JP3694858B2 - Drive device with compensation circuit - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a driving apparatus including a compensation circuit that compensates for characteristics of various loads such as a motor and an electromagnetic clutch and drives the switching control.
[0002]
[Prior art]
Various devices, such as X and Y plotters, have a plurality of motors, electromagnetic clutches, etc., and need to drive and position the motors, electromagnetic clutches, etc. at high speed and accurately at command positions. In the vibration suppression control configuration, vibration and inclination are detected, an electromagnet or the like is driven, the vibration is suppressed, and the inclination is corrected. Therefore, the drive device needs to be designed to have an optimum configuration corresponding to the load characteristics of the motor, the electromagnetic clutch, the electromagnet, and the like.
[0003]
FIG. 6 is an explanatory diagram of a conventional example, 61 is a switch unit, Q1 to Q4 are transistors, D1 to D4 are diodes, 62 is a control unit, 63 is a current detection unit such as a current transformer, 64 is a compensation circuit, and 65 is Comparative reference voltage, 66 is an operational amplifier, 67 is a DC power source, and 68 is a load such as a motor.
[0004]
The switch unit 61 shows a case of an H-bridge configuration including transistors Q1 to Q4, and the control unit 62 outputs an output signal of the operational amplifier 66 (difference output signal between the comparison reference voltage 65 and the current detection value by the current detection unit 63). The pulse width control signal (PWM) according to the above is generated and the switch unit 61 is controlled. For example, when ON / OFF of the transistors Q1 to Q4 is controlled according to the pulse width control signal at about 60 kHz, the on-duty of the transistors Q1 and Q4 is DU1, the on-duty of the transistors Q2 and Q3 is DU2, and DU1> DU2 The voltage of the power supply 67 × (DU1-DU2) volt is applied to the load 68 and a current flows. The current flowing through the load 68 is detected by the current detection unit 63 and input to the operational amplifier 65 and the compensation circuit 64 as a current detection value. The compensation circuit 64 has a circuit configuration including a resistor and a capacitor, and constitutes a feedback circuit for the operational amplifier 66. Then, the ON / OFF duty of the switch unit 61 is controlled by the control unit 62 so that the detection signal becomes a set value corresponding to the comparison reference voltage 65.
[0005]
If the above-described duties DU1 and DU2 are DU1 <DU2, the polarity of the voltage applied to the load 68 is reversed. For example, when the load 68 is a DC motor, the motor rotates forward when the duty DU1, DU2 is DU1> DU2, and reversely rotates when DU1 <DU2. When the difference between the duties DU1 and DU2 is increased, that is, when the value of | DU1-DU2 | is increased, the voltage applied to the load 68 is increased, and the supply current can be increased. The current supplied to the load 68 can be controlled based on the current detection value obtained by the current detection unit 63.
[0006]
Further, since the current of the load 68 is detected by the current detection unit 63 and fed back to the control unit 62, the response of the feedback loop can be set by the compensation circuit 64. That is, the compensation circuit 64 corresponding to the characteristics of the load 68 can be configured to exhibit high-speed responsiveness to fluctuations in the load 68.
[0007]
7 is an explanatory diagram of a conventional example different from the conventional example shown in FIG. 6, in which 71 is a switch unit, 72 is a control unit, 73 is a current detection unit, 74 is a compensation circuit, 75 is a comparison reference voltage, and 76 is an operational amplifier. , 77 is a power supply, 78 is a load, Q5 and Q6 are transistors, and D5 and D6 are diodes.
[0008]
The switch unit 71 shows a push-pull configuration composed of transistors Q5 and Q6. When the on-duty of the transistor Q5 is DU5 and the on-duty of the transistor Q6 is DU6, the middle point of the power supply 77 is grounded. For example, when DU5> DU6, a positive polarity voltage can be applied to the load 78, and when DU5 <DU6, a reverse polarity voltage can be applied to the load 78. The voltage applied to the load 78 can be increased by increasing the difference between the duties DU5 and DU6. That is, the supply current to the load 78 can be increased. Similarly to the case shown in FIG. 6, a feedback circuit in which the characteristics of the load 78 are compensated by the compensation circuit 74 can be formed. Therefore, the current supplied to the load 78 can be controlled by a high-speed response in accordance with the command value by controlling on / off of the transistor of the switch unit 71.
[0009]
6 and 7, when the loads 68 and 78 are AC loads, an equivalent sine wave current can be obtained from the DC power sources 67 and 77 by controlling the ON / OFF duty of the switch sections 61 and 71. As described above, the reversal of the polarity of the voltage applied to the load and the magnitude of the voltage can be controlled by the control units 62 and 72.
[0010]
[Problems to be solved by the invention]
In general, the loads 68 and 78 have different operating characteristics, current capacities, and the like depending on their types. Therefore, the drive device including the switch unit, the control unit, and the compensation circuit needs to be designed and manufactured in accordance with the type of load, and there is a problem that the cost is increased due to a large variety and a small amount of production. When a packaged drive device is mounted, if a plurality of loads are included, the mounting position of the drive device corresponding to the type of load is determined. In this case, there is a problem including the possibility of incorrect mounting.
[0011]
6 and 7, the voltages applied to the loads 68 and 78 by the on / off control by the switch units 61 and 71 are as shown in FIG. 8A, for example. Since the loads 68 and 78 have inductance components such as motors, the current changes as shown in FIG. Usually, the wiring from the switch units 61 and 71 to the distributed loads 68 and 78 has a considerable length, and in a device including a plurality of loads and position detection units, a plurality of wirings are installed. Therefore, a pulsed voltage as shown in FIG. 8A is induced as noise in other wirings, causing a problem of malfunction.
[0012]
In order to reduce the influence of this noise, for example, as shown in FIG. 9A, a filter 83 made of a coil, a capacitor, or the like is connected to the switch unit 81 side between the switch unit 81 and the load 82. The configuration is known. However, by connecting such a filter 83, when the voltage applied from the switch unit 81 to the load 82 is stepped as shown in FIG. 9B (a), it is supplied to the load 82. The current to be applied rises slowly as shown in (c). Note that (b) shows the rise of current when the filter 83 is not connected. As described above, the delay of the rising of the current has a problem of impeding high-speed response when the load 82 is driven.
[0013]
An object of the present invention is to make it possible to share various types of loads and to easily obtain drive characteristics corresponding to the characteristics of the loads, and to maintain high-speed response even when a filter is provided. And
[0014]
[Means for Solving the Problems]
1 and 2 , the driving device having the compensation circuit of the present invention will be described with reference to a switch unit 1 for controlling the voltage supplied from the power source 8 to the load 9, and the switch unit 1 being controlled. The control unit 2 for supplying the set current to the load 9, the current detection unit 3 for detecting the current flowing through the load 9, and the detection signal of the current detection unit 3 are compensated corresponding to the characteristics of the load. And a compensation circuit 4 input to the control unit 2, each having a compensation characteristic corresponding to the characteristic of the load 9 and connected to the current detection unit 3 and the control unit 2. Cartridge configuration (13a, 13b) having contacts for the purpose, including at least the switch part 1, the control part 2 and the current detection part 3, and having contacts for connecting to the current detection part 3 and the control part 2 inside Control unit body 11 formed with insertion holes 12a and 12b The cartridge compensation circuit 4 (13a, 13b) having a compensation characteristic corresponding to the characteristic of the load 9 is selected and inserted into the insertion holes 12a, 12b. It has the structure connected between.
[0015]
The compensation circuit 4 has a compensation characteristic corresponding to the characteristic of the load, and can be configured as a cartridge that can be connected to the control unit through a contact. The compensation circuit can have a compensation characteristic corresponding to the characteristic of the load and can be selectively connected to the control unit by a selection switch.
[0016]
Also, a switch unit for controlling the voltage supplied from the power source to the load, a control unit for controlling the switch unit to supply a set current to the load, a current detection unit for detecting the current flowing through the load, A driving device having a compensation circuit for compensating a detection signal of a current detection unit corresponding to a load characteristic and inputting the compensation signal to the control unit, a filter connected between the switch unit and the load, and a load characteristic A selection switch for inputting a detection signal of a current detection unit between a filter and a load by selectively connecting a plurality of compensation circuits having corresponding compensation characteristics, and a pre-detection for detecting a current between the switch unit and the filter A current detection unit and a pre-compensation circuit that compensates the characteristics of the filter and inputs the detection signal of the pre-current detection unit to the control unit are provided.
[0017]
In addition, a plurality of compensation circuits having compensation characteristics corresponding to the characteristics of the load and selectively connected to the control unit by a selection switch, identification means for identifying the type of load, and characteristics corresponding to the type of load identified by the identification means A compensation control unit that controls the selection switch so as to selectively connect a compensation circuit that compensates for.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is an explanatory diagram of a first embodiment of the present invention, where 1 is a switch unit, Q1 to Q4 are transistors, D1 to D4 are diodes, 2 is a control unit, 3 is a current detection unit such as a current transformer, Reference numeral 4 denotes a compensation circuit having a plurality of characteristics, 5 denotes a selection switch, 6 denotes an operational amplifier, 7 denotes a comparison reference voltage, 8 denotes a power source, and 9 denotes a load. This embodiment shows a case where the switch unit 1 has an H-bridge configuration composed of transistors Q1 to Q4. Similarly to the conventional example shown in FIG. A pulse width control signal is formed so as to be a current, and the on-duty of the transistors Q1 and Q4 and the on-duty of the transistors Q2 and Q3 are controlled.
[0019]
The compensation circuit 4 is a compensation circuit having a plurality of characteristics corresponding to various loads, and shows a case where selective connection is made by the selection switch 5 so that the compensation characteristics correspond to the characteristics of the load 9 to be driven. Therefore, the drive device including the switch unit 1 and the control unit 2 can be shared by all loads. Note that the switch unit 1 is configured to have a maximum current capacity that can be used to drive all the loads within the allowable range, and the selective connection of the compensation circuit 4 even when various loads are connected. Will be enough. That is, cost reduction can be achieved by mass production.
[0020]
FIG. 2 is a schematic perspective view of a second embodiment of the present invention, in which 11 is a drive unit body, 12a and 12b are insertion holes for a compensation circuit, 13a and 13b are compensation circuits, and 14a and 14b are contact points of an edge connector. 15a and 15b are labels indicating the characteristics of the compensation circuit, 16 is a connector of the driving device, 17 is a motherboard, and 18 is a connector.
[0021]
The drive device body 11 is mounted on the mother board 17 for each load (not shown), and the connectors 16 and 18 are connected. Further, the internal circuit of the drive device body 11 is configured to exclude the compensation circuit, and is connected to a control unit for controlling the switch unit by inserting the compensation circuits 13a and 13b into the insertion holes 12a and 12b.
[0022]
The compensation circuits 13a and 13b have a circuit configuration including a resistor, a capacitor, and the like, and include contacts 14a and 14b for connecting to an internal control unit and the like when inserted into the insertion holes 12a and 12b of the drive device body 11. ing. Also, labels 15a and 15b indicating names, numbers, symbols and the like indicating the characteristics of the compensation circuit are provided, and the compensation circuit having the compensation characteristics can be selected in accordance with the characteristics of the load driven by the mounted drive device body 11. In this case, in the configuration of the compensation circuit 13a, the label 15a is hidden in the insertion holes 12a and 12b. However, in the configuration of the compensation circuit 13b, the label 15b is exposed, and the characteristics of the compensation circuit are confirmed. It is suitable for.
[0023]
Moreover, although the insertion holes 12a and 12b show the case where it forms in the side surface and the front surface of the drive device main body 11, they should just be formed in either one of a side surface and a front surface. In the case of the insertion hole 12b formed on the front surface, the selected compensation circuit can be inserted after the drive device body 11 is mounted on the mother board 17.
[0024]
FIG. 3 is an explanatory diagram of a third embodiment of the present invention, in which 21-1, 21-2 are drive device bodies, 22 is an identification processing unit as identification means for identifying the type of load, and 23 is a selection switch. , 24 is a compensation circuit having a plurality of compensation characteristics, 25 is a control unit, 26 and 28 are connectors, 27 is a motherboard, 29-1 and 29-2 are loads, and 30 is a jumper unit.
[0025]
The plurality of drive device main bodies 21-1 and 21-2 mounted on the mother board 27 have the same configuration, and each include a configuration including an identification processing unit 22, a selection switch 23, a compensation circuit 24, and a control unit 25. The switch portion is not shown. The jumpers 30-1 and 30-2 show a case where a plurality of pins are selectively connected by jumper wires so as to indicate the types and characteristics of the loads 29-1 and 29-2. It is also possible to set.
[0026]
FIG. 4 is an explanatory diagram of a connection configuration according to the third embodiment of the present invention. The same reference numerals as those in FIG. 3 denote the same parts, 31 is a switch unit, 32 is an operational amplifier, 33 is a current detection unit, and 34 is Comparative reference voltages, p1 to p8 are pins of the connector 26, s1 to s4 are contacts of the selection switch 23, and jp is a jumper line of the jumper section.
[0027]
When the drive device main body is mounted on the mother board 27, the power supply voltage is applied to the switch unit 31 via the pins p1 and p2. The control unit 25 receives a control signal from a higher-level control device (not shown) via the pin p8. Further, a voltage whose on / off control is performed by the switch unit 31 is supplied to a load (not shown) via the pins p3 and p4.
[0028]
The identification processing unit 22 controls the selection switch 23 by identifying the type of load and the like according to the connection state between the pins p5 to p7 via the jumper line. For example, as shown in FIG. When the pins p5 and p6 are short-circuited by jp, the contact s1 of the selection switch 23 is turned on. Further, the contact s2 of the selection switch 23 is turned on by a short circuit between the pins p5 and p7, the contact s3 of the selection switch 23 is turned on by a short circuit between the pins p6 and p7, and all the pins p5 to p7 are short-circuited. It can be controlled to turn on the contact s4 of 23.
[0029]
Therefore, by setting the connection pattern by the jumper lines of the jumper sections 30-1 and 30-2 of the mother board 27 corresponding to the type and characteristics of the load, the mounting position of the drive device main body can be mounted. A drive device that is selectively connected to a compensation circuit that compensates for the characteristics of the corresponding load is automatically configured. Note that the contacts s1 to s4 of the selection switch unit 23 can be configured by transistors or the like, and the identification processing unit 22 can be configured by a relatively simple logic circuit.
[0030]
When the control unit 25 includes a microprocessor, the function of the identification processing unit 2 can be realized by the control process of the microprocessor. Alternatively, in the case of having a processor that is mounted on the mother board 27 and performs overall management and control, the mounting position corresponding to the load is managed, and a compensation circuit selection command is sent to the drive device mounted at that position, It is also possible to realize a driving device having a compensation characteristic corresponding to the characteristic of the load by controlling the selection switch.
[0031]
FIG. 5 is an explanatory diagram of a fourth embodiment of the present invention, in which 41 is a switch unit, 42 is a control unit, 43 is a current detection unit, 44 is a compensation circuit, 46 is an operational amplifier, 47 is a comparison reference voltage, Reference numeral 48 denotes a power source, 49 a load, 50 a pre-current detector, 51 a pre-compensation circuit, 52 an adder, and 53 a filter. In a configuration in which a filter 53 including a coil and a capacitor for noise reduction is connected between the switch unit 41 and the load 49, the pre-current detection unit 50 is connected between the filter 53 and the switch unit 41. Then, the detection signal is input to the pre-compensation circuit 51. The pre-compensation circuit 51 can have a circuit configuration including a resistor, a capacitor, and the like for compensating for delay characteristics and the like by the filter 53.
[0032]
Although the filter 53 can suppress the noise component due to switching of the switch unit 41 as described above, the control of the current supplied to the load 49 is delayed. This cannot be compensated for by the compensation circuit 44. Therefore, a pre-compensation circuit 51 is provided, and a change in the current supplied to the load 49 is detected by the pre-current detector 50 and fed back to the controller 42 via the adder 52. Therefore, the on / off control of the switch unit 41 is not affected by the delay of the filter 53 as compared with the case where the current detection unit 43 detects a change in the current supplied to the load 49 and feeds it back to the control unit 42. It can be performed. That is, high-speed response can be realized.
[0033]
The compensation circuit 44 is configured to have a compensation characteristic corresponding to the characteristic of the load 49 as in the above-described embodiments, and a compensation circuit having a compensation characteristic corresponding to the characteristic of the load 49 can be selectively connected. The switch unit in each of the above-described embodiments shows the case of the H bridge configuration. However, for example, a push-pull configuration as shown in FIG. 7 is also possible.
[0034]
【The invention's effect】
As described above, the present invention is a drive device that controls the voltage supplied to the load by the on-duty control of the switch unit, and by selectively connecting a compensation circuit corresponding to various load characteristics, the drive device The main body can be shared. Thereby, cost reduction by mass production can be achieved. Further, by providing means for identifying the characteristics of the load to be driven, the mounted drive device can have compensation characteristics corresponding to the characteristics of the load. In this case, there is an advantage that the problem of incorrect mounting is completely eliminated. In addition, it is possible to improve the deterioration of response characteristics when a noise countermeasure is provided by providing a filter by providing a pre-compensation circuit.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of a first embodiment of the present invention.
FIG. 2 is a schematic perspective view of a second embodiment of the present invention.
FIG. 3 is an explanatory diagram of a third embodiment of the present invention.
FIG. 4 is an explanatory diagram of a connection configuration according to a third embodiment of this invention.
FIG. 5 is an explanatory diagram of a fourth embodiment of the present invention.
FIG. 6 is an explanatory diagram of a conventional example.
FIG. 7 is an explanatory diagram of a conventional example.
FIG. 8 is an explanatory diagram of voltage and current by switching.
FIG. 9 is an explanatory diagram of a filter and current rising characteristics;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Switch part 2 Control part 3 Current detection part 4 Compensation circuit 5 Selection switch 6 Operational amplifier 7 Comparison reference voltage 8 Power supply 9 Load Q1-Q4 Transistor D1-D4 Diode

Claims (3)

A switch unit for controlling a voltage supplied from the power source to the load; a control unit for controlling the switch unit to supply a set current to the load; a current detection unit for detecting a current flowing through the load; In a drive device having a compensation circuit that compensates the characteristics of the load and inputs the detection signal of the current detection unit to the control unit,
The compensation circuit has a compensation characteristic corresponding to the characteristic of the load, and has a cartridge configuration having a contact for connecting to the current detection unit and the control unit,
In the insertion hole of the control unit body including at least the switch unit, the control unit, and the current detection unit, and forming an insertion hole having a contact point for connecting to the current detection unit and the control unit inside, The cartridge configuration compensation circuit having a compensation characteristic corresponding to the load characteristic is selected and inserted, and the cartridge configuration compensation circuit is connected between the current detection unit and the control unit. A driving device including a compensation circuit. A switch unit for controlling a voltage supplied from the power source to the load; a control unit for controlling the switch unit to supply a set current to the load; a current detection unit for detecting a current flowing through the load; In a driving device having a compensation circuit that compensates the detection signal of the current detection unit in accordance with the characteristics of the load and inputs the compensation signal to the control unit,
A filter connected between the switch unit and the load;
A selection switch for selectively connecting a plurality of compensation circuits having compensation characteristics corresponding to the characteristics of the load, and for inputting a detection signal of the current detection unit between the filter and the load;
A pre-current detection unit that detects a current between the switch unit and the filter;
A pre-compensation circuit that compensates the characteristics of the filter and inputs the detection signal of the pre-current detection unit to the control unit;
Drive apparatus having a compensation circuit comprising the. A plurality of compensation circuits having compensation characteristics corresponding to the characteristics of the load and selectively connected to the control unit by a selection switch, identification means for identifying the type of the load, and the type of the load identified by the identification means 3. The drive device with a compensation circuit according to claim 2, further comprising a compensation control unit that controls the selection switch so as to selectively connect the compensation circuit that compensates for the corresponding characteristic .

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