JPS6158491A - Acceleration/deceleration controller of dc motor - Google Patents
Acceleration/deceleration controller of dc motorInfo
- Publication number
- JPS6158491A JPS6158491A JP59178342A JP17834284A JPS6158491A JP S6158491 A JPS6158491 A JP S6158491A JP 59178342 A JP59178342 A JP 59178342A JP 17834284 A JP17834284 A JP 17834284A JP S6158491 A JPS6158491 A JP S6158491A
- Authority
- JP
- Japan
- Prior art keywords
- voltage
- motor
- amplifier
- outputs
- output
- 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
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、直流電動機の加減速制御装置に係り、特に小
容量の直流サーボ電動機を急速に加減速するのに好適な
制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an acceleration/deceleration control device for a DC motor, and particularly to a control device suitable for rapidly accelerating/decelerating a small-capacity DC servo motor.
直流電動機を急速に加減速制御する制御装置においては
、従来、直流電動機の速度を検出する速度計発電機を結
合し、その発生電圧を直流電動機駆動用増幅器の入力に
負帰還することによシ、速度制御ループを構成している
。Conventionally, a control device that rapidly accelerates and decelerates a DC motor is connected to a speedometer generator that detects the speed of the DC motor, and the generated voltage is negatively fed back to the input of an amplifier for driving the DC motor. , which constitutes a speed control loop.
この速度計発電機帰還を用いる方法は、加減速時間を短
くシ、速度変動を小さくする効果がある一方、高価とな
シ、占有スペースが大きくなる欠点がある。Although this method using speedometer generator feedback has the effect of shortening acceleration/deceleration time and reducing speed fluctuations, it has the drawbacks of being expensive and occupying a large space.
本発明は、速度計発電機を用いることなく、高速な加減
速ができ、直流電動機の能力を最大限に利用する直線的
な加減速が可能で、安価な上に占有スペースの小さい直
流電動機の制御装置を提供することを目的とする。The present invention enables high-speed acceleration/deceleration without using a speedometer generator, linear acceleration/deceleration that maximizes the capability of a DC motor, is inexpensive, and occupies a small space. The purpose is to provide a control device.
本発明は、直流電動機を駆動する増幅器の入力に、
(1)負荷トルクに比例する大きさの電圧(2)所要加
減速電流に比例する大きさの電圧(3)直流電動機の誘
起電圧に比例する電圧の三つを、予め計算し重畳して加
え、直流電動機を所望の時間に、直線的に加減速するも
のである。The present invention provides for the input of an amplifier that drives a DC motor to include (1) a voltage proportional to the load torque, (2) a voltage proportional to the required acceleration/deceleration current, and (3) a voltage proportional to the induced voltage of the DC motor. Three voltages are calculated in advance, superimposed, and applied to linearly accelerate or decelerate the DC motor at a desired time.
第1図は本発明の一実施例を示す図、第2図はそのタイ
ムチャートである。FIG. 1 is a diagram showing an embodiment of the present invention, and FIG. 2 is a time chart thereof.
第1図において、1はリセットスイッチ、2は運転−停
止用7リツグ70ツブ、3は運転−停止用スイッチ、4
は直流電動機駆動用増幅器、5と7はワンショットマル
チバイブレーク、6は積分器、8は極性反転用演算増幅
器、9は直流電動機である。In Fig. 1, 1 is a reset switch, 2 is a run-stop switch with 7 rigs, 3 is a run-stop switch, and 4 is a run-stop switch.
is an amplifier for driving a DC motor, 5 and 7 are one-shot multi-by-breaks, 6 is an integrator, 8 is an operational amplifier for polarity inversion, and 9 is a DC motor.
このように構成した本発明の実施例において、リセット
スイッチ1は、運転に先立ち、制御装置の初期化を行う
ものである。これを予め1−1側から1−2側に倒し再
び1−1側に戻して、フリップフロップ2をリセットさ
れた初期状態にしておくものとする。In the embodiment of the present invention configured as described above, the reset switch 1 is used to initialize the control device prior to operation. It is assumed that this is previously turned from the 1-1 side to the 1-2 side and returned to the 1-1 side again to bring the flip-flop 2 into a reset initial state.
時刻j=Qに、スイッチ3を3−1側から3−2側に倒
すと、クリップ70ツブ2はセットされた状態になり、
その出力2−1はLOWからHighの電圧になる。こ
の電圧は直ちに増幅器4の入力端子4−1に加えられる
。また、ワンショットマルチバイブレーク5を通って、
同じ<4−2及び積分器60入力端子6−1に加えられ
る。When the switch 3 is turned from the 3-1 side to the 3-2 side at time j=Q, the clip 70 knob 2 becomes set,
The output 2-1 changes from LOW to HIGH voltage. This voltage is immediately applied to the input terminal 4-1 of the amplifier 4. Also, through one-shot multi-bye break 5,
The same <4-2 and applied to the integrator 60 input terminal 6-1.
フリップフロップ2の出力2−1がHighになると、
ワンショットマルチバイブレーク5は、予め設定された
時間だけ継続するノくルス状の電圧を発生し、これを増
幅器40入力端子4−2及び積分器6の入力端子6−1
に加える。When the output 2-1 of flip-flop 2 becomes High,
The one-shot multi-by-break 5 generates a pulse-like voltage that lasts for a preset time, and supplies this to the input terminal 4-2 of the amplifier 40 and the input terminal 6-1 of the integrator 6.
Add to.
積分器6の出力電圧は、フンショットマルチノ(イブレ
ータ5の出力パルスの継続時間の期間は直線的に増加し
、以後一定になる。これが増幅器4の入力端子4−3に
加えられる。The output voltage of the integrator 6 is applied to the input terminal 4-3 of the amplifier 4, which increases linearly during the duration of the output pulse of the ibrator 5 and remains constant thereafter.
時刻t=Tに、スイッチ3を3−1側に戻すと □7
リツプフロツブ2はリセット状態になり、その出力はH
i g hからLOWになる。増幅器40入力端子4−
1に加えられていた電圧はOになる。When switch 3 is returned to the 3-1 side at time t=T, □7
Lip flop 2 is in the reset state and its output is H
It becomes LOW from i g h. Amplifier 40 input terminal 4-
The voltage applied to 1 becomes 0.
クリップ70ツグのもう一方の出力2−2はLOWから
Hi g hにな)、ワンショットマルチノくイブレー
タ7と極性反転増幅器8を通って、増幅器4の入力端子
4−4及び積分器60入力端子6−2に加えられる。The other output 2-2 of the clip 70 goes from LOW to HIGH), passes through the one-shot multi-noise ibrator 7 and the polarity inverting amplifier 8, and is connected to the input terminal 4-4 of the amplifier 4 and the input terminal of the integrator 60. Added to 6-2.
フリップフロップ2の出力2−2がHighになると、
ワンショットマルチバイブレータ7は、予め設定された
時間だけ継続するパルス状□の電圧を発生し、これを増
幅器4の入力端子4−4及び積分器6の入力端子6−2
に加える。When the output 2-2 of flip-flop 2 becomes High,
The one-shot multivibrator 7 generates a pulse-like voltage that lasts for a preset time, and supplies this to the input terminal 4-4 of the amplifier 4 and the input terminal 6-2 of the integrator 6.
Add to.
積分器6の出力電圧は、ワンショットマルチバイブレー
タ6の出力パルスの継続時間の期間は直線的に減少し、
以後一定になる。これが、増幅器40入力端子4−3に
加えられる。The output voltage of the integrator 6 decreases linearly during the duration of the output pulse of the one-shot multivibrator 6;
It becomes constant after that. This is applied to amplifier 40 input terminal 4-3.
増幅器4は、その人力4−1〜4−4に加えられる信号
を合成して直流電動機9を駆動する。The amplifier 4 combines the signals applied to the human power 4-1 to 4-4 and drives the DC motor 9.
以上をまとめてそのタイムチャートを第2図に示す。A time chart of the above is shown in Fig. 2.
第2図(a)はスイッチ3の状態を示し、時刻t=0に
3−1側から3−2側に倒れ、運転の指令を与え、時刻
t:TK、逆に3−1側に戻り停止の指令を与えること
を示している。同図(b)は、増幅器4の入力端子4−
1に与えられる電圧を示し、時刻t=0からTtで5”
T7”−の入力電圧を与える。この電圧は増幅器4でに
1倍に増幅されて−R+t”上=几aIb となシ、
負荷トルクを駆動に?
するのに必要な電圧を直流電動機9に与える。ただし、
R1:直流電動機の電機子抵抗
KT:同上トルク係数
τム:負荷トルク、
IL:負荷トルクを駆動するのに必要な電動機電流でI
L”二と
に丁
に、:増幅器の増幅率
同図(C) 、 (d)は、増幅器4の入力端子4−2
゜4−4に与えられる電圧で、それぞれ
8“11°@ RaIdea に設定する。これ
らの入に、 K。Figure 2 (a) shows the state of the switch 3, which at time t=0 falls from the 3-1 side to the 3-2 side, gives a driving command, and returns to the 3-1 side at time t:TK. Indicates that a command to stop is given. The same figure (b) shows the input terminal 4- of the amplifier 4.
1, and 5'' from time t=0 to Tt.
Give the input voltage of T7''-.This voltage is amplified by a factor of 1 in the amplifier 4, and becomes -R+t''=几aIb.
Drive the load torque? The voltage necessary to do this is applied to the DC motor 9. However, R1: Armature resistance of the DC motor KT: Torque coefficient τ as above: Load torque, IL: Motor current required to drive the load torque, I
L"2nd: Amplification factor of the amplifier (C) and (d) are the input terminal 4-2 of the amplifier 4.
8" 11°@RaIdea, respectively, with the voltage applied to 4-4. Into these inputs, K.
力電圧は増幅されてRAIa#!またはRaIdeaと
な9、直流電動機9に加減速電流を供給する。ただし、
J :負荷の慣性能率
No :電動機の運転速度、毎分回転数t 16゜r
tdea :加、減速時間同図(e)は、増幅器4の
入力端子4−3に与えられる電圧である。ワンショット
マルチバイブレータ5の出力パルスによって、直線的に
増加しる。これは増幅されてN、KE となり、回転
数N0のときの直流電動機9の誘起電圧とバランスする
。また、ワンショットマルチバイブレータ6の出力パル
スによって、直線的に減少しOに達すると以後Oを保つ
ように設定する。The power voltage is amplified and RAIa#! Alternatively, RaIdea 9 supplies acceleration/deceleration current to the DC motor 9. However, J: Load inertia factor No.: Operating speed of electric motor, number of revolutions per minute t 16゜r
tdea: Acceleration and deceleration time (e) in the figure is the voltage applied to the input terminal 4-3 of the amplifier 4. It increases linearly by the output pulse of the one-shot multivibrator 5. This is amplified and becomes N, KE, which is balanced with the induced voltage of the DC motor 9 when the rotation speed is N0. Further, the output pulse of the one-shot multivibrator 6 is set so that the output pulse decreases linearly and reaches O, and then maintains O from then on.
同図(f)は、以上の入力電圧を合成した電圧であり、
これが増幅されて直流電動機9に与えられると、直流電
動機9は、同図(g)のように、所望の時間に直線的に
加減速される。(f) in the same figure is a voltage that is a combination of the above input voltages,
When this is amplified and applied to the DC motor 9, the DC motor 9 is linearly accelerated or decelerated at a desired time as shown in FIG.
本発明によれば、速度計発電機を使用することなく、高
速の加減速を、直線的に、所望の時間に行うことができ
るので、安価な上に占有スペースが小さく、直流電動機
の能力を最大限まで引き出せる制御装置が得られる効果
がある。According to the present invention, high-speed acceleration and deceleration can be performed linearly and at a desired time without using a speedometer generator, so it is inexpensive, occupies a small space, and increases the capacity of a DC motor. This has the effect of providing a control device that can be used to its maximum potential.
第1図は本発明の一実施例を示す回路−1第2図は第1
図増幅器の各入力端子に加えられる電圧とそれによって
得られる電動機速度とのタイムチャートである。
1・・・リセットスイッチ、2・・・運転−停止用フリ
ップ70ツブ、3・・・運転−停止用スイッチ、4・・
・直流電動機駆動用増幅器、5・・・ワンショットマル
チバイブレータ、6・・・積分器、7・・・1ワンシヨ
ツトマルチバイブレータ、8・・・極性反転用演算増幅
器、9・・・直流電動機。Figure 1 is a circuit showing one embodiment of the present invention. Figure 2 is a circuit showing an embodiment of the present invention.
3 is a time chart of the voltage applied to each input terminal of the amplifier and the motor speed obtained thereby; FIG. 1... Reset switch, 2... Flip 70 knob for running-stopping, 3... Switch for running-stopping, 4...
- Amplifier for driving a DC motor, 5... One shot multivibrator, 6... Integrator, 7... One shot multivibrator, 8... Operational amplifier for polarity reversal, 9... DC motor.
Claims (1)
る直流サーボ電動機において、負荷トルクに比例する大
きさの電圧を発生する手段と、所要加減速電流に比例す
る大きさの電圧を発生する手段と、直流電動機の誘起電
圧に比例する電圧を発生する手段とを設け、これら3手
段からの電圧を前記増幅器に重畳して印加し、直流電動
機を所望の時間に直線的に加減速することを特徴とする
直流電動機の加減速制御装置。1. In a DC servo motor consisting of a DC motor and an amplifier for driving it, means for generating a voltage proportional to the load torque and means for generating a voltage proportional to the required acceleration/deceleration current. and a means for generating a voltage proportional to the induced voltage of the DC motor, and the voltages from these three means are applied to the amplifier in a superimposed manner to linearly accelerate or decelerate the DC motor at a desired time. Features: Acceleration/deceleration control device for DC motors.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59178342A JPS6158491A (en) | 1984-08-29 | 1984-08-29 | Acceleration/deceleration controller of dc motor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59178342A JPS6158491A (en) | 1984-08-29 | 1984-08-29 | Acceleration/deceleration controller of dc motor |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6158491A true JPS6158491A (en) | 1986-03-25 |
Family
ID=16046813
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59178342A Pending JPS6158491A (en) | 1984-08-29 | 1984-08-29 | Acceleration/deceleration controller of dc motor |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6158491A (en) |
-
1984
- 1984-08-29 JP JP59178342A patent/JPS6158491A/en active Pending
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