JPS6035989A - Control system of dc motor - Google Patents
Control system of dc motorInfo
- Publication number
- JPS6035989A JPS6035989A JP58144405A JP14440583A JPS6035989A JP S6035989 A JPS6035989 A JP S6035989A JP 58144405 A JP58144405 A JP 58144405A JP 14440583 A JP14440583 A JP 14440583A JP S6035989 A JPS6035989 A JP S6035989A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- pulse width
- counter
- time
- rotation
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
- H02P7/2913—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Motor And Converter Starters (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
Description
【発明の詳細な説明】
（技術分野）
本発明は直流モーターに取り付けられたエンコーダー出
力により、モーター速度を検出し、ＣＰＵで内部演算全
行ない、パルス幅変１１（ＰＷＭ）により直流モーター
を制御する方式に関するものである。[Detailed Description of the Invention] (Technical Field) The present invention detects the motor speed using the encoder output attached to the DC motor, performs all internal calculations using the CPU, and controls the DC motor using pulse width variation 11 (PWM). It is related to the method.
（従来技術）
この種直流モーターの制御方式において、ＣＰＵの内部
演算により、ＰＩＤ制御を行なうものは広く知られてい
るが、例えば、複写機の光学系駆動モーターのように立
上り時と空回転時で必要電力が大きく変化する場合はＣ
ＰＵからの制御量も大きく変化する。(Prior art) Among the control methods for this type of DC motor, one that performs PID control using internal calculations of the CPU is widely known. If the required power changes significantly in
The amount of control from the PU also changes significantly.
このため電力を必要としない定回転域では操作量が小さ
くなるため平均制御量に対する１変化制御量の比率が大
きくなり、細かな制御ができ彦くなる欠点がある。For this reason, in a constant rotation range where electric power is not required, the amount of operation becomes small, and the ratio of the one-change control amount to the average control amount becomes large, resulting in a disadvantage that fine control becomes difficult.
（目的）
本発明はこのような事情に鑑みてなされたものであり、
空回転時のＰＷＭ周期を立上り時より長くすることによ
り、空回転時のモーターの回転ムラを低く押さえること
を目的とする。(Purpose) The present invention was made in view of the above circumstances, and
By making the PWM cycle during idle rotation longer than that during startup, the purpose is to suppress uneven rotation of the motor during idle rotation.
（構成）
以下本発明の構成を図示の実施例に基づき説明する、
まず第１図は本発明に係る直流モーターの制御回路ブロ
ック図である。(Structure) The structure of the present invention will be explained below based on illustrated embodiments. First, FIG. 1 is a block diagram of a control circuit for a DC motor according to the present invention.
図において１は直流モーターであり、とのエンコーダ出
力が回転方向検知波形成形回路２を経てＣＰＵ３に取り
込まれるようになっている。In the figure, reference numeral 1 denotes a DC motor, the encoder output of which is input to the CPU 3 via a rotational direction detection waveform shaping circuit 2.
ＣＰＵ３内部では速度、回転方向の検出結果を演算し、
カウンター（プログラマブルカウンター）４に制御ｔｔ
出力し、一方このカウンター４にＣＰＵ３よりトリガー
をかける。Inside the CPU 3, the speed and rotation direction detection results are calculated,
Counter (programmable counter) 4 to control tt
On the other hand, this counter 4 is triggered by the CPU 3.
この結果カウンター４は制御量に比例したパルス幅をモ
ータードライバー５に出力する。As a result, the counter 4 outputs a pulse width proportional to the controlled amount to the motor driver 5.
モータードライバー５は回転方向指令に従ってこのパル
ス幅に比例した時間だけ特定のトランジスタ（図示せず
）をオン状態にし、直流モーター１への供給電力をフィ
ードバック制御する。The motor driver 5 turns on a specific transistor (not shown) for a time proportional to this pulse width in accordance with the rotation direction command, and feedback-controls the power supplied to the DC motor 1.
一般に、負荷摩擦トルクＴＬ、負荷慣性モーメントＪＬ
の負荷を、モーター回転子慣性モーメン）ＪＭのモータ
ーで、速度０からＶまで加速するのに必要々モーター必
要トルクＴ１は、（１）式で示される。Generally, load friction torque TL, load inertia moment JL
The motor torque T1 required to accelerate the load from speed 0 to V with a motor of motor rotor inertia moment) JM is expressed by equation (1).
また回転数Ｎで定回転を行なう場合には、（１）式にお
Ｌｎｆｄｗ／ｄｔ＝ Ｏとなるため、モーター必要トル
クＴ、は、
Ｔ！：ＴＬ （２）
となる。Also, when constant rotation is performed at the rotation speed N, Lnfdw/dt=O in equation (1), so the required motor torque T is T! :TL (2).
この関係管第２図、第３図に示す。This related pipe is shown in FIGS. 2 and 3.
即ち第２図は縦軸にモーター回転数をとり、横軸に時間
をとつ九ものであり、速度０からＶ （回転数Ｎ）に達
するのに時間ｔ０要するものである。That is, in FIG. 2, the vertical axis shows the motor rotation speed and the horizontal axis shows time, and it takes time t0 to reach the speed from 0 to V (rotation speed N).
また第３図は縦軸にモーター必要トルクをとり、横軸に
時間をとったものであり、時間ｔ。までは必要トルクＴ
、であり、それ以降はＴ、であることを示している。In addition, in Figure 3, the vertical axis shows the required motor torque and the horizontal axis shows time, ie, time t. Until the required torque T
, and thereafter T.
また直流モーターの特性は、第４図に示される。Further, the characteristics of the DC motor are shown in FIG.
第４図において電圧が一定ならば、回転数とトルクは逆
比例の関係にあり電流とトルクは正比例の関係にある。In FIG. 4, if the voltage is constant, the rotation speed and torque are inversely proportional, and the current and torque are directly proportional.
今回回転数で必要トルクがＴ Ｉ＞ Ｔ ＊ の時には
、第４図より供給電圧もｖｔ ＞ ｖｔ 、同じく電流
もＩ、）Ｉ、の関係になる。When the required torque at this rotational speed is T I > T *, the supply voltage is also vt > vt from FIG. 4, and the current is also I, )I.
ＰＷＭでは、電源電圧一定で、モーターへの通電時間を
パルス幅で制御し、モーターへ供給する平均電圧を制御
する。この平均電圧とパルス幅（＝通電時間）とは比例
し、パルス幅が１／２ になれば平均電圧も１／２ と
なる。第３図において、立上り時に必要なトルクＴ、ｆ
発生するだめの供給電力を、第５図に示すパルス幅で得
られるとすると、定回転時はそれよりはるかに小さな電
力で十分なため、第６図に示すようにパルス幅は狭くな
る。In PWM, the power supply voltage is kept constant, and the duration of energization to the motor is controlled by the pulse width, thereby controlling the average voltage supplied to the motor. This average voltage and pulse width (=current application time) are proportional, and if the pulse width becomes 1/2, the average voltage also becomes 1/2. In Figure 3, the torques T and f required at startup
Assuming that the generated power can be obtained with the pulse width shown in FIG. 5, much smaller power is sufficient during constant rotation, so the pulse width becomes narrower as shown in FIG.
しかしここで、ＰＷＭ周期を長くすると第６図と同等の
電力を供給するためには、−個あたりのパルス幅は広く
なる。However, if the PWM cycle is made longer, the pulse width per - piece becomes wider in order to supply the same power as in FIG.
この様子を第７図に示す。このパルス列はＣＰＵ ３の
内部演算によって得られた２進データーをカウンター４
にロードしトリガがかかつてから、その２進データー分
基準クロックをカウントし、２進データーに比例した幅
をもって出力されるパルスである。This situation is shown in FIG. This pulse train converts binary data obtained by internal calculations of CPU 3 to counter 4.
This is a pulse that is output with a width proportional to the binary data by counting the reference clock for the binary data after the trigger is activated.
従って、トリガ間隔をＣＰＵ３で制御するととにより、
ＰＷＭ周期は制御可能となる。Therefore, by controlling the trigger interval with the CPU 3,
The PWM cycle becomes controllable.
ところで、ＣＰ Ｕ３の演算は２進数で行なわれルタめ
、パルス幅の変化は最低、カウンター４のクロツク入力
１パルス分あるわけである。これはパルス幅がどのよう
に変化しても、カウンター４のクロック人力が一定の場
合常に等しく、この制御量１変化を１とし、第６図のパ
ルス幅を２５、第７図のパルス幅を５０とすると、制御
量１変化のパルス幅に対する割分け、それぞれ１／２５
、１１５０となる。Incidentally, since the calculations of the CPU 3 are performed in binary numbers, the pulse width changes at least by one pulse of the clock input to the counter 4. This means that no matter how the pulse width changes, if the clock power of counter 4 is constant, it will always be equal.If one change in this control amount is 1, then the pulse width in Figure 6 is 25, and the pulse width in Figure 7 is 50, the division of one change in control amount to the pulse width is 1/25, respectively.
, 1150.
またパルス幅はモーター供給電力に比例しているため、
第６図では、１つ制御量を変化させると１／２５ Ｘ平
均電圧変化するのに対し、第７図では、その十分の１１
５０Ｘ平均電圧しか変化しない。Also, since the pulse width is proportional to the motor supply power,
In Fig. 6, changing one control amount changes the average voltage by 1/25, whereas in Fig. 7, it changes by 1/25 x the average voltage.
Only 50X average voltage changes.
従って、ＰＷＭ周期を長ｃくすることにより、より細か
ｈ制御が可能となり、回転ムラを押さえることができる
。Therefore, by increasing the PWM period c, more fine h control becomes possible and rotational unevenness can be suppressed.
特に複写機の光学系駆動においては、立上り時と定回転
時のトルク差が大きく、さらに定回転域では画像に影響
がでなか様に、回転ムラを低くする必要があり、有効な
制御方式といえる。In particular, in the optical system drive of a copying machine, there is a large torque difference between startup and constant rotation, and it is necessary to reduce rotational unevenness in the constant rotation range so that it does not affect the image. I can say that.
尚、立上り時と定回転時でＰＷＭ周期を変化させている
が、ＰＷＭ周期の変化は、ＣＰＵ３で任意に制御可能な
ため、常に適切なＰＷＭ周期の制御も可能〒ある。Note that although the PWM cycle is changed at startup and during constant rotation, the change in the PWM cycle can be arbitrarily controlled by the CPU 3, so it is always possible to control the PWM cycle appropriately.
（効果）
本発明は以上の通りのものであり、本発明によれば、定
回転時のＰＷＭ周期を立上り時より長くするように制御
したため、より細かいモーター回転制御が可能となり、
回転ムラを押えることが出来る。(Effects) The present invention is as described above.According to the present invention, since the PWM cycle during constant rotation is controlled to be longer than that during startup, more detailed motor rotation control is possible.
It can suppress uneven rotation.
第１図は本発明の一実施例に係るモーター制御回路ブロ
ック図、第２図は所定回転数までの立ち上がり金示す特
性図、第３図はトルクパヨーン図、第４図はモーター特
性図、第５図、第６図、第７図はＰＷＭによるパルス波
形図である。
１・・・・・・直流モーター、２・・・・・・ＣＰＵ、
４・・・・・・カウンター、５・・・・・・モータード
ライバー。Fig. 1 is a motor control circuit block diagram according to an embodiment of the present invention, Fig. 2 is a characteristic diagram showing the rise speed up to a predetermined rotation speed, Fig. 3 is a torque payon diagram, Fig. 4 is a motor characteristic diagram, and Fig. 5 is a motor characteristic diagram. 6 and 7 are pulse waveform diagrams by PWM. 1...DC motor, 2...CPU,
4...Counter, 5...Motor driver.
Claims (1)
回転方向を検出し、ＣＰＵ内部の演算により、制御量を
カウンターに出力し、このカウンターにＣＰＵよりトリ
ガーをかけることにより、カウンターは制御量に比例し
たパルス幅をモータードライバーに出力し、モータード
ライバーは回転方向指令に従って、このパルス幅に比例
しり時間だけ特定のトランジスタをオン状態ＫＬ、直流
モーターへの供給電力をフィードバック制御する回路に
おいて、加、減速時と定回転時にトリガーをかける周期
を変化させることを特徴とする直流モーターの制御方式
。The speed is determined by the encoder pulses of the DC motor.
The direction of rotation is detected, the CPU internally calculates the control amount to the counter, the counter is triggered by the CPU, the counter outputs a pulse width proportional to the control amount to the motor driver, and the motor driver In accordance with the rotation direction command, a specific transistor is turned on (KL) for a time proportional to this pulse width, and in a circuit that feedback controls the power supplied to the DC motor, the cycle at which the trigger is applied during acceleration, deceleration, and constant rotation is changed. A DC motor control system featuring:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58144405A JPS6035989A (en) | 1983-08-09 | 1983-08-09 | Control system of dc motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58144405A JPS6035989A (en) | 1983-08-09 | 1983-08-09 | Control system of dc motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6035989A true JPS6035989A (en) | 1985-02-23 |
Family
ID=15361405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58144405A Pending JPS6035989A (en) | 1983-08-09 | 1983-08-09 | Control system of dc motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6035989A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62272886A (en) * | 1986-05-20 | 1987-11-27 | Fujitsu Ltd | Dc motor drive circuit |
| JPH01180499A (en) * | 1988-01-11 | 1989-07-18 | Framatome Et Cogema <Fragema> | Stainless steel tubular element having improved wear resistance |
-
1983
- 1983-08-09 JP JP58144405A patent/JPS6035989A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62272886A (en) * | 1986-05-20 | 1987-11-27 | Fujitsu Ltd | Dc motor drive circuit |
| JPH01180499A (en) * | 1988-01-11 | 1989-07-18 | Framatome Et Cogema <Fragema> | Stainless steel tubular element having improved wear resistance |
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