JP2579971B2 - 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.

An electronic governor control device used in a conventional power generator uses a rotary solenoid or the like to control the opening and closing of a throttle of a prime mover, and provides a throttle driving force by the rotary solenoid and a throttle unit to the throttle unit. The opening and 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 the control of the throttle opening / closing position by balancing the force between the rotary solenoid and the spring, the rotary solenoid is stopped and fixed at a certain opening / closing position. Since power must be supplied at all times, there is a disadvantage in that energy loss is large.

Also, when the driving force of the rotary solenoid and the elastic force of the spring are balanced, it takes time for the opening and closing position of the throttle to stabilize, resulting in poor response.
Occasionally, the response of the prime mover was worse than that of the prime mover, and there was a drawback that hunting was caused. For this reason, 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, when a + α signal instructing to open by + α from the opening / closing balance position of the throttle arrives and is opened by + α, a signal for assuring that the opening is opened by + α, for example, a + α ′ signal is electrically transmitted. It is desired to prepare by means such that + α− (α ′) = 0 so that a balance occurs at a position opened by + α.

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.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned drawbacks, and uses a motor that detects the opening / closing position of a throttle with a rotary encoder and performs opening / closing control of the throttle based on the detected position. It is an object of the present invention to provide an actuator for driving and controlling the opening and closing of the actuator and to 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 the constant speed rotation control of the prime mover is performed, the governor control device controls the rotation speed of the prime mover. A voltage detection circuit and a rotation speed detection circuit for detecting the voltage and the rotation speed, respectively, a fail-safe circuit for giving priority to the detection signal of one of the voltage detection circuit and the rotation speed detection circuit and using the detection signal as a rotation speed detection signal; An automatic gain adjustment circuit that detects the weight of the load of the prime mover and changes the gain of the control system according to the weight, and creates a control signal for PID control based on the output obtained from the automatic gain adjustment circuit. PID adjuster,
PWM for converting the output of the PID regulator into a pulse width control signal
A circuit unit, 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 unit for supplying positive and negative bipolar power to each of the circuit units. An encoder for detecting the opening / closing operation of the throttle, a counter for receiving the output of the encoder and indicating the opening / closing state of the throttle, and an initial value 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. It is characterized by comprising a value conversion circuit and a motor for driving a throttle based on the contents of the counter. An embodiment of the present invention will be described below with reference to the drawings.

(Embodiment) Fig. 1 is a basic configuration diagram of an actuator of a rotation control device according to the present invention, Fig. 2 is an embodiment configuration of an actuator of a rotation control device according to the present invention, Figs. 3 (I), (II) ) Is the configuration of the rotary encoder and its output waveform diagram, FIG. 4 is an explanatory diagram of the relative position of the signal output for initializing the counter, and FIG. 5 is an actuation using the actuator of the rotation control device according to the present invention. 1 shows a configuration of an embodiment of a generator device.

Before explaining the actuator of the rotation control device according to the present invention shown in FIGS. 1 to 4, an outline in which a prime mover in an engine generator is automatically controlled by a governor control device will be described first with reference to FIG. Keep it.

In FIG. 5, 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 rotary encoder, 13 denotes a shaft, 14 denotes a throttle, 15 denotes a tube, 16 denotes an initial value circuit, and 17 denotes a counter.

A rotary encoder 12 is provided coaxially with a shaft 13 of the motor 11, and a throttle 14 of a motor is directly or indirectly attached to the shaft 13 of the motor 11. Therefore, the opening / closing angle of the throttle 14, that is, the opening / closing position, is controlled by the rotation of the motor 11. On the other hand, the rotary encoder 12 outputs a pulse representing the amount of rotation of the throttle 14, and the pulse is counted by, for example, a counter 17, so that the amount of rotation of the throttle 14 is measured. By associating the counter 17 with the open / close position of the throttle 14, the open / close state of the throttle 14, ie, the open / close position, can be known from the contents of the counter 17, that is, the count value. However, in this case, a signal for rotating the motor 11 when the power is turned on is sent from the initialization circuit 16, and
By rotating the rotary encoder 12 via the motor 11,
It is necessary to reset the contents of the counter 17 and make the association with the throttle 14.

After the counter 17 is associated with the position of the throttle 14, the contents of the counter 17, ie, the count value,
An error from the PWM signal from the PWM circuit unit 8 shown in FIG. 5 is calculated, and the motor 11 is rotated until the error becomes zero. The rotation of the motor 11 is stopped at the opening / closing position of the throttle 14 where the error becomes just zero. That is, the throttle 14 is driven by the motor with the encoder, and the opening / closing degree of the throttle 14 is controlled.

As described above, since the position of the throttle 14 is detected by the rotary encoder 12 and the correction control is performed, the responsiveness is excellent, and the energy for maintaining the throttle 14 at the position after the correction is completed is not required.

FIG. 2 shows an embodiment of the actuator of the rotation control device according to the present invention, wherein reference numerals 1 and 8 correspond to those in FIG. 5, and reference numerals 11 to 15 correspond to those in FIG. I have. Reference numeral 18 denotes a direction discriminator, 19 denotes an up / down counter, and 20 denotes an OR circuit.

The configuration of FIG. 2 is the same as that of FIG. 1, except that the initialization circuit 16 is configured by an OR circuit 20.

Generally, the rotary encoder 12 is set so as to output the Z-phase signal of the rotary encoder 12 within a range in which the throttle 14 moves, that is, a range in which the throttle 14 rotates.

Here, the Z-phase signal of the rotary encoder 1 refers to a signal that is output once per rotation of the rotary encoder 12, and the rotary encoder 12 that outputs the Z-phase signal.
Is, for example, as shown in FIG. 3 (I). That is, the light emitting diode 23 and the photosensors 24-1 and 24-2 of the light receiving element are sandwiched between the rotating slit plate 21 and the fixed slit plate 22.
24-3 are provided opposite to each other, and when the rotary slit plate 21 rotates, the holes formed in the rotary slit plate 21 match the holes formed in the fixed slit plate 22, and at that time, the light is emitted. The light from the diode 23 is applied to the photo sensor 24-1 or
24-3. The photo sensors 24-1 to 24
The signals detected by the A-3 are shaped by the corresponding waveform shaping circuits 25-1 to 25-3, and then appropriately amplified by the respective amplifiers 26-1 to 26-3. , B
A pulse of each signal of the phase and the Z phase is output. As shown in FIG. 3 (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 21 makes one rotation. This pulse is output once. 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 21 can be detected. The direction discriminator 18 shown in FIG.
In the circuit for discriminating the rotation direction of, for example, by detecting the edge of the A-phase signal and ANDing the B-phase signal, the rotation direction can be obtained. The amount of rotational movement of the motor 11 can be detected by reading the A-phase or B-phase output pulse output from the rotary encoder 12 with a counter, so that the up / down counter 19 is used. From the rotary encoder 12, the up-down
The counter 19 outputs an A-phase or B-phase pulse signal of an up signal or a down signal accompanied by the rotation direction signal detected by the direction discriminator 18.

The Z-phase signal output from the rotary encoder 12 is input to an up / down counter 19 via an OR circuit 20, and the up / down counter 19 presets a preset value N from a circuit not shown. A power-on signal is also input to the OR circuit 20, and the preset value N is preset in the up / down counter 19 even when the power is turned on.

When the power is turned on and a power-on pulse is applied to the OR circuit 20, the preset value N is preset in the up / down counter 19. The up, down,
The motor 11 is rotated based on the preset value N set in the counter 19, so that the throttle 14 opens and stops at the position of the rotational movement amount corresponding to the preset value N.
The stop position of the throttle 14 and the rotary encoder 12
When the output timing of the Z-phase signal output by the controller 14, that is, the Z-phase point is on the open side of the throttle 14, as shown in FIG. Moves in the closing direction. As a result, the rotation of the prime mover of the power generator 1 is reduced, so that the automatic control of the rotation control operates, and a PWM signal for opening the throttle 14 is output from the PWM circuit unit 8 to the motor 11. Accordingly, the position of the throttle 14 passes through the Z-phase point, and the Z-phase signal is output from the rotary encoder 12. The Z-phase signal causes an up / down counter 19 to preset a preset value N via an OR circuit 20. That is, the position of the throttle 14 where the rotary encoder 12 outputs the Z-phase signal and the up / down counter
19 and the contents. That is, the up / down counter 19 is initialized.

On the other hand, when the Z-phase point is on the closing side of the throttle 14, the up / down counter 19 has a value that is more closed than it actually is, so the throttle 14 moves in the opening direction. As a result, the rotation of the prime mover of the motor generator 1 is increased, so that the automatic control of the rotation control is activated, and the
Is output to the motor 11 in the direction to close the motor. Accordingly, the position of the throttle 14 passes through the Z-phase point, and the Z-phase signal is output from the rotary encoder 12. The Z-phase signal causes an up / down counter 19 to preset a preset value N via an OR circuit 20. In this case, as in the above case, the position of the throttle 14 from which the rotary encoder 12 outputs the Z-phase signal is associated with the contents of the up / down counter 19, and the up / down counter 19 is initialized. .

(Effects of the Invention) As described above, according to the present invention, when the rotation speed of the prime mover is stable, power is not required for the actuator controlling the throttle, so that power consumption can be reduced.

In addition, the open / close position of the throttle is detected by the encoder and the counter, and electronically controlled so as to be in the open / close position, whereby the responsiveness is improved. 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. For this reason, the fifth
As shown in the figure, electronic control using a fail-safe circuit and a PID adjuster etc. is performed to improve the overall response and prevent the occurrence of undesired hunting etc. In spite of this, it was 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.

When the power is turned on, the counter indicating the open / closed state of the throttle is easily initialized, and handling is also facilitated.

[Brief description of the drawings]

FIG. 1 is a basic configuration diagram of an actuator of a rotation control device according to the present invention, FIG. 2 is a configuration example of an embodiment of an actuator of the rotation control device according to the present invention, and FIGS. FIG. 4 is an explanatory diagram of the configuration of the encoder and its output waveform, and FIG.
FIG. 1 shows an embodiment of an engine generator using an actuator of a rotation control device according to the present invention. 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 rotary encoder, 13 is a shaft, 14 is a throttle, 15 is a tube, and 16 is an initial value. The circuit 17 is a counter.

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, an encoder for detecting the opening and closing of the throttle, the counter for instructing opening and closing position of the throttle receives the output of the encoder,
In order to associate the contents of the counter with the opening / closing position of the throttle when the power is turned on, an initialization circuit for initializing the counter and a motor for driving the throttle based on the contents of the counter are provided. Rotation control device.