JP2009236821A - Device for detecting amount of change in rotation speed, and rotation control device using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for detecting amount of change in rotation speed to reduce the time delay of feedback than ever, and a rotation control device using the device. <P>SOLUTION: Acceleration sensors 101, 106 are fixed at 180-degree symmetrical positions around the rotation axis of a rotation body to detect the acceleration of the rotation body in the rotation tangent direction. An operation processing part 103 calculates the rotation rate of the rotation body from the cycle of acceleration component of gravity superimposed to the detected acceleration of the acceleration sensor 101, and the output signals of the two acceleration sensors 101, 106 by an addition circuit 107, and thereby the acceleration component of gravity is removed and made as the amount of change of the rotation speed. Based on the information on the rotation rate and the amount of change of the rotation speed, a drive control part 201 controls driving of a rotation drive part 300 and controls rotation of the rotation body. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a rotational speed variation detecting device that can detect a rotational speed variation in a rotating body with a simple configuration and can be applied to rotational control, and a rotational control device using the same.

  Conventionally, as an example of this type of apparatus, for example, a photoreceptor driving apparatus and a control method thereof disclosed in JP-A-7-129034 are known. In this drive device, a rotary encoder is provided as rotation detection means of the rotating body, and the rotary encoder detects a fluctuation value of the rotating state of the rotating body, and performs active control based on the detected fluctuation value of the rotating state. A stepping motor as a driving means for the rotating body is driven to control the rotation of the rotating body.

The fluctuation value of the rotation state is a rotation speed, a rotation acceleration, an angular velocity, an angular acceleration, or the like. These fluctuation values of the rotation state are calculated by detecting the pulse signal output from the rotary encoder, removing the noise component, and counting the pulses.
JP-A-7-129034

  However, when comparing the past speed data with the current speed data, a complicated calculation program is required and the cost becomes high. Furthermore, since a time delay occurs in the feedback due to the influence of the calculation time, there is a problem that a more complicated control program that takes this time delay into consideration is necessary in order to perform optimal control.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a rotational speed change amount detecting device capable of reducing the time delay of feedback as compared with the conventional technology and a rotational control device using the same. Is to provide.

  In order to achieve the above object, the present invention has a rotational speed change amount detecting device including a first acceleration sensor, a second acceleration sensor, an adding means, and a change amount output means.

  The first acceleration sensor is attached to the rotating body, detects acceleration in the rotational tangential direction, and outputs an electrical signal corresponding to the detection result. Further, the second acceleration sensor is attached to the rotating body at a position rotationally symmetric about 180 degrees around the rotation axis of the rotating body, detects acceleration in the rotational tangential direction, and outputs an electrical signal corresponding to the detection result.

  The adding means outputs an added value obtained by adding the two acceleration values detected by each of the two acceleration sensors based on the electrical signal corresponding to the detection results of the first acceleration sensor and the second acceleration sensor.

  The change amount output means obtains and outputs a change amount of the rotational speed of the rotating body based on the addition value output by the addition means.

  In order to achieve the above-mentioned object, the present invention constitutes a rotational speed variation detecting device comprising a main sensor unit and a sub sensor unit mounted on a rotating body, and a control unit provided away from the rotating body. did.

  The main sensor unit is attached to the rotating body and detects the acceleration in the rotational tangential direction, the value of the rotational tangential acceleration detected by the first acceleration sensor, and the rotation detected by the second acceleration sensor. An adding means for outputting the sum of acceleration values in the tangential direction and a transmitting means for transmitting the added value output from the adding means by radio are provided.

  The sub sensor unit is mounted at a rotationally symmetric position around the rotation axis of the rotating body with respect to the mounting position of the first acceleration sensor, and detects the acceleration in the rotational tangential direction. And output means for outputting information on the rotational tangential acceleration detected by the second acceleration sensor to the main sensor unit by wire wiring.

  Further, the control unit receives the information transmitted by the transmission unit of the main sensor unit, outputs the addition value, and obtains the amount of change in the rotational speed of the rotating body based on the addition value. Change amount output means for outputting.

  In order to achieve the above object, the present invention provides a first acceleration sensor, a second acceleration sensor, an adding means, a change amount output means, a gravity direction change detecting means, a rotational speed detecting means, an input means, and a rotational drive control means. A rotation control device provided with

  The first acceleration sensor is attached to a rotating body that rotates with the rotation axis not in the direction of gravity, detects acceleration in the rotational tangential direction, and outputs an electrical signal corresponding to the detection result. The second acceleration sensor is attached to the rotating body at a position rotationally symmetrical by 180 degrees about the rotation axis of the rotating body, detects acceleration in the rotational tangential direction, and outputs an electrical signal corresponding to the detection result.

  Further, the adding means outputs an added value obtained by adding the two acceleration values detected by the two acceleration sensors based on the electrical signals corresponding to the detection results of the first acceleration sensor and the second acceleration sensor. Then, based on the added value output by the adding means, the change amount of the rotational speed of the rotating body is obtained by the change amount output means and output.

  The gravity direction change detecting means detects a change in the direction of gravity acceleration caused by the rotation of the rotating body as a sine wave from at least one of the detected two pieces of acceleration information.

  The rotation speed detection means uses the maximum value, minimum value, or zero value of the sine wave output from the gravity direction change detection means as a reference value, detects the reference value, and then detects the next reference value. Is measured, and the value of the rotational speed of the rotating body calculated from the time is output after detecting the next reference value.

  Further, the rotation drive control means is configured to cause the amount of change to coincide with a predetermined positive value when the target rotational speed value input from the input means is larger than the detected rotational speed value. And the rotational drive torque of the rotating body is decreased so that the amount of change matches a predetermined negative value when the target rotational speed value is smaller than the detected rotational speed value.

  In order to achieve the above object, the present invention provides a main sensor unit and a sub sensor unit that are mounted on a rotating body that rotates without a rotating shaft in the direction of gravity, and a control unit that is provided apart from the rotating body. The rotation control apparatus which consists of was comprised.

  The main sensor unit is attached to the rotating body and detects the acceleration in the rotational tangential direction, the value of the rotational tangential acceleration detected by the first acceleration sensor, and the rotation detected by the second acceleration sensor. An adding means for outputting a sum of acceleration values in the tangential direction, an added value output by the adding means, rotational tangential acceleration information detected by the first acceleration sensor, and detection by the second acceleration sensor And transmitting means for transmitting information on the acceleration in the rotational tangential direction wirelessly.

  Further, the sub sensor unit is mounted at a rotationally symmetric position around the rotation axis of the rotating body with respect to the mounting position of the first acceleration sensor, and detects the acceleration in the rotational tangential direction. And output means for outputting information on acceleration in the rotational tangential direction detected by the second acceleration sensor to the main sensor unit by wire wiring.

  The control unit includes a reception unit, a change amount output unit, a gravity direction change detection unit, a rotation speed detection unit, an input unit, and a rotation drive control unit.

  The receiving means receives the information transmitted by the transmitting means of the main sensor unit, and outputs each value of the acceleration in the rotational tangential direction detected by the first acceleration sensor and the second acceleration sensor.

  Further, the change amount output means obtains and outputs a change amount of the rotational speed of the rotating body based on the addition value output by the addition means.

  The gravity direction change detection means detects and outputs a change in the direction of gravity acceleration caused by the rotation of the rotating body as a sine wave from at least one of the detected two pieces of acceleration information.

  The rotation speed detection means uses the maximum value, minimum value, or zero value of the sine wave output from the gravity direction change detection means as a reference value, detects the reference value, and then detects the next reference value. Is measured, and the value of the rotational speed of the rotating body calculated from this time is output after detecting the next reference value.

  Further, the rotation drive control means is configured to cause the amount of change to coincide with a predetermined positive value when the target rotational speed value input from the input means is larger than the detected rotational speed value. And the rotational drive torque of the rotating body is decreased so that the amount of change matches a predetermined negative value when the target rotational speed value is smaller than the detected rotational speed value.

  According to the rotational speed variation detection device of the present invention, since past speed data and current speed data are not compared as in the prior art, the rotational speed change can be achieved without a time delay with a simple configuration. There is an excellent effect that the amount can be detected.

  Further, according to the rotation control device of the present invention, there is an excellent effect that optimum rotation control can be performed with a simple configuration without causing a time delay in feedback as in the prior art.

  Hereinafter, an embodiment of the present invention will be described.

  FIG. 1 is a block diagram showing an electric circuit of a rotation control device according to the first embodiment of the present invention, and FIG. 2 is a schematic diagram showing a driving device for a rotating body according to the first embodiment of the present invention. In the figure, 10 is a rotating body, 20 is a rotating shaft, 200 is a rotation control device, and 300 is a rotation driving unit. The rotation control device 200 includes a rotation speed change amount detection unit (hereinafter referred to as a change amount detection unit) 100, a drive control unit 201, and an input unit 202, and the rotary shaft 20 by the rotation drive unit 300 is a horizontal rotating body. 10 drive is controlled.

  The change amount detection unit 100 includes acceleration sensors 101 and 106, A / D conversion circuits 102 and 108, an arithmetic processing unit 103, a storage unit 104, an output unit 105, and an addition circuit 107.

  Each of the acceleration sensors 101 and 106 is attached to the rotating body 10, detects the acceleration in the rotational direction RD of the rotating body 10, that is, the acceleration in the rotational tangential direction TL at the position of the acceleration sensors 101 and 106, and a voltage corresponding to the detected acceleration value. The analog electrical signal is output. The analog electrical signal output from the acceleration sensor 101 is input to the A / D conversion circuit 102 and the addition circuit 107 via a slip ring. The analog electrical signal output from the acceleration sensor 106 is input to the adder circuit 107 via a slip ring.

  Further, the acceleration sensors 101 and 106 are mounted at positions that are rotationally symmetrical with respect to each other by 180 degrees about the rotation axis. Furthermore, since the rotating shaft 20 of the rotating body 10 is arranged horizontally without being coincident with the direction of gravity, the acceleration sensors 101 and 106 detect an acceleration obtained by combining the acceleration due to the rotation of the rotating body 10 and the gravitational acceleration. At this time, the absolute value of the gravitational acceleration detected by the acceleration sensors 101 and 106 is zero at a position where the rotational tangent direction TL is horizontal at the mounting position of the acceleration sensors 101 and 106, and has a maximum value at a position where the rotational tangential direction TL is vertical. Show.

  The adder circuit 107 outputs a voltage obtained by adding the voltages of analog electric signals input from the acceleration sensors 101 and 106, respectively.

  The A / D conversion circuit 102 converts the voltage value of the analog electric signal input from the acceleration sensor 101 into a digital value and outputs the digital value to the arithmetic processing unit 103.

  The A / D conversion circuit 108 converts the voltage value of the analog electric signal input from the addition circuit 107 into a digital value and outputs the digital value to the arithmetic processing unit 103.

  The arithmetic processing unit 103 is composed mainly of, for example, a well-known CPU, operates according to a computer program set in advance in the storage unit 104, and receives the digital value input from the A / D conversion circuit 102 and the A / D conversion circuit 108. Acceleration information and rotation speed information in a predetermined format including the input digital value are generated, and the acceleration information and rotation speed information are output to the drive control unit 201 via the output unit 105. Here, the digital value input from the A / D conversion circuit 102 is a value corresponding to the acceleration value generated in the rotation direction RD of the rotating body 10 (rotation tangent direction TL at the position of the acceleration sensor 101), and the gravitational acceleration component is expressed as follows. The rotational speed is detected from the gravitational acceleration component. The digital value input from the A / D conversion circuit 108 corresponds to the sum of the acceleration in the rotational tangential direction TL detected by the acceleration sensor 101 and the acceleration in the rotational tangential direction TL detected by the acceleration sensor 106. This value corresponds to a value twice the acceleration in the rotational tangential direction TL, and the gravitational acceleration component is removed, which is used as acceleration information.

  That is, when performing the change amount detection process, the arithmetic processing unit 103 acquires an acceleration value from the A / D conversion circuit 102 (SA1) as shown in FIG. 3, and calculates the rotation speed of the rotating body 10 from the acceleration value. Calculate (SA2).

  At this time, as shown in FIG. 4, the arithmetic processing unit 103 performs the following processes (1) to (8) from the change in the acceleration value A input from the A / D conversion circuit 102, thereby changing the gravitational acceleration. Is detected as a substantially sine wave B. Further, the arithmetic processing unit 103 measures the half-cycle time of the sine wave B of the gravitational acceleration change, calculates the number of rotations per unit time of the rotating body 10 from this measurement time, and outputs information on the number of rotations. The data is output to the drive control unit 201 via the unit 105.

(1) Acceleration value acquisition start (2) The maximum value and minimum value of the acceleration value are updated, and when a difference equal to or greater than a threshold that can be determined as a half cycle is detected, the time of the half cycle is determined.

  (3) As the previous direction, the direction (±) at the time point determined to be a half cycle is recorded as a flag, and is used to limit whether the next value to be detected is the maximum value or the minimum value. Thereby, unnecessary samples (detected acceleration values) different from the expected direction are excluded.

  (4) The sample value (detected acceleration value) immediately after the sample that has been determined to be a half cycle (the sample that has determined the maximum value and the minimum value) has changed abruptly at a value greater than a certain value in the opposite direction to the previous direction. The sample value is invalid.

  (5) Even when an effective maximum value or minimum value can be obtained, an extremely prominent value is suppressed with an appropriate limit value.

  (6) If the next half cycle cannot be determined for a certain sampling cycle or more (the difference does not reach a predetermined value), it is determined that the rotating body 10 is in a stopped state, and the state state of (1) is entered. Return.

  Further, in addition to the above-described determination criteria, a correspondence is added to special sample data (detected acceleration value) such as during a sudden stop. That is, the following processes (7) and (8) are performed.

  (7) In addition to samples whose half cycle is fixed, samples that have changed extremely in the opposite direction to the previous sample are also invalidated.

  (8) In addition to the above (7), the case where the value of the same level as the invalidated sample continues is invalidated.

  After calculating the rotational speed as described above, the arithmetic processing unit 103 inputs an addition value of the acceleration detection value from the A / D conversion circuit 108 (SA3), and obtains the amount of change in the rotational speed based on this value ( SA4). In this embodiment, the addition value of the acceleration detection value input from the A / D conversion circuit 108 is used as the amount of change in the rotational speed. The angular acceleration may be calculated from the detected acceleration value, and this angular acceleration may be used as the amount of change in the rotational speed.

  Next, the arithmetic processing unit 103 outputs the obtained information on the rotational speed and the information on the amount of change in the rotational speed to the drive control unit 201 via the output unit 105 (SA5).

  The storage unit 104 has a rewritable nonvolatile memory, and a program for operating the arithmetic processing unit 103 is stored in advance in this memory.

  The output unit 105 converts the acceleration information output from the arithmetic processing unit 103 into a signal that can be accepted by the drive control unit 201 and outputs the signal to the drive control unit 201.

  The drive control unit 201 is composed mainly of a well-known CPU, a computer program that operates the CPU, and a drive control interface circuit of the rotation drive unit 300. The drive control unit 201 receives information on the number of rotations and the rotation speed of the rotating body 10 input from the output unit 105. Based on the information on the amount of change and the information on the target rotational speed input from the input unit 202, the rotational drive unit so that the rotational speed of the rotating body 10 is within a predetermined target value allowable range centered on the target rotational speed. A drive control signal for controlling the rotational drive of the rotating body 10 by 300 is output.

  The input unit 202 includes a switch, a keyboard, and the like, and outputs the value of the rotational speed of the target rotating body 10 input by the operator via the switch, the keyboard, etc., to the drive control unit 201 as data of a predetermined format.

  The rotation drive unit 300 includes a motor, an engine, and the like, and rotates the rotating body 10 based on the drive control signal input from the drive control unit 201 by the motor, the engine, and the like.

  In the present embodiment, the drive control unit 201 is based on the rotational speed information input from the change amount detection unit 100, the rotational speed change amount information, and the target rotational speed information input from the input unit 202, as shown in FIG. The drive control which performs the process shown in FIG. 7 and controls the rotational drive of the rotary body 10 by the rotary drive unit 300 so that the rotational speed of the rotary body 10 falls within a predetermined target value allowable range centered on the target rotational speed. Output a signal.

  That is, the drive control unit 201 acquires information on the actually detected rotation speed from the output unit 105 (SB1) and also acquires information on the target rotation speed from the input unit 202 (SB2). After that, the drive control unit 201 determines whether or not the actually detected rotational speed is within an allowable range centered on the target rotational speed (SB3). In the present embodiment, an allowable range can be set via the input unit 202. For example, ± 0.01% to 5.00 centered on the target rotational speed as in the allowable range T-zone shown in FIG. It can be set to any value within the range of%.

  As a result of the determination of SB3, when the actually detected rotational speed is within the allowable range (T-zone), the process proceeds to SB1, and when it is not within the allowable range, the actually detected rotational speed is allowable. It is determined whether it is larger than the maximum value MAX of the range (SB4).

  As a result of this determination, when the actually detected number of rotations is larger than the maximum value MAX of the allowable range, the process proceeds to SC1 described later, and when the actually detected number of rotations is not larger than the maximum value of the allowable range. Determines whether or not the actually detected rotational speed is smaller than the minimum value MIN of the allowable range (SB5).

  As a result of this determination, when the actually detected rotational speed is smaller than the minimum value MIN of the allowable range, the process proceeds to SD1 described later, and the actually detected rotational speed is not smaller than the minimum value of the allowable range. Controls the rotation drive unit 300 so as to maintain the current drive torque (SB6), and proceeds to the process of SB1.

  As a result of the determination in SB4, when the actually detected rotation speed is larger than the maximum value MAX of the allowable range, the drive control unit 201 acquires the amount of change in the rotation speed (SC1), and the value of this change amount is It is determined whether it is 0 or a positive value (SC2). As a result of this determination, when the value of the change amount is 0 or a positive value, the drive control unit 201 controls the rotation drive unit 300 so as to decrease the rotation drive torque (SC3), and performs the processing of SB1. Transition.

  If the value of the change amount is a negative value as a result of the determination in SC2, whether or not the value of the change amount is smaller than the negative first threshold value Th1 shown in FIG. 9, that is, from the first threshold value Th1. It is also determined whether the absolute value is a negative value having a large absolute value (SC4). Here, in the present embodiment, the first to fourth threshold values Th1 to Th4 are set as shown in FIG. That is, in the present embodiment, the negative first threshold Th1 is set, and a negative value having a smaller absolute value than the first threshold Th1 is set as the second threshold Th2. Here, the values of the first threshold Th1 and the second threshold Th2 are set to a value of, for example, ± 1.0% with reference to the set value Ac1 of the amount of change in rotational speed that occurs when the drive torque is reduced. . Further, a positive value is set as the third threshold Th3, and a positive value having an absolute value smaller than the third threshold Th3 is set as the fourth threshold Th4. Here, the values of the third threshold value Th3 and the second threshold value Th2 are set to a value of, for example, ± 1.0% with reference to the set value Ac2 of the amount of change in rotational speed that occurs when the drive torque is increased. .

  As a result of the determination in SC4, when the change amount is a negative value whose absolute value is larger than the first threshold value Th1, the drive control unit 201 controls the rotation drive unit 300 to increase the rotation drive torque. (SC5).

  Further, as a result of the determination in SC4, if the change value is not a negative value having an absolute value greater than the first threshold Th1, whether or not the change value is a value greater than the second threshold Th2. That is, it is determined whether or not the value of the change amount is a negative value whose absolute value is smaller than the second threshold value Th2 (SC6). As a result of this determination, when the change value is not a negative value whose absolute value is smaller than the second threshold value Th2, the process proceeds to SB1, and the change value is a negative value whose absolute value is smaller than the second threshold value Th2. If it is the value of, the rotation drive unit 300 is controlled to reduce the rotation drive torque (SC7).

  As a result of the determination in SB5, when the actually detected rotation speed is smaller than the minimum value MIN of the allowable range, the drive control unit 201 acquires the amount of change in the rotation speed (SD1), and the value of this change amount is It is determined whether it is 0 or a negative value (SD2). As a result of this determination, when the value of the change amount is 0 or a negative value, the drive control unit 201 controls the rotation drive unit 300 to increase the rotation drive torque (SD3), and performs the processing of SB1. Transition.

  If the value of the change amount is a positive value as a result of the determination of SD2, whether or not the value of the change amount is larger than the positive third threshold value Th3 shown in FIG. 9, that is, from the third threshold value Th3. It is also determined whether the absolute value is a positive value having a large absolute value (SD4).

  As a result of the determination of SD4, when the value of the change amount is a positive value whose absolute value is larger than the third threshold value Th3, the drive control unit 201 controls the rotation drive unit 300 so as to decrease the rotation drive torque. (SD5).

  Further, as a result of the determination of SD4, when the value of the change amount is not a positive value whose absolute value is larger than the third threshold value Th3, whether or not the value of the change amount is a value smaller than the fourth threshold value Th4, That is, it is determined whether or not the value of the change amount is a positive value whose absolute value is smaller than the fourth threshold Th4 (SD6). As a result of this determination, when the change value is not a positive value whose absolute value is smaller than the fourth threshold value Th4, the process proceeds to the process of SB1, and the change value is a positive value whose absolute value is smaller than the fourth threshold value Th4. When the value is, the rotation drive unit 300 is controlled to increase the rotation drive torque (SD7).

  As the drive control unit 201 performs the above-described processing, the rotary drive unit 300 rotates the rotating body 10 with a certain error within an allowable range. Furthermore, since the rotational speed of the rotating body 10 is always changed at the same acceleration when the number of rotations of the rotating body 10 is changed, there is no occurrence of uneven rotation.

  Further, by using the apparatus of the present embodiment, optimal rotation control can be performed with a simple configuration without causing a time delay in feedback as in the prior art.

  Furthermore, since the detection result information can be obtained simply by attaching the acceleration sensors 101 and 106 to the rotating body 10, the configuration is much simpler than that of the conventional example, so that the time required for maintenance is greatly reduced compared to the conventional example. Can do. For example, the rotational speed or the angular velocity can be easily obtained even at a site where a rotary encoder or the like cannot be used.

  In the present embodiment, the number of rotations is determined every half cycle, but may be determined every cycle. Further, in the present embodiment, the half cycle is determined by using the maximum value and the minimum value of the detected acceleration. However, the half cycle may be determined by using a zero value at which the detected value of gravitational acceleration is zero.

  Next, a second embodiment of the present invention will be described.

  FIG. 10 is a block diagram showing an electric circuit of a rotation control device according to the second embodiment of the present invention, and FIG. 11 is a schematic diagram showing a rotating body drive device according to the second embodiment of the present invention. In the figure, the same components as those in the first embodiment are denoted by the same reference numerals. Also in the present embodiment, the rotation control device 200A controls the driving of the rotating body 10 whose rotation axis is horizontal by the rotation driving unit 300.

  Reference numeral 10 denotes a rotating body, 200A denotes a rotation control device, and 300 denotes a rotation driving unit. The rotation control device 200A includes a main sensor unit 100A, a sub sensor unit 100B, and a control unit 400. The control unit 400 includes a reception processing unit 500, a drive control unit 201, and an input unit 202. In the present embodiment, the rotation speed change amount detection unit includes a main sensor unit 100A, a sub sensor unit 100B, and a reception processing unit 500 described later.

  The main sensor 100A includes an acceleration sensor 101, an A / D conversion circuit 102, an arithmetic processing unit 103, a storage unit 104, an addition circuit 107, an A / D conversion circuit 108, a transmission unit 111, and an antenna 112. As shown, the rotating body 10 is mounted.

  The acceleration sensor 101 detects the acceleration in the rotational direction RD of the rotating body 10, that is, the acceleration in the rotational tangential direction TL at the position of the acceleration sensor 101, and outputs an analog electrical signal having a voltage corresponding to the detected acceleration value. The analog electrical signal output from the acceleration sensor 101 is input to the A / D conversion circuit 102 and the addition circuit 107. The acceleration sensor 101 detects an acceleration obtained by combining the acceleration due to the rotation of the rotating body 10 and the gravitational acceleration. At this time, the absolute value of the gravitational acceleration detected by the acceleration sensor 101 is zero at a position where the rotational tangent direction TL is horizontal at the mounting position of the acceleration sensor 101, and has a maximum value at a position where the rotational tangential direction TL is vertical. Show.

  The adder circuit 107 outputs a voltage obtained by adding the voltages of analog electric signals input from the acceleration sensor 101 and the acceleration sensor 113 of the sub sensor unit 100B.

  The A / D conversion circuit 102 converts the voltage value of the analog electric signal input from the acceleration sensor 101 into a digital value and outputs the digital value to the arithmetic processing unit 103.

  The A / D conversion circuit 108 converts the voltage value of the analog electric signal input from the addition circuit 107 into a digital value and outputs the digital value to the arithmetic processing unit 103.

  The arithmetic processing unit 103 is composed mainly of, for example, a well-known CPU, operates according to a computer program set in advance in the storage unit 104, and receives the digital value input from the A / D conversion circuit 102 and the A / D conversion circuit 108. The first and second acceleration information in a predetermined format including the input digital value is transmitted to the control unit 400 by radio waves of a predetermined frequency via the transmission unit 111 and the antenna 112.

  The storage unit 104 has a rewritable nonvolatile memory, and a program for operating the arithmetic processing unit 103 is stored in advance in this memory.

  The transmission unit 111 transmits the first and second acceleration information input from the arithmetic processing unit 103 via the antenna 112 by radio waves having a predetermined frequency.

  The sub sensor unit 100B includes an acceleration sensor 113, and the acceleration sensor 113 is disposed at a rotationally symmetric position about 180 degrees around the rotation axis of the rotating body 10 with respect to the mounting position of the acceleration sensor 101 of the main sensor unit 100A. As shown in FIG. The acceleration sensor 113 detects the acceleration in the rotational direction RD of the rotating body 10, that is, the acceleration in the rotational tangential direction TL at the position of the acceleration sensor 113, and outputs an analog electrical signal of a voltage corresponding to the detected acceleration value via the wire wiring. Output to the main sensor unit 100A.

  The acceleration sensor 113 is mounted at a position 180 degrees rotationally symmetric with respect to the acceleration sensor 101 with respect to the acceleration sensor 101, and the rotation axis of the rotating body 10 is not horizontally aligned with the direction of gravity and is disposed horizontally. Detects the acceleration obtained by combining the acceleration due to the rotation of the rotating body 10 and the gravitational acceleration. At this time, the absolute value of the gravitational acceleration detected by the acceleration sensor 113 is zero at a position where the rotational tangent direction TL is horizontal at the mounting position of the acceleration sensor 113, and has a maximum value at a position where the rotational tangential direction TL is vertical. Show.

  The reception processing unit 500 includes a reception antenna 501, a reception unit 502, an arithmetic processing unit 503, a storage unit 504, and an output unit 505.

  The receiving unit 502 receives the detection result information transmitted from the main sensor unit 100A via the antenna 501, and outputs it to the arithmetic processing unit 503 as digital data.

  The arithmetic processing unit 503 is configured mainly by a known CPU, for example. As described later, when the detection result information received from the main sensor unit 100A is input from the reception unit 502, the first and second accelerations of the detection result are calculated. Is stored in the storage medium of the storage unit 504. The storage unit 504 has a predetermined storage medium such as a rewritable nonvolatile memory or a magnetic disk device, and a program for operating the arithmetic processing unit 103 is stored in advance in this storage medium.

  Further, the arithmetic processing unit 503 generates rotational speed information based on the first acceleration information input from the receiving unit 502, and outputs the rotational speed information and the second acceleration information to the drive control unit 201 via the output unit 505. To do. Here, the first acceleration information which is an output value of the A / D conversion circuit 102 is a value corresponding to an acceleration value generated in the rotation direction RD of the rotating body 10 (rotational tangent direction TL at the position of the acceleration sensor 101). A gravitational acceleration component is included, and the rotational speed is detected from the gravitational acceleration component. The second acceleration information that is the output value of the A / D conversion circuit 108 corresponds to the sum of the acceleration in the rotational tangent direction TL detected by the acceleration sensor 101 and the acceleration in the rotational tangential direction TL detected by the acceleration sensor 113. This value corresponds to a value twice as large as the acceleration in the rotational tangent direction TL, and the gravity acceleration component is removed, which is used as acceleration information.

  That is, when performing the change amount detection process, the arithmetic processing unit 503 inputs the first acceleration information from the receiving unit 502 (SE1) as shown in FIG. 12, and the rotational speed of the rotating body 10 is determined from the first acceleration information. Is calculated (SE2).

  At this time, as shown in FIG. 4, the arithmetic processing unit 503 changes the gravity acceleration by performing the processes (1) to (8) from the change of the acceleration value A input from the A / D conversion circuit 102. Is detected as a substantially sine wave B. Further, the arithmetic processing unit 503 measures the half-cycle time of the sine wave B of the gravitational acceleration change, calculates the number of revolutions per unit time of the rotating body 10 from this measurement time, and outputs information on the number of revolutions. The data is output to the drive control unit 201 via the unit 505.

  After calculating the rotational speed as described above, the arithmetic processing unit 503 inputs the second acceleration information from the receiving unit 502 (SE3), and obtains the amount of change in the rotational speed based on this value (SE4). In this embodiment, the addition value of the acceleration detection value input from the A / D conversion circuit 108, which is the second acceleration information, is used as the rotation speed change amount. The angular acceleration may be calculated from the detected acceleration value, and this angular acceleration may be used as the amount of change in the rotational speed.

  Next, the arithmetic processing unit 503 outputs the obtained information on the rotational speed and the information on the amount of change in the rotational speed to the drive control unit 201 via the output unit 505 (SE5).

  The drive control unit 201 is composed mainly of a well-known CPU, a computer program that operates the CPU, and a drive control interface circuit of the rotation drive unit 300. Based on the information on the amount of change and the information on the target rotational speed input from the input unit 202, the rotational drive unit so that the rotational speed of the rotating body 10 is within a predetermined target value allowable range centered on the target rotational speed. A drive control signal for controlling the rotational drive of the rotating body 10 by 300 is output.

  The input unit 202 includes a switch, a keyboard, and the like, and outputs the value of the rotational speed of the target rotating body 10 input by the operator via the switch, the keyboard, etc., to the drive control unit 201 as data of a predetermined format.

  The rotation drive unit 300 includes a motor, an engine, and the like, and rotates the rotating body 10 based on the drive control signal input from the drive control unit 201 by the motor, the engine, and the like.

  In the present embodiment, the drive control unit 201 is based on the rotational speed information and rotational speed change information input from the reception processing unit 500, and the target rotational speed information input from the input unit 202. A drive control signal for controlling the rotational drive of the rotary body 10 by the rotary drive unit 300 so that the rotational speed of the rotary body 10 falls within a predetermined target value allowable range centered on the target rotational speed. Is output.

  That is, the drive control unit 201 acquires information on the actually detected rotation speed from the output unit 105 (SF1) and also acquires information on the target rotation speed from the input unit 202 (SF2). After that, the drive control unit 201 determines whether or not the actually detected rotational speed is within an allowable range centered on the target rotational speed (SF3). In the present embodiment, an allowable range can be set via the input unit 202, and, for example, within a range of ± 0.01% to 5.5 around the target rotational speed as in the allowable range T-zone shown in FIG. An arbitrary value within the range of 00% can be set.

  As a result of the determination of SF3, when the actually detected rotation speed is within the allowable range (T-zone), the process proceeds to SF1. When it is not within the allowable range, the actually detected rotation speed is allowable. It is determined whether it is larger than the maximum value MAX of the range (SF4).

  As a result of this determination, when the actually detected rotation speed is larger than the maximum value MAX of the allowable range, the process proceeds to SG1 described later, and the actually detected rotation speed is not larger than the maximum value of the allowable range. Determines whether the actually detected rotational speed is smaller than the minimum value MIN of the allowable range (SF5).

  As a result of this determination, when the actually detected number of rotations is smaller than the minimum value MIN of the allowable range, the process proceeds to SH1 described later, and the actually detected number of rotations is not smaller than the minimum value of the allowable range. Controls the rotational drive unit 300 to maintain the current drive torque (SF6), and proceeds to the process of SF1.

  As a result of the determination in SF4, when the actually detected rotation speed is larger than the maximum value MAX of the allowable range, the drive control unit 201 acquires a change amount of the rotation speed (SG1), and the value of this change amount is It is determined whether it is 0 or a positive value (SG2). As a result of this determination, when the value of the change amount is 0 or a positive value, the drive control unit 201 controls the rotation drive unit 300 to reduce the rotation drive torque (SG3), and performs the processing of SF1. Transition.

  Further, if the value of the change amount is a negative value as a result of the determination of SG2, whether or not the value of the change amount is smaller than the negative first threshold value Th1 shown in FIG. 9, that is, from the first threshold value Th1. Whether the absolute value is a negative value having a large absolute value is determined (SG4). Here, also in the second embodiment, as in the first embodiment, the first to fourth threshold values Th1 to Th4 are set as shown in FIG.

  As a result of the determination in SG4, when the change value is a negative value whose absolute value is larger than the first threshold Th1, the drive control unit 201 controls the rotation drive unit 300 to increase the rotation drive torque. (SG5).

  Further, as a result of the determination of SG4, when the change value is not a negative value whose absolute value is larger than the first threshold value Th1, whether or not the change value is a value larger than the second threshold value Th2 is determined. That is, it is determined whether or not the value of the change amount is a negative value whose absolute value is smaller than the second threshold value Th2 (SG6). As a result of this determination, when the change value is not a negative value whose absolute value is smaller than the second threshold value Th2, the process proceeds to SF1, and the change value is a negative value whose absolute value is smaller than the second threshold value Th2. When the value is, the rotational drive unit 300 is controlled to reduce the rotational drive torque (SG7).

  As a result of the determination in SF5, when the actually detected rotation speed is smaller than the minimum value MIN of the allowable range, the drive control unit 201 acquires the change amount of the rotation speed (SH1), and the value of this change amount is It is determined whether it is 0 or a negative value (SH2). As a result of this determination, when the value of the change amount is 0 or a negative value, the drive control unit 201 controls the rotation drive unit 300 to increase the rotation drive torque (SH3), and performs the processing of SF1. Transition.

  As a result of the determination of SH2, if the value of the change amount is a positive value, whether or not the value of the change amount is larger than the positive third threshold value Th3 shown in FIG. 9, that is, from the third threshold value Th3. It is also determined whether the absolute value is a positive value with a large absolute value (SH4).

  As a result of the determination of SH4, when the value of the change amount is a positive value whose absolute value is larger than the third threshold value Th3, the drive control unit 201 controls the rotation drive unit 300 so as to decrease the rotation drive torque. (SH5).

  Further, as a result of the determination of SH4, if the value of the change amount is not a positive value whose absolute value is larger than the third threshold value Th3, whether or not the value of the change amount is a value smaller than the fourth threshold value Th4, That is, it is determined whether or not the value of the change amount is a positive value whose absolute value is smaller than the fourth threshold value Th4 (SH6). As a result of this determination, when the change value is not a positive value whose absolute value is smaller than the fourth threshold value Th4, the process proceeds to SF1 and the change value is a positive value whose absolute value is smaller than the fourth threshold value Th4. If the value is, the rotation drive unit 300 is controlled to increase the rotation drive torque (SH7).

  As the drive control unit 201 performs the above-described processing, the rotary drive unit 300 rotates the rotating body 10 with a certain error within an allowable range. Furthermore, since the rotational speed of the rotating body 10 is always changed at the same acceleration when the number of rotations of the rotating body 10 is changed, there is no occurrence of uneven rotation.

  Further, by using the apparatus of the present embodiment, optimal rotation control can be performed with a simple configuration without causing a time delay in feedback as in the prior art.

  Furthermore, since the first and second acceleration information can be obtained wirelessly using radio waves from the main unit 100A simply by attaching the main sensor unit 100A and the sub sensor unit 100B to the rotating body 10, it is separated from the rotation drive unit 300. However, it can be easily installed even when the rotating body 10 is present, and the configuration is much simpler than the conventional example, so that the time required for maintenance is greatly reduced compared to the conventional example. Can do. For example, the rotational speed or the angular velocity can be easily obtained even at a site where a rotary encoder or the like cannot be used.

  In the present embodiment, the number of rotations is determined every half cycle, but may be determined every cycle. Further, in the present embodiment, the half cycle is determined by using the maximum value and the minimum value of the detected acceleration. However, the half cycle may be determined by using a zero value at which the detected value of gravitational acceleration is zero.

  In the above embodiment, the addition value is obtained by adding the analog signals output from the acceleration sensors 101, 106, 113 by the addition circuit 107. However, the addition may be performed after the analog signals are converted into digital signals.

  Further, noise may be removed by interposing a filter on the output side of the acceleration sensors 101, 106, 113.

  Further, the analog outputs of the acceleration sensors 101, 106, 113 may be amplified by amplifiers, respectively.

  Further, the output of each acceleration sensor may be adjusted to be equal by adjusting the amplification factor of the amplifier. In this way, variations in sensor output can be completely canceled out, so that a more accurate control device can be configured.

  Next, a specific application example of the above-described embodiment will be described with reference to FIGS. Each of FIGS. 16 to 28 shows a device to which the above embodiment is applied, FIG. 16 shows a lift 710, FIG. 17 shows an industrial motor 720, and FIG. 18 shows a rubber kneading roll 730. 19 is a view showing a kneading extruder 740, FIG. 20 is a view showing an internal mixer 750, FIG. 21 is a view showing a film winder 760, FIG. 22 is a view showing a printer 770, and FIG. FIG. 24 is a diagram showing a power steering handle 790, FIG. 25 is a diagram showing a disk drive 810, FIG. 26 is a diagram showing a camera 820 equipped with an image stabilization function, FIG. 27 is a diagram showing an elevator 830, FIG. FIG. In these figures, S indicates an acceleration sensor.

<Example of using a rotation control device for the purpose of suppressing speed change>
By applying feedback based on the change in the detection voltage caused by the rotation change, it is possible to easily control the rotation speed with high accuracy.

・ Luggage lift 710 and ropeway speed reducer Lift and ropeway that lifts and lowers heavy loads and operates while applying brakes to move at an appropriate speed when descending. Since it can be controlled according to, it can be easily lowered at a constant speed.

・ Industrial motor 720
General rotation by engines and motors such as rubber kneading roll 730, kneading extruder 740, internal mixer 750, rolls, conveyors, etc. that require constant rotation speed. Rubber and plastic are often kneaded at a constant rotation, and the use of the apparatus of the present invention can contribute to stabilization of quality.

-Image forming apparatus such as printer 770, copier, facsimile, etc. If there is uneven rotation, the ink becomes uneven and stripes appear in the image, so it is necessary to keep the rotation constant. Conventionally, a flywheel having a large inertia is used or a line pattern is drawn on a drum, which is optically read to detect the drum speed. However, by using the apparatus of the present invention, it is possible to perform rotation control with high accuracy with a simpler configuration than in the past.

・ Winding machine 760
The yarn or film winder 760 is thin at the core at the start of winding and thicker at the end of winding, so that the weight and the winding radius increase. For this reason, if winding is performed with the same electric power, the winding speed gradually decreases, and the efficiency decreases. However, by using the system of the present invention, it is possible to perform rotation control that maintains a constant winding speed from the start of winding to the end of winding, which is efficient and can stabilize the quality.

・ Electric wheelchair 780
When going up and down a hill with an electric wheelchair, a person has conventionally operated the accelerator and brake to keep the speed constant, but by using the present invention in combination with a tilt sensor, It is possible to perform control that allows the vehicle to travel at a constant speed even on a hill or downhill. In particular, it is possible to provide a function as a safety device that prevents the traveling speed from being excessively increased on a downhill.

・ Automotive handle 790 (Power steering control)
If the steering wheel is turned suddenly while driving at a high speed above a certain level, it may lead to accidents such as rollover, which is very dangerous. By applying the present invention to the steering column and monitoring the traveling speed and the steering speed of the steering, it is possible to perform a safe control by applying a brake so that the steering is not cut at a certain speed or more according to the traveling speed. Become. If one acceleration sensor is used, it cannot be distinguished from the acceleration due to turning of the car, and it cannot cope with input of noise such as pushing up the road surface, so it is difficult to put it to practical use. Practical use is possible by using a sensor.

・ Rotation unevenness detection of disk drive 810 Analog records are hardly seen, but even with a digital disc, rotation unevenness causes a reading error. Since the present invention can easily detect rotation unevenness, a highly accurate disk drive device can be realized by applying the present invention.

-Camera shake correction for cameras 820 and the like The "camera shake correction" function that is provided in many recent cameras uses a gyro (angular velocity) sensor, but the gyro sensor cannot detect parallel movement. By arranging the acceleration sensors in the present invention so as to detect opposite phases at both ends of the camera casing, the rotational motion (camera shake) can be detected by using the added value of both, and the parallel movement is the acceleration of one side. Since it can be detected using the output signal of the sensor, more accurate camera shake correction is possible.

<Example of using for the purpose of controlling speed change constant (acceleration constant)>
By keeping the acceleration constant (change amount constant), it can be used to control a moving object.

-Control of elevator 830 Similarly, by controlling the acceleration of the elevator motor in a constant or predetermined pattern, it is possible to easily realize acceleration and deceleration that do not cause discomfort to the user.

・ Start / stop control of train 840 Since the driver starts and stops the train, and the smoothness of the start / stop varies depending on the driving technology and the number of passengers, it experiences sudden acceleration and deceleration that can not be stood. There are many things to do. By controlling the rotational acceleration of the wheels to be constant, smooth acceleration or deceleration can be realized in any state (any driver). Specifically, it is only necessary to control the added acceleration output to be constant.

・ Operating control of train 840 Especially when operating control of public transportation (especially trains) that is operated unattended, a set of three parameters: constant acceleration, speed holding time (constant speed), and constant deceleration. The train operation can be easily controlled just by creating a program. When combined with GPS or the like, it is possible to correct subtle positional shifts and control the operation more accurately.

The block diagram which shows the electric system circuit of the rotation control apparatus in 1st Embodiment of this invention. Schematic which shows the drive device of the rotary body in 1st Embodiment of this invention. Flowchart for explaining change amount detection processing in the first embodiment of the present invention. The figure which shows the sine wave of the detected acceleration and gravity acceleration change in 1st Embodiment of this invention The flowchart explaining the rotation control process in 1st Embodiment of this invention. The flowchart explaining the rotation control process in 1st Embodiment of this invention. The flowchart explaining the rotation control process in 1st Embodiment of this invention. The figure which shows the target value tolerance | permissible_range in 1st Embodiment of this invention. The figure explaining the threshold value in 1st Embodiment of this invention The block diagram which shows the electric system circuit of the rotation control apparatus in 2nd Embodiment of this invention. Schematic which shows the drive device of the rotary body in 2nd Embodiment of this invention. Flowchart for explaining change amount detection processing in the second embodiment of the present invention. The flowchart explaining the rotation control process in 2nd Embodiment of this invention. The flowchart explaining the rotation control process in 2nd Embodiment of this invention. The flowchart explaining the rotation control process in 2nd Embodiment of this invention. The figure which shows the lift to which this invention is applied The figure which shows the industrial motor to which this invention is applied The figure which shows the rubber kneading roll to which this invention is applied The figure which shows the kneading | extrusion extruder to which this invention is applied The figure which shows the internal mixer to which this invention is applied The figure which shows the film winder to which this invention is applied The figure which shows the printer to which this invention is applied The figure which shows the electric wheelchair to which this invention is applied The figure which shows the power steering handle to which this invention is applied The figure which shows the disk drive to which this invention is applied The figure which shows the camera equipped with the camera-shake correction function to which this invention is applied The figure which shows the elevator to which this invention is applied The figure which shows the train which applied this invention

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Rotating body, 20 ... Rotating shaft, 100 ... Change amount detection part, 100A ... Main sensor unit, 100B ... Sub sensor unit, 101 ... Acceleration sensor, 102 ... A / D conversion circuit, 103 ... Arithmetic processing part, 104 ... Storage unit 105 ... Output unit 106 ... Acceleration sensor 107 ... Addition circuit 108 ... A / D conversion circuit 111 ... Transmission unit 112 ... Antenna 113 ... Acceleration sensor 200,200A ... Rotation control device 201 ... Drive Control unit, 202 ... Input unit, 300 ... Rotation drive unit, 400 ... Control unit, 500 ... Reception processing unit, 501 ... Antenna, 502 ... Reception unit, 503 ... Calculation processing unit, 504 ... Storage unit, 505 ... Output unit, 710 ... lift, 720 ... industrial motor, 730 ... rubber kneading roll, 740 ... kneading extruder, 750 ... internal mixer, 760 ... film winder, 770 ... printer, 780 ... electric wheelchair, 790 ... power steering handle, 810 ... Disk drive, 820 ... Camera, 830 ... Elevator, 840 …Electric train.

Claims (6)

A first acceleration sensor that is mounted on a rotating body, detects acceleration in a rotational tangential direction, and outputs an electrical signal corresponding to the detection result;
A second acceleration sensor that is attached to the rotating body at a rotationally symmetric position of 180 degrees around the rotation axis of the rotating body, detects acceleration in a rotational tangential direction, and outputs an electrical signal corresponding to the detection result;
An adding means for outputting an added value obtained by adding two acceleration values detected by each of the two acceleration sensors based on an electrical signal corresponding to a detection result of the first acceleration sensor and the second acceleration sensor;
And a change amount output means for obtaining and outputting a change amount of the rotation speed of the rotating body based on the added value output by the addition means. The main sensor unit and the sub sensor unit mounted on the rotating body, and a controller provided apart from the rotating body,
The main sensor unit is
A first acceleration sensor mounted on the rotating body and detecting acceleration in a rotational tangential direction;
Adding means for outputting a sum value of a rotational tangential acceleration value detected by the first acceleration sensor and a rotational tangential acceleration value detected by the second acceleration sensor;
Transmission means for wirelessly transmitting the addition value output by the addition means,
The sub sensor unit is
The second acceleration sensor, which is mounted at a rotationally symmetric position around the rotation axis of the rotating body with respect to the mounting position of the first acceleration sensor, and detects acceleration in a rotational tangential direction;
Output means for outputting information on the rotational tangential acceleration detected by the second acceleration sensor to the main sensor unit by wire wiring;
The controller is
Receiving means for receiving the information transmitted by the transmitting means of the main sensor unit and outputting the added value;
A rotation speed change amount detection device comprising: a change amount output means for obtaining and outputting a change amount of the rotation speed of the rotating body based on the added value.   The rotational speed change amount detection device according to claim 1 or 2, wherein the change amount is either the added value or the angular acceleration. A first acceleration sensor that is mounted on a rotating body that rotates in a state where the rotation axis is not in the direction of gravity, detects acceleration in the rotational tangential direction, and outputs an electrical signal corresponding to the detection result;
A second acceleration sensor that is attached to the rotating body at a rotationally symmetric position of 180 degrees around the rotation axis of the rotating body, detects acceleration in a rotational tangential direction, and outputs an electrical signal corresponding to the detection result;
An adding means for outputting an added value obtained by adding two acceleration values detected by each of the two acceleration sensors based on an electrical signal corresponding to a detection result of the first acceleration sensor and the second acceleration sensor;
A change amount output means for obtaining and outputting a change amount of the rotational speed of the rotating body based on the added value output by the adding means;
A gravitational direction change detecting means for detecting a change in the direction of gravitational acceleration caused by the rotation of the rotating body as a sine wave from at least one of the detected two acceleration information;
The maximum value or the minimum value or zero value of the sine wave is set as a reference value, the time from detection of the reference value to detection of the next reference value is measured, and the time calculated from the time is calculated. A rotational speed detection means for outputting the rotational speed value of the rotating body after detecting the next reference value;
Input means for inputting the value of the rotational speed of the target rotating body;
When the value of the target rotational speed is larger than the value of the detected rotational speed, the rotational drive torque of the rotating body is increased so that the amount of change matches a predetermined positive value, and the value of the target rotational speed is Rotation drive control means for reducing the rotation drive torque of the rotating body so that the amount of change coincides with a predetermined negative value when the value is smaller than the value of the detected rotation speed. Control device. A main sensor unit and a sub sensor unit mounted on a rotating body that rotates in a state where the rotation axis is not in the direction of gravity, and a control unit provided apart from the rotating body,
The main sensor unit is
A first acceleration sensor mounted on the rotating body and detecting acceleration in a rotational tangential direction;
Adding means for outputting a sum value of a rotational tangential acceleration value detected by the first acceleration sensor and a rotational tangential acceleration value detected by the second acceleration sensor;
Transmitting means for wirelessly transmitting the added value output by the adding means, information on the rotational tangential acceleration detected by the first acceleration sensor, and information on the rotational tangential acceleration detected by the second acceleration sensor; With
The sub sensor unit is
The second acceleration sensor, which is mounted at a rotationally symmetric position around the rotation axis of the rotating body with respect to the mounting position of the first acceleration sensor, and detects acceleration in a rotational tangential direction;
Output means for outputting information on the rotational tangential acceleration detected by the second acceleration sensor to the main sensor unit by wire wiring;
The controller is
Receiving means for receiving the information transmitted by the transmitting means of the main sensor unit and outputting each value of the added value and the acceleration in the rotational tangential direction detected by the first acceleration sensor and the second acceleration sensor. When,
A change amount output means for obtaining and outputting a change amount of the rotational speed of the rotating body based on the added value output by the adding means;
A gravitational direction change detecting means for detecting a change in the direction of gravitational acceleration caused by the rotation of the rotating body as a sine wave from at least one of the detected two acceleration information;
The maximum value or the minimum value or zero value of the sine wave is set as a reference value, the time from detection of the reference value to detection of the next reference value is measured, and the time calculated from the time is calculated. A rotational speed detection means for outputting the rotational speed value of the rotating body after detecting the next reference value;
Input means for inputting the value of the rotational speed of the target rotating body;
When the value of the target rotational speed is larger than the value of the detected rotational speed, the rotational drive torque of the rotating body is increased so that the amount of change matches a predetermined positive value, and the value of the target rotational speed is Rotation drive control means for reducing the rotation drive torque of the rotating body so that the amount of change coincides with a predetermined negative value when the value is smaller than the value of the detected rotation speed. Control device.   The rotation control device according to claim 4, wherein the change amount is one of the addition value and the angular acceleration.

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