WO2011030376A1 - Servo device - Google Patents
Servo device Download PDFInfo
- Publication number
- WO2011030376A1 WO2011030376A1 PCT/JP2009/004460 JP2009004460W WO2011030376A1 WO 2011030376 A1 WO2011030376 A1 WO 2011030376A1 JP 2009004460 W JP2009004460 W JP 2009004460W WO 2011030376 A1 WO2011030376 A1 WO 2011030376A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- magnetic sensor
- conversion unit
- rotation angle
- output
- motor
- Prior art date
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
- G01R33/072—Constructional adaptation of the sensor to specific applications
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37124—Magnetic sensor
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37187—Disk with magnetic, inductive sensors
Definitions
- the present invention relates to a servo device for operating a controlled object based on an input control signal, and more particularly to a model radio control device, an industrial radio control device, and a servo device used in a robot.
- a steered device for radio control is equipped with a receiver that receives a signal transmitted from a transmitter and a plurality of servo devices for operating an operation target.
- the receiver converts the received signal into a pulse-width modulated signal (hereinafter referred to as a PWM signal) for each channel, and provides it to the servo device for each channel as control information.
- a PWM signal pulse-width modulated signal
- the servo device has a motor, and the rotation of the motor is decelerated by a reduction mechanism so that the servo horn of the output shaft is within a certain angular range (eg, ⁇ 60 ° from the reference position). Rotate and operate.
- a potentiometer is attached to the output shaft of the speed reduction mechanism, and the rotation angle of the output shaft is detected, feedback control is performed using the pulse width as a control signal, and control is performed to achieve a desired rotation angle.
- the potentiometer since the output shaft rotates frequently, the potentiometer also rotates frequently. Moreover, since pressure is easily applied from the outside to the output shaft and pressure is also applied to the potentiometer, there is a drawback that the potentiometer is likely to deteriorate. When the potentiometer is deteriorated, an accurate feedback signal cannot be obtained, so that the angle of the reference position (neutral) of the output shaft is deviated and a desired rotation operation cannot be performed. Therefore, the servo motor has a drawback that it needs to be replaced frequently.
- the present invention has been made paying attention to such conventional problems, and enables the rotation angle of the output shaft to be detected in a non-contact manner without using a potentiometer, improving the reliability of the servo device and increasing the length.
- the purpose is to extend the service life.
- a servo device includes a motor, a speed reduction mechanism connected to the motor and decelerating the output of the motor, a magnet attached to a rotating shaft of the speed reduction mechanism, The motor is rotated so that the difference signal becomes zero based on the difference between the magnetic sensor that detects the rotation angle of the output shaft of the servo horn based on the rotation, and the output from the magnetic sensor and the control signal from the outside. And a control unit for controlling.
- the magnet is a disc-shaped member, and at least a part of the magnet may have a notch, and may be magnetized symmetrically on the surface of the disc.
- a linear conversion unit that makes rotation angle information in which an output obtained from the magnetic sensor linearly changes corresponding to the rotation angle of the output shaft of the speed reduction mechanism.
- control unit further includes an A / D conversion unit that performs A / D conversion on an output obtained from the magnetic sensor, and the linear conversion unit changes the digital signal converted by the A / D conversion unit. May be converted into linearly changing data using a function.
- control unit further includes an A / D conversion unit that performs A / D conversion on an output obtained from the magnetic sensor, and the linear conversion unit changes the digital signal converted by the A / D conversion unit. May be converted into linearly changing data using a conversion table.
- the magnetic sensor may be a Hall IC in which the Hall IC and an amplifier are incorporated.
- the rotation angle of the servo motor since the rotation angle of the servo motor is detected by the magnet and the magnetic sensor, the rotation angle of the output shaft can be detected in a non-contact manner without using a potentiometer. Therefore, malfunctions and neutral angle fluctuations due to deterioration of the potentiometer do not occur, and the reliability of the servo device can be improved and the life can be extended.
- FIG. 1 is a perspective view showing the overall configuration of a servo device according to an embodiment of the present invention.
- FIG. 2 is a block diagram of the servo device according to the present embodiment.
- FIG. 3 is a diagram showing the arrangement of the magnet plate and the magnetic sensor for detecting the magnetic flux of the magnet plate according to the present embodiment.
- FIG. 4 is a diagram showing the relationship between the rotation angle, the voltage of the magnetic detector, A / D conversion data, and linear conversion data.
- FIG. 1 is a perspective view showing the overall configuration of a servo device according to an embodiment of the present invention.
- a motor 11 is mounted on a substrate 10.
- Gears 12a, 12b, and 12c constituting a speed reduction mechanism 12 are sequentially connected to the motor 11, and a servo horn 14 is connected to an output shaft of the gear 12c.
- a magnet holder 15 and a magnet plate 16 are further connected to the output shaft 13 of the gear 12c.
- the magnet plate 16 is a disk-shaped magnetic body as will be described later.
- a magnetic sensor 17 is arranged at a predetermined interval from the magnet plate 16. The magnetic sensor 17 detects a change in magnetism accompanying the rotation of the magnet plate 16 and obtains rotation angle information.
- the output from the magnetic sensor 17 is amplified by an amplifier 18.
- a Hall element is used as the magnetic sensor 17.
- the Hall element and the amplifier 18 may be separate elements, but here, a linear Hall IC 19 in which these elements are combined is used as it is.
- the linear Hall IC 19 can detect a magnetic flux at a predetermined position and output a voltage signal proportional to the magnetic flux.
- the output from the linear Hall IC 19 is applied to the A / D conversion unit 21 of the control unit 20.
- the A / D converter 21 converts the input voltage into digital data, and the output is applied to the linear converter 22.
- the linear conversion unit 22 converts the rotation angle information into linear data.
- a pulse width modulated signal (PWM signal) is applied to this servo motor from a receiver (not shown).
- the PWM signal is a signal whose center value is 1.5 ms, for example, and whose pulse width changes in the range of 1.5 ⁇ 0.6 ms according to the operation of the transmitter.
- This PWM signal is given to the pulse width angle data converter 23 from the receiver.
- the pulse width angle data conversion unit 23 converts the PWM signal into instruction data corresponding to the pulse width.
- the output of the pulse width angle data conversion unit 23 is given to the difference calculation unit 24.
- the difference calculation unit 24 drives the motor 11 via the motor driver 25 so that the difference signal is zero. By the feedback loop configured in this way, the rotation angle is controlled according to the PWM signal.
- the present embodiment has a D-shape as shown in FIG. In this case, the manufacturing process can be facilitated by using a magnet holder 15 having a D-shaped depression as shown in FIG. 1 and embedding a disk-shaped magnet plate 16 therein.
- the magnet plate 16 is magnetized symmetrically as seen from the front as shown in FIG.
- the detection position P of the Hall IC 19 is set to be the boundary position of the magnetized magnetic poles when viewed from the front.
- the distance between the Hall IC 19 and the magnet plate 16 is g.
- FIG. 4A is a graph showing the relationship between the rotation angle ⁇ of the output shaft 13 of the speed reduction mechanism 12 and the voltage detected by the magnetic sensor 16.
- the output of the Hall IC 19 changes to a sine wave shape with respect to the rotation angle ⁇ , and the amplitude changes as shown by the curves C1 and C2 depending on the interval between the magnet plate 16 and the Hall IC 19. Therefore, the gap g between the Hall IC 19 and the magnet plate 16 is set to a value that allows a sufficient voltage change without saturation of the output.
- the output of the Hall IC 19 is amplified as shown in FIG. 4B, converted into a digital signal by the A / D converter 21, and then linear as shown in FIG. 4C.
- FIGS. 4B and 4C show the change in data with respect to the rotation angle as an analog value.
- the linear converter 22 uses a function having a reverse characteristic to the function indicating the voltage change detected by the magnetic sensor, for example, an arc sine function, and converts the input change to a straight line by appropriately setting the coefficient.
- the linear conversion unit 22 uses a function having a reverse characteristic to the function indicating the voltage change detected by the magnetic sensor, for example, an arc sine function, and converts the input change to a straight line by appropriately setting the coefficient.
- the linear conversion unit 22 performs conversion using an arc sine function.
- a table for outputting angle data that is linear with respect to the input signal is calculated in advance, and this table is read-only. It may be held in a nonvolatile storage memory such as a memory (ROM). In this way, linearly changing data can be obtained by reading the angle data from this table based on the input signal.
- the rotation angle of the motor is controlled on the basis of the pulse width modulated signal.
- the servo device is directly supplied with digital data corresponding to the rotation angle, the pulse width angle data conversion is performed. Without providing the unit 23, digital data from the outside can be input to the difference calculation unit 24 as it is.
- the magnet plate is changed to a part of the disk by switching a part of the disk, but may have other shapes.
- it may be a rectangle or a shape having notches on the left and right.
- the shaft of the gear 12c is used as the output shaft 13, and the servo horn 14 and the magnet holder 15 are attached to this shaft. .
- the output shaft rotates a plurality of times even when it rotates by a predetermined angle, it is necessary to detect the number of rotations at the same time, but the rotation angle of the output shaft can be detected with high resolution.
- the output from the linear Hall IC is converted into digital data, and linear conversion and difference calculation are performed.
- the output of the Linear Hall IC is linearly converted as an analog signal, and the pulse width used as a control signal
- the present invention can also be applied to an analog type servo device that converts the signal into a voltage signal and drives the motor driver based on the difference.
- the present invention can detect the rotation angle of the output shaft in a non-contact manner without using a potentiometer, and can extend the life of the servo device, so that the controlled object can be driven based on the input control signal.
- the present invention can be suitably used for servo devices, particularly model radio control devices, industrial radio control devices, and robot servo devices.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
11 モータ
12 減速機構
12a,12b,12c ギア
13 出力軸
14 サーボホーン
15 マグネットホルダ
16 マグネット
17 磁気センサ
18 増幅器
19 ホールIC
20 制御部
21 A/D変換部
22 リニア変換部
23 パルス幅角度データ変換部
24 差分演算部
25 モータドライバ DESCRIPTION OF
20 Control Unit 21 A / D Conversion Unit 22
Claims (6)
- モータと、
前記モータに連結され、前記モータの出力を減速する減速機構と、
前記減速機構の回転軸に取付けられるマグネットと、
前記マグネットの回動に基づいてサーボホーンの出力軸の回転角度を検出する磁気センサと、
前記磁気センサからの出力及び外部からの制御信号との差分に基づいて差分信号が零となるように前記モータを回転制御する制御部と、を具備するサーボ装置。 A motor,
A speed reduction mechanism coupled to the motor and decelerating the output of the motor;
A magnet attached to the rotating shaft of the speed reduction mechanism;
A magnetic sensor for detecting the rotation angle of the output shaft of the servo horn based on the rotation of the magnet;
And a controller that controls the rotation of the motor so that the difference signal becomes zero based on the difference between the output from the magnetic sensor and the control signal from the outside. - 前記マグネットは円板状部材であり、少なくともその一部に切欠きを有し、円板の面に対称に着磁されたものである請求項1記載のサーボ装置。 2. The servo device according to claim 1, wherein the magnet is a disk-shaped member, has a notch at least at a part thereof, and is magnetized symmetrically on the surface of the disk.
- 前記減速機構の出力軸の回転角度に対応して前記磁気センサより得られる出力が直線的に変化する回転角度情報とするリニア変換部を更に有する請求項1記載のサーボ装置。 2. The servo device according to claim 1, further comprising a linear conversion unit that converts rotation angle information in which an output obtained from the magnetic sensor linearly changes in correspondence with a rotation angle of an output shaft of the speed reduction mechanism.
- 前記制御部は、前記磁気センサより得られる出力をA/D変換するA/D変換部を更に有し、
前記リニア変換部は、前記A/D変換部によって変換されたデジタル信号の変化を関数を用いて直線状に変化するデータに変換するものである請求項3記載のサーボ装置。 The control unit further includes an A / D conversion unit that performs A / D conversion on an output obtained from the magnetic sensor,
4. The servo device according to claim 3, wherein the linear conversion unit converts a change in the digital signal converted by the A / D conversion unit into data that changes linearly using a function. - 前記制御部は、前記磁気センサより得られる出力をA/D変換するA/D変換部を更に有し、
前記リニア変換部は、前記A/D変換部によって変換されたデジタル信号の変化を変換テーブルを用いて直線状に変化するデータに変換するものである請求項3記載のサーボ装置。 The control unit further includes an A / D conversion unit that performs A / D conversion on an output obtained from the magnetic sensor,
4. The servo apparatus according to claim 3, wherein the linear conversion unit converts the change in the digital signal converted by the A / D conversion unit into data that changes linearly using a conversion table. - 前記磁気センサは、前記ホールICと増幅器とが組み込まれたホールICである請求項1記載のサーボ装置。 The servo device according to claim 1, wherein the magnetic sensor is a Hall IC in which the Hall IC and an amplifier are incorporated.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2009801613518A CN102484440A (en) | 2009-09-09 | 2009-09-09 | Servo device |
JP2011530638A JP5425917B2 (en) | 2009-09-09 | 2009-09-09 | Servo device |
PCT/JP2009/004460 WO2011030376A1 (en) | 2009-09-09 | 2009-09-09 | Servo device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/004460 WO2011030376A1 (en) | 2009-09-09 | 2009-09-09 | Servo device |
Publications (1)
Publication Number | Publication Date |
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WO2011030376A1 true WO2011030376A1 (en) | 2011-03-17 |
Family
ID=43732065
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/004460 WO2011030376A1 (en) | 2009-09-09 | 2009-09-09 | Servo device |
Country Status (3)
Country | Link |
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JP (1) | JP5425917B2 (en) |
CN (1) | CN102484440A (en) |
WO (1) | WO2011030376A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6209486B2 (en) * | 2014-05-13 | 2017-10-04 | 双葉電子工業株式会社 | Angle detection device and servo device using the angle detection device |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6373895A (en) * | 1986-09-16 | 1988-04-04 | Yamaha Motor Co Ltd | Positioning operation mechanism |
JP2002335689A (en) * | 2001-05-09 | 2002-11-22 | Hitachi Ltd | Motor drive circuit |
JP2003086065A (en) * | 2001-06-25 | 2003-03-20 | Yazaki Corp | Combination switch |
JP2007024689A (en) * | 2005-07-15 | 2007-02-01 | Sony Corp | Noncontact position detection sensor |
JP2008022590A (en) * | 2006-07-10 | 2008-01-31 | Nachi Fujikoshi Corp | Servomotor monitoring device |
-
2009
- 2009-09-09 WO PCT/JP2009/004460 patent/WO2011030376A1/en active Application Filing
- 2009-09-09 CN CN2009801613518A patent/CN102484440A/en active Pending
- 2009-09-09 JP JP2011530638A patent/JP5425917B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6373895A (en) * | 1986-09-16 | 1988-04-04 | Yamaha Motor Co Ltd | Positioning operation mechanism |
JP2002335689A (en) * | 2001-05-09 | 2002-11-22 | Hitachi Ltd | Motor drive circuit |
JP2003086065A (en) * | 2001-06-25 | 2003-03-20 | Yazaki Corp | Combination switch |
JP2007024689A (en) * | 2005-07-15 | 2007-02-01 | Sony Corp | Noncontact position detection sensor |
JP2008022590A (en) * | 2006-07-10 | 2008-01-31 | Nachi Fujikoshi Corp | Servomotor monitoring device |
Also Published As
Publication number | Publication date |
---|---|
JP5425917B2 (en) | 2014-02-26 |
JPWO2011030376A1 (en) | 2013-02-04 |
CN102484440A (en) | 2012-05-30 |
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