CN102882469A - Wide range speed regulation device for torque motor - Google Patents
Wide range speed regulation device for torque motor Download PDFInfo
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- CN102882469A CN102882469A CN2012104322518A CN201210432251A CN102882469A CN 102882469 A CN102882469 A CN 102882469A CN 2012104322518 A CN2012104322518 A CN 2012104322518A CN 201210432251 A CN201210432251 A CN 201210432251A CN 102882469 A CN102882469 A CN 102882469A
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Abstract
The invention discloses a wide range speed regulation device for a torque motor. The device consists of a speed regulation command generator, a speed regulation controller, a power drive module, a speed regulation actuator and a speed sensor; the speed regulation controller consists of a comparator, an integrator, an integral coefficient multiplier, a subtracter, a PDF (Portable Document Format) coefficient multiplier, a PDF (Portable Document Format) follower, a feedback follower and an integral saturation limiter; the speed regulation actuator consists of the torque motor, a coupling and a mechanical load, wherein the comparator, the integrator, the integral coefficient multiplier, the subtracter, the power drive module, the torque motor, the coupling, the mechanical load, the speed sensor and the feedback follower are annularly connected in a clockwise direction; the comparator is also connected with the speed regulation command generator; the subtracter is also connected with the speed regulation sensor by the PDF coefficient multiplier and the PDF follower; and the integral saturation limiter is respectively connected with the output of the integral coefficient multiplier and the integrator. The wide range speed regulation device provided by the invention has the advantages of wide speed regulation range from zero to thousands of turns and excellent speed regulation performance.
Description
Technical field:
The present invention relates to a kind of torque motor speed regulating device, particularly a kind of torque motor need not its speed in the reducing gear situation at zero device of can stable and continuous to thousands of wide regions that turn regulating.
Background technology:
In the speed adjusting device, the torque motor speed governing often runs in many plant equipment and weaponry, such as the revolution of mechanical arm, process equipment rotatablely move the transmission of workpiece in the automatic production line, the search of radar antenna, the aiming of cannon etc.In the torque motor speed regulating device, the variable of adjusting is the movement velocity of mechanical load.In order to obtain the lower speed of service of mechanical load, must the configuration deceleration device between torque motor and the mechanical load.Like this, not only increase the cost of speed regulating device, and increased the volume and weight of speed regulating device.Even in the situation of configuration deceleration device; torque motor speed regulating device performance when low cruise is still unstable, particularly when extremely low speed moves, because load variations or external interference; often can occur can not continuous and stable the situation of operation, i.e. so-called creeping phenomenon.
In order to obtain good speed adjusting function, the torque motor speed regulating device must adopt speed-regulating control device.That is to say, in the mechanized equipment speed of moving component after testing sensor feedback to the speed regulating device input, compare the generation error signal with the speed-regulating instruction signal, and then by speed setting controller error signal is carried out sending control signal behind the control algorithm, the speed of moving component is implemented control.Yet, even adopt now widely used feedback or other so-called modern control method, though the torque motor speed adjusting performance can obtain certain improvement, still can not even running when low speed, in load change or external interference situation, creeping phenomenon is comparatively obvious especially.Trace it to its cause, traditional feedback or other control method mainly are to take various corrective measures aspect the error control algorithm, as increasing the control algorithm to error.In fact, to a kind of computing of the every increase of error, speed governing command signal and feedback signal have been increased control algorithm simultaneously in the forward direction control loop.Each computing of speed governing command signal just is equivalent to increase a forced term on the right of the dynamic differential equation of speed regulating device, makes control device a plurality of forced term occur.Like this, speed regulating device output just can not accurate tracking speed-regulating instruction signal.
Raising along with running precision, response speed and the automaticity of various plant equipment and weaponry has proposed more and more higher requirement to the torque motor speed adjusting performance.Current widely used general feedback control method can not meet the demands, particularly can't satisfy the performance requirement under low speed or the utmost point low cruise condition.Therefore, adopting new speed regulating device and method for controlling speed regulation is further to improve torque motor speed adjusting performance problem to be solved.Guarantee that not only torque motor runs well under high-speed case, and also can smooth operation in low speed and utmost point low speed situation, the realizable force torque motor in without the reducing gear situation its speed zero to thousands of purposes of can stable and continuous regulating that turn in the wide region.
Summary of the invention:
The objective of the invention is for above-mentioned problems of the prior art, for realizable force torque motor its speed in without the reducing gear situation can stable and continuous be regulated to thousands of turning in the wide region zero, and further improve the interior Static and dynamic performance of torque motor speed adjustable extent, a kind of torque motor wide-range-timing device is provided.
For achieving the above object, the technical solution used in the present invention is:
A kind of torque motor wide-range-timing device is comprised of speed-regulating instruction generator, speed setting controller, power driver module, speed governing actuator and velocity transducer; Wherein said speed setting controller is by comparator, integrator, integral coefficient multiplier, subtracter, PDF(Pseudo-Derivative-Feedback) coefficient multiplier, PDF follower, feedback follower and the saturated limiter of integration form, and described speed governing actuator is comprised of torque motor, coupling and mechanical load; Described comparator, integrator, integral coefficient multiplier, subtracter, power driver module, torque motor, coupling, mechanical load, velocity transducer and feedback follower are connected clockwise direction annular and are connected, described comparator also is connected with the speed-regulating instruction generator, described subtracter also is connected with PDF coefficient multiplier, PDF follower, velocity transducer in order, and the saturated limiter of described integration is connected with the output sum-product intergrator of integral coefficient multiplier respectively.
Because the distinguished version of this speed setting controller, in forward loop, error signal is implemented integral operation and multiplying, in feedback loop, not only realize speed feedback, and in the situation that does not need acceleration transducer, realized the feedback of acceleration.That is to say, not only realized the feedback of the speed variable state information that will regulate, but also realized the feedback of speed variable rate state information.
The invention has the beneficial effects as follows:
1, the present invention torque motor and with mechanical load between without any need for reduction box, can realize regulating continuously in the wide region that zero rotating speed to per minute several thousand turns.Low speed and utmost point low cruise are very steady, without creeping phenomenon.
2, speed regulating device of the present invention not only have the feedback of the state information of regulated variable own, and have the feedback of regulated variable rate of change state information, have realized the feedback of regulated variable two states information.And general speed regulating device only can be realized a kind of status information feedback of regulated variable, namely can only realize speed feedback.
3, adopt velocity transducer to realize the feedback of speed state information in these torque motor speed regulating device, still, do not adopt any acceleration transducer, but realized the feedback of acceleration condition information.That is to say that only adopted a kind of detecting sensor just to realize the feedback of two states information, the control device structure has distinctive feature, and is not only convenient and easy in engineering construction, and save cost.
4, because no matter the distinguished version of this speed setting controller is high-speed cruising or low cruise, can both increase substantially the Static and dynamic performance of torque motor speed regulating device.
5, just can make the instantaneous braking of implementation in the torque motor high-speed cruising situation without any need for braking mechanism.
Description of drawings
Fig. 1 is that the torque motor wide-range-timing device of the embodiment of the invention consists of block diagram.
Embodiment:
In order to deepen the understanding of the present invention, be described in further detail below in conjunction with 1 pair of specific embodiments of the invention of accompanying drawing.
Accompanying drawing 1 is that the torque motor wide-range-timing device of the embodiment of the invention consists of block diagram.These torque motor speed regulating device are comprised of speed-regulating instruction generator 110, speed setting controller 120, power driver module 130, speed governing actuator 140 and velocity transducer 150; Wherein said speed setting controller 120 is comprised of comparator 121, integrator 122, integral coefficient multiplier 123, subtracter 124, PDF coefficient multiplier 125, PDF follower 126, feedback follower 127 and the saturated limiter 128 of integration, and described speed governing actuator 140 is comprised of torque motor 141, coupling 142 and mechanical load 143; Described speed-regulating instruction generator 110, comparator 121, integrator 122, integral coefficient multiplier 123, subtracter 124, power driver module 130, torque motor 141, coupling 142, mechanical load 143, velocity transducer 150 and be connected follower 127 according to the order of sequence clockwise direction connect, comparator 121 also is connected with speed-regulating instruction generator 110, subtracter 124 also is connected with the PDF follower by PDF coefficient multiplier 125 and is connected 150 connections with velocity transducer, and the saturated limiter 128 of integration is connected with the output sum-product intergrator 122 of integral coefficient multiplier 123 respectively.
After speed-regulating instruction generator 110 provides speed-regulating instruction, comparator 121 compares the actual motion rate signal of the mechanical load 143 that itself and velocity transducer 150 feed back through feedback follower 12, the error signal that produces is at first carried out integral operation by integrator 122, and then multiply by integral coefficient by integral coefficient multiplier 123, at this moment the signal and the signal subtraction of velocity transducer 150 after PDF follower 126 and 125 computings of PDF coefficient multiplier that produce, in fact realized the rate of change of speed at this---the feedback of acceleration condition information.Therefore, torque motor wide-range-timing device of the present invention is realized the feedback of more variable state information than known feedback device, and speed adjusting performance can increase substantially.Another ingenious part is, has not both adopted acceleration transducer here, also rate signal is not differentiated, but is controlling the feedback that has but realized acceleration on the function, and convenient and easy for engineering construction, tool is of great significance.Then, speed setting controller output signal power ratio control driver module 130 provides the energy of timely and appropriate discovery to torque motor, through coupling the movement velocity of mechanical load is regulated.Power driver module can be amplidyne, also bidirectional triode thyristor rectifying device.Certainly, the performance of speed regulating device is also closely related with integral coefficient and these two control of feedback factor parameter.As long as adjust exactly the sizes of these two control parameters, just can make speed regulating device obtain good dynamic property and static properties, and can the realizable force torque motor in without the reducing gear situation its speed zero to thousands of purposes that turn stable and continuous adjusting in the wide region.
Claims (1)
1. a torque motor wide-range-timing device is characterized in that: be comprised of speed-regulating instruction generator, speed setting controller, power driver module, speed governing actuator and velocity transducer; Wherein said speed setting controller is comprised of comparator, integrator, integral coefficient multiplier, subtracter, PDF coefficient multiplier, PDF follower, feedback follower and the saturated limiter of integration; Described speed governing actuator is comprised of torque motor, coupling and mechanical load; Described comparator, integrator, integral coefficient multiplier, subtracter, power driver module, torque motor, coupling, mechanical load, velocity transducer and feedback follower are connected clockwise direction annular and are connected; Described comparator also is connected with described speed-regulating instruction generator; Described subtracter also is connected with described PDF coefficient multiplier, PDF follower, velocity transducer in order; The saturated limiter of described integration is connected with described integrator with the output of described integral coefficient multiplier respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210432251.8A CN102882469B (en) | 2012-11-02 | 2012-11-02 | Wide range speed regulation device for torque motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210432251.8A CN102882469B (en) | 2012-11-02 | 2012-11-02 | Wide range speed regulation device for torque motor |
Publications (2)
| Publication Number | Publication Date |
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| CN102882469A true CN102882469A (en) | 2013-01-16 |
| CN102882469B CN102882469B (en) | 2015-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210432251.8A Expired - Fee Related CN102882469B (en) | 2012-11-02 | 2012-11-02 | Wide range speed regulation device for torque motor |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08107689A (en) * | 1994-10-05 | 1996-04-23 | Hitachi Ltd | Speed controller for motor |
| CN101499755A (en) * | 2008-10-31 | 2009-08-05 | 江苏科技大学 | PID control system for DC motor speed and control method thereof |
-
2012
- 2012-11-02 CN CN201210432251.8A patent/CN102882469B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08107689A (en) * | 1994-10-05 | 1996-04-23 | Hitachi Ltd | Speed controller for motor |
| CN101499755A (en) * | 2008-10-31 | 2009-08-05 | 江苏科技大学 | PID control system for DC motor speed and control method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 安维胜等: "PDF和PDFSV在直流电动机速度控制中的应用研究", 《制造业自动化》, vol. 30, no. 7, 31 July 2008 (2008-07-31) * |
| 曾文火等: "电枢控制式直流电机伪微分反馈速度调节系统设计", 《电机与控制学报》, vol. 9, no. 2, 31 March 2005 (2005-03-31) * |
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| CN102882469B (en) | 2015-02-11 |
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Granted publication date: 20150211 Termination date: 20171102 |