JP2004005458A - Rotation control device and rotation control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rotation control device quick in responsiveness, and strong against disturbance. <P>SOLUTION: An electronically controlled mechanical clock is provided with a voltage control oscillator having a generator for generating electric power by a rotor for rotating with a spiral spring as a driving source and a brake circuit for controlling a rotational period of the generator, and a rotation control means for controlling the rotational period of the generator by controlling the brake circuit. The rotation control means is provided with a phase comparing circuit for comparing a rectangular wave pulse being output of the voltage control oscillator with a phase of a time standard signal and a brake control circuit for inputting a signal for controlling the brake circuit on the basis of output of the phase comparing circuit to the voltage control oscillator. By arranging the voltage control oscillator and the phase comparing circuit, PLL control can be realized, and a system quick in responsiveness can be formed. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
【Technical field】
The present invention relates to a rotation control device and a rotation control method, and more particularly, to a rotation control device and a rotation control device that adjusts the speed of a rotating body when rotating various rotating bodies using a mainspring, an engine, electric power, human power, or the like. It relates to a control method.
[0002]
[Background Art]
A pointer fixed to the wheel train by converting mechanical energy when the mainspring is released into electric energy by a generator and activating a rotation control means by the electric energy to control a current value flowing through a coil of the generator. There is known an electronically controlled mechanical timepiece that accurately drives and displays the time accurately as described in Japanese Patent Publication No. 7-119812.
[0003]
In this electronically controlled mechanical timepiece, a signal based on the rotation of the rotor of the generator is input to the counter, while a signal from the crystal oscillator is also input to the counter, the values of these counters are compared, and based on the difference, By controlling the generator, the rotation speed was controlled. This counter compares the phase difference between the reference clock pulse (Ref pulse) and the generator rotation cycle pulse (G pulse), and counts down the U / D counter if the G pulse is advanced, and increases if the G pulse is delayed. It was counting, and was constituted by a so-called integration counter.
[0004]
Then, when the value obtained by measuring the time of one cycle of the Ref pulse matches the value obtained by the integration counter, the generator is braked, and the time measurement for one cycle of the Ref pulse is completed. The brakes were maintained until you did. Therefore, the value of the integration counter sets the brake release time. That is, the value of the integration counter is integrated with the brake release time N 1 such that the average speed of the G pulse coincides with the target speed (Ref pulse). That is, this system employs integral control.
[0005]
However, in such an integral control method, since the signals output in each cycle are compared while being counted by a counter, the average speed of the rotor over a sufficiently long time can be adjusted at a set time. Although the average speed control hand is possible, there is a problem that the rotation speed of the rotor cannot be adjusted immediately and the response is low. In addition, there is a problem that some phase deviation occurs until the force relationship between the force of the mainspring and the braking force is settled at the target frequency.
[0006]
That is, the integral control can be represented by a block diagram in FIG. It is known that a transfer function generally used for a generator / motor is 1 / s (sT + 1). As shown in FIG. 26, this is constituted by a transfer function 601 having a first-order lag of 1 / (sT + 1) and an integral term 602 of 1 / s. Therefore, the generator itself to be controlled includes the integral element. FIGS. 27 and 28 show Bode diagrams assuming that only the integral control is performed on the control target.
[0007]
In these Bode diagrams, the conditions for stabilizing the rotation control are that the phase margin, that is, the phase when the gain is 0 db (gain intersection) is more than -180 °, and that the gain margin, ie, the phase −180 ° (phase intersection) )) Must be 0 dB or less.
[0008]
However, in the case of only the integral control, as shown in FIG. 27, the phase characteristic is around -180 ° because the control object delays the phase by −90 ° and the integral control further delays the phase by −90 °. For this reason, the phase control and the gain margin cannot be obtained by the integral control alone, so that stable control becomes difficult. For this reason, in the timepiece disclosed in Japanese Patent Publication No. Hei 7-119812, the frequency must be controlled at a considerably low frequency, resulting in a response of about 0.016 Hz or less.
[0009]
FIG. 28 shows a case where the gain of the integration counter is increased by a factor of 100. Also in this case, the phase margin is later than -180 °, and stable control cannot be expected.
[0010]
As is clear from the above data, in the conventional control using only the integral control, average speed control is possible, but there is a problem that the phase deviation is not eliminated.
[0011]
In addition, since the response of the control is slow, there is also a problem that it is almost impossible to cope with a sudden disturbance such as a case where an acceleration is generated by waving an arm in a wristwatch.
[0012]
Further, in the timepiece, since the mainspring is used as power, the rotation force greatly changes depending on the degree of winding, and a control error occurs, so that the timepiece is delayed or advanced. In addition, when used as a wristwatch, there is also a problem that acceleration of the rotor or the like is generated by movement of the arm, which causes disturbance and makes the control state unstable, leading to fluctuations in the movement of the hands, leading and lagging. there were.
[0013]
Since such integral control is widely used as control of a rotating body, the above-described problem is not limited to a clock, and various rotating bodies, for example, a rotating body such as a doll is rotated by a mainspring. A similar problem arises when controlling various rotating bodies that need speed control, such as various toys, music box drums, and electric motors of hybrid cars combining gasoline engines and electric motors.
[0014]
A first object of the present invention is to provide a rotation control device and a rotation control method which can eliminate a phase deviation of a rotating body, have a fast response of a control system, and are resistant to disturbance.
[0015]
A second object of the present invention is to provide a rotation control device and a rotation control method that can simplify the circuit configuration so that the circuit scale can be reduced and the device can be used for small devices such as wristwatches.
[0016]
DISCLOSURE OF THE INVENTION
A rotation control device according to the present invention is a rotation control device that controls a rotation cycle of a rotating body by applying a brake to a rotating body that is rotated by power supplied from a power source, the rotation controlling apparatus corresponding to a rotation speed of the rotating body. Rotation detection means for generating a signal; target signal generation means for generating a target signal corresponding to a target rotation speed of the rotating body; and frequency difference compensation for detecting a frequency difference between the rotation signal and the target signal to become a brake control signal. A frequency difference compensating means for generating a signal, and a brake control means for controlling how to apply a brake by at least one of the frequency difference compensating signals of the frequency difference compensating means are provided.
[0017]
The present invention is a rotation control device that controls a rotation cycle of a rotating body by applying a brake to a rotating body that is rotated by power supplied from a power source, and generates a rotation signal corresponding to the number of rotations of the rotating body. Rotation detection means, target signal generation means for generating a target signal corresponding to the target rotation speed of the rotating body, and the position of the rotation signal output from the rotation detection means and the target signal output from the target signal generation means. Phase difference compensating means for detecting a phase difference to generate a phase difference compensation signal serving as a brake control signal, and a frequency difference for detecting a frequency difference between the rotation signal and the target signal and generating a frequency difference compensation signal serving as a brake control signal Compensating means, and a brake for controlling how to apply a brake by at least one of a phase difference compensating signal of the phase difference compensating means and a frequency difference compensating signal of the frequency difference compensating means. It is characterized in that it comprises a control means.
[0018]
In the present invention, the phase of the rotation signal of the rotating body is compared with the phase of the target signal of the rotating body, and a phase difference compensation signal serving as a brake control signal is input to the brake circuit of the rotating body based on the phase difference. Therefore, so-called phase-locked loop control, that is, PLL (phase-l.cked-l.p) control can be realized. For this reason, for example, since the brake level can be set by comparing the rotation signal waveforms of the rotating body for each period, once the signal is pulled into the lock range, the responsiveness is high as long as the signal waveform does not fluctuate greatly instantaneously. A stable control system can be realized, and a phase deviation can be eliminated.
[0019]
Furthermore, since the frequency difference compensating means is provided in addition to the phase difference compensating means, when the rotation is out of the lock range in the PLL control, for example, immediately after starting the rotation control of the rotating body, the rotation using the frequency difference compensating means is performed. It is possible to perform control to make the speed difference close to zero ignoring the phase difference between the signal and the target signal, and to quickly pull the rotating body into the lock range. Therefore, if the rotation is controlled by the phase difference compensating means after the speed difference is brought close to 0 by the frequency difference compensating means, it is possible to prevent a large phase deviation from being accumulated as compared with the case of controlling by the phase difference compensating means alone. The speed control of the rotating body can be performed quickly.
[0020]
Here, the frequency difference compensating means includes a frequency difference compensation holding means for holding a frequency difference compensation signal, and the brake control means performs a control start step immediately after starting the rotation control and when the rotation control is stable. In the control start stage, the rotation control is performed by the frequency compensation signal of the frequency difference compensating means. In the steady control stage, the rotation control is performed stably. It is preferable that the brake control is performed by the addition signal of the frequency difference compensation signal and the phase difference compensation signal held by the frequency difference compensation holding means when switching from the control to the steady control stage.
[0021]
In the present invention, since the rotation is controlled by the frequency difference compensation signal by the frequency difference compensating means in the control start stage, even if the rotation speed of the rotating body is largely deviated from the target rotation speed, the rotation speed is quickly changed to the target rotation speed. The rotation can be controlled with good responsiveness.
[0022]
Further, in the steady control stage, since the rotation is controlled by using an addition signal of the frequency difference compensation signal and the phase difference compensation signal, an approximate braking amount can be set by the frequency difference compensation signal, and the phase difference compensation signal Since it is sufficient to set a brake amount for performing a minute control that cannot be controlled by the compensation signal, an optimum control amount can be quickly obtained by adding the signals, and the response of the rotation control is further improved. be able to.
[0023]
In addition, since the frequency difference compensation signal only needs to be able to calculate an approximate braking amount, the configuration of the frequency difference compensation means can be simplified.
[0024]
The brake control means may determine, based on a frequency difference, that the rotation control has been stabilized in the control start stage. If the determination is made based on the frequency difference, it can be reliably and relatively easily determined that the rotation control has been stabilized, and the control can be appropriately switched without depending on the variation of the rotating body.
[0025]
Further, the brake control means may switch the control from the control start stage to the steady control stage, considering that the rotation control has become stable when a predetermined period of time has elapsed from the control start. Judgment based on time makes it possible to simplify the circuit configuration as compared with the case where judgment is made based on the frequency difference, facilitate downsizing of the circuit, and easily apply to a small device such as a wristwatch.
[0026]
The phase difference compensating means includes a phase difference detecting means and a compensation signal generating means receiving an output thereof, wherein the rotation signal and the target signal have a repetitive pulse waveform, and the phase difference detecting means has a rising edge of the target signal; Alternatively, the counter includes a counter that adds or subtracts at the falling edge, and adds or subtracts at the rising or falling edge of the rotation signal and adds up the number of rising or falling edges of each signal. Is preferably output as a phase difference signal.
[0027]
If the phase difference detecting means is constituted by a counter, the circuit configuration can be simplified, the size of the device can be easily reduced, and the cost can be reduced. Furthermore, since a counter capable of holding a plurality of counter values can be used, a phase difference can be detected in a wide range, and even when the phase difference is accumulated, the accumulated value can be held. Can be performed, and more accurate speed control can be performed.
[0028]
Further, the phase difference compensating means includes a phase difference compensating filter including an integrating action. The phase difference compensating filter includes a code detecting circuit for detecting a sign of the phase difference signal, and a frequency dividing circuit based on an absolute value of the phase difference signal. It is preferable to include a frequency divider that varies the ratio, and a counter that adds or subtracts the output of the frequency divider according to the sign. In this case, the phase difference compensation filter serves as a compensation signal generating means, and the output of the counter serves as a phase difference compensation signal.
[0029]
Since the frequency division ratio of the frequency divider is varied by the absolute value of the phase difference signal, the magnitude of the phase difference compensation signal can be set appropriately according to the magnitude of the phase difference, and control must be performed so that the phase difference is quickly eliminated. Can be.
[0030]
Further, the rotating body includes a mechanical energy source, a generator driven by the mechanical energy source connected via a train wheel to generate induced power and supply electric energy, The generator in an electronically controlled mechanical timepiece with a coupled pointer. If the present invention is applied to such an electronically controlled mechanical timepiece, the rotation of the generator is quickly changed to the target rotation speed when the hands are adjusted and the hands are restarted from the state where the generator is stopped for the hands adjustment. (Such as a reference frequency from a quartz oscillator), and it is possible to quickly shift to an accurate hand movement state.
[0031]
Further, the rotating body includes a mechanical energy source, an operating member such as a doll driven by the mechanical energy source connected via a power transmission mechanism, and a rotating member rotated in conjunction with the operating member. And the rotating member in a toy comprising:
[0032]
Further, the rotating body may be the electric motor in a toy including an electric energy source and an electric motor driven by the electric energy source.
[0033]
If the present invention is applied to such various toys, the rotation speed of the rotating member and the electric motor can be accurately and quickly controlled, and the rotation speed can be changed according to the operation of a child playing with the toy. There is a change, you can play advanced.
[0034]
The rotating body may be the generator in a hybrid car including an engine and a generator driven by the engine and also functioning as a motor. If the present invention is applied to such a hybrid car, for example, when performing auto cruising control, it is possible to adjust the speed without greatly fluctuating the engine output by rotating the generator at the target rotation speed. Fuel efficiency can also be improved.
[0035]
A rotation control method according to the present invention is a rotation control method for controlling a rotation cycle of a rotating body by applying a brake to a rotating body that is rotated by power supplied from a power source, the rotation corresponding to the number of rotations of the rotating body. A signal is compared with a target signal corresponding to a target rotation speed of the rotating body, a frequency difference between the rotation signal and the target signal is detected, and a brake of the rotating body is controlled by a frequency difference compensation signal corresponding to the frequency difference. It is characterized by doing.
[0036]
A rotation control method according to the present invention is a rotation control method for controlling a rotation period of a rotating body by applying a brake to a rotating body that is rotated by power supplied from a power source. A signal and a target signal corresponding to a target rotation speed of the rotating body are compared to detect a phase difference therebetween, and a frequency difference between the rotation signal and the target signal is detected, and a phase difference compensation according to the phase difference is performed. The brake of the rotating body is controlled by at least one of a signal and a frequency difference compensation signal corresponding to the frequency difference.
[0037]
In the present invention, since the rotating body is controlled by using both the phase locked loop control (PLL control) and the frequency difference control, the speed regulating control of the rotating body can be performed quickly, and the responsiveness is stable and fast. Control of the rotating body can be realized.
[0038]
At this time, in the control start stage immediately after the start of the rotation control, the brake control of the rotating body is performed by the frequency difference compensation signal, and when the rotation control is stabilized, the frequency difference compensation signal at that time is held and the steady control stage is started. In the switching and steady control stages, it is preferable to perform the brake control of the rotating body by using the added signal of the held frequency difference compensation signal and the phase difference compensation signal.
[0039]
In the present invention, the rotation control is performed by the frequency difference compensation signal in the control start stage, and the rotation control is performed by using the addition signal of the frequency difference compensation signal and the phase difference compensation signal in the steady control stage. Even when the rotational speed of the body is largely deviated from the target rotational speed, the rotational speed can be quickly approached to the target rotational speed, and the rotational control can be performed with good responsiveness. After the rough braking amount is set, the fine braking amount can be adjusted by the phase difference compensation signal, so that the optimal control amount can be quickly obtained, and the responsiveness of the rotation control can be further improved.
[0040]
In the rotation control method of the present invention, in the control start stage, it may be determined from the frequency difference that the rotation control has been stabilized. In the control start stage, the rotation control may be considered to be stable when a predetermined period of time has elapsed from the start of the control, and the control may be switched from the control start stage to the steady control stage.
[0041]
BEST MODE FOR CARRYING OUT THE INVENTION
In order to explain the present invention in more detail, it will be described with reference to the accompanying drawings.
FIG. 1 is a plan view showing a main part of an electronically controlled mechanical timepiece according to a first embodiment of the present invention, and FIGS. 2 and 3 are sectional views thereof.
[0042]
The electronically controlled mechanical timepiece includes a barrel wheel 1 including a mainspring 1a, a barrel gear 1b, a barrel barrel 1c, and a barrel lid 1d. The mainspring 1a has an outer end fixed to the barrel gear 1b and an inner end fixed to the barrel barrel 1c. The barrel case 1c is supported by the main plate 2 and the train wheel bridge 3, and is fixed by a square hole screw 5 so as to rotate integrally with the square wheel 4.
[0043]
The square wheel 4 meshes with a hammer 6 so as to rotate clockwise but not counterclockwise. The method of rotating the hour wheel 4 in the clockwise direction and winding the mainspring 1a is the same as that of the automatic winding or the manual winding mechanism of the mechanical timepiece, and thus the description is omitted. The rotation of the barrel gear 1b is increased by a factor of 7 to the second wheel 7 and is sequentially increased by 6.4 times to the third wheel 8 and is increased by 9.375 times to the fourth wheel 9 and triples the speed. Then, the speed is increased by a factor of 10 to the fifth wheel & pinion 10 and to the sixth wheel 11 by a factor of 10 and increased to the rotor 12 by a total of 126,000 times.
[0044]
The center pinion 7a is fixed to the second wheel & pinion 7a, the minute hand 13 is fixed to the center pinion 7a, and the second hand 14 is fixed to the fourth wheel & pinion 9 respectively. Therefore, in order to rotate the second wheel & pinion 7 at 1 rpm and the fourth wheel & pinion 9 at 1 rpm, the rotor 12 may be controlled to rotate at 5 rpm. The barrel gear 1b at this time is 1/7 rph.
[0045]
This electronically controlled mechanical timepiece includes a generator 20 including a rotor 12, a stator 15, and a coil block 16. The rotor 12 includes a rotor magnet 12a, a rotor pinion 12b, and a rotor inertial disk 12c. The rotor inertia disk 12 c is for reducing the fluctuation of the rotation speed of the rotor 12 with respect to the fluctuation of the driving torque from the barrel car 1. The stator 15 is such that a 40,000-turn stator coil 15b is wound around a stator body 15a.
[0046]
The coil block 16 is formed by winding a coil 16b of 110,000 turns around a magnetic core 16a. Here, the stator body 15a and the magnetic core 16a are made of PC permalloy or the like. Further, the stator coil 15b and the coil 16b are connected in series so that an output voltage is obtained by adding the respective generated voltages.
[0047]
Next, a control circuit of the electronically controlled mechanical timepiece will be described with reference to FIGS.
[0048]
FIG. 4 is a block diagram showing the functions of the present embodiment. In this block diagram, a power source 101 is a mainspring 1a, a power transmission means 102 is a speed-up wheel train including gears 7 to 11, and a display means 106 is a hand (a minute hand 13, a second hand 14, etc.) The body 103 is the rotor 12 of the generator 20. The rotation speed of the rotating body 103 driven via the power transmission means 102 by the force generated by the power source 101 is reduced by the braking means 104, and the rotating body 103 is rotated at the target rotation speed by the degree of the braking. Can be controlled.
[0049]
A rotation signal 105 is output from the rotator 103. The rotation signal 105 is a repetitive pulse signal proportional to the rotation speed of the rotating body 103. If the target frequency of the rotation signal 105 is, for example, 10 Hz, when the rotation signal 105 becomes 10 Hz, the display means 106 composed of a hand that rotates in conjunction with the power transmission means 102 accurately displays the time. The rotating body 103 and the braking means 104 may be of any type, and the expression "brake" herein includes a negative braking action, that is, an accelerating action. In the present embodiment, the rotating body 103 is the rotor 12 of the generator 20, and the brake means 104 is a variable resistor or a switch connected to the output of the generator 20. As this switch, for example, a transistor that can be used as a switching element such as an FET can be used, and a switch that short-circuits the output terminal of the generator 20 to apply a brake can be used. Further, the generator 20
Acceleration can also be achieved by applying current to the output. Further, the brake means 104 may be a brake for applying a frictional force to the rotating body 103 to reduce the speed, and may be appropriately set according to the type of the rotating body 103.
[0050]
Next, the configuration of a control system for controlling the electronically controlled mechanical timepiece will be described with reference to the block diagram of the control system of the present invention shown in FIG. The control circuit is provided with a mechanical body 111 including a generator 20 and the like, a target signal generator 112, a frequency difference compensator 114, a phase difference compensator 118, and a brake signal generator 116.
[0051]
A rotation signal 105 having a pulse waveform is output from the machine body 111. Also, the target signal generating means 112 outputs a target signal 113 having the same pulse waveform. The frequency of the target signal 113 is, for example, 10 Hz. The rotation signal 105 and the target signal 113 are input to the frequency difference compensating means 114 and the phase difference compensating means 118, respectively.
[0052]
The frequency difference compensator 114 generates a frequency difference compensation signal 115 based on the frequency difference between the target signal 113 and the rotation signal 105. The frequency difference compensation signal 115 is set in a direction in which the brake is further applied when the rotation signal 105 is faster than 10 Hz of the target signal 113, and in a direction in which the brake is released when the rotation signal 105 is slower. Accordingly, the rotating body 103 rotates at a rotation speed close to the target rotation speed.
[0053]
The phase difference compensating means 118 generates a phase difference compensation signal 119 based on the phase difference between the target signal 113 and the rotation signal 105, for example, the time difference between the fall of the two signals 113 and 105. For example, if the fall of the target signal 113 appears earlier than the fall of the rotation signal 105, the phase difference compensation signal 119 swings in a direction in which the brake is loosened because the rotation signal 105 is delayed.
[0054]
The brake signal generating means 116 generates a brake signal 117 based on the frequency difference compensation signal 115 and the phase difference compensation signal 119, and controls the rotation of the rotating body 103 of the machine body 111 based on the signal 117. If the constant of the control loop is properly set, the rotating body 103 rotates in synchronization with the target signal 113, and the display means 106 such as a pointer can display an accurate time.
[0055]
FIG. 6 is a more specific configuration diagram of the control circuit of FIG. The control circuit of the present embodiment will be described in more detail with reference to FIG.
[0056]
The target signal generating means 112 includes a crystal oscillator 121 and a frequency divider 122, and divides the output of the crystal oscillator 121 by the frequency divider 122 to generate a target signal 113.
[0057]
The frequency difference compensating means 114 includes a frequency difference detecting circuit 123, a frequency difference compensating filter 124, and a holding circuit 125.
[0058]
The frequency difference detection circuit 123 calculates the frequency difference between the target signal 113 and the rotation signal 105 by counting a clock (not shown). The frequency difference compensating filter 124 may be realized by an integral proportional differentiating function or the like, and may be configured to stabilize the control loop. In this embodiment, only the device for performing the simplest gain adjustment is used.
[0059]
The holding circuit 125 is configured to be able to select whether to pass the output 132 of the frequency difference compensating filter 124 as it is or to hold the value of the compensating filter output 132 at a designated time by the switching signal 129. The holding circuit 125 constitutes a frequency difference compensation holding unit.
[0060]
Next, the phase difference compensating means 118 will be described. The phase difference compensating means 118 includes a phase difference detecting circuit 126 and a phase difference compensating filter 127.
[0061]
The phase difference detection circuit 126 is configured to detect a phase difference between the target signal 113 and the rotation signal 105. This phase difference is converted into a phase difference compensation signal 119 by a phase difference compensation filter 127 which is a compensation signal generating means.
The phase difference compensation filter 127 includes an integration element for integrating and outputting an error signal in order to eliminate a stationary phase error. The time constant of the response of the mechanical body 111 to the brake signal 117 is considerably large, about 1 second due to the influence of the inertia of the rotating body 103 and the power transmission means 102. Therefore, the time constant of the phase difference compensation filter 127 is 10 seconds due to the stable condition. It is set to a degree or more.
[0062]
The switching signal 129 is input to the phase difference compensation filter 127 as a control signal. The switching signal 129 is used to switch the filter operation between the operating state and the stopped state, and to switch between outputting and not outputting the phase difference compensation signal 119 from the filter.
[0063]
On the other hand, the brake signal generation means 116 includes an adder 130 and a brake pulse generation circuit 131.
The adder 130 adds the frequency difference compensation signal 115 output from the frequency difference compensation means 114 and the phase difference compensation signal 119 output from the phase difference compensation means 118. The output of the adder 130 enters a brake pulse generation circuit 131, and the brake pulse generation circuit 131 generates a brake signal 117. The brake of the machine body 111 is controlled by the brake signal 117.
[0064]
By using the control method as described above, the rotating body 103 rotates in phase with the target signal 113 and thus rotates accurately with the accuracy of the crystal oscillator (crystal oscillator) 121, whereby the display means 106 is accurately rotated. Time can be displayed.
FIG. 7 is a specific configuration diagram of the frequency difference detection circuit 123. The frequency difference detection circuit 123 includes a first counter 141, a second counter 142, and a subtractor 146. The first counter 141 counts the clock 143 that is cleared at the falling edge of the target signal 113 and input to the frequency difference detection circuit 123 until the next falling edge in order to measure the frequency of the target signal 113. The output 144 of the first counter 141 outputs the value held at the fall of the target signal 113 until the next fall.
[0065]
Similarly to the first counter 141, the second counter 142 integrates the clock 143 of the frequency difference detection circuit 123 from the fall of the rotation signal 105 to the fall, and outputs the value held at the fall of the rotation signal 105 as the output 145. Become. The result obtained by subtracting the output 145 of the second counter 142 from the output 144 of the first counter 141 is calculated by a subtractor 146 to become a frequency difference signal 147. If the clock 143 input to the frequency difference detection circuit 123 is, for example, 1000 Hz, the target signal 113 is 10 Hz, and the rotation signal 105 is 15 Hz, the frequency difference signal 147 has a count value of about 33. In the above description, the case where the falling of the target signal 113 or the rotation signal 105 is used has been described, but the rising may be used.
[0066]
FIG. 8 is an explanatory diagram of the function of the frequency difference compensating means 114. The role of the frequency difference compensating means 114 will be described with reference to FIG. If the frequency difference compensating means 114 is not provided, a control loop is constituted only by the phase difference compensating means 118. However, the time constant of the mechanical body 111 is about one second as described above, so that it is determined by the time constant of the phase difference compensating filter 127. The time constant of the loop system cannot be stabilized unless it is about 10 seconds or more. At this time, the integral element of the phase difference compensation filter 127 obtains the average value of the brake signal 117, but it takes about 10 seconds for the integral value of the integral element to reach a steady state from the start of control. During this response time, the rotating body 103 slowly settles from a high-speed rotation state to a rotation speed synchronized with the target signal 113.
[0067]
During this response time, the rotating body 103 slowly settles from a high-speed rotation state to a rotation speed synchronized with the target signal 113. From the viewpoint of the user of the watch, it takes 10 seconds or more for the movement of the second hand of the watch to calm down, which causes anxiety. The response time can be reduced to about 1 second, which is the response time of the machine body 111, by the frequency difference compensating means 114. This is because the frequency difference control loop is stable even when the loop gain is very large.
[0068]
FIG. 8 shows the switching signal 129 divided into four signals. That is, a control start signal 54, a frequency control valid signal 53, a sample signal 52, and a phase difference control valid signal 51. The power is turned on at the start time 60 and the crystal oscillator 121 and the like are started. After a while, the target signal is stabilized at the target frequency 57. Thereafter, at the control start time 61, the frequency control valid signal 53 becomes "1", and the frequency difference compensating means 114 operates. At this time, the phase difference compensating means 118 has not been operated yet. Due to the operation of the frequency difference compensating means 114, the rotation signal frequency 56 substantially settles to a steady value regardless of the transient response time 59. The transient response time 59 can be set to about 1 second. At the switching time 62 after the transient response time 59, the frequency difference compensation signal 115 is held at the value at that time by the sample signal 52. Further, at the switching time 62, the phase difference control loop is closed by the phase difference control valid signal 51. At the switching time 62, the rotation signal 105 is substantially close to the target frequency due to the frequency difference compensation signal, so that the response of the phase difference control loop closed at the switching time 62 converges in a short time. Since the held frequency difference compensation signal 15 is applied to a brake force necessary to reduce the rotation speed of the rotating body 103, which is to rotate at high speed by the generated force of the power source 101, to the rotation speed synchronized with the frequency of the target signal 113, When the power generated by the power source 101 fluctuates, the held frequency difference compensation signal 115 does not have an appropriate value. For example, when the power source 101 is the mainspring and the mainspring is gradually released, the generated force becomes small, so that the frequency difference compensation signal 115 held in a state where the mainspring is fully wound at the start of the control becomes excessive. At time 63, the frequency difference compensation signal 115 can be switched to frequency control in order to reset the signal to an appropriate value.
[0069]
At the switching time 62, the reason for switching from the frequency difference compensating means 114 to the phase difference compensating means 118 is that if control is performed simultaneously by both means, the control loop tends to be unstable due to mutual interference between the two means, making specific design difficult. It is because it becomes.
[0070]
The value of the held frequency difference compensation signal 115 is not a precise value because it is a value corresponding to an approximate brake force. Therefore, the switching time 62 may be set by any of the following methods.
[0071]
In the first method, the frequency difference signal 147 is monitored, and switching is performed when the difference falls within a predetermined absolute value. In the second method, switching is performed when a time determined from a design value of the response time of the frequency control loop elapses.
[0072]
The former method has an advantage that switching can be performed at an appropriate timing even if the characteristics of the mechanical body 111 vary. The latter method has an advantage that the circuit configuration can be simplified because it can be configured by a timer.
[0073]
FIG. 9 is a configuration diagram of the phase difference detection circuit 126. The phase difference detection circuit 126 of the present embodiment has a linear detection signal even in a wide range of one cycle or more, while the phase difference detection circuit conventionally used frequently can obtain a detection signal linearly only within one cycle of the phase difference. Is obtained.
[0074]
Specifically, the phase difference detection circuit 126 includes a fall detection circuit 171, a fall detection circuit 172, and an up / down counter 173. The phase difference detection circuit 126 of the present embodiment obtains the phase difference signal 174 using the falling of the target signal 113 and the rotation signal 105, but may use the rising.
[0075]
In the phase difference detection circuit 126, the fall of the target signal 113 is detected by the fall detection circuit 171 and is set as an up signal 175. Similarly, the fall signal 176 is obtained by detecting the fall of the rotation signal 105 by the fall detection circuit 172. The up signal 175 and the down signal 176 are input to the up / down counter 173, and the difference between the counts of the up signal 175 and the down signal 176 is obtained, and the difference is used as the phase difference signal 174. This means that the difference in the number of pulses between the target signal 113 and the rotation signal 105 from the time when counting is started is determined.
[0076]
FIG. 10A shows a waveform diagram of the phase difference detection circuit 126. The phase difference signal waveform 83 increases by 1 at the falling of the target signal waveform 81 and decreases by 1 at the falling of the rotation signal waveform 82. Here, since the phase difference signal is defined as the progress of the target signal 113 with respect to the rotation signal 105, the period of the rotation signal waveform 82 is long in the left part of FIG. In the right part of FIG. 10A, since the rotation signal waveform 82 and the target signal waveform 81 have the same period, the phase difference signal waveform 83 emits a short pulse indicating the phase difference between the two signals, and is slightly slightly on average. It does not change with a positive value. When the phase of one cycle is counted as 1, the phase difference signal waveform 83 is a waveform obtained by expressing a phase difference of 1 or more by a waveform level, and synthesizing a waveform in which the phase difference of 1 or less is represented by a pulse width modulated waveform. ing.
[0077]
FIG. 10B shows the phase 85 of the target signal, the phase 84 of the rotation signal, and the phase difference 86 in association with the upper graph. If the phase difference signal waveform 83 is passed through a low-pass filter, it can be seen that the phase difference signal waveform 83 has the same change as the phase difference 86.
[0078]
By using such a phase difference detection circuit 126, even when a disturbance is applied to the machine body 111 and the phase difference temporarily becomes larger than one cycle, the phase difference is preserved, so that the phase difference gradually decreases. The brake is adjusted to For this reason, there is no occurrence of cumulative clock display shift. As a disturbance to the mechanical body 111, acceleration due to arm movement when the present invention is applied to a wristwatch can be considered. Further, since the phase difference detection circuit 126 is constituted by a counter, the circuit configuration is simple and can be realized by a small-scale circuit.
[0079]
FIG. 11 is a configuration diagram of the phase difference compensation filter 127. This compensation filter 127 performs a so-called PI control consisting of integration and proportionality. The phase difference signal 191 is multiplied by an appropriate constant by a multiplier 192 to become a proportional control signal 199. Further, the phase difference signal 191 becomes the control signal 200 of the integral part by the integral element 203. The control signal 199 of the proportional part and the control signal 200 of the integral part are added by an adder 201 and output as a phase difference compensation signal 119.
[0080]
The integrating element 203 changes the frequency divider 195 that divides the clock 194 of the phase difference compensation filter 127, the sign determination circuit 193 that determines the sign of the phase difference signal, and changes whether the sign 198 increases or decreases. An up-down counter 197 counts the number of clocks 196. The frequency divider 195 has a configuration in which the frequency division ratio can be changed according to the absolute value of the phase difference signal 191. If the frequency of the frequency-divided clock 196 when the absolute value is “1” is f1, the absolute value Is "2", the frequency of the frequency-divided clock 196 is frequency-divided so as to be twice f1. The integral gain can be adjusted by f1. The multiplier 192 is an element for determining the proportional gain of the compensation filter. The multiplier 192 may perform actual multiplication or may be based on a shift. By configuring the phase difference compensation filter 127 as described above, it is possible to realize a small circuit scale.
[0081]
FIG. 12 is an operation waveform diagram of the phase difference compensation filter 127. The phase difference signal waveform 211 gradually changes from "minus 2 (-2)" to a positive direction, temporarily changes to "plus 1 (+1)", and then changes to "minus 1" again. The code waveform 213 is “1” (high level) when the phase difference signal waveform 211 is positive. The frequency-divided clock waveform 214 divides the clock 212 by two when the absolute value of the phase difference signal waveform 211 is “2”, and divides it by four when the absolute value of the phase difference signal waveform 211 is “1”. Note that this frequency division ratio is set to schematically represent a waveform, and is different from an actual frequency division ratio. The actual frequency division ratio can be determined in consideration of, for example, appropriate integration gain. When the frequency-divided clock 214 is counted in accordance with the code waveform 213, a control signal waveform 215 of the integral part is obtained, which is a waveform obtained by integrating the phase difference signal waveform 211.
[0082]
If the absolute value of the phase difference signal waveform 211 is large, the frequency division ratio becomes small. In the example of FIG. 12, the absolute value is “3” and the frequency division ratio is 1. When the absolute value is “4” or more, the frequency division ratio may be set to 1. This process corresponds to clipping the integral gain with respect to the error signal. The absolute value of the phase difference signal 191 is about "4" to "5" even if an external force that causes the rotation speed of the rotating body to fluctuate by 30% is assumed as a disturbance, and there is no problem in control characteristics even if clipping is performed.
[0083]
Next, the operation in the present embodiment will be described with reference to the flowcharts of FIGS.
[0084]
For example, when the electronic control mechanical timepiece in a stopped state starts to operate by winding up a mainspring, when the timepiece starts, a control switching flow starts first (step 1, step is abbreviated as S hereinafter).
[0085]
The control switching flow sets the timing of switching from the brake control by the frequency difference compensating means 114 to the brake control by the phase difference compensating means 118. Specifically, as shown in FIG. 14, a flow for outputting a switching signal after a lapse of a set time, and as shown in FIG. 15, a frequency difference compensation signal 115 of the frequency difference compensating means 114 within a set frequency range. , And a flow of outputting a switching signal when the number of times has reached.
[0086]
In the flow shown in FIG. 14, when activated, the switching signal is first released (initialized) (S11), and the data holding in the holding circuit 125 is also released (S12). Subsequently, a counter for counting the time measurement pulse is started (S13), and it is determined whether the counter value has reached a set value (S14). When the counter value reaches the set value, a switching signal is output from the stage switching circuit 128. (S15).
[0087]
Although not described in this flowchart, if a value less than “0”, that is, a value of “−” occurs in the subtraction result of the frequency control, the f value (frequency difference compensation signal 115) becomes 0, and the FB signal ( Reset signal). Then, the counter value for time measurement is reset by the FB signal, and the counter is restarted from 0 again. This prevents the f value from becoming 0 when the switching signal is output.
[0088]
On the other hand, in the flow shown in FIG. 15, when activated, the switching signal is first released (initialized) (S21), and the data holding in the holding circuit 125 is also released (S22). Subsequently, an output f value (frequency difference compensation signal 115) from a frequency control flow described later is fetched (S23), and it is determined whether or not this f value is within a set frequency range (S24). For example, a switching signal is output from the stage switching circuit 128 (S25).
[0089]
Until a switching signal is input from these stage switching circuits 128, frequency control is performed by the frequency difference compensating means 114 as shown in FIG. 13 (S2).
[0090]
In the frequency control by the frequency difference compensating means 114, as shown in FIG. 16, first, the period of the Ref1 pulse (target signal 113) and the period of the G pulse (rotation signal 105) are determined using a predetermined frequency gain pulse Cf. It counts and measures (S31).
[0091]
Then, the measured values (Ref1 value, G value) are input to the subtractor 146, and the f value is calculated by subtracting “f = Ref1 value−G value” (S32). Then, it is determined whether the f-value is 0 or more (S33). If the f-value is less than 0, that is, if the operation result of the subtractor 146 is "minus", "f-value = 0" is set (S34). ). Then, the f-value is output as the frequency difference compensation signal 115 (S35).
[0092]
Therefore, until the switching signal is input, the brake control is performed by the f value (frequency difference compensation signal 115).
[0093]
The cycle of the Ref1 pulse and the cycle of the G pulse are measured according to the procedures shown in FIGS.
[0094]
That is, for the Ref1 pulse, the first counter 141 is first reset (S36), and the cycle time of the Ref1 pulse is counted and measured by the frequency gain pulse Cf (S37). Then, it is determined whether or not the measurement of the Ref1 pulse cycle has been completed based on whether or not the frequency gain pulse Cf has been input (S38). When the measurement has been completed, the count value is output to a register or the like as a Ref1 pulse (S39). Then, the measurement of the cycle time of the next Ref1 pulse is repeated.
[0095]
Similarly, for the G pulse, first, the second counter 142 is reset (S40), and the cycle time of the G pulse is counted and measured by the frequency gain pulse Cf (S41). Then, it is determined whether or not the measurement of the G pulse period has been completed (S42). When the measurement has been completed, the count value is output to a register or the like as a G pulse (S43). Then, the measurement of the cycle time of the next G pulse is repeated.
[0096]
The count values (Ref1 value, G value) 144 and 145 stored in this register are the measured values of S31 in the flow of FIG.
[0097]
When a switching signal is input during the frequency control as shown in FIG. 13 (S3), the f-value (frequency difference compensation signal 115) at that time is read into the register by the holding circuit 125. It is held (S4). Therefore, thereafter, the value of the f value is fixed to the value at the time when the frequency control switching signal is input.
[0098]
Then, brake control by PLL control is performed with a signal obtained by adding the fixed f-number and the output from the phase difference compensating means 118 by the adder 130 (S5).
[0099]
In the phase difference compensating means 118, a brake signal is calculated according to a procedure as shown in FIG. First, a phase difference signal is counted by the phase difference detection circuit 126 from the time of activation until the switching signal is input, that is, while the brake control is being performed by the frequency difference compensating means 114 (S51). Specifically, the phase difference signal is counted by an up / down counter 173 that goes up when the target signal 113 is input and goes down when the rotation signal 105 is input.
[0100]
When the switching signal is input (S52), the P value (control signal 199) and the I value (control signal 200) are calculated by the phase difference compensation filter 127 (S53).
[0101]
The P value is calculated by the multiplier 192 performing a proportional gain multiplication (shift) process on the phase deviation amount e of the phase difference signal counted by the up / down counter 173.
[0102]
On the other hand, the I value is calculated according to the flow of FIG. That is, first, an integral gain selection process is performed based on the phase deviation amount e (S61). Specifically, as shown in FIG. 21, the phase deviation e is input to the frequency divider 195 (S71). If the phase deviation e is less than 1 (S72), the phase deviation e is determined to be 0. Then, 0 Hz is selected for the integral gain pulse (S73). If the phase deviation e is not less than 1 (S72), it is determined whether the phase deviation e is 1 (S74), and if it is 1, Ci1 Hz is selected as the integral gain pulse (S75).
[0103]
If the phase deviation amount e 1 is not 1, it is determined whether it is less than 3 (S76). If it is less than 3, the phase deviation amount e is determined to be 2, and the integral gain pulse is set to Ci2 Hz (S77). ).
[0104]
Further, if the phase deviation amount e is not less than 3, it is determined whether or not it is 3 (S78). If it is 3, Ci3 Hz is selected as the integral gain pulse (S79). If the phase deviation e is not 3, Ci4 Hz is selected as the integral gain pulse (S80).
[0105]
Then, the selected integral gain pulse (0, Ci1, Ci2, Ci3, Ci4) is output (S81).
[0106]
Subsequently, as shown in FIG. 20, the sign determination circuit 193 determines whether the phase of the G pulse is advanced or delayed (S62). It measures with an impulse and counts up / down counter 197 with the measured amount (S63). If it is a delay, the delay amount is measured with the selected integral gain pulse, and the up / down counter 197 is counted down by the measured amount (S64).
[0107]
The count value of the up / down counter 197 is output as an I value (control signal 200) (S65).
[0108]
After calculating the P value and the I value, the leading deviation of the G pulse is determined as shown in FIG. 19 (S54). If the G pulse is a leading deviation, the result of the calculation of “H value = I value + P value” performed by the adder 201 (H value, phase difference compensation signal 119) is output to the adder 130 (S55). On the other hand, in the case of the delay deviation, the result of the calculation of “H value = I value−P value” is output to the adder 130 (S56).
[0109]
Then, the H value (phase difference compensation signal 119) of the calculation result and the f value (frequency difference compensation signal 115) held in the holding circuit 125 are added by the adder 130 to generate a brake signal (N value). It calculates (S57) and performs brake control. In the present embodiment, choppering control is performed using a predetermined pulse (Ref2 pulse) at the time of each brake control of the frequency control and the PLL control (S58).
[0110]
This embodiment has the following effects.
[0111]
(1) Since the phase difference compensating means 118 is provided, the rotation of the rotating body 103 can be controlled by PLL control. For this reason, for example, since the brake level can be set by comparing the waveform of the rotation signal 105 for each cycle of the rotating body 103, if the signal waveform is once pulled into the lock range, unless the signal waveform instantaneously largely fluctuates, the response level will not change. Fast and stable control can be performed, and phase deviation can be eliminated. Therefore, the rotating body 103 can be accurately rotated in synchronization with the target signal 113, and since the speed of the rotating body 103 does not fluctuate greatly, energy loss due to braking can be minimized. It can be rotated for a long time, and the life can be extended.
Therefore, if the present embodiment is applied to an electronically controlled mechanical timepiece, it is possible to display a time with extremely high precision and to obtain a timepiece having a long duration.
[0112]
(2) Since the frequency difference compensating means 114 is provided in addition to the phase difference compensating means 118, the frequency difference compensating means is provided when the rotation of the rotating body 103 is out of the lock range in the PLL control, such as immediately after the start of the rotation control. Using 114, control can be performed to ignore the phase difference between the rotation signal 105 and the target signal 113 so that the speed difference approaches 0, and the rotating body 103 can be quickly pulled into the lock range. Then, after the speed difference is made close to 0 by the frequency difference compensating means 114, the rotation is controlled by the phase difference compensating means 118. Therefore, a large phase deviation is accumulated as compared with the case where the rotation is controlled only by the phase difference compensating means 118. Can be prevented, and the speed control of the rotating body 103 can be quickly performed. That is, in the present embodiment, at the control start stage, the rotation is controlled by the frequency difference compensation signal 115 by the frequency difference compensating means 114. Therefore, even when the rotation speed of the rotating body 103 is largely deviated from the target rotation speed, The target rotation speed can be quickly approached, and rotation control with good responsiveness can be performed.
For this reason, especially when applied to an electronically controlled mechanical timepiece, even if the hand operation is started from a state where the generator 20 is stopped by hand adjustment, it is possible to quickly shift to a normal hand operation state.
[0113]
(3) Further, in the steady control stage, since the rotation is controlled by using the addition signal of the frequency difference compensation signal 115 and the phase difference compensation signal 119, the approximate braking amount can be set by the frequency difference compensation signal 115, Since the phase difference compensation signal 119 may be set to a brake amount for performing minute control that cannot be controlled by the frequency difference compensation signal 115, an optimum control amount can be quickly obtained by adding the signals, and the rotation control can be performed. Can be further improved.
[0114]
(4) In addition, since the frequency difference compensation signal 115 only needs to be able to calculate an approximate brake amount, the configuration of the frequency difference compensation means 114 can be simplified.
[0115]
(5) Since the brake control is realized by using the chopper ring, the braking torque can be increased while maintaining the generated power at or above a certain level. For this reason, efficient brake control can be performed while maintaining the stability of the system.
[0116]
(6) When the stage switching circuit 128 determines that the rotation control has been stabilized in the control start stage based on the frequency difference, it is possible to reliably and relatively easily determine that the rotation control has been stabilized, The control can be appropriately switched without depending on the variation of the rotating body 103.
[0117]
(7) When the stage switching circuit 128 considers that the rotation control has become stable when a predetermined period of time has elapsed since the start of the control in the control start stage, and switches from the control start stage to the steady control stage, Since a timer or the like may be used, the circuit configuration can be simplified as compared with the case where the determination is made based on the frequency difference.
[0118]
(8) Since the frequency difference detection circuit 123 and the phase difference detection circuit 126 are configured using the counters 141, 142, and 173, the circuit configuration can be simplified, the circuit can be easily reduced in size, and the size of a small It can be easily applied to equipment and cost can be reduced.
Further, since the counters 141, 142, and 173 capable of holding a plurality of counter values are used, a phase difference or the like can be detected in a wide range, and even when the phase differences are accumulated, the accumulated value can be held. , Control according to the accumulated phase difference can be performed, and more accurate speed control can be performed.
[0119]
(9) In the phase difference compensating filter 127 of the phase difference compensating means 118, the integral gain pulse can be selected by changing the frequency division ratio of the frequency divider 195 based on the absolute value of the phase difference signal 191. The magnitude of the phase difference compensation signal 119 can also be set appropriately, and control can be quickly performed to eliminate the phase difference.
[0120]
It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, etc. within a scope that can achieve the object of the present invention are included in the present invention.
[0121]
For example, in the above embodiment, the P value and the I value of the phase difference compensating means 118 are added and subtracted, and then added to the f value (frequency difference compensating signal 115) of the frequency difference compensating means 114. 23, the adder 501 adds the output of the frequency difference compensating means 114 (frequency difference compensating signal 115) and the output I value of the phase difference compensating means 118 (integration counter output 200). The P value (proportional gain output 199) of the means 118 may be added or subtracted by the adder / subtractor 502 in accordance with the delay advance (sign) of the phase deviation amount.
[0122]
FIG. 22 is a configuration diagram when the stage switching circuit (control switching circuit) 128 switches the switches 503 and 504 in a fixed time, and FIG. 23 is a diagram in which the stage switching circuit (control switching circuit) 128 controls the frequency difference control. FIG. 9 is a configuration diagram in a case where the switches 503 and 504 are switched according to an output (frequency difference) of a circuit. In the control start stage, since the switch 504 is not connected to the phase deviation absolute value detector 505, the output of the frequency difference compensating means 114 (the frequency difference compensation signal 115) is directly added to the adder by the switch 503. The speed of the rotating body 103 is controlled via a PWM (pulse width modulation) converter 506 by the frequency difference compensation signal 115.
[0123]
On the other hand, when the stage switching circuit (control switching circuit) 128 switches from the control start stage to the steady control stage, the switch 503 is connected to a holding circuit (register) 125 for holding the frequency difference compensation signal 115 at the time of switching. The value is then output. The switch 504 is connected to the phase comparison deviation counter 173, and outputs an output 200 of an up / down counter (integration counter) 197 corresponding to the phase deviation amount e detected by the phase deviation absolute value detector 505, and a multiplier ( The output 199 of the proportional gain 192 is input to the adder 501 and the adder / subtractor 502. The adder 501 adds the frequency difference compensation signal 115 and the output 200, and the adder / subtractor 502 adds or subtracts the output 199 according to the sign of the phase deviation amount e. When the output of the adder / subtractor 502 becomes negative, the switch 507 switches from the output of the adder / subtractor 502 to 0 output. The speed of the rotating body 103 is controlled by the output of the adder / subtractor 502 via the PWM converter 506.
[0124]
Further, the present invention is not limited to the case of being applied to an electronically controlled mechanical timepiece, but may be applied to an automatic generator type that generates electricity using a rotating weight, a general quartz timepiece having a built-in battery, and the like.
[0125]
Further, the present invention may be applied to various toys operated by spring power.
For example, as shown in FIG. 24, the toy includes a mainspring 301, a hoisting mechanism 302 for winding the mainspring 301, a transmission mechanism 303 for transmitting mechanical energy of the mainspring 301, and the mechanical Member 304 that operates with mechanical energy, a rotating body 305 that is connected to the transmission mechanism 303 or the operating member 304 and rotates with the mechanical energy, and a rotation control of the present invention that regulates the number of rotations of the rotating body 305 Device 306.
[0126]
As such a toy, for example, there is an openable / closable toy in which when the compact is closed, the mainspring 301 is wound, and when the compact is opened, the mainspring 301 is opened and the dolls, animals, and the like in the compact operate. In this openable toy, the hoisting mechanism 302 is constituted by a compact opening / closing mechanism, and can control the speed of a doll or the like.
[0127]
As the toy, there is an automobile-type traveling toy that travels by a mainspring drive. In this toy, the mainspring 301 is wound by a manual or pull-back type (a method in which the toy is backed up while the tires are on the floor and the mainspring is wound up), and the tire is rotated with the energy of the mainspring 301 to run. By providing the control device 306, the traveling speed can be accurately adjusted, and the traveling speed can be varied by changing the target signal using a switch or the like.
[0128]
As the toy, there is a running body guiding game board for guiding a running body running on a game board. Even with this toy, the traveling speed of the traveling body can be accurately regulated, and traveling for a fixed time can be performed without using a separate timer or the like.
[0129]
Furthermore, if the present invention is applied to a walking doll or an animal-type toy by operating the walking mechanism as the operating member 304 with the mainspring 301, the walking time can be adjusted and the walking time can be lengthened.
[0130]
Further, if the present invention is applied to a toy that generates an onomatopoeic sound by operating the onomatopoeic unit that is the operating member 304 with the mainspring 301, the onomatopoeic sound generating unit can be driven at a constant speed and a stable sound can be output.
[0131]
Furthermore, if the present invention is applied to a toy that rotates and displays a greeting card or the like on which a message is written by operating the card rotating mechanism that is the operating member 304 with the mainspring 301, the greeting card is turned at a constant speed for a long time. be able to.
[0132]
In addition, the present invention is applied to a portable game toy in which the mainspring 301 is wound up by pulling a string as the hoisting mechanism 302, and when the string is released, the mainspring 301 is opened and wound on a drum, and a doll or the like is rotated by the operation. If applied, the winding time of the string around the drum, that is, the operation time of the doll or the like can be set accurately.
[0133]
Furthermore, if the present invention is applied to a talking game toy that generates a sound by rotating a record board with the mainspring 301, the record board can be stably rotated at a predetermined speed, and voice and operation can be stabilized. .
[0134]
Further, the present invention may be applied to an auto cruising mechanism of a hybrid car. As shown in FIG. 25, the hybrid car transmits the output of the engine 401 to the generator 403 via the power transmission means (clutch) 402 to generate electric power, charges the power storage member (battery) 404, The generator 403 is driven by the electric power of the power storage member (battery) 404 at low speeds and during acceleration, and operates as a motor to drive wheels. Also, at the time of braking, power is generated by regenerative braking using the electromagnetic brake of the generator 403. In such a hybrid car, the speed of the generator 403 is controlled using the rotation control device of the present invention. In this case, the control circuit 405 and the brake control circuit 406 are not used to control the speed of the auto cruising mechanism running at a constant speed with the power of the engine, but to synchronize the rotation speed of the generator 403 with the target frequency. This can be performed by controlling the speed.
[0135]
When the generator 401 is rotated and charged by the engine 401, if the voltage generated in the generator 403 by the set speed of the automatic cruising is lower than the potential of the power storage member 404, the charging cannot be performed or the charging cannot be performed. Efficiency decreases.
[0136]
On the other hand, when the auto cruising is realized by controlling the speed of the generator 403, the electromotive voltage is increased by the effect of the chopper boost (always a regenerative braking state) while obtaining the braking force by performing the brake control by the chopper ring. The charging efficiency can be increased, and a decrease in charging efficiency can be prevented while controlling the speed. Note that the level of the boost charging at this time can be adjusted by the input energy of the engine 401.
[0137]
Furthermore, the rotation control device of the present invention is provided not only in a hybrid car but also in a vehicle equipped with a regenerative retarder (generator) capable of recovering kinetic energy during deceleration as electric energy when a brake is applied. be able to.
[0138]
Further, the present invention is not limited to watches, toys, and automobiles, and can be widely applied to those requiring speed control of a rotating body.
[0139]
According to the present invention as described above, a rotation control device that controls the number of rotations by applying a brake to a rotating body that is rotated by power supplied from a power source includes a phase difference compensation unit and a frequency difference compensation unit. With this configuration, the rotating body can be rotated in synchronization with the target signal, and a stable rotation control with a quick response can be realized.
[0140]
Further, the frequency difference compensating means includes a frequency difference compensation holding means for holding a frequency difference compensation signal, and the brake control means includes a control start stage immediately after starting the rotation control and a steady control stage in which the rotation control is stable. Two control modes are provided. In the control start step, rotation control is performed by a frequency compensation signal of a frequency difference compensating means. In the steady control step, when the rotation control stably switches from the control start step to the steady control step, the frequency control is performed. If the brake control is performed based on the sum signal of the frequency difference compensation signal held by the difference compensation holding means and the phase difference compensation signal, even if the rotation speed of the rotating body is largely deviated from the target rotation speed, the speed can be quickly increased. The rotation speed can be approached to the target rotation speed, and rotation control can be performed with good responsiveness.
[0141]
Further, in the control start stage, when it is determined from the frequency difference that the rotation control has been stabilized, the control can be appropriately switched regardless of the variation of the rotating body.
[0142]
In addition, in the control start stage, the control can be switched with a simple circuit configuration by switching from the control start stage to the steady-state control stage by regarding the state as stable when a predetermined period of time has elapsed from the control start.
[0143]
In addition, if a counter is used to detect a phase difference or a frequency difference in the phase difference compensating means or the frequency difference compensating means, the circuit configuration can be simplified and the size can be easily reduced. Can be easily incorporated.
[0144]
[Industrial applicability]
INDUSTRIAL APPLICABILITY As described above, the rotation control device and the rotation control method according to the present invention are useful for controlling the speed of various rotating bodies with high accuracy and speed, and in particular, various clocks such as an electronically controlled mechanical clock. It is suitable for use in a rotation control device incorporated in a small device such as the above.
[Brief description of the drawings]
FIG. 1 is a plan view showing a main part of an electronically controlled mechanical timepiece according to an embodiment of the present invention.
FIG. 2 is a sectional view showing a main part of FIG.
FIG. 3 is a sectional view showing a main part of FIG. 1;
FIG. 4 is a block diagram of a control system of the present invention.
FIG. 5 is a configuration diagram of a control circuit of the machine body.
FIG. 6 is a specific configuration diagram of a control circuit of the present embodiment.
FIG. 7 is a configuration diagram of a frequency difference detection circuit of the present embodiment.
FIG. 8 is an explanatory diagram of the function of the frequency difference compensating means of the present embodiment.
FIG. 9 is a configuration diagram of a phase difference detection circuit according to the present embodiment.
FIG. 10 is a waveform chart in the phase difference detection circuit of the present embodiment.
FIG. 11 is a configuration diagram of a phase difference compensation filter of the present embodiment.
FIG. 12 is an operation waveform diagram of the phase difference compensation filter of the present embodiment.
FIG. 13 is a flowchart illustrating a brake control method according to the present embodiment.
FIG. 14 is a flowchart illustrating an example of a control switching flow.
FIG. 15 is a flowchart illustrating another example of the control switching flow.
FIG. 16 is a flowchart showing a frequency control flow.
FIG. 17 is a flowchart showing a Ref1 pulse cycle measurement flow.
FIG. 18 is a flowchart showing a G pulse cycle measurement flow.
FIG. 19 is a flowchart showing a PLL control flow.
FIG. 20 is a flowchart showing an I value calculation flow of FIG. 19;
FIG. 21 is a flowchart showing an integral gain selection flow of FIG.
FIG. 22 is a configuration diagram showing a modification of the present invention.
FIG. 23 is a configuration diagram showing another modification of the present invention.
FIG. 24 is a configuration diagram showing another modification of the present invention.
FIG. 25 is a configuration diagram showing another modification of the present invention.
FIG. 26 is a block diagram showing a configuration of a conventional example of the present invention.
FIG. 27 is a Bode diagram in a conventional example.
FIG. 28 is a Bode diagram in a conventional example.

Claims (2)

A rotation control device that controls the rotation cycle of the rotating body by applying a brake to the rotating body that is rotated by the power supplied from the power source,
Rotation detection means for generating a rotation signal corresponding to the rotation speed of the rotator, target signal generation means for generating a target signal corresponding to the target rotation speed of the rotator,
Frequency difference compensation means for detecting a frequency difference between the rotation signal and the target signal and generating a frequency difference compensation signal serving as a brake control signal;
And a brake control means for controlling how to apply a brake by at least one of the frequency difference compensation signals of the frequency difference compensation means. A rotation control method for controlling a rotation cycle of a rotating body by applying a brake to a rotating body that is rotated by power supplied from a power source,
A rotation signal corresponding to the rotation speed of the rotating body and a target signal corresponding to the target rotation speed of the rotating body are compared to detect a frequency difference between the rotation signal and the target signal,
A rotation control method, wherein a brake of a rotating body is controlled by a frequency difference compensation signal corresponding to the frequency difference.

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