JP3512761B2 - Controller inspection device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for inspecting a controller such as a servomotor for driving and controlling equipment, which has a function of inspecting equipment to be driven.

[0002]

2. Description of the Related Art FIG. 3 is a diagram showing a configuration of a conventional servo system. The servo system is the controller 10
0, a servo mechanism 300 driven and controlled by the controller 100, and a drive mechanism 310 driven by the servo mechanism 300. Controller 10
0 is a power switch 101, a command button 102, and
A confirmation lamp 103 is provided. The servo mechanism 300 includes a motor 301 and a sensor 3 that detects a rotation angle of the motor 301.
It is composed of 02. The rotating portion of the motor 301 is connected to the drive mechanism 310.

The controller 100 is a servo mechanism 300.
In addition to the function of controlling the drive of the servomotor, it has a function of checking the operation of the servo mechanism 300. When inspecting the servo mechanism 300, the user of the system presses the command button 102 after turning on the power switch 101. When the command button 102 is pressed, the controller 100 supplies PWM signals u, v, w based on a predetermined amount of drive voltage E to the motor 301 of the servo mechanism 300. Servo mechanism 30
The sensor 302 of 0 feeds back to the controller 100 a signal according to the rotation angle θ of the motor 301 due to the supply of the PWM signals u, v, w based on the predetermined amount of drive power E. If the signal fed back is the same as the expected value, the controller 100 confirms the confirmation lamp 103.
Is turned on for a predetermined time, and if different, the servo mechanism 3
Flashes when it is determined that something is wrong with 00.

FIG. 4 is an equivalent circuit diagram of the controller 100 and the servo mechanism 300. The control unit 104 outputs a predetermined amount of drive voltage E in response to the pressing of the command button 102. The coordinate conversion unit 105 coordinates-converts the drive voltage E into three-phase signal waves eu = Esin θ, ev = Esin (θ−
2π / 3) and ew = Esin (θ + 2π / 3) are output. The three-phase signal waves eu, ev, ew are input to the three-phase PWM inverter 120. Three-phase PWM inverter 120
Is a pulse width modulation circuit 106 and an inverter circuit 110.
Composed of and. The PWM signals u, v, w output from the three-phase PWM inverter 120 are used as they are in the servo mechanism 3
00 to a three-phase motor 301. Sensor 302
Is a control unit 1 of the controller 100 using a signal representing the rotation angle θ of the three-phase motor 301 as a feedback control signal.
Output to 04. The control unit 104 lights the confirmation lamp 103 for a predetermined time when the feedback control signal output from the sensor 302 is the same as the predetermined value, and blinks when the difference is different.

[0005]

SUMMARY OF THE INVENTION The servo mechanism 300 described above.
The operation check is performed on the assumption that the controller 100 is operating normally. That is, the command button 102
It is a prerequisite that the PWM signals u, v, w based on the predetermined amount of drive voltage E are accurately output according to the depression of. In order to check whether or not the controller 100 is operating normally, P based on the predetermined amount of drive voltage E is used.
For the input of the WM signals u, v, w, a set of normal inspection servo mechanism for feeding back a predetermined signal is required. However, I stored the complete servo mechanism for inspection,
Maintaining proper operation is economically and spatially wasteful.

An object of the present invention is to provide a compact and lightweight inspection device for a controller of equipment such as a servo mechanism.

[0007]

A controller inspection system according to the present invention outputs a drive signal to a drive device, and feedback-drive-controls the drive device on the basis of information on an operation amount fed back from the drive device. A controller, which has an inspection means for inspecting the drive device based on the information on the operation amount,
Connect an inspection device equipped with a calculation means for simulating the drive device based on the drive signal output from the controller to obtain information on the operation amount, and feeding back the obtained operation amount information to the inspection means of the controller. It is characterized by consisting of.

According to the controller inspection method of the present invention, a drive signal is output to the drive device, and the drive device is feedback-controlled based on the information on the operation amount fed back from the drive device, and the operation amount information is sent. A method of inspecting a controller having an inspection means for inspecting the above-mentioned equipment based on, wherein the operation signal fed back from an inspection device simulating the above-mentioned drive equipment with respect to the drive signal output from the above-mentioned controller is If the inspection means of the controller determines from the information that the drive device is abnormal, the controller is determined to be out of order.

[0009]

[0010]

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION A controller inspection device according to the present invention drives and controls a predetermined device and outputs the drive signal of a predetermined amount based on the information of the operation amount fed back from the device. An inspection device for inspecting a controller having a function of inspecting the operation amount, calculating the operation amount of the device based on a predetermined amount of drive signal output from the controller, and feeding back the calculated operation amount information to the controller. It is characterized by comprising a calculation means for performing. By adopting this configuration, the space occupied for inspection can be significantly reduced compared to the case of actually preparing inspection equipment (for example, equipment with a large size such as a three-phase AC motor). You can Further, the management cost can be reduced as compared with the case of maintaining the actual device.

A case will be described below in which the inspection device having the above characteristics is applied to the servo system described with reference to FIGS. 3 and 4 in the section of the prior art.

FIG. 1 is a diagram showing a usage pattern of a controller 100 and an inspection device 200 for inspecting the controller 100. The controller 100 is the same as that described in the section of the related art. That is, the controller 100 includes the power switch 101 and the command button 1
02 and the confirmation lamp 103 are provided to drive and control the servo mechanism 300 shown in FIGS. 3 and 4. In addition, as described in the section of the related art, the controller 100
Has an inspection function of the servo mechanism 300, outputs PWM signals u, v, w based on a predetermined amount of drive voltage E to the servo mechanism 300 in response to pressing of the command button 102, and outputs servo signals to the output. When the signal fed back from the mechanism 300 is a predetermined value, the confirmation lamp 103 is lit for a predetermined time, and when it is different, it is blinked.

The inspection device 200 includes the controller 10 described above.
0 simulates the servo mechanism 300 which is originally driven and controlled. FIG. 2 is a diagram mainly showing the configuration of the inspection device 200. The conversion circuits 210, 250, 260 convert the PWM power signals u, v, w supplied from the controller 100 into analog voltage signals eu = Esin θ, ev = Esin.
(Θ−2π / 3) and ew = Esin (θ + 2π / 3) are restored. The combining operation unit 270 converts the signals eu, ev, ew of the respective phases converted into the analog signals into the DC voltage E. The DC voltage E corresponds to a predetermined amount of drive voltage E output by the control unit 104 of the controller 100 in response to pressing of the command button 102. The simulation motor (arithmetic unit) 280 simulates the operation of the servomotor, and based on the direct-current voltage E obtained by the composite arithmetic circuit 270, the simulation motor (arithmetic unit) 280 actually receives the PWM signals u, v, w of a predetermined amount. The angle (ideal value) θ at which the servo motor rotates is calculated, and a feedback control signal representing the angle θ is output to the controller 100.

When the feedback control signal sent back from the inspection device 200 is the same as the expected value, the controller 100 turns on the confirmation lamp 103 for a predetermined time,
If they are different, it blinks to indicate an abnormality. Inspection device 20
0 is provided with a calculation means for simulating the servo mechanism 300 which is operating normally, and the controller 1
When the predetermined amount of drive voltage E output from 00 is as specified, a feedback control signal as scheduled is returned. That is, instead of the servo mechanism 300, the inspection device 200
When the confirmation lamp 103 of the controller 100 blinks when the controller 100 is connected, there is an abnormality in the controller 100 itself, and the PWM signals u, v, w based on a predetermined amount of the drive voltage E in response to the pressing of the command button 102. Means that is not output. In this way, the inspection device 20
By using 0, the controller 100 can be inspected. Further, by using the inspection device 200, it is possible to significantly reduce the space occupied for inspection as compared with the case where the servo mechanism 300 for inspection is actually prepared. Further, the management cost can be reduced as compared with the case where an actual device is maintained like the servo mechanism 300.

The configuration of each part of the inspection device 200 will be described below in detail. The conversion circuits 210, 250, 260 have the same configuration. Hereinafter, only the configuration of the conversion circuit 210 will be described. The conversion circuit 210 has a positive or negative reference voltage Vref specified according to the polarity of the input PWM signal.
Is composed of a signal conversion unit 245 that outputs for a time corresponding to the width of the PWM signal, and a low-pass filter 221 to which the positive or negative reference voltage Vref output from the signal conversion unit 245 is input. The signal conversion unit 245 includes an electricity-to-light conversion circuit 230 and a light receiving circuit 240.

In the electricity-to-light conversion circuit 230, the resistor 2
11 and the resistor 216 are connected in series, the bias voltage Vb is applied to the remaining end of the resistor 211, and the resistor 21
The remaining end of 6 is grounded. As shown in the figure, two light emitting diodes 212 and 214 connected in series are connected in parallel between the resistor 211 and the resistor 216. The PWM power signal u is the light emitting diode 212
And the light emitting diode 214. In the electricity-to-light conversion circuit 230 having the above configuration, the light emitting diode 214 is turned on when the value of the signal u is positive, and the light emitting diode 212 is turned on when the value of the signal u is negative.

The light receiving circuit 240 includes a resistor 217, an analog switch 218 having a light receiving element 213, and a light receiving element 21.
5, an analog switch 219 and a resistor 220.
Are connected in series. The reference voltage Vref is applied to the remaining end of the resistor 217, and the reference voltage −Vref is applied to the remaining end of the resistor 220. The light receiving circuit 240 having the above-described configuration includes the low-pass filter 2 that provides the reference voltage Vref in the subsequent stage according to the light emission of the light emitting diode 212.
The low-pass filter 22 which outputs the reference voltage -Vref to the output terminal 21 according to the light emission of the light emitting diode 214.
Output to 1.

The low-pass filter 221 comprises the operational amplifier 2
21a, a capacitor 221b and a resistor 221c are connected in parallel. Note that the capacitor 221b and the resistor 221c cause the analog voltage signal eu = Esi by the operation of the light receiving circuit 240 based on the value of the PWM power signal u.
Set nθ to the value to be restored.

The synthesis operation unit 270 includes conversion circuits 210,
Analog signals eu = E output from 250 and 260
sin θ, ev = E sin (θ-2π / 3), ew = E
Direct conversion is performed based on sin (θ + 2π / 3), and DC
Voltage E = SQR (2 × (eu ^Two+ Ev^Two+ Ew^Two) /
3) is output. The code of E is the code of eu
Identify.

Simulation motor (arithmetic unit) 280
Calculates the angle θ (ideal value) at which the actual servomotor rotates with respect to the input of a predetermined amount of PWM signals u, v, w, based on the value of the DC voltage E output from the combination calculation unit 270. . The simulation motor 28 is shown in the frame of the drawing.
The control diagram of 0 is described. In the control diagram, the coefficient R is
It represents the resistance value of the equivalent winding resistance of the motor to be simulated. The coefficient L represents the equivalent winding inductance of the motor. The coefficient Kt represents the torque constant of the motor. Coefficient Ke
Represents the induced voltage constant of the motor. The coefficient S represents a differential operator. The configuration of the simulation motor 280 is not limited to the above configuration, and a simpler configuration may be adopted.

[0022]

As a controller inspection device of the present invention, a small inspection device that completely simulates a servo mechanism that is operating correctly is prepared, and the inspection device feeds back the drive signal output from the controller. On the contrary, when the incoming signal is abnormal, it can be judged that the controller is out of order. Further, by adopting the above configuration, it is possible to configure a small and lightweight inspection system as compared with the case where an actual servo mechanism that operates accurately for inspection is prepared.

According to the controller inspection method of the present invention, compared to the case where an actual servo mechanism that operates accurately for inspection is prepared, the controller inspection can be performed more easily and accurately than when an actual servo mechanism is used. You can

[0024]

[0025]

[Brief description of drawings]

FIG. 1 is a configuration diagram of a controller that drives and controls a servo motor and an inspection device according to an embodiment.

FIG. 2 is a diagram showing a configuration of an inspection device.

FIG. 3 is a configuration diagram of a controller that drives and controls a servo motor and an inspection device according to an embodiment.

FIG. 4 is a diagram showing a configuration of a controller.

[Explanation of symbols]

100 controller, 102 command button, 200
Inspection device, 210, 250, 260 conversion circuit, 245
Signal conversion unit, 230 electricity-to-light conversion circuit, 240 light receiving circuit, 270 combination calculation unit, 280 simulation motor.

─────────────────────────────────────────────────── ─── Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) H02P 5/41 G05B 23/02

Claims (2)

(57) [Claims] 1. A controller for outputting a drive signal to a drive device and performing feedback drive control of the drive device based on the information on the operation amount fed back from the drive device, the controller being based on the information on the operation amount. In a controller equipped with an inspection means for inspecting the drive equipment, the drive equipment is simulated based on the drive signal output from the controller to obtain the operation amount information, and the obtained operation amount information is stored in the controller. An inspection system for a controller, characterized in that an inspection device having a calculation means for feeding back to the inspection means is connected. 2. A drive signal is output to a drive device, the drive device is feedback-driving-controlled on the basis of information on an operation amount fed back from the drive device, and the device is inspected based on the information on the operation amount. A method for inspecting a controller equipped with an inspection means for performing the operation, wherein the drive device outputs an abnormality in the drive signal output from the inspection device that simulates the drive device. When the inspection means of the controller determines that the above condition, it is determined that the controller is out of order.