JPS61246807A - Runaway detecting method - Google Patents
Runaway detecting methodInfo
- Publication number
- JPS61246807A JPS61246807A JP60087722A JP8772285A JPS61246807A JP S61246807 A JPS61246807 A JP S61246807A JP 60087722 A JP60087722 A JP 60087722A JP 8772285 A JP8772285 A JP 8772285A JP S61246807 A JPS61246807 A JP S61246807A
- Authority
- JP
- Japan
- Prior art keywords
- output
- runaway
- integration
- circuit
- control system
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
- G05B23/0227—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions
- G05B23/0235—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions based on a comparison with predetermined threshold or range, e.g. "classical methods", carried out during normal operation; threshold adaptation or choice; when or how to compare with the threshold
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
Description
【発明の詳細な説明】
［概 要］
サーボ制御系において、位置偏差値を積分する積分器と
、その積分出力を、ある一定の設定値と比較する比較器
を備え、積分出力が設定値を越えたことにより、サーボ
系の暴走を検知するようにしたもので、これによって、
暴走を確実に検出することができる。[Detailed Description of the Invention] [Summary] A servo control system includes an integrator that integrates a position deviation value and a comparator that compares the integrated output with a certain set value, and the integrated output is equal to the set value. By exceeding the limit, runaway of the servo system is detected, and as a result,
Runaway can be reliably detected.
［産業上の利用分野］
本発明は、サーボ制御系における暴走検知方法に関する
。[Industrial Application Field] The present invention relates to a runaway detection method in a servo control system.
閉ループ式のサーボ系においては、フィードバック信号
に異常が生ずると、系が暴走を起す。従って、暴走を起
したことを直ちに検知して、停止してやる必要がある。In a closed-loop servo system, if an abnormality occurs in the feedback signal, the system will run out of control. Therefore, it is necessary to immediately detect the occurrence of runaway and stop it.
本発明は、サーボ系における暴走を確実に検出できる方
法に関するものである。The present invention relates to a method that can reliably detect runaway in a servo system.
［従来の技術］
第２図は、ロボット制御等のためのサーボ制御系の一例
を示すブロック図である。[Prior Art] FIG. 2 is a block diagram showing an example of a servo control system for controlling a robot or the like.
第２図において、１は制御回路であり、２は制御対象で
あるモータであり、３はフィードバック要素であるエン
コーダである。In FIG. 2, 1 is a control circuit, 2 is a motor to be controlled, and 3 is an encoder as a feedback element.
エンコーダ３の出力である位置増分パルスは、カウンタ
（ＣＴＲＩ） ４に入れられ、の出力は現在位置を示す
ことになる。The position increment pulses which are the output of the encoder 3 are fed into a counter (CTRI) 4 whose output will indicate the current position.
この制御系では、制御指令が指示速度パルスの形で入力
される。指示速度パルスは、カウンタ（ＣＴＲ２） ５
に入力され、従って、カウンタ５の出力は指令位置を示
すことになる。In this control system, control commands are input in the form of commanded speed pulses. The instruction speed pulse is the counter (CTR2) 5
Therefore, the output of the counter 5 indicates the command position.
カウンタ５の出力、およびカウンタ４の出力は、減算器
６に入力され、減算される。The output of the counter 5 and the output of the counter 4 are input to a subtracter 6 and subtracted therefrom.
減算器６の出力は、位置誤差を示し、フィードバック信
号として、制御回路１に入力される。The output of the subtracter 6 indicates the position error and is input to the control circuit 1 as a feedback signal.
この制御系では、カウンタ４の出力を微分する微分回路
（ｄ／ｄｔ） ７の出力、即ち速度をフィードバック信
号として、制御回路１に入力する。In this control system, the output of a differentiating circuit (d/dt) 7 that differentiates the output of the counter 4, that is, the speed, is input to the control circuit 1 as a feedback signal.
さらに、この制御系では、減算器６の出力を積分する積
分回路（ｆ）８の出力、即ち位置偏差の積分値もフィー
ドバック出力として、制御回路１に入力するようになっ
ている。Furthermore, in this control system, the output of the integrating circuit (f) 8 that integrates the output of the subtracter 6, that is, the integrated value of the positional deviation, is also input to the control circuit 1 as a feedback output.
制御回路１は、指令速度と実際速度の差を最小にし、位
置偏差をゼロとなるようモータに電流を流す０位置偏差
がゼロとなれば、モータに与える電流値がゼロとなるた
め、ロボットのアーム等の制御において、重力に抗して
位置偏差をゼロに持ち込むには、位置偏差の積分値の帰
還が有効であることが知られている。The control circuit 1 minimizes the difference between the commanded speed and the actual speed and supplies current to the motor so that the positional deviation becomes zero. If the positional deviation becomes zero, the current value given to the motor becomes zero, so the robot In controlling an arm or the like, it is known that feedback of the integral value of the positional deviation is effective in bringing the positional deviation to zero against gravity.
上記のようなサーボ制御系において、エンコーダ等のフ
ィードバック信号に異常が生ずると、系が暴走を起す。In the servo control system as described above, if an abnormality occurs in the feedback signal of the encoder or the like, the system will run out of control.
この暴走の検知方法として、従来は、モータ電流に対し
て過電流検出器（Ｄｌｌ！Ｔｌ） ９を設け、この過電
流の発生によって暴走を検知していた。Conventionally, as a method for detecting this runaway, an overcurrent detector (Dll!Tl) 9 was provided for the motor current, and runaway was detected by the occurrence of this overcurrent.
［発明が解決しようとする問題点］
上記のような、過電流検出による従来の暴走検知方法で
は、完全に暴走を検知できるとは限らない。[Problems to be Solved by the Invention] In the conventional runaway detection method using overcurrent detection as described above, runaway cannot always be completely detected.
即ち、暴走して障害物に当るようなことがあれば、モー
タに過電流が流れるが、一定電流で一方向に暴走してい
る状態では検出できない。That is, if the motor runs out of control and hits an obstacle, an overcurrent will flow through the motor, but it cannot be detected if the motor runs out of control in one direction with a constant current.
本発明は、このような問題点を解消し、サーボ系の暴走
を確実に検知するこのできる検知方法を提供しようとす
るものである。The present invention aims to solve these problems and provide a detection method that can reliably detect runaway in the servo system.
［問題点を解決するための手段］
第１図は本発明の暴走検知方法の原理を示すブロック図
である。[Means for Solving the Problems] FIG. 1 is a block diagram showing the principle of the runaway detection method of the present invention.
第１図において、第２図と同一の符号は同一の対象物を
示す。In FIG. 1, the same reference numerals as in FIG. 2 indicate the same objects.
１０は暴走検知回路（ＤＥＴ２）であって、偏差積分回
路（負８の出力を、ある一定の設定値と比較して、これ
を越えた時点で、暴走検知信号を出力する。Reference numeral 10 denotes a runaway detection circuit (DET2), which compares the output of the deviation integration circuit (negative 8) with a certain set value, and outputs a runaway detection signal when it exceeds this set value.
第１図は本発明の詳細な説明するためのブロック図であ
るが、ここに示しているサーボ制御系は一例であって、
本発明はこれに限定されるものではない。FIG. 1 is a block diagram for explaining the present invention in detail, but the servo control system shown here is just an example, and
The present invention is not limited to this.
位置偏差の積分器の無い制御系においては、別途積分回
路を設けて、その出力を暴走検知回路に入力する。In a control system without a position error integrator, a separate integration circuit is provided and its output is input to the runaway detection circuit.
［作用］
第１図に示すサーボ制御系において、フィードバック信
号に異常があれば、必ず偏差が発生し、暴走を始める。[Function] In the servo control system shown in FIG. 1, if there is an abnormality in the feedback signal, a deviation will definitely occur and a runaway will begin.
フィードバック信号の異常のため、偏差は変化しなくと
も、積分された値は時間とともに増加して、ある値を越
えることにより、暴走の検出ができる。Due to an abnormality in the feedback signal, even if the deviation does not change, the integrated value increases over time and when it exceeds a certain value, runaway can be detected.
フィードバック信号の異常ではなく、駆動系の異常の場
合は、暴走すれば必ず偏差が増える。従って、偏差の積
分された値も増加するので、暴走の検出ができる。If it is not an abnormality in the feedback signal but an abnormality in the drive system, the deviation will definitely increase if the motor runs out of control. Therefore, since the integrated value of the deviation also increases, runaway can be detected.
［発明の効果］
以上説明のように本発明によれば、比較的簡単な構成に
よって、フィードバック信号の異常、および駆動系の異
常等による、あらゆる暴走を確実に検知することができ
、その実用上の効果はきわめて大きい。[Effects of the Invention] As explained above, according to the present invention, all kinds of runaways due to feedback signal abnormalities, drive system abnormalities, etc. can be reliably detected with a relatively simple configuration, and it is possible to detect it in practice. The effect is extremely large.
第１図は本発明の原理ブロック図、
第２図は従来例のブロック図である。
図面において、
１は制御回路、 ２はモータ、３はエンコー
ダ、 ４はカウンタ（ＣＴＲＬ）、５はカウン
タ（ＣＴＲ２）、 ６は減算器、７は微分回路（ｄ／
ｄｔ）、 ８は積分回路（負、９は過電流検出器（Ｄ
ＥＴＩ）、
１０は暴走検知回路（ＤＥＴ２）、
をそれぞれ示す。
峯１閉FIG. 1 is a block diagram of the principle of the present invention, and FIG. 2 is a block diagram of a conventional example. In the drawing, 1 is a control circuit, 2 is a motor, 3 is an encoder, 4 is a counter (CTRL), 5 is a counter (CTR2), 6 is a subtracter, and 7 is a differential circuit (d/
dt), 8 is an integration circuit (negative, 9 is an overcurrent detector (D
10 indicates a runaway detection circuit (DET2), respectively. Mine 1 close
Claims (1)
する検知回路（１０）とを備え、 前記積分出力が、該設定値を越えたことをもって、前記
サーボ制御系の暴走を検知するよう構成したことを特徴
とする暴走検知方法。[Claims] A servo control system comprising: an integrator (8) that integrates positional deviation; and a detection circuit (10) that compares the integrated output of the integrator (8) with a predetermined set value. . A runaway detection method, characterized in that runaway of the servo control system is detected when the integral output exceeds the set value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60087722A JPS61246807A (en) | 1985-04-24 | 1985-04-24 | Runaway detecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60087722A JPS61246807A (en) | 1985-04-24 | 1985-04-24 | Runaway detecting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61246807A true JPS61246807A (en) | 1986-11-04 |
Family
ID=13922800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60087722A Pending JPS61246807A (en) | 1985-04-24 | 1985-04-24 | Runaway detecting method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61246807A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01169512A (en) * | 1987-12-24 | 1989-07-04 | Shin Meiwa Ind Co Ltd | Abnormality detecting circuit for electric servo driving device |
| KR20030056486A (en) * | 2001-12-28 | 2003-07-04 | 순환엔지니어링 주식회사 | Apparatus for controlling run-away of a servo motor and method therefore |
-
1985
- 1985-04-24 JP JP60087722A patent/JPS61246807A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01169512A (en) * | 1987-12-24 | 1989-07-04 | Shin Meiwa Ind Co Ltd | Abnormality detecting circuit for electric servo driving device |
| KR20030056486A (en) * | 2001-12-28 | 2003-07-04 | 순환엔지니어링 주식회사 | Apparatus for controlling run-away of a servo motor and method therefore |
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