JPH1042592A - Motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a plurality of motors with a single digital signal processor(DSP). SOLUTION: The data from a plurality of motors 1-1 ,..., 1-4 are taken in a multiplexer 2 with individual channels. One channel signal is addressed to be selected, converted into a digital signal with an A/D converter 3, and taken in DSP4 for a prescribed control processing operation. The prcessed result is inputted in a demultiplexer 8 through a D/A converter 7, to outputs signal to the corresponding motor from the output channel addressed by the DSP4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a helicopter actuator and a motor controller used for axis control of an NC machine.

[0002]

2. Description of the Related Art Conventionally, a plurality of motors are used for helicopter actuators (for example, actuators for adjusting the pitch [tilt] of blades) and for free control of NC machines. Each used a separate controller. Further, the conventional controller employs fixed-point arithmetic for control arithmetic.

[0003]

As described above, a conventional motor controller such as an actuator of a helicopter has one controller for one motor, that is, a D controller.
An SP (Digital Signal Processor) or a CPU is required, which makes it difficult to comprehensively control a plurality of motors.

The present invention has been made in view of the above problems, and has as its object to provide a motor controller capable of controlling a plurality of motors with one DSP.

[0005]

In order to solve the above-mentioned problems, a motor controller according to the present invention receives a plurality of motors, data from these motors, sequentially selects one of the data and outputs the data. And an A / A for converting data from the multiplexer into a digital signal.
A D converter, a digital signal processor that takes in digital data from the A / D converter and executes a predetermined operation, and a D / A converter that converts data output from the digital signal processor into an analog signal. And a demultiplexer that receives the analog data of the D / A converter, outputs the data from a selected channel among a plurality of output channels, and provides the output to the corresponding motor.

In this motor controller, data from a plurality of motors is selected in a time-division manner by a multiplexer in a time-sequential manner, is converted into a digital signal by an A / D converter, and is taken into a DSP (digital signal processor). In rare cases, the DSP performs calculations and comprehensive calculations on each motor, outputs data addressed to each motor in a time-sequential manner, converts the data into analog signals with a D / A converter, and further converts each motor with a demultiplexer. An individual channel selection is made, and the motor corresponding to the selected channel is
Data is provided sequentially.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in more detail with reference to embodiments. FIG. 1 is a block diagram showing a circuit configuration of a motor controller according to one embodiment of the present invention. This motor controller has four motors _1-1 ,
1 _-2, 1 _-3, 1 _-4, the motors 1 _-1, ..., select individual data from 1 _-4 times successively, a multiplexer 2 which sequentially selects and outputs one data, the An A / D converter 3 for converting analog data from the multiplexer 2 into a digital signal; taking in the digital signal; performing a predetermined control operation for each data and comprehensively; DSP that outputs digital data
4, a ROM 5 for storing in advance a control calculation program executed by the DSP 4, a RAM 6 for storing data for control calculation, and a D / A converter 7 for converting digital data output from the DSP 4 into an analog signal. analog data time sequentially a from D / a converter 7, and selects the output channel to the motor corresponding to the data, the motors 1 _-1, 1 _-2, ..., provide analog data into 1 _-4 A demultiplexer 8 is provided. In addition, a power supply 9, a reset switch 10, and an interrupt unit 11 are provided. FIG.
, D indicates data and A indicates an address.

Next, the operation of the motor controller according to this embodiment will be described with reference to a flowchart shown in FIG. First,
First, the initialization routine initializes the RAM 6 and the A / D converter 3 and the D / A converter 7. Also, an address for channel selection of the multiplexer 2 and the demultiplexer 8 is set (step ST1). Next, the DSP
By addressing than 4, and select the input channel in the multiplexer 2, receives a signal from a specified motor (for example, a motor 1 _-1) (step ST2). This signal is converted into digital data by the A / D converter 3 and
It is input to SP4 (step ST4). Here, the signals extracted from each motor are the displacement of the motor, the displacement of the actuator, and the like. A predetermined process, that is, a control operation is performed on the input signal, and data corresponding to the process result is digitally output for each motor (step ST5). Also, DS
From P4, an address for selecting one of the output channels of the demultiplexer 8 is designated in accordance with which motor this output data is for (step ST6). The analog signal supplied from the D / A converter 7 to the demultiplexer 8 is output to the corresponding motor via the selected channel (step ST7).
Here, the signal given to the motor is a movement amount (change amount of change) of the motor, a position (displacement) of the motor, and the like.

The above steps ST3 to ST7 are constantly repeated. However, when an interrupt occurs in the DSP, after the data is output in step ST7,
The interrupt process is executed (step ST
8). There are various control processes in step ST5, and an example will be described. When one command in the program stored in the ROM 5 has a predetermined output value and stabilizes the output by comparing the input and the output, as shown in FIG. the present process results in DSP4 input to the motor 1 _-i, by feeding back the output of the motor 1 _-i, prompts and output deviation, and controls so that the difference becomes zero.

As another example of the control process in step ST5, as shown in FIG. 4, a plurality of motors _1-1 , 1-2 _,.
1 _-3, by feeding back the ... output, in addition to performing the same control as in FIG. 3, and each motor 1 _-1, 1 _-2,
1 _-3, ... The output of the fault diagnosis unit (routines in the program) 13 incorporated into, by the output compare respectively, and performs fault diagnosis.

The control operation employs a floating point operation method. Since the number of bits per word is large in the floating-point arithmetic CPU and DSP, the number of operands that can be specified by one instruction increases. Therefore, the processing amount increases,
Further, since the number of bits of the numerical value itself is large, it is possible to perform calculation with higher accuracy. Note that the present invention can be applied to, for example, a four-axis NC machine that simultaneously controls four motors of x, y, z, and r axes. In addition, by driving one driving device with a plurality of motors, even if one motor breaks down, it can be applied to a device that detects the failure and supplements it with another motor.

[0012]

According to the present invention, since a single DSP is used to control a plurality of motors, the development of a comprehensive system is facilitated. In addition, failures can be diagnosed and detected while comparing a plurality of motors, so that the security of the system can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a circuit configuration of a motor controller according to an embodiment of the present invention.

FIG. 2 is a flowchart for explaining the operation of the motor controller of the embodiment.

FIG. 3 is a diagram illustrating a specific example of control processing of the motor controller according to the embodiment.

FIG. 4 is a diagram illustrating another specific example of the control processing of the motor controller according to the embodiment.

[Explanation of symbols]

1 _-1, ..., 1 _-4 motor 2 multiplexer 3 A / D converter 4 DSP 7 D / A converter 8 demultiplexer

Claims (1)

[Claims] 1. A plurality of motors, a multiplexer that receives data from these motors, sequentially selects and outputs one of the data, and an A / D converter that converts data from the multiplexer into a digital signal. A digital signal processor that takes in digital data from the A / D converter and executes a predetermined operation; a D / A converter that converts data output from the digital signal processor into an analog signal; And a demultiplexer that receives the analog data of the D / A converter, outputs the data from a selected channel among a plurality of output channels, and provides the output to the corresponding motor.