JP2001265404A - Multiple system servo actuator controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multiple system servo actuator controller capable of preventing power waste due to any antagonization between systems and improving responsiveness. SOLUTION: This multiple system servo actuator controller is constituted of a control circuit 20 for controlling the first system of an electric servo actuator 1, a control circuit 30 for controlling the second system of the electric servo actuator 1, and a serial bus 40 for operating data communication between the control circuits 20 and 30. The control circuits 20 and 30 are respectively constituted of CPUs 21 and 31, memories 23 and 33, input and output circuits 24 and 34, driver circuits 25 and 35 for outputting motor driving currents to motor coils 9a and 9b of a monitor 10, communication I/F circuits 26 and 36 for operating data communication with a host controller 41, and inter-system communication I/F circuits 27 and 37 for operating data communication with the other system. When the change of the operation output signal is small, a servo control arithmetic operation is performed by using the mean value of the both systems, and when the change of the operation output signal is large, the servo control arithmetic operation is performed only by its own system.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo actuator control device in which an electric circuit system is juxtaposed to form a multiplex system.

[0002]

2. Description of the Related Art For example, in a FBW (fly-by-wire) helicopter, an aircraft, a spacecraft, or the like, a plurality of drive systems for controlling the same control target are provided in parallel, and even if some of the drive systems fail, the remaining drive systems remain. The safety and reliability are improved by configuring the multiplex system so that normal operation can be continued only by the system.

[0003]

Although a multi-system servo actuator has high reliability, the driving force of the actuator is slightly different between the systems due to variations among the systems such as control circuits, sensors, and drive circuits. As a result, deterioration of responsiveness and power consumption due to antagonism between systems are caused.
In particular, power waste that does not contribute to the output becomes remarkable when outputs having different polarities occur between the systems. When outputs of the same polarity and different magnitudes are generated between the systems, the torque and force act additively, so that the power is effectively used. However, when outputs having different polarities are generated between the systems, the torque and the force cancel each other, and power is wasted.

As a countermeasure, for example, there is a method in which operation output signal values of respective systems are communicated with each other, an average value or a median value of operation signal values is calculated, and this is used as a common operation output signal value in each system. It is considered.

In general, the control circuit of each system comprises a CPU and a parallel bus capable of high-speed processing, whereas communication between systems (CCDL (Cross Channel Data Lin
k)) is connected by serial bus communication to reduce the number of lines for simplification. Therefore, the data transmission cycle between the systems tends to be longer than the servo control cycle of the control circuit of each system, and when a common operation output signal is used in each system, the response is deteriorated.

An object of the present invention is to provide a multiplex servo actuator control device capable of preventing power waste due to antagonism between systems and improving responsiveness.

[0007]

SUMMARY OF THE INVENTION According to the present invention, a first drive section and a second drive section for independently driving an actuator, and an output displacement of the actuator are independently detected to obtain a first detection signal and a second detection signal. And a first operation signal generation unit that performs a servo control operation to reduce a difference between an external command signal and a first detection signal to generate a first operation signal. A second operation signal for generating a second operation signal by performing a servo control operation so as to reduce a difference between the external command signal and the second detection signal.
An operation signal generation unit; a data communication unit that performs data communication between the first operation signal generation unit and the second operation signal generation unit;
A third operation signal generation unit that generates a third operation signal based on the operation signal and the second operation signal via the data communication;
A fourth operation signal generating unit that generates a fourth operation signal based on the second operation signal and the first operation signal via the data communication, and selecting one of the first operation signal and the third operation signal to perform the first operation signal A multiplexing system comprising: a first signal selection unit that outputs to a driving unit; and a second signal selection unit that selects one of a second operation signal and a fourth operation signal and outputs the selected signal to a second driving unit. It is a servo actuator control device.

According to the present invention, in a multiplex servo actuator in which the first drive unit and the second drive unit independently drive a common actuator, the first control system for controlling the first drive unit is based on the first position sensor. The first operation signal of the own system is generated using the first detection signal of the first system, and the second operation signal of the other system is acquired by data communication to newly generate the third operation signal, and the first operation signal or the second operation signal is generated. Three operation signals are selected and output to the first drive unit.

When the first operation signal is selected, the servo control can be performed by the own system alone, so that the operation can be speeded up and the servo control with priority on the response can be performed. on the other hand,
When the third operation signal is selected, since the control states of both the own system and the other system can be taken into consideration, variations between the systems can be eliminated, and power waste due to antagonism between the systems can be suppressed.

Similarly, a second control system for controlling the second drive section generates a second operation signal of its own system using the second detection signal from the second position sensor and a first operation signal of another system. Is acquired by data communication, a fourth operation signal is newly generated, and the second operation signal or the fourth operation signal is selected and output to the second drive unit.

When the second operation signal is selected, the servo control can be performed by the own system alone, so that the operation can be speeded up and the servo control with priority on the response can be performed. on the other hand,
When the fourth operation signal is selected, control states of both the own system and the other system can be taken into consideration, so that it is possible to eliminate inter-system variation and suppress power waste due to antagonism between the systems.

An antagonistic situation between the systems occurs when the servo deviation, which is the difference in the actual response to the servo command, is smaller than the degree of the deviation of the feedback sensor signal value between the systems, and when the load is low. It becomes remarkable in a stationary state or a state of gradual movement. On the other hand, when the servo deviation is large compared to the degree of deviation of the feedback sensor signal value between the systems, the state is a high acceleration tracking state or the like. Easy to occur.

Further, the present invention provides a first signal selector and a second signal selector.
The signal selector selects the operation signal according to the change rate of the external command signal.

According to the present invention, the first signal selection section selects the first operation signal or the third operation signal in accordance with the rate of change of the external command signal, thereby providing servo control response or system antagonism. It can be automatically switched according to the situation so that each of the functions works effectively so as to prioritize any of the above. For example, when the rate of change of the external command signal is large, by selecting the first operation signal of the own system, it is possible to maintain the responsiveness of the servo control without competing between the systems. On the other hand, when the rate of change of the external command signal is small,
By selecting the third operation signal in consideration of both the own system and the other system, it is possible to prevent antagonism between the systems without affecting the responsiveness.

Similarly, the second signal selection unit selects either the second operation signal or the fourth operation signal in accordance with the rate of change of the external command signal, and thereby selects either the response of the servo control or the prevention of antagonism between the systems. The priority can be automatically switched according to the situation so that each function works effectively. For example, when the rate of change of the external command signal is large, by selecting the second operation signal of the own system, the responsiveness of the servo control can be maintained without competition between the systems.
On the other hand, when the rate of change of the external command signal is small, antagonism between the systems can be prevented without affecting responsiveness by selecting the fourth operation signal in consideration of both the own system and the other system.

Further, according to the present invention, the first signal selector selects an operation signal according to a change rate of the first operation signal, and the second signal selector selects an operation signal according to a change rate of the second operation signal. It is characterized by doing.

According to the present invention, the first signal selector selects the first operation signal or the third operation signal in accordance with the rate of change of the first operation signal of the own system, thereby providing the response of the servo control or the system operation. It can be switched according to the situation so that each function works effectively, which one of the antagonism preventions is given priority. For example, when the rate of change of the first operation signal is large, by selecting the first operation signal of the own system, it is possible to maintain the responsiveness of the servo control without competing between the systems. On the other hand, when the rate of change of the first operation signal is small,
By selecting the third operation signal in consideration of both the own system and the other system, it is possible to prevent antagonism between the systems without affecting the responsiveness.

Similarly, the second signal selection section selects the second operation signal or the fourth operation signal in accordance with the rate of change of the second operation signal of the own system, so that the response of the servo control or the antagonism between the systems is achieved. It is possible to automatically switch which one of the preventions is prioritized in accordance with the situation so that each function works effectively. For example, when the rate of change of the second operation signal is large, by selecting the second operation signal of the own system, it is possible to maintain the responsiveness of the servo control without competing between the systems. On the other hand, when the rate of change of the second operation signal is small,
By selecting the fourth operation signal in consideration of both the own system and the other system, antagonism between the systems can be prevented without affecting responsiveness.

The present invention also provides a first drive unit and a second drive unit for independently driving an actuator, and independently detects an output displacement of the actuator, and outputs a first detection signal and a second detection signal.
A first position sensor and a second position sensor for respectively outputting detection signals;
A position sensor, a first operation signal generating unit that performs a servo control operation so as to reduce a difference between the external command signal and the first detection signal, and generates a first operation signal; an external command signal and a second detection signal And a second operation signal generation unit that performs a servo control operation to generate a second operation signal so as to reduce the difference between the first operation signal generation unit and the second operation signal generation unit. A data communication unit for performing data communication with the first operation signal and a second communication
A first difference calculator for calculating a first average value with the operation signal, calculating and storing a first difference value between the first average value and the first operation signal; And a first addition operation unit that outputs the first addition value to the first drive unit, and calculates a second average value of the second operation signal and the first operation signal via the data communication at predetermined communication cycles. A second difference calculation unit that calculates and stores a second difference value between the second average value and the second operation signal; and calculates a second addition value between the second operation signal and the second difference value. And a second addition operation unit for outputting to the second drive unit.

According to the present invention, in a multiplex servo actuator in which the first drive unit and the second drive unit independently drive a common actuator, the first control system for controlling the first drive unit is based on the first position sensor. The first operation signal of the own system is generated using the first detection signal of the first system, the second operation signal of the other system is captured by data communication, a first average value is calculated, and the first average value and the first average value are calculated. A first difference value with the operation signal is calculated and stored, and a first addition value between the first operation signal and the first difference value is calculated until the next communication timing arrives, and the first difference value is calculated. Output to the drive unit.

Similarly, a second control system for controlling the second drive section generates a second operation signal of its own system using the second detection signal from the second position sensor and a first operation signal of another system. Is acquired by data communication, a second average value is calculated,
A second difference value between the second average value and the second operation signal is calculated and stored, and a second difference between the second operation signal and the second difference value is maintained until a next communication timing arrives. The addition value is calculated and output to the first drive unit.

Therefore, the own system can execute the control up to the next communication timing in consideration of the control state of the other system in each communication cycle of data communication, so that the variation between the systems can be eliminated as much as possible, and the competition between the systems can be reduced. Power consumption due to the above can be suppressed. Between the communication timing and the next communication timing,
Since the change of the operation signal according to the change of the sensor output can be taken into account by the own system alone, servo control with excellent responsiveness can be performed while suppressing the antagonism between the systems.

[0023]

FIG. 1 is a sectional view showing an example of a multiplex servo actuator to which the present invention can be applied. The electric servo actuator 1 drives one ball screw 6 to rotate by a motor 10 of a dual circuit system, and
Is moved linearly to control the position of the output shaft 4.

The ball screw 6 is rotatably supported by a bearing 7 with respect to the housing 2 and the fixed part 3. Ball screw 6
The magnets 8a and 8b serving as the rotor of the motor 10 are attached to the base of the motor 2, and the magnets 8a and 8b
The motor coils 9a and 9b are attached so as to surround.

A nut 5 fixed to the output shaft 4 is screwed into the ball screw 6. The output shaft 4 is slidably supported on the housing 2, and the rotation is restricted by the rotation stopper 15. The two sensing members 12a and 12b are integrally attached in parallel with the output shaft 4. Inside the housing 2, two displacement sensors 11a and 11b for independently detecting the displacement of each of the sensing members 12a and 12b are attached.

Thus, the motor 10 and the displacement sensor 11
a and 11b constitute a double circuit system. If the first circuit fails, the failure is detected and the power supply is cut off, and the servo is performed only by the second circuit. Since the operation can be continued, the overall reliability can be improved.

FIG. 2 is a block diagram showing an electrical configuration of an embodiment of the present invention. The servo actuator control device includes a control circuit 20 for controlling a first system of the electric servo actuator 1, a control circuit 30 for controlling a second system of the electric servo actuator 1, and control circuits 20, 30.
And a serial bus 40 for performing data communication between them. The host controller 41 is connected to another serial bus 3
Data communication is performed with the control circuits 20 and 30 via the control circuits 8 and 39, and the same external command signal is sent to the control circuits 20 and 30, for example.

The control circuit 20 has a CPU (central processing unit) 21 for controlling the entire operation according to a predetermined program.
And a memory 23 for storing programs and data, and an input / output circuit (Programmable Input and
Output) 24, a driver circuit 25 that outputs a motor drive current to the motor coil 9a of the motor 10, a communication I / F (interface) circuit 26 that performs data communication with the host controller 41, and a control circuit 30. The communication system includes an inter-system communication I / F circuit 27 for performing data communication. CPU 21
Has a register 22 which is a work memory for arithmetic processing. Further, the sensor signal from the displacement sensor 11a is taken into the input / output circuit 24.

The control circuit 30 is, like the control circuit 20,
CPU that controls the overall operation according to a predetermined program
31, a memory 33 for storing programs and data,
An input / output circuit 34 for inputting / outputting data, a driver circuit 35 for outputting a motor drive current to the motor coil 9b of the motor 10, a communication I / F circuit 36 for performing data communication with the host controller 41, and a control circuit It comprises an inter-system communication I / F circuit 37 for performing data communication with the system 20. CPU
Reference numeral 31 has a register 32 which is a work memory for arithmetic processing. The sensor signal from the displacement sensor 11b is taken into the input / output circuit 34.

FIG. 3 is a control block diagram showing the operation of control circuits 20 and 30. The control circuit 20 includes a subtractor 60 for subtracting the sensor signal from the displacement sensor 11a from the external command signal C, and an amplifier 6 for amplifying the output of the subtractor 60.
1, the output of the amplifier 61 and the amplifier 7 of the control circuit 30.
1, an arithmetic unit 62 for taking an output via the data communication and performing an operation, a subtractor 63 for subtracting a current feedback signal of the driver circuit 25 from a current command signal output from the arithmetic unit 62, and a subtractor 63 And an amplifier 64 for amplifying the output voltage of the motor and adding the amplified output voltage to the motor.

The control circuit 30 is, like the control circuit 20,
A subtractor 70 for subtracting the sensor signal from the displacement sensor 11b from the external command signal C, an amplifier 71 for amplifying the output of the subtractor 70, and an output and control circuit 2 of the amplifier 71
And a subtractor 73 for subtracting the current feedback signal of the driver circuit 25 from the current command signal output by the operator 72 by taking in the output via the data communication of the amplifier 61 of zero. It comprises an amplifier 74 which amplifies the output voltage of the arithmetic unit 73 and adds it to the motor.

The torque from converter 66 and converter 76
Are added, and the result is integrated and converted into a motor speed. The motor speed is integrated and becomes the position of the output shaft 4. Note that the converters 67 and 77 have a motor speed of K
E represents an operation of being converted into a back electromotive voltage. Integrator 5
In 2,53, s is a Laplace operator, and a and b are constants.

FIG. 4 is a flowchart showing an example of the operation of the control circuits 20 and 30. Hereinafter, the first system including the control circuit 20 will be described as the own system, and the second system including the control circuit 30 will be described as the other system.

First, in step a1, the control circuit 20 fetches the external command signal from the host controller 41 and the sensor signal from the displacement sensor 11a, and then in step a2, the difference between the external command signal and the sensor signal is reduced. Then, in step a3, an operation output signal (current command signal) S10-1 of the own system is calculated and stored in the memory 33, the register 22, or the like. At this time, the control circuit 30 performs the same operation.

Next, in step a4, if the operation output signal (current command signal) S1-2 of the other system is input via the CCDL serial bus 40, the operation proceeds to step a5, where the operation output signal S10 of the own system is transmitted. -1 and average value of operation output signal S1-2 of other system (= (S10-1 + S1-2) / 2)
Is calculated as a new operation output signal S3. On the other hand, if the operation output signal S1-2 of the other system is not input in step a4, the process proceeds to step a6, and the operation output signal S3 in the previous CPU operation cycle is kept unchanged.

Next, at step a7, the current CPU
Operation output signal S from the operation cycle to n cycles before
The difference between the maximum value MAX and the minimum value MIN in each numerical value of 10-1, S11-1,..., S1n-1 is calculated to evaluate the time change rate of the operation output signal, and the difference is larger than a predetermined value m. Is determined. If the difference is smaller than the predetermined value m, the process proceeds to step a8 and the operation output signal S set in step a4.
3 to the driver circuit 25. On the other hand, if the difference is equal to or greater than the predetermined value m, the process proceeds to step a9 and outputs the operation output signal S10-1 of the current cycle to the driver circuit 25.

Thereafter, the control circuit 20 repeats the routine of steps a1 to a9 every CPU operation cycle of the servo control loop. Similarly, the control circuit 30
Independently, the routine of steps a1 to a9 is repeated every CPU operation cycle of the servo control loop.

FIG. 5 is a graph showing a time change of the operation output signal to the driver circuits 25 and 35. The time interval from time t1 to t4 corresponds to the communication cycle of the CCDL serial bus 40, during which a short cycle CPU operation cycle arrives.

First, when an operation output signal of another system is fetched via the CCDL serial bus 40 at time t1, an average value of the operation output signals of the own system and the other system is calculated in step a5. Before and after time t1, the operation output signals of the first system and the second system gradually change,
In step a8, the average value of both is output as a current command to the driver circuits 25 and 35 (corresponding to point A). When the change in the operation output signal is small in this way, it is possible to prevent power waste due to antagonism by using the average value of the two in common between the systems.

During the period from time t1 to time t2, the operation output signal of another system is not taken in, so that the operation output signal S3 does not change in step a6. During this period, if the change of the operation output signal of the own system is smaller than the predetermined value m, the operation output signal S3 is output. If the change of the operation output signal of the own system is equal to or more than the predetermined value m, the process proceeds to step a9 to output the operation output signal S10-1 of the current cycle to the driver circuit.

At the next time t2, when an operation output signal of another system is newly acquired, the same operation is performed again. At this time, if the change of the operation output signal of the own system becomes equal to or more than the predetermined value m, in order to enhance the responsiveness of the servo control operation, the average value of both is ignored, the servo control operation is performed only by the own system, and the operation output signal is obtained. Output S11-1 to the driver circuit (C1
Point, C2 point). Even at time t3, since the change of the operation output signal is large, only the own system performs the servo control operation and outputs the operation output signal S11-1 to the driver circuit (D
1 point, corresponding to D2 point).

At the next time t4, since the change of the operation output signal of the own system becomes small, the average value of both is output again as a current command to the driver circuits 25 and 35 (corresponding to the point E).

When the change in the operation output signal is small, the average value of the two is commonly used between the systems, thereby preventing power waste due to antagonism between the systems. When the change of the operation output signal is large, the responsiveness of the servo control operation can be improved by performing the servo control operation only in the own system.

It should be noted that due to the rapid switching of the current command,
When the driver output changes suddenly and affects the responsiveness, it is preferable that the CPUs 21 and 31 perform a smoothing process as a countermeasure.

FIG. 6 is a flowchart showing another example of the operation of the control circuits 20 and 30. Hereinafter, the first system including the control circuit 20 will be described as the own system, and the second system including the control circuit 30 will be described as the other system.

First, in step b1, the control circuit 20 fetches the external command signal from the host controller 41 and the sensor signal from the displacement sensor 11a, and then in step b2, the difference between the external command signal and the sensor signal is reduced. Then, a servo control operation is performed, and an operation output signal (current command signal) S1-1 of the own system is calculated and stored in the memory 33, the register 22, or the like. At this time, the control circuit 30 performs the same operation.

Next, in step b3, if the operation output signal (current command signal) S1-2 of another system is input via the CCDL serial bus 40, the operation proceeds to step b4 to operate the operation output signal S1 of the own system. -1 and the average value (= (S1-1 + S1-2) / 2) of the operation output signals S1-2 of other systems are calculated as a new operation output signal S3.
The difference value Sm obtained by subtracting the signal S1-1 from 3 is stored in the memory 33, the register 22, or the like. On the other hand, if the operation output signal S1-2 of the other system is not input in step b3, the process proceeds to step b5, where the operation output signal S3 in the previous CPU operation cycle is held unchanged and the difference value Sm is also changed. Hold as it is.

Next, in step b6, the sum of the difference value Sm and the operation output signal S1-1 of the own system is calculated and output to the driver circuit 25.

Thereafter, the control circuit 20 repeats the routine of steps b1 to b6 for each operation cycle of the CPU servo control loop. Similarly, the control circuit 30
Independently, the routine of steps b1 to b6 is repeated for each calculation cycle of the CPU servo control loop.

FIG. 7 is a graph showing a time change of the operation output signal to the driver circuits 25 and 35. The time interval between the times t1 and t3 corresponds to the communication cycle of the CCDL serial bus 40, during which a short cycle CPU operation cycle arrives.

First, when an operation output signal of another system is fetched via the CCDL serial bus 40 at time t1, an average value of the operation output signals of the own system and the other system is calculated in step b4, and the average value and the own system are output. Is added to the operation output signal S1-1, so that the operation output signal S3, which is an average value, is output to the driver circuits 25 and 35 as a current command, respectively. . In this way, by using the average value of both, it is possible to prevent power waste due to antagonism.

During the period from time t1 to time t2, the operation output signal of the other system is not taken in, so that the difference value Sm is kept constant, and the difference value Sm and the operation output signal S1-1 of the own system are kept at step b6. Is the current command.
Therefore, the change in the operation output signal S1-1 of the own system is reflected in the current command, and the response of the servo control operation can be improved.

At the next time t2, when an operation output signal of another system is newly taken in, the same operation is performed again.
The average value of the operation output signals of the own system and the other system is updated, and the difference value Sm between the average value and the operation output signal S1-1 of the own system is updated.
Is newly set.

During the period from time t2 to time t3, since the operation output signal of the other system is not taken in, only the change of the operation output signal S1-1 of the own system is reflected in the current command.

As described above, by updating the average value of the two for each communication cycle, it is possible to prevent power waste due to antagonism between systems. In addition, the response of the servo control operation can be improved by performing the servo control calculation in consideration of the change of the own system between the communication cycles.

In the case where the current command changes abruptly in each communication cycle and affects the responsiveness, it is preferable that the CPUs 21 and 31 perform smoothing processing as a countermeasure. In the embodiment, the configuration example of the dual system has been described. However, similarly, the present configuration can be implemented regardless of the multiplicity.

[0057]

As described above in detail, according to the present invention, in a multiplex servo actuator in which a first drive unit and a second drive unit independently drive a common actuator, a first control for controlling the first drive unit. The system generates a first operation signal of its own system using the first detection signal from the first position sensor, and acquires a second operation signal of another system by data communication to newly generate a third operation signal. , The first operation signal or the third operation signal is selected and output to the first drive unit.

When the first operation signal is selected, the servo control can be performed by the own system alone, so that the operation can be speeded up and the servo control with priority on the response can be performed. on the other hand,
When the third operation signal is selected, since the control states of both the own system and the other system can be considered, it is possible to eliminate the variation between the systems and to suppress power waste due to competition between the systems. By automatically switching the selection of the first operation signal and the third operation signal based on the change rate of the command signal or the change rate of the first operation signal, the responsiveness can be improved without causing an antagonistic state between the systems. Can be improved.

Similarly, the second control system for controlling the second drive section generates the second operation signal of its own system using the second detection signal from the second position sensor and the first operation signal of the other system. Is acquired by data communication, a fourth operation signal is newly generated, and the second operation signal or the fourth operation signal is selected and output to the second drive unit.

When the second operation signal is selected, the servo control can be performed by the own system alone, so that the operation can be speeded up and the servo control with priority on the response can be performed. on the other hand,
When the fourth operation signal is selected, control states of both the own system and the other system can be taken into consideration, so that it is possible to eliminate inter-system variation and suppress power waste due to antagonism between the systems. By automatically switching the selection between the second operation signal and the fourth operation signal based on the change rate of the command signal or the change rate of the second operation signal, the responsiveness can be improved without causing an antagonistic state between the systems. Can be improved.

According to the present invention, in a multiplex servo actuator in which the first drive unit and the second drive unit independently drive a common actuator, the first control system for controlling the first drive unit is the first position sensor. The first operation signal of the own system is generated using the first detection signal from the other system, the second operation signal of the other system is captured by data communication, the first average value is calculated, and the first average value and the first average value are calculated. The first difference value between the first operation signal and the first operation signal is calculated and stored, and a first addition value between the first operation signal and the first difference value is calculated until the next communication timing arrives. Output to one drive unit.

Similarly, the second control system for controlling the second drive unit generates the second operation signal of the own system using the second detection signal from the second position sensor, and the first operation signal of the other system. Is acquired by data communication, a second average value is calculated,
A second difference value between the second average value and the second operation signal is calculated and stored, and a second difference between the second operation signal and the second difference value is maintained until a next communication timing arrives. The addition value is calculated and output to the first drive unit.

Therefore, the own system can execute the control up to the next communication timing in consideration of the control state of the other system in each communication cycle of the data communication, so that the variation between the systems can be eliminated, and the power due to the antagonism between the systems can be eliminated. Waste can be suppressed. Also, between the communication timing and the next communication timing, the own system can follow the change of the sensor output alone,
Servo control with excellent responsiveness can be performed.

In this way, it is possible to improve the responsiveness of servo actuator control while preventing power waste due to antagonism between systems.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an example of a multiplex servo actuator to which the present invention can be applied.

FIG. 2 is a block diagram illustrating an electrical configuration according to an embodiment of the present invention.

FIG. 3 is a control block diagram showing operations of control circuits 20 and 30.

FIG. 4 is a flowchart illustrating an example of the operation of the control circuits 20 and 30.

FIG. 5 is a graph showing a time change of an operation output signal to the driver circuits 25 and 35;

FIG. 6 is a flowchart showing another example of the operation of the control circuits 20 and 30.

FIG. 7 is a graph showing a time change of an operation output signal to the driver circuits 25 and 35;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Electric servo actuator 4 Output shaft 5 Nut 6 Ball screw 8a, 8b Magnet 9a, 9b Motor coil 10 Motor 11a, 11b Displacement sensor 20, 30 Control circuit 21, 31 CPU 26, 36 Communication I / F circuit 27, 37 Communication between systems I / F circuit 38, 39, 40 Serial bus 41 Host controller

Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat II (Reference) G05B 9/03 G05B 9/03 F term (Reference) 5H004 GA02 GA40 GB13 HA07 HB07 JA03 JB08 JB17 KA65 KB02 LB03 MA53 5H209 AA09 AA20 BB08 CC01 DD02 DD03 DD04 DD05 SS01 SS05 SS07 TT08

Claims (4)

[Claims] 1. A first drive unit and a second drive unit that independently drive an actuator, and a first position sensor that independently detects an output displacement of the actuator and outputs a first detection signal and a second detection signal, respectively. And a second position sensor, a first operation signal generation unit that performs a servo control operation so as to reduce a difference between the external command signal and the first detection signal to generate a first operation signal, A second operation signal generation unit that performs a servo control operation to generate a second operation signal so as to reduce the difference between the first operation signal generation unit and the second operation signal generation unit. A data communication unit for performing data communication, a third operation signal generation unit for generating a third operation signal based on the first operation signal and the second operation signal via the data communication, and via the second operation signal and the data communication The first A fourth operation signal generation unit that generates a fourth operation signal based on the one operation signal; a first signal selection unit that selects one of the first operation signal and the third operation signal and outputs the selected signal to the first drive unit And a second signal selection unit for selecting one of the second operation signal and the fourth operation signal and outputting the selected signal to the second drive unit. 2. The multiplex servo actuator control device according to claim 1, wherein the first signal selector and the second signal selector each select an operation signal according to a change rate of the external command signal. 3. The method according to claim 1, wherein the first signal selector selects an operation signal according to a change rate of the first operation signal, and the second signal selector selects an operation signal according to a change rate of the second operation signal. The control system according to claim 1, wherein 4. A first drive unit and a second drive unit that independently drive an actuator, and a first position sensor that independently detects an output displacement of the actuator and outputs a first detection signal and a second detection signal, respectively. And a second position sensor, a first operation signal generation unit that performs a servo control operation so as to reduce a difference between the external command signal and the first detection signal to generate a first operation signal, A second operation signal generation unit that performs a servo control operation to generate a second operation signal so as to reduce the difference between the first operation signal generation unit and the second operation signal generation unit. A data communication unit that performs data communication at a predetermined communication cycle; and calculates a first average value of the first operation signal and the second operation signal via the data communication at each predetermined communication cycle, and calculates the first average value and the first operation value. Calculate first difference value with signal A first difference calculating unit that calculates and stores a first addition value of the first operation signal and the first difference value, and outputs the first addition value to the first driving unit; A second difference calculation unit that calculates a second average value of the operation signal and the first operation signal via the data communication, calculates and stores a second difference value between the second average value and the second operation signal, A multiplex servo actuator control device, comprising: a second addition operation unit that calculates a second addition value between a second operation signal and a second difference value and outputs the second addition value to a second drive unit.