｂは相切換スイッチ７３ａ、７８ｂの出力と前記パワ
ーアンプ７５ａ、７５ｂの入力とをそれぞれ接続する。On the other hand, in the servo control mode, the initial upper throat signal 81 is not input, and the initial shade switches 74a, 7
4b connects the outputs of the phase changeover switches 73a, 78b and the inputs of the power amplifiers 75a, 75b, respectively.
さて、前記制御信号８２は、ＭｉＪ記最上位ビＶ）出力
６１１によって切換えられる反転スイッチ７２に入力さ
れ前記最上位ビット出力６１１の状態によって、この反
転スイッチ７２のもう１つの入力即ち前記制御信号８２
を反転器７１を介して反転した信号と、前記制御信号８
２とのいずれかを反転スイッチ出カフ２０として出力す
る。この反転スイッ′テ出カフ２０はｎす記′Ｓ２位ピ
ット出力６１２によって切換えられる前記相切換ス・イ
、テ？３ａと、０り記事２位ビシ゛ト出力６１２をイン
バータ７６を介して反転した信号によって切換えられる
前記相切換スイ゛φテア８ｂとに入力され前記第２位ビ
ット出力６１２の状態によって、前記反転スイッチ出カ
フ２０とこの相切換スイッチ７８ａ、７３ｂのもう１つ
の入力である接地電位とのいずれかを相切換スイッチ出
カフ８０ｍ、７８０ｂとして出力する。この相切換スイ
ンを出カフ８０８１７８０ｂは、常にどちらが前記反転
スイッチ出カフ２０で他方が前記接地電位であり、これ
らは前述したように前記パワーアンプ７Ｍ、７５ｂに入
力される。この結果前記相切換え信号６０の状態に応じ
て、前記ブラシレスモータ令の２相コイルのいずれかに
前記制御信号８２もしくはその反転値に対応した電流が
流れる。Now, the control signal 82 is input to the inversion switch 72 which is switched by the most significant bit output 611 of MiJ.
is inverted via the inverter 71 and the control signal 8
2 is output as the inversion switch output cuff 20. This reversal switch output cuff 20 is switched by the phase change switch S2 pit output 612. 3a and the phase switching switch φtair 8b, which is switched by a signal obtained by inverting the zero bit second bit output 612 via an inverter 76. Either the cuff 20 or the ground potential which is another input of the phase changeover switches 78a, 73b is outputted as the phase changeover switch output cuffs 80m, 780b. One of the phase switching output cuffs 8081780b is always the inversion switch output cuff 20 and the other is the ground potential, and these are input to the power amplifiers 7M and 75b as described above. As a result, depending on the state of the phase switching signal 60, a current corresponding to the control signal 82 or its inverted value flows through either of the two-phase coils of the brushless motor.
従うて、初期セットモードで位置決めされた位置に応じ
て、前記相切換え信号６ｏの初期値と位置変化に対する
変化の組合せとを適切に選ぶことにより、その後のサー
ボ制御モードでは前記ブラシレスモータ４は通常のブラ
シ付モータと同様に前記制御信号３２に対して応答する
。例えは、それぞれ１つのコイル巻線部よりなるＡ相コ
イルとＢ相コイルか隣り合って配置されている２相ブラ
シレスモータを使用し、本実施例で述べた初期セット時
に２相のコイルの両方にほぼ同じ゛電流を流して位置決
めする場合には、この構成の駆動回路７に前述の相切換
え信号発生器６の第ｌの実施例で述べた前記初期セット
信号８１を的記カクンタ６１のクリア端子ＣＬに入力す
る構成の相切換え信号発生器６を組合せて用いることに
より、父、それぞれ１つのコイル巻線部よりなる人相コ
イルとＢ相コイルが隣り合って配置されている２相ブラ
シレスモータを使用し、本実施例で述べた初期セット時
にどちらかｌ相のコイルのみに電流を流して位置決めす
る場合゛には、この構成の駆動回路７に前述の相切換え
信号発生器６０第１の実施例にある前記初期セント信号
８１を前記カウンタ６１の図示していないロード端子に
入力する構成の相繋豫、１１号発王蕎」（駕會す工ｌ−
い−レヒＱ待カーー期セット値をＩす記第２位ビ′メト
信号の忰性変化点のちょうど中間のいずれかの値とする
ことにより、先に運べた初期セットモードの動作で前記
相切換え信号６０と前記界磁発生磁石の極性変化の位相
とを適正に設定できるとともにその後の前記サーボ制御
モードにおいて前記ブラシレスモータ４は通常のプラ、
シ付モータと同様に、前記制御信号８２に対応して駆動
できる。ここでパワーアンプ７５ａ、７５ｂは電圧駆動
型のパワーアンプとして説明したが、電流駆動型のパワ
ーアンプを用いてもゝよく、パルス幅弯調型のパワーア
ンプでもよい。Therefore, by appropriately selecting the initial value of the phase switching signal 6o and the combination of changes in response to position changes according to the position determined in the initial set mode, the brushless motor 4 can be operated normally in the subsequent servo control mode. The motor responds to the control signal 32 in the same manner as the brushed motor. For example, if a two-phase brushless motor is used in which the A-phase coil and B-phase coil, each consisting of one coil winding section, are arranged next to each other, both of the two-phase coils are When positioning is performed by applying approximately the same current to the drive circuit 7 having this configuration, the initial set signal 81 described in the first embodiment of the phase switching signal generator 6 is used to clear the output signal 61. By using the phase switching signal generator 6 configured to input to the terminal CL in combination, a two-phase brushless motor in which a human-phase coil and a B-phase coil, each consisting of one coil winding section, are arranged next to each other is created. When positioning is performed by applying current to only one phase coil during the initial setting described in this embodiment, the above-mentioned phase switching signal generator 60 is added to the drive circuit 7 having this configuration. In the embodiment, the initial cent signal 81 is inputted to a load terminal (not shown) of the counter 61, and the output terminal No.
By setting the initial set value to a value that is exactly in the middle of the change point of the second-order bit signal, the above-mentioned phase can be set in the initial set mode that can be carried out earlier. The switching signal 60 and the phase of the polarity change of the field generating magnet can be appropriately set, and in the subsequent servo control mode, the brushless motor 4 can be set to a normal plastic,
It can be driven in response to the control signal 82 in the same way as a motor with a brake. Here, the power amplifiers 75a and 75b have been described as voltage-driven power amplifiers, but current-driven power amplifiers may be used, or pulse width curved power amplifiers may be used.
又、制御信号８２、反転スイッチ出カフ２０、相切換ス
イッ・を出カフ８０ａ、 ７８０ｂ等の各信号及び各
種のスイシ′テア２．７８ ａ、 ７８ ｂ、 ７
４ ａ、７４ｂ１反転器７１はいずれもアナログ信号及
びアナログ信号用素子として説明したが、１部もしくは
全てをディジタル信号及びディジタル信号用素子を用い
て構成しても良い。In addition, each signal such as the control signal 82, the reversing switch output cuff 20, the phase change switch output cuff 80a, 780b, etc., and the various switches 2.78a, 78b, 7
4a, 74b1 Although both of the inverters 71 have been described as analog signals and elements for analog signals, a part or all of them may be configured using digital signals and elements for digital signals.
以上の構成により、相切換え信号を他の検出器「ｂ：６
部者カーぐチーボ飼−御−用９高分解能な位置検出器の
みを用いて発生するとともに、通常のサーボ制御動作に
先たつ初期セント動作により人手を分子ことなく口１」
記相切換比信号と界磁発生磁石との位相合せを行う無調
整化された駆動装置を実視−［ることかできる。これに
より従来ブラシレスモータを使用する際に必要とされて
いたレゾルバ等の相切換え信号発生用の位置検出器およ
びその検出回路等は不要となり、これを取り付ける特殊
な機構さらに調整作業も合せて不要となる。With the above configuration, the phase switching signal is transferred to the other detector "b:6".
It is generated using only a high-resolution position detector, and the initial movement that precedes the normal servo control movement eliminates the need for human intervention.
It is possible to actually see a non-adjustable drive device that matches the phase of the phase switching ratio signal and the field generating magnet. This eliminates the need for a position detector such as a resolver for generating phase switching signals and its detection circuit, which were required when using conventional brushless motors, and also eliminates the need for a special mechanism to attach it and adjustment work. Become.
′５Ｉ１１図は本発明の駆動装置の実施例を示すブロク
゛り図、第２図は方向パルス発生器の第１の実施例のブ
ロック図、＄８図は方向パルス発生器の第２の実施例の
ブロック図、第４図は相切換比（ｊ号発生器の実施例を
示すブロック図、第５図は駆動回路の実施例を示すブロ
ック図である。
図において、■は本発明の駆動装置、２は可動部材、８
は制御回路、会はブラシレスモータ、５は方向パルス発
生器、６は相切換え信号発生器１７は駆動回路である。
第２図
く
第３図
１ １りＯｂＬ
−Ｊ第４藺Figure '5I11 is a block diagram showing an embodiment of the driving device of the present invention, Figure 2 is a block diagram of a first embodiment of a directional pulse generator, and Figure 8 is a block diagram of a second embodiment of a directional pulse generator. Fig. 4 is a block diagram showing an embodiment of the phase switching ratio (J-number generator), and Fig. 5 is a block diagram showing an embodiment of the drive circuit. , 2 is a movable member, 8
1 is a control circuit, 5 is a brushless motor, 5 is a directional pulse generator, 6 is a phase switching signal generator, and 17 is a drive circuit. Figure 2 Figure 3 1 1 ObL
-J 4th episode
Claims (1)
しくは該ブラシレスモータに接続され該可動部材の一定
距離の変位に対して変位置及び方向を示す方向パルスを
発生する方向パルス発生手段と、前記方向パルス及び外
部の制御回路により発生される初期セット信号を入力し
該初期セット信号により初期セットされ、それ以後は１
記可動部材の変位に対して前記ブラシレスモータの界磁
発生磁石の極性変化と同じ燭期で変化しかつ急止な位相
関係を保つ相切換え信号を発生する相切換え信号発生手
段と、該相切換え信号と的記初期セット伯号及び前記外
部の制御回路により党生される制御信号とを入力し前記
初期セット信号によりあらかじめ定められた特定の駆動
信号を前記ブランレスモータに印加しその後は前記制御
信号に対応した駆動信号を前記ブラシレスモータに印加
する駆動手段を有し、前記相切換角信号をサーボ制御用
の部分解能の位置検出器のみを用い七発生するとともに
、初期セシト動作により前記相切換え信号と前記界磁発
生磁石の極性変化との位相を合せることを特徴と了る駆
動装置。a brushless motor that drives a movable member; a directional pulse generating means that is connected to the movable member or the brushless motor and that generates a directional pulse that indicates a displaced position and direction in response to a fixed distance displacement of the movable member; and inputs an initial set signal generated by an external control circuit, is initialized by the initial set signal, and thereafter is set to 1.
A phase switching signal generating means for generating a phase switching signal that changes at the same timing as the polarity change of the field generating magnet of the brushless motor and maintains an abrupt phase relationship with respect to the displacement of the movable member; A signal, an initial set number, and a control signal generated by the external control circuit are input, and a specific drive signal predetermined by the initial set signal is applied to the branless motor, and thereafter the control is performed. It has a driving means for applying a drive signal corresponding to the signal to the brushless motor, generates the phase switching angle signal using only a partial resolution position detector for servo control, and performs the phase switching by an initial reset operation. A driving device characterized in that a signal and a polarity change of the field generating magnet are aligned in phase.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56169158A JPS5872390A (en) | 1981-10-22 | 1981-10-22 | Driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56169158A JPS5872390A (en) | 1981-10-22 | 1981-10-22 | Driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5872390A true JPS5872390A (en) | 1983-04-30 |
Family
ID=15881351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56169158A Pending JPS5872390A (en) | 1981-10-22 | 1981-10-22 | Driving device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5872390A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01291690A (en) * | 1988-05-19 | 1989-11-24 | Matsushita Electric Ind Co Ltd | Driving device for brushless motor |
-
1981
- 1981-10-22 JP JP56169158A patent/JPS5872390A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01291690A (en) * | 1988-05-19 | 1989-11-24 | Matsushita Electric Ind Co Ltd | Driving device for brushless motor |
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