JP2990282B2 - Drive speed control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device for a drive device, and more particularly to a drive device for controlling the speed of a drive device based on a speed command signal from speed input means such as a joystick. To a speed control device.

[Conventional technology]

Conventionally, a coordinate measuring machine, a control device for controlling the speed of a drive device such as a motor used in a machine tool or the like has speed input means such as a joystick, for example, and outputs a voltage proportional to the operation angle from the joystick. A speed command signal is generated, and the speed command signal is output to a drive circuit to control the speed of the driving device.

[Problems to be solved by the invention]

However, in the case of fine speed or fine positioning, the speed command signal is usually set so that an excessive acceleration command is not applied to the drive system particularly for a sudden movement of the joystick due to the responsiveness between the joystick and the driving device. Since the output is performed via the filter, the operation angle of the joystick and the movement of the driving device are delayed, resulting in poor operability.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and provides a speed control device of a drive device that has good operability by speed input means at the time of fine speed feed of the drive device and that can also perform step feed by speed input means. The purpose is to:

[Means for solving the problem]

In order to achieve the above object, the present invention provides a speed command signal corresponding to an input operation on a speed input means, and controls the speed of the drive device based on the speed command signal. The control device includes: a unit that adds a signal indicating an acceleration obtained by differentiating the speed command signal to the speed command signal; and a unit that adds a signal indicating a displacement obtained by integrating the speed command signal to the speed command signal. It is characterized by that.

[Action]

According to the present invention, when the speed command signal from the speed input means indicates a predetermined low speed or less, a displacement is obtained based on the speed command signal, and a signal indicating the displacement is added to the speed command signal and output. By doing so, the operability at the time of fine-speed feeding of the driving device is improved. Also, the acceleration is obtained based on the speed command signal from the speed input means, and a signal indicating the acceleration is added to the speed command signal and output, whereby the driving device is stepped in accordance with the operation of the speed input means. Will be able to

〔Example〕

Hereinafter, preferred embodiments of a speed control device for a driving device according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing one embodiment of a speed control device for a driving device according to the present invention.

In FIG. 1, a joystick 10 functions as speed input means, and outputs a voltage signal (speed command signal) proportional to the operation angle. This speed command signal is applied to the amplifier 12 via the capacitor C, the diodes D1, D2, and the resistors R1, R2, and after being amplified there, is output to the driver 14. Note that the capacitor C prevents an excessive acceleration command from being applied to a drive system described later in response to a sudden movement of the joystick 10.

A signal indicating the current speed of the motor M is applied to another input of the driver 14 from a speed sensor TG for detecting the rotation speed of the motor M. The driver 14 receives a speed command signal applied via the amplifier 12. Is used as a target value, a signal from the speed sensor TG is used as a feedback value, a motor drive signal is generated so that the motor M rotates at the command speed, and this is output to the motor M.

The motor M is rotated by a motor drive signal from the driver 14, and moves, for example, a carriage 16 having a probe 16A in a coordinate measuring machine in a predetermined axial direction.

Next, portions added by the present invention will be described.

In FIG. 1, a differentiating circuit 20, integrating circuits 30, 32, waveform shaping circuits 34, 36, a transistor Tr, and a neutral determining circuit 38
Is a circuit added.

The differentiating circuit 20 is connected between the joystick 10 and the amplifier 12, and receives a speed command signal from the joystick 10. The differentiating circuit 20 differentiates the input speed command signal, and outputs the differentiated signal (acceleration signal) to the amplifier 12.
Output to

Therefore, for example, when the joystick 10 is operated to instantaneously tilt from the neutral position, one pulse is output to the amplifier 12 through the differentiating circuit, whereby the motor M rotates by a predetermined angle and the carriage 16 Is stepped.

On the other hand, when the joystick 10 is in the neutral position or the operation angle is small and the speed command signal is not immediately output to the amplifier 12 via the capacitor C and the resistors R1 and R2, the neutral determination circuit 38 outputs a predetermined reference voltage to the transistor Tr. To enable the transistor Tr to operate.

The integration circuit 30 integrates the speed command signal from the joystick 10. For example, when a speed command signal indicating a constant very low speed is input from the line a as shown in FIG. The integrated signal having the predetermined gradient shown is output to the waveform shaping circuit 34 via the line b.

The waveform shaping circuit 34 forms a sawtooth wave as shown in FIG. 2C according to the input integration signal, and outputs the sawtooth wave to the waveform shaping circuit 36 via the line C. The waveform shaping circuit 36 forms a pulse signal (FIG. 2 (D)) synchronized with the falling edge of the input sawtooth wave, and outputs this to the base of the transistor Tr via the line d.

The transistor Tr is a waveform shaping circuit in a state where the reference voltage is being input to the collector from the neutral determination circuit 38.
When a pulse signal is applied to the base from 36, the signal is turned on, and a pulse signal corresponding to the pulse signal is output to the amplifier 12 via the integration circuit 32.

Therefore, for example, when the joystick 10 is slightly tilted from the neutral position, a signal of a predetermined pulse train is applied to the amplifier 12 via the integration circuit 32, whereby the motor M rotates and the carriage 16 is fed at a very low speed.

〔The invention's effect〕

As described above, according to the speed control device of the drive device according to the present invention, by adding to the speed command signal a signal indicating acceleration obtained by differentiating the speed command signal and a signal indicating displacement obtained by integrating the speed command signal, The operability at the time of step feed or fine speed feed of the driving device is improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a speed control device of a driving device according to the present invention, and FIGS. 2 (A) to 2 (D) are waveform diagrams used for explaining FIG. 10 Joystick, 14 Driver, 16 Carriage, 20 Differentiator, 30, 32 Integrator, 34, 36
…… Waveform shaping circuit, 38… Neutral decision circuit, C …… Capacitor, D1, D2 …… Diode, R1, R2 …… Resistance, M ……
Motor, Tr ... Transistor.

Claims (1)

(57) [Claims] 1. A speed control device for a drive device, wherein a speed command signal is generated in response to an input operation on speed input means, and the speed of the drive device is controlled based on the speed command signal. Means for adding a signal indicating acceleration obtained by differentiating the command signal to the speed command signal; and means for adding a signal indicating displacement obtained by integrating the speed command signal to the speed command signal. Speed control device for drive unit.