JP2579970B2 - Rotation control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION The present invention relates to a rotation control device, and more particularly to an actuator having a motor with an encoder for controlling opening / closing of a throttle for determining a rotation speed of a prime mover. .

(Prior art) Conventionally, in a generator system, a governor control device is provided to keep the rotation speed of the prime mover constant, and the governor control device keeps the rotation speed of the prime mover constant even when the generator load fluctuates. However, an automatic control system that keeps the frequency of the generator constant is used.

Conventionally, a mechanical type governor control device has been used, but recently, an electronic type governor control device has been used.

The electronic governor control device employed in the conventional power generator uses a rotary solenoid for controlling the opening and closing of the throttle of the prime mover and drives the throttle, and the throttle driving force by the rotary solenoid is provided in the throttle section. The opening / closing position of the throttle is controlled by balancing the force with the elastic force of the spring.

(Problems to be Solved by the Invention) As in the past, in mechanically controlling the throttle opening / closing position by balancing the force between a rotary solenoid and a spring, it takes time for the throttle to stabilize at a certain opening / closing position. However, there was a drawback that the response was poor. For this,
It is desired to stop the configuration that balances the driving force with the elastic force of the spring and eliminate the spring. That is, a + α signal instructing to open by + α from the opening / closing balance position of the throttle arrives and the + α signal is received.
When it is only opened, a signal for assuring that it is opened by + α, for example, a + α ′ signal is prepared by an electrical means, so that + α− (α ′) = 0, and It is desirable to have a balance.

In the case where the balance between the elastic force of the spring and the force is used as in the conventional case, the response of the actuator is poor. Because of this, fail-safe circuits and PI
Performs electronic control using a D adjuster, etc., to improve overall responsiveness while preventing undesired hunting, etc., and stably control at high speed in response to the occurrence of undesired situations However, the limit of the responsiveness of the entire system is given by the actuator using the spring, and the advantages such as the fail safe and the PID adjustment cannot be effectively exhibited.

An object of the present invention is to solve the above-mentioned drawbacks. Instead of the above-mentioned throttle opening / closing control using a rotary solenoid and a spring, the throttle opening / closing position is detected by an electronic rotary encoder and a counter.
An object of the present invention is to provide an actuator that controls opening and closing of a throttle by a motor based on the contents of the counter, and incorporate the actuator into a governor control device.

(Means for Solving the Problems) Therefore, the rotation control device of the present invention is provided with a governor control device, and in an engine generator device in which a constant-speed rotation control of the prime mover is performed, the governor control device supplies the rotation speed of the prime mover to a voltage. A voltage detection circuit and a rotation speed detection circuit for detecting a rotation speed and a rotation speed detection circuit, respectively, a fail-safe circuit for giving priority to one of the detection signals of the voltage detection circuit and the rotation speed detection circuit and using the detection signal as a rotation speed detection signal; A gain automatic adjustment circuit that detects the weight of the load on the load and changes the gain of the control system according to the weight, and a PID that creates a control signal for PID control based on the output obtained from the automatic gain adjustment circuit A regulator, a PWM circuit for converting the output of the PID regulator into a pulse width control signal, an actuator for controlling the rotation of the prime mover according to the PWM signal output by the PWM circuit, and positive and negative 2
A power supply unit for supplying a polar power supply; and the actuator further includes an initial throttle position holding means for fixedly holding the throttle in an open state before turning on the power, an encoder for detecting opening / closing operation of the throttle, and an output of the encoder. And a counter for instructing the opening / closing state of the throttle, initializing means for initializing the counter for associating the contents of the counter with the opening / closing position of the throttle when the power is turned on, and driving the throttle based on the contents of the counter. And a controlling motor. An embodiment of the present invention will be described below with reference to the drawings.

(Embodiment) FIG. 1 is a configuration of an embodiment of an actuator of a rotation control device according to the present invention, FIG. 2 is a perspective view of a motor unit to which a spring is mounted, and FIGS. 3 (I) and (II) are counters. FIG. 4 (I) is an explanatory diagram showing the relationship between signal outputs for initializing
(II) is a configuration of a rotary encoder and its output waveform diagram, FIG. 5 is another embodiment of an actuator configured by a counter that counts only a positive number, and FIG. 6 is a rotation control device according to the present invention. 1 shows a configuration of an embodiment of an engine generator apparatus using the above actuator.

Before explaining the actuator of the rotation control device according to the present invention shown in FIGS. 1 to 5, an outline in which a prime mover in an engine generator is automatically controlled by a governor control device will be described with reference to FIG. Keep it.

In FIG. 6, reference numeral 1 denotes an engine generator, 2 denotes a rotation speed detection circuit, 3 denotes a voltage detection circuit, 4 denotes a fail-safe circuit, 5 denotes an automatic gain adjustment circuit, 6 denotes a PID adjuster, 7 denotes an amplifier, 8 Denotes a PWM circuit unit, 9 denotes an actuator, and 10 denotes a power supply device.

Rotational fluctuations of the power generator 1 based on load fluctuations or any cause are individually detected by the motor or the generator side of the power generator 1 by the rotation speed detection circuit 2 and the voltage detection circuit 3, respectively. Is done. As for the rotation speed detection signal detected by the rotation speed detection circuit 2 and the voltage detection signal detected by the voltage detection circuit 3, one of the detection signals, for example, the voltage detection signal, is preferentially given by the fail-safe circuit 4. It is selected as a rotation speed detection signal of the power generator 1. When an abnormality occurs in the voltage detection circuit 3 system, the other rotation speed detection signal is replaced with the voltage detection signal obtained from the voltage detection circuit 3 and the rotation speed detection signal obtained from the rotation speed detection circuit 2 is used as the rotation speed detection signal. The number is detected by the fail safe circuit 4 as a number detection signal to prevent the occurrence of abnormal rotation such as runaway of the prime mover. In other words, when the control is performed to stabilize the output voltage of the power generator 1 based on the voltage detection signal, the rotation speed of the prime mover may be abnormally increased for some reason. A signal is issued from the detection circuit 2 to switch the fail-safe circuit 4, and control is performed in accordance with the signal from the rotation speed detection circuit 2. The automatic gain adjusting circuit 5 detects the light weight of the current load, that is, the weight from the output of the power generator 1 and determines the gain of the control system according to the weight of the load. Then, the detection signal selected from the fail-safe circuit 4, that is, the voltage detection signal is amplified so that the gain of the system becomes the determined value. Then PID
In the regulator 6, the residual deviation between the target value and the final value, that is, the steady error is minimized, and the response is also changed to a control signal to be quickly followed by the rotation fluctuation. The control signal is amplified by the amplifier 7 and further converted by the PWM circuit 8 into a PWM signal. The PWM signal controls the actuator 9 of the rotary encoder so that the rotation speed of the prime mover in the motor generator 1 is controlled by the angle output by the actuator. A positive / negative bipolar power supply voltage is supplied from the power supply device 10 to each circuit unit. With the positive and negative voltages supplied from the power supply device 10, the rotary
The rotation of the encoder is rotated forward or backward according to the pulse width of the PWM signal to obtain a forward or reverse control angle signal for keeping the rotation speed of the prime mover constant.

Next, the actuator of the rotation control device according to the present invention is set to the first position.
It will be described with reference to the drawings.

In FIG. 1, reference numeral 11 denotes a motor, 12 denotes a spring, 13
Is a shaft, 14 is a rotary encoder, 15 is a throttle, 16 is a tube, 17 is a direction discriminator, and 18 is an up / down counter.

A rotary encoder 14 is provided coaxially with a shaft 13 of the motor 11, and a throttle 15 of a motor is directly or indirectly attached to the shaft 13 of the motor 11. Therefore, the rotation of the motor 11
The opening / closing angle of 15, that is, the opening / closing position is controlled. Motor 11
An anchor 20 fixed to the base 19 as shown in FIG.
And an elastic member fixed to the shaft 13 of the motor 11,
For example, a spring 12 is provided, and when the motor 11 is in a free state, the opening / closing position of the throttle 15 can be changed also by the elastic force of the spring 12. The shaft 13 of the motor 11 is directly connected to the throttle 15 via the rotary encoder 14, or is connected to the throttle 15 via the horn 21.

The rotary encoder 14 detects the opening / closing operation of the throttle 15 and outputs a pulse representing the rotational movement amount. Therefore, by counting the pulses output from the rotary encoder 14 with the up / down counter 18,
The rotational movement amount of the throttle 15 is measured. By associating the up / down counter 18 with the position of the throttle 15, the open / close position of the throttle 15 can be known from the contents of the up / down counter 18, that is, the count value. However, in this case, when starting the prime mover, it is necessary to initialize the up / down counter 18 when the power is turned on.

When the up / down counter 18 is initialized, the throttle 15 is rotated and stopped at a certain open / close position by the spring 12 before the power is turned on. Also, within the range in which the throttle 15 moves, that is, within the range of rotation,
To output the Z-phase signal of the rotary encoder 14,
The rotary encoder 14 is set in advance.

Here, the Z-phase signal of the rotary encoder 14 refers to a signal that is output once per rotation of the rotary encoder 14, and the rotary encoder 14 that outputs the Z-phase signal.
Is, for example, as shown in FIG. 4 (I). That is, the light emitting diode 24 and the photosensors 25-1, 25-2, 25-2,
25-3 are provided opposite to each other, and when the rotary slit plate 22 rotates, the holes formed in the rotary slit plate 22 match the holes formed in the fixed slit plate 23, and at that time, the light is emitted. The light from the diode 24 is applied to the photo sensor 25-1 or
It is detected at 25-3. The photo sensor 25-1 to 25
The signal detected by the A-3 is shaped by the corresponding waveform shaping circuits 26-1 to 26-3, and is then appropriately amplified by the amplifiers 27-1 to 27-3. , B
A pulse of each signal of the phase and the Z phase is output. As shown in FIG. 4 (II), the A-phase signal and the B-phase signal are such that a pulse having a phase difference of 90 ° is output, and the Z-phase signal is output when the rotary slit plate 22 makes one rotation. One pulse is output. From the way of outputting the A-phase and B-phase signals having a phase difference of 90 ° from each other, the normal rotation or the reverse rotation of the rotary slit plate 22 can be detected. The direction discriminator of FIG.
Reference numeral 17 denotes a circuit for discriminating the rotation direction of the motor 11. The rotation direction can be obtained by, for example, detecting the edge of the A-phase signal and ANDing the B-phase signal. In addition, the amount of rotation of the motor 11 can be detected by reading the output pulse of the A-phase or the B-phase output from the rotary encoder 14 with a counter.
A down counter 18 is used. The rotary encoder 14 outputs to the up / down counter 18 a pulse signal of either an A phase or a B phase of an up signal or a down signal accompanied by the rotation direction signal detected by the direction discriminator 17. ing.

Next, the initialization of the up / down counter 18 in FIG. 1 will be described.

As described above, the throttle 15 is driven by the spring 12 before the power is turned on, and is stopped at a certain open / close position. Under such a state, the output position of the Z-phase signal output from the rotary encoder 14, that is, the Z-phase point is the position where the throttle 15 is stopped before the power is turned on as shown in FIG. Therefore, when the throttle is adjusted to be on the open side, the preset value Nc when the throttle 15 is closed is preset in the up / down counter 18 when the power is turned on. When the power is turned on, the preset value Nc is preset in the up / down counter 18, so that the motor 11 determines from the contents of the up / down counter 18 that the throttle 15 is closed, and turns the throttle 15 on. Try to open it. Therefore, the throttle 15 passes through the Z-phase point, and at that point, the Z-phase signal is output from the rotary encoder 14, so that the up / down counter 18 is reset and initialized. That is, when the Z-phase signal is output from the rotary encoder 14 and the up / down counter 18 is reset, the open / close position of the throttle 15 is associated with the contents of the up / down counter 18.

On the other hand, the output position of the Z-phase signal output from the rotary encoder 14, that is, the Z-phase point is shown in FIG.
As shown in the figure, when the throttle 15 is adjusted so as to be on the closed side of the throttle from the position where the throttle 15 is stopped before turning on the power, the up / down counter 18 is turned on when the power is turned on.
The preset value No. when the throttle 15 is open is preset in the. When the power is turned on, the preset value No is preset in the up / down counter 18, so that the motor 11 determines from the contents of the up / down counter 18 that the throttle 15 is open,
Try to close 15. Therefore, the throttle 15 passes through the Z-phase point, at which point the rotary encoder
Since the Z-phase signal is output from 14, the up / down counter 18 is reset and initialized. Similarly to the above, the open / close position of the throttle 15 is associated with the contents of the up / down counter 18.

In this way, when the power is turned on, the motor 11 is rotated in the direction in which the Z-phase point should pass, the Z-phase point passes, and the up / down counter 18 is initialized by the Z-phase signal output at that time. I have. After the initialization of the up / down counter 18, that is, the association between the throttle 15 and the up / down counter 18, after a certain period of time, the PWM circuit unit 8 of the automatic control system described in FIG.
And the contents of the up / down counter 18, that is, the count value, are input to the motor 11, respectively. Then, an error between the PWM signal and the count value of the up / down counter 18 is calculated, the motor 11 is rotated until the error becomes zero, and the motor is opened and closed at the opening / closing position of the throttle 15 where the error becomes just zero. The rotation of 11 stops. In this manner, the throttle is adjusted so that the rotation speed of the prime mover is constant.
15 open / close positions are controlled.

FIG. 5 shows another embodiment of an actuator constituted by a counter for counting only a positive number. Sign
11 to 17 correspond to those in FIG. 1, 28 indicates a counter, and 29 indicates an OR circuit.

The counter 28 is a counter that can count only positive numbers but cannot count negative numbers.

In the case where such a counter 28 capable of counting only a positive number is used, the output position of the Z-phase signal output from the rotary encoder 14, that is, the Z-phase point is determined as shown in FIG. Before turning on the power, throttle
It is adjusted in advance so that the throttle 15 is on the closed side of the throttle from the stopped position.

Therefore, before the start of the prime mover, the throttle 15 is driven by the spring 12 before the power is turned on.
I) Stopped at the throttle position shown. At this time, the contents of the counter 28 are undefined. When the power is turned on, a signal for resetting the counter 28 is output from the OR circuit 29, and the counter 28 is reset to zero. When the throttle 15 is rotated in the closing direction by means not shown, the A and B signals indicating that the throttle 15 is rotating are output from the rotary encoder 14 to the direction discriminator 17. Is done. The direction discriminator 17 outputs to the counter 28 a signal that rotates the throttle 15 in the closing direction, that is, a pulse that decreases the count value of the counter 28. Therefore, the counter 28 generates an underflow. At this time, an underflow signal is directly output from the counter 28 to the OR circuit 29, and the counter 28 itself is reset to zero again by the underflow signal. Therefore, the control operation for opening the throttle 15 based on the underflow of the counter 28 is suppressed. Further, by means not shown, the throttle 15
By repeatedly rotating the throttle in the closing direction, the minimum operation limit of the throttle 15 shown by the dashed line in FIG. 3 (II) is reached.
At the throttle position slightly lower than the minimum operation limit of 15, the rotation in the direction to close the throttle 15 is stopped.

When the rotation of the throttle 15 in the direction to close the throttle 15 is stopped, the content of the counter 28 has been reset to zero by the reset signal from the OR circuit 29. And tries to open the throttle 15. Therefore, the throttle 15 passes through the Z-phase point, at which point the rotary encoder 14 outputs a Z-phase signal. When the Z-phase signal is output from the rotary encoder 14, the preset value N of the counter 28 is preset, and the counter 28 is initialized. Therefore, the open / close position of the throttle 15 is associated with the contents of the counter 28.

Thus, the opening / closing position of the throttle 15 and the counter
After a certain period of time has elapsed after the contents of FIG. 28 have been correlated, the PW of the automatic control system described in FIG.
Based on the M signal and the contents of the counter 28, automatic control is performed so that the rotation speed of the prime mover becomes constant.

Needless to say, in steady rotation, the throttle 15
Since the minimum operation position of the counter 28 is up to the position indicated by the dashed line in FIG. 3 (II), the counter 28 does not cause underflow. If a counter having a large count is used, there is no need to consider the overflow at all.

(Effects of the Invention) As described above, according to the present invention, the opening / closing position of the throttle can be controlled by the rotary encoder and the counter, and therefore, the throttle control with good responsiveness can be performed. Then, the rotation of the prime mover is controlled at a constant speed.
That is, when utilizing the balance of the force with the elastic force of the spring as in the conventional case, the response of the actuator is inferior to that of the actuator of the present invention. To this end, as shown in FIG. 5, electronic control is performed by using an angle-failure-safe circuit, a PID adjuster, and the like to prevent the occurrence of undesired hunting while improving the overall responsiveness. Despite this, it is not sufficient to immediately activate the fail safe in response to the occurrence of an undesired situation, or to perform high-speed stable control by adjusting the PID. That is, the limit of the responsiveness of the entire system is given by the actuator using the spring. In the present invention, this point has been solved, and the advantages such as the fail safe and the PID adjustment described above can be effectively exhibited.

[Brief description of the drawings]

FIG. 1 is a perspective view of an embodiment of an actuator of a rotation control device according to the present invention, FIG. 2 is a perspective view of a motor portion to which a spring is mounted, and FIGS. 3 (I) and (II) show initialization of a counter. FIG. 4 (I) is an explanatory view of the relative position of the signal output to be caused.
(II) is a configuration of a rotary encoder and its output waveform diagram, FIG. 5 is another embodiment of an actuator configured by a counter that counts only a positive number, and FIG. 6 is a rotation control device according to the present invention. 1 shows a configuration of an embodiment of an engine generator apparatus using the above actuator. In the figure, 1 is an engine generator, 2 is a rotation speed detection circuit, 3 is a voltage detection circuit, 4 is a fail-safe circuit, 5 is an automatic gain adjustment circuit, 6
Is a PID regulator, 7 is an amplifier, 8 is a PWM circuit, 9 is an actuator, 10 is a power supply, 11 is a motor, 12 is a spring, 13 is a shaft, 14 is a rotary encoder, 15 is a throttle, 16 is a tube, 17 is a direction discriminator, 18 is an up / down counter, 22
Is a rotating slit plate, 23 is a fixed slit plate, 24 is a light emitting diode, 25-1 to 25-3 are photo sensors, 26-1 to 26-3 are waveform shaping circuits, 27-1 to 27-3 are amplifiers,
28 indicates a counter, and 29 indicates an OR circuit.

Claims (1)

(57) [Claims] An engine generator comprising a governor control device, wherein a constant-speed rotation control of a prime mover is performed. In the governor control device, a voltage detection circuit for detecting the rotational speed of the prime mover by using a voltage and a rotational speed, respectively. A number detection circuit, a fail-safe circuit for giving priority to the detection signal of either the voltage detection circuit or the rotation number detection circuit and providing a rotation number detection signal, and detecting the weight of the load of the prime mover, An automatic gain adjustment circuit for changing the gain of the control system in accordance with the above, a PID adjuster for creating a control signal for PID control based on an output obtained from the automatic gain adjustment circuit, and a pulse width for the output of the PID adjuster A PWM circuit unit for converting the control signal into a control signal, an actuator for controlling the rotation of the prime mover in accordance with the PWM signal output from the PWM circuit unit, and a power supply device for supplying positive and negative bipolar power to each of the circuit units. , And above The actuator includes an initial throttle position holding means for fixedly holding the throttle in an open state before turning on the power, an encoder for detecting the opening and closing operation of the throttle, a counter for receiving the output of the encoder and instructing the opening and closing state of the throttle, and a power supply. A rotating means provided with initializing means for initializing the counter for associating the content of the counter with the opening / closing position of the throttle at the time of closing, and a motor for driving and controlling the throttle based on the content of the counter; Control device.