JPS5942881B2 - Starting control device for position servo control device - Google Patents
Starting control device for position servo control deviceInfo
- Publication number
- JPS5942881B2 JPS5942881B2 JP4034778A JP4034778A JPS5942881B2 JP S5942881 B2 JPS5942881 B2 JP S5942881B2 JP 4034778 A JP4034778 A JP 4034778A JP 4034778 A JP4034778 A JP 4034778A JP S5942881 B2 JPS5942881 B2 JP S5942881B2
- Authority
- JP
- Japan
- Prior art keywords
- signal
- control device
- integrator
- controlled object
- servo control
- 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
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- Feedback Control In General (AREA)
- Safety Devices In Control Systems (AREA)
- Control Of Position Or Direction (AREA)
Description
【発明の詳細な説明】
本発明は位置サーボ制御装置の起動制御装置に係り、特
に制御対象が大型で負荷の慣性が大きい場合の、位置サ
ーボ制御装置の起動制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a start control device for a position servo control device, and particularly to a start control device for a position servo control device when the object to be controlled is large and the inertia of the load is large.
制御目標として、制御対象の位置を指定するサーボ制御
装置を位置サーボ制御装置と呼ぷ。A servo control device that specifies the position of a controlled object as a control target is called a position servo control device.
その構成を第1図に示す。制御装置1が制御対象2を制
御信号uによつて操作している。制御対象の位置Xはフ
ィードバック装置3によつて検出され、フィードバック
信号にになる。指令信号sよりフィードバック信号にが
減算され、誤差信号eとなり制御装置の入力となる。制
御装置はこの誤差eがoとなるように制御対象を操作す
る。このような位置サーボ制御装置において、電源を切
つて装置を休止している間に、制御対象が外力によつて
移動して、正規の位置から外れることがある。Its configuration is shown in FIG. A control device 1 is operating a controlled object 2 using a control signal u. The position X of the controlled object is detected by the feedback device 3 and becomes a feedback signal. The feedback signal is subtracted from the command signal s, resulting in an error signal e, which is input to the control device. The control device operates the controlled object so that this error e becomes o. In such a position servo control device, while the power is turned off and the device is at rest, the controlled object may be moved by an external force and deviate from its normal position.
このような状態において、装置の電源を投入すると、制
御対象が急激に動かされることとなり、負荷の慣性が大
きい場合には過大な力が、加えられることとなる。本発
明の目的は、起動時に制御対象に過大な衝撃を与えるこ
となく短時間で起動できる位置サーボ制御装置の起動制
御装置を提供することにある。In such a state, when the device is powered on, the controlled object will be suddenly moved, and if the inertia of the load is large, an excessive force will be applied. An object of the present invention is to provide a starting control device for a position servo control device that can be started in a short time without applying an excessive shock to a controlled object at the time of starting.
本発明の特徴は、制御対象に入力される制御信号が0と
なるような偏倚信号を前記指令信号に加えるべく出力す
る積分回路であつて第1積分器及びこの第1積分器の出
力を入力して前記偏倚信号を出力する第2積分器とから
なる積分回路と、前記制御信号が0になつた後、前記位
置サーボ制御装置を前記制御対象に接続して前記位置サ
ーボ制御装置の閉ループを構成する継電器と、前記閉ル
ープが構成された後に前記偏倚信号が0となるよう前記
第1積分器に入力を与える回路と、前記入力を与える回
路から出力される信号の正負の符号を、前記第2積分器
の出力が最初の値の所定の比率まで達した時にそれまで
とは反対にする手段と、前記偏倚信号が0になつた時に
前記積分回路を前記位置サーボ制御装置から切離す手段
とを設けたことにある。第2図に発明の実施例を示す。A feature of the present invention is an integrating circuit that outputs a bias signal such that a control signal input to a controlled object becomes 0 in order to add it to the command signal, and includes a first integrator and an output of the first integrator as input. and a second integrator that outputs the bias signal; and after the control signal becomes 0, the position servo control device is connected to the controlled object to establish a closed loop of the position servo control device. a circuit that provides an input to the first integrator so that the bias signal becomes 0 after the closed loop is configured; and a positive/negative sign of a signal output from the circuit that provides the input; means for reversing the output of the second integrator when it reaches a predetermined ratio of the initial value; and means for disconnecting the integrator circuit from the position servo controller when the bias signal becomes zero. This is because we have established FIG. 2 shows an embodiment of the invention.
電源を投入してサーボ制御装置を動作させた時には、第
二継電器接点18は開とし制御対象2は動かさない。こ
の状態で第一継電器接点17と第五継電器接点21とを
閉じる。この状態では、制御装置1、第一積分器14、
第二積分器15は閉ループを形成しており、偏倚減算回
路26の出力である第二誤差信号E2がOとなり、制御
装置1の出力である制御信号uがOとなる迄積分する。
この状態を第一比較回路11により検出し、第二継電器
接点18を閉じる。当然のことながら制御対象2は動か
ず、衝撃は発生しない。制御装置1、制御対象2、フイ
ードバツク装置3、加減算回路4、偏倚減算回路26よ
り構成されるサーボ制御装置の閉ループは構成されたこ
ととなる。この状態から第二積分器15の出力、即ち偏
倚信号XaをOに変化させれば、制御対象2は正規の指
令信号sに落着くこととなる。さて指令信号sは、制御
対象2の位置Xをフイードバツク装置3にて検出したフ
イードバツク信号rと、加減算回路4にて突き合せてい
るのであるから、位置指令である。第二積分器15の出
力信号Xaは、この位置指令を偏倚減算回路26によつ
て、偏倚するために用いているのであるから、これまた
位置信号である。従つて第二積分器15の入力信号Xa
は、位置信号の一回微分すなわち速度信号である。従つ
てまた、第一積分器14の人力父a、一父aは加速度信
号となることは明らかである。さて第二継電器接点18
が閉じて、サーボ制御装置の閉ループが形成された時点
において、第一継電器接点17を開く。When the power is turned on and the servo control device is operated, the second relay contact 18 is opened and the controlled object 2 is not moved. In this state, the first relay contact 17 and the fifth relay contact 21 are closed. In this state, the control device 1, the first integrator 14,
The second integrator 15 forms a closed loop and integrates until the second error signal E2, which is the output of the bias subtraction circuit 26, becomes O, and the control signal u, which is the output of the control device 1, becomes O.
This state is detected by the first comparator circuit 11 and the second relay contact 18 is closed. Naturally, the controlled object 2 does not move and no impact occurs. A closed loop of the servo control device consisting of the control device 1, the controlled object 2, the feedback device 3, the addition/subtraction circuit 4, and the bias subtraction circuit 26 has been constructed. If the output of the second integrator 15, that is, the bias signal Xa, is changed from this state to O, the controlled object 2 will settle down to the regular command signal s. Now, the command signal s is a position command because the position X of the controlled object 2 is compared with the feedback signal r detected by the feedback device 3 in the addition/subtraction circuit 4. Since the output signal Xa of the second integrator 15 is used to bias this position command by the bias subtraction circuit 26, it is also a position signal. Therefore, the input signal Xa of the second integrator 15
is the one-time derivative of the position signal, that is, the velocity signal. Therefore, it is also clear that the human input a and the output a of the first integrator 14 become acceleration signals. Now, second relay contact 18
is closed and a closed loop of the servo control is formed, opening the first relay contact 17.
そして比較器13は第二積分器15の出力Xaが正であ
れば、第三継電器接点19を、負であれば第四継電器接
点20を閉じて、位置信号Xaが減するようにする。こ
こでは第二積分器15の出力Xaが正であるとして説明
するが負であつても全く同様である。さて加速度信号父
aは第一積分器14にて積分され、速度信号★aとなり
、更に第二積分器15に加えられ、その出力である位置
信号大a、ここでは偏倚信号として利用されているが、
これを減じてゆく.これに伴つて偏倚減算回路26の出
力には、第二誤差信号e、が生じ、制御装置1を通じて
制御信号uとなり制御対象2は、本来の位置に向かつて
移動する。適切な時期に、加速度信号天aを減速度信号
一父aに切替え、位置信号XaがOとなつた瞬間に、速
度信号大aもOとなるようにする必要がある。加速度信
号父aと減加速度信号一大aとは共に制御対象2の許容
加速度に選定してあるから、絶対値は等しく符号は逆で
ある。このことより、位置信号Xaが最初の値の0.5
となつた時に第三継電器接点19を開き、第四継電器接
点20を閉じればよいことは図式解法によつても自明で
あり、かつまた第一積分器14と第二積分器15とが、
純慣性系を構成していることより、ポントリャーギン氏
の最大原理の解としても広く知られた事実である。本実
施例は、前述の如く第1積分器と第2積分器とを有しか
つ位置信号Xaが0.5(所定値)になつた時に第1積
分器に入力する信号をそれまでとは反対にするので、制
御対象に加えられる加速度(すなわち衝撃力)を著しく
低減できかつ一定にでき、しかも最短時間に制御対象を
起動できる。実施例として、第二積分器15の出力であ
る位置信号Xaを第三積分器16に記憶させる。Then, the comparator 13 closes the third relay contact 19 if the output Xa of the second integrator 15 is positive, and closes the fourth relay contact 20 if it is negative, so that the position signal Xa decreases. Here, the explanation will be made assuming that the output Xa of the second integrator 15 is positive, but the same applies even if it is negative. Now, the acceleration signal a is integrated by the first integrator 14 to become the velocity signal ★a, which is further added to the second integrator 15, and its output is the position signal a, which is used as a bias signal here. but,
Reduce this. Along with this, a second error signal e is generated at the output of the bias subtraction circuit 26, which becomes a control signal u through the control device 1, and the controlled object 2 moves toward its original position. It is necessary to switch the acceleration signal Xa to the deceleration signal Xa at an appropriate time so that the moment the position signal Xa becomes O, the speed signal Xa also becomes O. Both the acceleration signal parent a and the reduced acceleration signal large a are selected as the permissible acceleration of the controlled object 2, so their absolute values are equal and their signs are opposite. From this, the position signal Xa is 0.5 of the initial value.
It is obvious from the graphical solution that the third relay contact 19 should be opened and the fourth relay contact 20 should be closed when the first integrator 14 and the second integrator 15 are
Since it constitutes a pure inertial frame, it is a widely known fact that it is a solution to Mr. Pontryagin's maximum principle. As described above, this embodiment has a first integrator and a second integrator, and when the position signal Xa reaches 0.5 (predetermined value), the signal input to the first integrator is different from that of the previous one. Since it is reversed, the acceleration (ie, impact force) applied to the controlled object can be significantly reduced and kept constant, and moreover, the controlled object can be activated in the shortest possible time. As an example, the position signal Xa, which is the output of the second integrator 15, is stored in the third integrator 16.
この際、0.5倍の値が記憶されるよう、積分器初期値
設定用フイードバツク抵抗器は、入力抵抗器の0.5倍
とする。第三積分器16は第一継電器接点17が開いた
瞬間の第二積分器15の出力である。Xaの0.5倍、
即ち0.5xaを記憶保持する。一方、第二積分器15
の出力Xaは、第三継電器接点19が閉じた瞬間から減
少するので、この値Xaと第三積分器16の出力とを第
三比較回路13にて比較し、0となつた時が第三継電器
接点19を開いて、第四継電器接点20を閉じるべきタ
イミングである。このようなタイミングにて加速度信号
大aと減速度信号一天aとを切替えると、速度信号交a
と位置信号Xaとは共に減少をつづけ、両者同時に0と
なる。At this time, the feedback resistor for setting the integrator initial value is set to be 0.5 times the input resistor so that a value 0.5 times larger is stored. The third integrator 16 is the output of the second integrator 15 at the moment the first relay contact 17 opens. 0.5 times of Xa,
That is, 0.5xa is stored and held. On the other hand, the second integrator 15
The output Xa decreases from the moment the third relay contact 19 closes, so this value Xa and the output of the third integrator 16 are compared in the third comparison circuit 13, and when it becomes 0, the third This is the timing to open the relay contact 19 and close the fourth relay contact 20. If the acceleration signal large a and the deceleration signal one a are switched at such timing, the speed signal alternating a
Both the position signal Xa and the position signal Xa continue to decrease and become 0 at the same time.
位置信号Xal即ち偏倚信号がOとなつたことを、第三
比較回路13にて検出し、第五継電器接点21を開けば
、偏倚信号回路は完全に切離なされる。制御対象2の位
置Xは、指令信号sの指示通りとなつている。第3図に
各動作タイミングを示す。When the third comparison circuit 13 detects that the position signal Xal, that is, the bias signal has become O, and opens the fifth relay contact 21, the bias signal circuit is completely disconnected. The position X of the controlled object 2 is as instructed by the command signal s. FIG. 3 shows the timing of each operation.
TOにて起動する。この時に第一継電器17を附勢する
.第二積分器の出力は、第五継電器21の附勢によつて
、偏倚減算回路に与えられているので、制御装置の出力
は0へ向つて変化し、第一比較回路11は入力一0を検
知する。この時が第一時限T1である。この時に第一継
電器17を除勢する。適当な時間后に、第二継電器18
を附勢し、サーボ制御装置の閉ループを構成する。更に
適当な時間后、第二限時に第三継電器19を附勢し、加
速度信号を印加し、偏倚信号を減少させる。偏倚信号、
即ち第二積分器の出力が、当初値の0.5倍となつたこ
とは、第二比較回路12の入力一0の検知で知れる.こ
の時が第三時限T3であつて、第三継電器19を除勢し
、第四継電器20を附勢する。偏倚信号がOとなつたこ
とは、第三比較回路13の入力一0にて検知される。こ
れが第四時限T4であり、第四継電器20を除勢すると
共に、第五継電器21を除勢して、偏倚信号を切離す。
適当な時間后T5にサーポ制御装置の使用を開始すれば
よい。第4図に、加速度信号すなわち第一積分器の入力
、速度信号すなわち第一積分器の出力で第二積分器の入
力、速度信号すなわち第二積分器の出力であり偏倚信号
、各々の第二時限より第三時限までの変化の状況を示す
。Start at TO. At this time, the first relay 17 is energized. Since the output of the second integrator is applied to the bias subtraction circuit by energizing the fifth relay 21, the output of the controller changes towards 0, and the first comparator circuit 11 changes the input to 0. Detect. This time is the first time period T1. At this time, the first relay 17 is deenergized. After a suitable time, the second relay 18
is energized to form a closed loop of the servo control device. After a further appropriate time, the third relay 19 is energized at a second time to apply the acceleration signal and reduce the deflection signal. bias signal,
That is, it is known from the detection of input 10 of the second comparison circuit 12 that the output of the second integrator has become 0.5 times the initial value. This time is the third time period T3, and the third relay 19 is deenergized and the fourth relay 20 is energized. The fact that the bias signal has become O is detected at the input 10 of the third comparator circuit 13. This is the fourth time period T4, in which the fourth relay 20 is deenergized and the fifth relay 21 is deenergized to disconnect the bias signal.
Use of the servo control device may begin after an appropriate time T5. FIG. 4 shows an acceleration signal, which is the input of the first integrator, a velocity signal, which is the output of the first integrator, which is the input of the second integrator, a velocity signal, which is the output of the second integrator, and a bias signal, and a respective second integrator. Shows the changes from one period to the third period.
本発明によれば、位置サーボ制御装置の本来の性能や安
定性を損うことなく、起動時に制御対象に加えられる衝
撃力を低減でき、その一定の条件の下で短時間に制御対
象を起動できる。According to the present invention, it is possible to reduce the impact force applied to the controlled object at startup without impairing the original performance or stability of the position servo control device, and to start the controlled object in a short time under certain conditions. can.
第1図はサーボ制御装置のプロツク線図、第2図は起動
衝撃緩和装置の回路図、第3図は比較回路および継電器
の動作の時刻に対する関係、第4図は偏倚信号の時間に
対する関係を示す。
1・・・・・・制御装置、2・・・・・・制御対象、3
・・・・・・フイードバツク装置、4・・・・・・加減
算回路、s・・・・・・指令信号、u・・・・・・制御
信号、x・・・・・・位置、r・・・・・・フイードバ
ツク信号、e1・・・・・・第一誤差信号、E2・・・
・・・第二誤差信号、11・・・・・・第一比較回路、
12・・・・・・第二比較回路、13・・・・・・第三
比較回路、14・・・・・・第一積分器、15・・・・
・・第二積分器、16・・・・・・第三積分器、17・
・・・・・第一継電器接点、18・・・・・・第二継電
器接点、19・・・・・・第三継電器接点、20・・・
・・・第四継電器接点、21・・・・・・第五継電器接
点、父a・・・・・・加速度信号、一父a・・・・・・
減速度信号、h・・・・・・速度信号、Xa・・・・・
・位置信号、26・・・・・・偏倚減算回路。Fig. 1 is a block diagram of the servo control device, Fig. 2 is a circuit diagram of the start-up shock mitigation device, Fig. 3 is the relation of the comparator circuit and relay operation to time, and Fig. 4 is the relation of the bias signal to time. show. 1... Control device, 2... Controlled object, 3
...Feedback device, 4...Addition/subtraction circuit, s...Command signal, u...Control signal, x...Position, r. ...Feedback signal, e1...First error signal, E2...
...Second error signal, 11...First comparison circuit,
12... Second comparison circuit, 13... Third comparison circuit, 14... First integrator, 15...
...Second integrator, 16...Third integrator, 17.
...First relay contact, 18...Second relay contact, 19...Third relay contact, 20...
...Fourth relay contact, 21...Fifth relay contact, father a...Acceleration signal, first father a...
Deceleration signal, h...Speed signal, Xa...
・Position signal, 26... Bias subtraction circuit.
Claims (1)
号との偏差信号に基づいて前記制御対象の位置を制御す
る位置サーボ制御装置の起動を制御する装置において、
前記制御対象に入力される制御信号が0となるような偏
倚信号を前記指令信号に加えるべく出力する積分回路で
あつて第1積分器及びこの第1積分器の出力を入力して
前記偏倚信号を出力する第2積分器とらなる積分回路と
、前記制御信号が0になつた後、前記位置サーボ制御装
置を前記制御対象に接続して前記位置サーボ制御装置の
閉ループを構成する継電器と、前記閉ループが構成され
た後に前記偏倚信号が0となるよう前記第1積分器に入
力を与える回路と、前記入力を与える回路から出力され
る信号の正負の符号を、前記第2積分器の出力が最初の
値の所定の比率まで達した時にそれまでとは反対にする
手段と、前記偏倚信号が0になつた時に前記積分回路を
前記位置サーボ制御装置から切離す手段とからなる位置
サーボ制御装置の起動制御装置。1. A device for controlling activation of a position servo control device that controls the position of a controlled object based on a deviation signal between a command signal and a feedback signal indicating the position of the controlled object,
an integrating circuit that outputs a bias signal such that a control signal input to the controlled object becomes 0 in order to add it to the command signal, the circuit comprising: a first integrator; an integrating circuit including a second integrator that outputs a second integrator; a relay that connects the position servo control device to the controlled object to configure a closed loop of the position servo control device after the control signal becomes 0; A circuit that provides an input to the first integrator so that the bias signal becomes 0 after a closed loop is formed, and a positive or negative sign of the signal output from the circuit that provides the input is determined by the output of the second integrator. A position servo control device comprising means for reversing the previous value when a predetermined ratio of the initial value is reached, and means for disconnecting the integrating circuit from the position servo control device when the bias signal becomes zero. start control device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4034778A JPS5942881B2 (en) | 1978-04-07 | 1978-04-07 | Starting control device for position servo control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4034778A JPS5942881B2 (en) | 1978-04-07 | 1978-04-07 | Starting control device for position servo control device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS54133280A JPS54133280A (en) | 1979-10-16 |
JPS5942881B2 true JPS5942881B2 (en) | 1984-10-18 |
Family
ID=12578093
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP4034778A Expired JPS5942881B2 (en) | 1978-04-07 | 1978-04-07 | Starting control device for position servo control device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5942881B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6370890U (en) * | 1986-10-28 | 1988-05-12 | ||
WO2021038898A1 (en) * | 2019-08-29 | 2021-03-04 | ユアサシステム機器株式会社 | Deformation tester |
-
1978
- 1978-04-07 JP JP4034778A patent/JPS5942881B2/en not_active Expired
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6370890U (en) * | 1986-10-28 | 1988-05-12 | ||
WO2021038898A1 (en) * | 2019-08-29 | 2021-03-04 | ユアサシステム機器株式会社 | Deformation tester |
Also Published As
Publication number | Publication date |
---|---|
JPS54133280A (en) | 1979-10-16 |
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