JP3341519B2 - Synchronous control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous control device, and is effective when applied to a synchronous rotary device such as a newspaper rotary press or a paper machine, in which a plurality of machines are synchronized with each other in phase.

[0002]

2. Description of the Related Art In a facility such as a newspaper rotary press or a paper machine, in which a plurality of machines in the entire facility need to be operated in synchronization, a single machine shaft (shaft) rotated by a motor passes through the entire facility. I have. The individual machines are driven in synchronization with each other by being driven by receiving the rotational force from the same single shaft.

In recent years, instead of the above-described mechanical shaft, operation has been performed by electronically controlling synchronization between machines. Such a technique is called an “electronic shaft”. Electronic shafts are used in new high-speed rotary presses for newspaper printing.

Here, an example of the electronic shaft will be described with reference to FIG. As shown in FIG.
When the positioning controller 11, 12, 13 outputs the speed command V, the positioning controller 11, 12, 13 outputs the corrected speed command V _S so as to perform the tuning phase control (described later). Servo driver 21, 22 and 23, sends a motor current I _M in accordance with the corrected speed command V _S to the servo motor 31, 32, the servo motor 31, 32, 33 is driven to rotate. The rotational force of the servo motors 31, 32, 33 is equal to the mechanical axes 41, 42, 4
3 to each machine 51, 52, 53,
1, 52 and 53 are driven.

[0005] Rotary encoders 61, 62, 63 are directly connected to the servomotors 31, 32, 33. The rotary encoders 61, 62, 63 are connected to the servomotors 31, 32, 33 and the machine shafts 41, 42, 43, respectively. and outputs a detection pulse P _D corresponding to the rotation of the machine 51, 52, 53.

[0006] The servo driver 21, 22, 23, and detects the motor speed from the detection pulse P _D, control of the motor current I _M to be the speed at which the motor speed is indicated by corrected speed command V _S (speed control) I do.

[0007] In the positioning controller 11, 12, 13, generates a reference pulse corresponding to the speed command V, and the deviation count value of the reference pulse and the detected pulse P _D, obtained by the deviation counter (not shown). Further, a correction value corresponding to the deviation count value is added to the speed command V, and the corrected speed command V _S
Is generated and output. By doing so, it is possible to perform tuning phase control that keeps the same positional relationship between the rotors of the servomotors 31, 32, and 33 at the start of operation, even during operation.

[0008]

In the above-mentioned conventional electronic shaft, the rotary encoders 61, 62, 6
3, and a phase (position) shift is detected using the deviation counters of the positioning controllers 11, 12, and 13. For this reason, if noise is mixed in, a pulse is missing, or a malfunction of the rotary encoder (for example, the number of pulses per rotation is changed), synchronous operation with the same phase cannot be performed.

The above-mentioned problem can be solved by using an absolute position detector (absolute encoder) instead of the rotary encoders 61, 62 and 63 as the rotation detector. However, the absolute encoder cannot be adopted because the rotary encoder has the following disadvantages. Expensive Low resolution Limited maximum rotation speed Increased number of wires

In view of the above prior art, the present invention provides a synchronous control device that uses a rotary encoder and that can recover a phase shift within one rotation and perform error-free control even if an erroneous pulse count occurs. The purpose is to do.

[0011]

According to the present invention, a plurality of servomotors for applying a rotational force to the machine shafts of a plurality of machines, and detection pulses corresponding to the rotations of the respective machine shafts are output. A plurality of rotary encoders, a plurality of servo drivers each supplying a motor current to each of the servomotors such that the motor speed obtained by the detection pulse is equal to the corrected speed command, and a speed during one rotation of the mechanical shaft. A deviation count value which is a difference between the pulse number of the reference pulse according to the command and the pulse number of the detection pulse is obtained, and a corrected speed command is obtained by adding a correction speed according to the deviation count value to the speed command. A plurality of positioning controllers for supplying a corrected speed command to each of the servo drivers,
Each of the positioning controllers includes a plurality of origin detectors that output one detection origin pulse for each rotation of the machine shaft. The number of detection pulses during one rotation of the machine shaft and the number of detection pulses set in advance are set in the positioning controller. A detection count error detection circuit for obtaining a detection count error value corresponding to a difference from a specified pulse value, and a correction circuit for obtaining the correction speed by adding a detection count error value to the deviation count value.

[0012]

According to the present invention, the detection count error detection circuit determines a detection count error value corresponding to an erroneous pulse caused by noise mixing or missing pulses during one rotation of the mechanical shaft, and counts deviation based on the detection count error value. A corrected deviation count value obtained by correcting the value is obtained. This corrected deviation count value has no erroneous pulse component, but only a component necessary for phase matching. A corrected speed command is obtained by adding a corrected speed corresponding to the corrected deviation count value to the speed command.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. The same reference numerals are given to portions having the same functions as those of the conventional technology, and the description of overlapping portions will be simplified.

FIG. 1 shows an embodiment of the present invention. In the present embodiment, the functions of the positioning controllers 101, 102, and 103 are enhanced as compared with the prior art shown in FIG. 4, and the origin detectors (for example, proximity switches) 201 and 20 are provided.
The difference is that 2,203 is added, and the configuration of the other parts is the same as the conventional one.

The origin detector 201, 202 and 203 are provided in proximity to the machine axis 41, 42 and 43, respectively, each detection origin pulse P _O As each machine axis 41, 42 and 43 are rotated 1 Output. The detection origin pulse P _O is obtained by setting the origin (one point in the circumferential direction set in advance) of the machine axes 41, 42, 43 to the origin detectors 201, 202, 2.
It is output at the time when it faces 03.

The details will be described later, the positioning controller 101, 102, and 103 receives the speed command V and the detection pulse P _D and the detection origin pulse P _O, and outputs the corrected speed command V _S such that the tuning phase control .

In this embodiment, when the speed command V is output from the overall controller 1, the positioning controller 10
1, 102 and 103 output a corrected speed command V _S for performing the tuning phase control,
Motor current I in accordance with the corrected speed command V _S from 2,23
_M is output, and the servo motors 31, 32, and 33 rotate. When the servo motors 31, 32, and 33 are driven to rotate, the rotational force is applied to the
Together transmitted to 1,52,53, the detection pulse P _D corresponding to the rotational speed of the machine axis 41, 42 and 43 is output from the rotary encoder 61, 62 and 63, the origin detector 2
01, 202, and 203 output a detection origin pulse P _O every one rotation of the machine shafts 41, 42, and 43.

Each of the positioning controllers 101, 102,
The configuration and function of 103 are the same, and the details will be described with reference to FIG. As shown in FIG. 2, the positioning controllers 101, 102, and 103 include a deviation counter circuit 110.
A reference count error detection circuit 120, a detection count error detection circuit 130, and a deviation count correction circuit 140
, A D / A converter 153, and an adder 154.

The reference pulse X is a detection pulse output from a rotary encoder provided in a reference servomotor, and the reference origin pulse _XD is output from an origin detector attached to the reference servomotor. Detection origin pulse.

In the deviation counter circuit 110, an up-down
The detection pulse P is supplied to the deviation counter 111 which is a
_DAnd a reference pulse X are input. This deviation counter 1
11 is the detection pulse P_DAnd the deviation between the reference pulse X
The difference count value C is output. On the other hand, the detection origin pulse P_O
Or reference origin pulse X_OIs input to the OR gate 112.
Contact, the contact 113 is closed, and the deviation counter 111
Correction deviation count value C _S(Described later) are preset.
That is, the deviation counter 111 outputs the corrected deviation count value C
_SUp / down count calculation with
I do.

In the detection count error detection circuit 130,
The detection pulse P is supplied to the up / down counter 131._DAnd detection source
Point pulse P_OIs entered. The counter 131 is a detection pal.
SU _DAnd the detection origin pulse P_OIs input
Reset when done. The memory 132 has a normal state.
The machine shaft 41 (42, 43) makes one rotation
Generated from the rotary encoder 61 (62, 63)
Detection pulse P_DThe number of pulses
Is stored in advance. The subtractor 133 counts
Counter 131 and the value stored in the memory 132.
A detection error ΔP, which is a difference from the specified output pulse value, is obtained. La
The latch 134 latches the detection error ΔP,
Origin pulse P_OIs input, the detection error ΔP at that time
And then clear the latch data. Complement 13
5 is 2 of the detection error ΔP output from the latch unit 134.
Of the detection count error value C
_POutput as

The noise mixing, chipping pulse, when there is no trouble such as a rotary encoder, the count value of the counter 131 and the detection pulse specified value equal, the detection count difference value C _P becomes zero. On the other hand, if there is noise mixing, missing pulses, or a problem with the rotary encoder,
The detection error ΔP is a positive or negative value corresponding to these problems,
The detection count error value _CP is a value for correcting the above-mentioned problem.

In the reference count error detection circuit 120,
The reference pulse X and the reference origin are stored in the up / down counter 121.
Pulse X_OIs entered. Counter 121 is a reference pulse
X and count reference pulse X_OIs entered
Reset. The memory 122 has a normal state
The number of reference pulses X in the reference pulse
It is stored in advance. The subtractor 123
Counter 121 and stored in the memory 122.
A reference error ΔX, which is a difference from the reference pulse prescribed value, is obtained.
The latch unit 124 latches the reference error ΔX,
Quasi-origin pulse X _OIs input, then the reference error Δ
X is the reference count error value C_XAnd then latch
Clear the data.

When there is no problem such as noise mixing or missing pulse, the count value of the counter 121 becomes equal to the reference pulse prescribed value, and the reference count error value _CX becomes zero. On the other hand, when there is a problem such as noise mixing or missing pulse, the reference error ΔX is a positive or negative value corresponding to these problems, and the reference count error value _CX is a value for correcting the above problem.

[0025] In deflection counter correction circuit 140, the adder 141 and 142, the deviation count value C, and added a detection count error value C _P and the reference count difference value C _X obtains and outputs a corrected deviation count value C _S . The detection count difference value C _P is, since complement for 2 detection error [Delta] P, that adds the detected count error value C _P is the same as subtracting the detection error [Delta] P.

When there is disturbance such as noise mixing, the count error values C _P and C _X are values for correcting the above-mentioned disturbance, so that the corrected deviation count value C _S is a correct value obtained by correcting the error due to the disturbance. Become. That is, the deviation count value C _S is
This is a value that correctly indicates the phase shift of the mechanical shaft 41.

The D / A converter 153 a correction deviation count value C _S D / A converts obtaining a correction velocity V _C. Adder 1
54, the speed command V by adding the correction velocity V _C seeking corrected speed command V output.

Next, referring to the control chart of FIG.
The state will be further described. FIG. 3A shows that the reference pulse X is
This shows the count value of the counter 121 that counts. This cow
The reference value increases each time the reference pulse X is input, and the reference
Point pulse X _OIs reset to zero
You. FIG. 3B shows the detection pulse P_DCow counting
4 shows the count value of the counter 131. This count value is detected
Pulse P_DIncreases each time is input, and the detection origin pulse P
_OIs reset to zero.

FIG. 3C shows the reference error ΔX. The value of the reference error ΔX is a reference pulse specified value when clearing,
It decreases every time the reference pulse X is generated. FIG. 3 (d)
Indicates a detection error ΔP. The value of the detection error ΔP is detected pulses specified value at the time of clear, it decreases every time the detection pulse P _D is generated.

FIG. 3 (e) shows the deviation count value C output from the deviation counter 111, FIG. 3 (d) shows the correction deviation count value C _S output from the deviation counter correction circuit 140.

[0031] for example, time t ₁ ~t ₂ in the noise contamination such as shown in FIG. 3 (a) occurs, the count value of the counter 121 at time t ₂ is greater than the reference pulse specified value. In this case, the reference error ΔX At time t ₂ shown in FIG. 3 (c)
The deviation count value C shown in FIG. 3E is corrected by the reference count error value _CX corresponding to the reference error ΔX, and a corrected deviation count value C _S shown in FIG. _3F is obtained. For this reason, the correction deviation count value C _S does not include a component due to the reference error ΔX due to noise mixing or the like, and indicates only the phase shift accurately.

In addition, noise is mixed between times T _{1 and} T ₂ in FIG. 3B, and the count value of the counter 131 at the time T ₂ is larger than the specified detection pulse value.
At this time, a detection error ΔP occurs at time T ₂ in FIG. 3D, and a detection count error value C _P corresponding to the detection error ΔP
As a result, the deviation count value C shown in FIG. 3E is corrected, and a corrected deviation count value C _S shown in FIG. _3F is obtained. For this reason, the correction deviation count value C _S does not include a component due to the detection error ΔP due to noise mixing or the like, and indicates only the phase shift accurately.

[0033]

According to the present invention, as described above in detail with the embodiments, an origin corresponding to an erroneous pulse is obtained by detecting the origin once for each rotation of the mechanical shaft, and this error is calculated. Since the deviation count value is corrected to be zero, even if an erroneous pulse occurs, the phase shift can be repaired within one rotation, and the synchronous operation can be accurately performed without being affected by the erroneous pulse.

Further, since a rotary encoder can be used, there are advantages that an inexpensive, accurate and high-speed control can be performed and wiring can be simplified as compared with using an absolute position detector (absolute encoder). .

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a block diagram showing a positioning controller used in the embodiment.

FIG. 3 is a control chart showing a control state in a positioning controller.

FIG. 4 is a block diagram showing a conventional technique.

[Explanation of symbols]

1 Overall controller 11, 12, 13 Positioning controller 21, 22, 23 Servo driver 31, 32, 33 Servo motor 41, 42, 43 Machine axis 51, 52, 53 Machine 61, 62, 63 Rotary encoder 101, 102, 103 Positioning Controller 110 Deviation counter circuit 111 Deviation counter 112 OR gate 113 Contact 120 Reference count error detection circuit 121 Up / down counter 122 Memory 123 Subtractor 124 Latch section 130 Detection count error detection circuit 131 Up / down counter 132 Memory 133 Subtractor 134 Latch section 135 complement unit 140 deflection counter correction circuits 141 and 142 adder 153 D / A converter 154 addition unit 201, 202, 203 origin detector V speed command V _S modify Degree command V _C compensation velocity I _M motor current P _D detection pulse P _O detection origin pulse X reference pulse X _O reference origin pulse C deviation count value C _S correction deviation count value ΔP detection error C _P detected count difference value ΔX reference error C _X reference count error value

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B41F 33/00 B41F 33/08 B65H 23/188 H02P 5/46-5/52

Claims (1)

(57) [Claims] 1. A plurality of servo motors for applying a rotational force to machine axes of a plurality of machines, a plurality of rotary encoders for outputting detection pulses according to the rotation of each of the machine axes, and a motor speed obtained from the detection pulses A plurality of servo drivers each supplying a motor current to each of the servo motors so that the motor current becomes equal to the corrected speed command; a pulse number of the reference pulse corresponding to the speed command and a pulse of the detection pulse during one rotation of the machine axis. A deviation count value that is a difference from the number is obtained, and a corrected speed command is obtained by adding a corrected speed corresponding to the deviation count value to the speed command,
A synchronous controller having a plurality of positioning controllers for supplying the corrected speed command to each of the servo drivers, comprising a plurality of origin detectors for outputting one detected origin pulse each time each mechanical axis makes one rotation. A detection count error detection circuit for obtaining a detection count error value according to a difference between the number of detection pulses during a single rotation of the mechanical axis and a predetermined detection pulse prescribed value; A synchronous control device comprising a correction circuit for adding the detection count error value to the count value to obtain the correction speed.