JP4277544B2 - Variable power supply servo amplifier and power supply voltage control method - Google Patents

Variable power supply servo amplifier and power supply voltage control method Download PDF

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JP4277544B2
JP4277544B2 JP2003067099A JP2003067099A JP4277544B2 JP 4277544 B2 JP4277544 B2 JP 4277544B2 JP 2003067099 A JP2003067099 A JP 2003067099A JP 2003067099 A JP2003067099 A JP 2003067099A JP 4277544 B2 JP4277544 B2 JP 4277544B2
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voltage
power supply
power
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output
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JP2004282159A5 (en
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隆義 中尾
忍 佐藤
敏雄 松本
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Description

【０００１】
【発明の属する技術分野】
本発明は、電圧あるいは電流を高速・精密に制御するためのサーボアンプ、例えば、力、速度、位置等の高精度・高速応答が要求されるアクチュエータ駆動用コントローラに使用するサーボ増幅器に関する。
【０００２】
【従来の技術】
負荷の電流や電圧を制御する電力増幅器には、ＰＷＭ（パルス幅変調）増幅器やリニア増幅器が用いられているが、出力電流が大きく高速応答が要求される場合には、これらの電力増幅器は高い電源電圧が必要となる。この電源電圧は、特に負荷が誘導性の場合応答特性を支配する。従って、高速応答の電力増幅器は、定常時には不必要に高い電源電圧下で駆動されるため効率は悪くなる。これを改善するため、複数の電源電圧を用意し電源を切り換えて使う。あるいは、指令や出力に連動して電源電圧を変えるなどの手法が適用されてきた。
特許文献１に開示の「電力増幅装置」はその１例であり、高効率を維持しながら複数個の電力増幅器の総合出力電力を大幅に増大させることを可能にするものである。図３はそのブロック図であり、信号入力端１Ａ〜１Ｅへの入力を複数個の増幅器１９Ａ〜１９Ｅに入力するとともに、その利得に反比例して減衰量を調整した信号減衰制御部２３を介して、その複数個の入力端の信号のうちから最大値を選択して出力する最大値検出制御部４０に印加し、その出力端の信号を増幅する二電源切換信号増幅部４１Ａ、４１Ｂの出力によって二電源切換制御部４４を制御して、予め決めたしきい値を超えるか否かにより、正負の高電圧電源制御トランジスタ８０、８２をそれぞれ能動、又は、遮断状態にすることにより複数個の増幅器１９Ａ〜１９Ｅに与える電源電圧を高低に切換えるものである。
また、特許文献２に開示の「光受信装置」は、入力される光信号のレベルが高い場合であっても、波形歪みを生じることなく正常に受信できるようにするもので、そのために図４に示すように、入力信号を増幅率の異なる複数のプリアンプ４０、５０へ入力して複数の電圧出力に変換し、選択回路１２０により予め設定された電圧しきい値と比較してしきい値を超えない出力を切換え出力することによって飽和領域動作を回避して、波形歪みを生じない、しかも増幅率の高い電圧信号を出力するようにしている。
【０００３】
【特許文献１】
特開平８−３１６７３９号公報（段落［００１６〜００３２］、図１）
【特許文献２】
特開平１１−２９８２５９号公報（段落［００２２〜００４６］、図１）
【０００４】
【発明が解決しようとする課題】
しかしながら、上記従来技術においては、何種類か複数の電源を使うため電源のコストがかかり過ぎ、体積が大きくなるなど課題がある。
また、単一電源で電圧を連続的に変える方法は、電圧可変範囲と電圧の応答が課題となる、等の問題があった。
そこで、本発明は、制御系の指令が急変したとき応答を改善するために電力増幅器へ供給する電源電圧を高電圧にし、制御系が定常状態になったとき、あるいは定常状態に近付いたときは、限定された一定の範囲で調整可能な低電圧電源を用いることによって、電力増幅器の損失を低減して高出力・高精密・高速応答の電力増幅器を有する可変電源サーボ増幅器を提供することを目的としている。
【０００５】
【課題を解決するための手段】
上記問題を解決するため、本発明は次のように構成したものである。請求項１に記載の発明は、制御系の制御指令と負荷の電流または電圧の検出値を入力し電力増幅器への操作量を出力するＰＩＤ制御器と、パルス幅変調あるいはリニア増幅方式による前記電力増幅器を備えたサーボ増幅器において、定格電圧の５０％以内で電圧調整できる可変電圧電源と、定格電圧の１５０％以上の電圧を出力する短時間定格のピーク電圧電源と、前記可変電圧電源の出力電圧を粗微調制御する制御信号と、前記ピーク電圧電源の出力をオンオフするピーク電圧出力スイッチ信号と、を創出する電源電圧制御器と、を備え、前記可変電圧電源と前記ピーク電圧電源を切替えて前記電力増幅器へ電力供給するものであって、前記電源電圧制御器が、前記制御指令または前記操作量の時間変化量が一定値より大きい場合、前記ピーク電圧電源から前記電力増幅器へ電力供給するように前記ピーク電圧出力スイッチ信号をオン出力し、前記制御指令または前記操作量の時間変化量が一定値より小さい場合、前記可変電圧電源から前記電力増幅器へ電力供給するように前記制御信号を出力し、かつ、前記ピーク電圧出力スイッチ信号をオフ出力するものである。
また、請求項２に記載の発明は、請求項１記載における前記電源電圧制御器が、前記可変電圧電源の出力電圧を、粗調整する可変電圧制御信号と微調整する電圧微調スイッチ用信号と、の２つの前記制御信号を出力するものである。
また、請求項３に記載の発明は、請求項１または２記載の可変電圧サーボ増幅器において、前記可変電圧電源の出力に制御用電力半導体を接続し、前記電圧微調スイッチ用信号に基づいて前記制御用電力半導体をリニア動作させて、前記可変電圧電源の出力電圧を微調整するものである。
また、請求項４に記載の発明は、請求項１記載における可変電圧サーボ増幅器において、前記ピーク電圧電源の出力に制御用電力半導体を接続し、前記ピーク電圧出力スイッチ信号に基づいて前記制御用電力半導体をオンオフさせて、前記電力増幅器へ電力供給させるものである。
また、請求項５に記載の発明は、請求項１または２に記載の前記電源電圧制御器により、前記制御指令または前記操作量の時間変化量が一定値より大きい場合、前記ピーク電圧電源から前記電力増幅器へ電力供給するように前記ピーク電圧出力スイッチ信号をオン出力し、前記制御指令または前記操作量の時間変化量が一定値より小さい場合、前記可変電圧電源から前記電力増幅器へ電力供給するように前記制御信号を出力し、かつ、前記ピーク電圧出力スイッチ信号をオフ出力し、前記可変電圧電源と前記ピーク電圧電源を切替えるのである。
また、請求項６に記載の発明は、請求項１または２に記載の前記電源電圧制御器により、前記可変電圧制御信号に基づいて前記可変電圧電源の出力電圧を粗調整し、更に電圧微調スイッチ用信号に基づいて微調整するのである。
【０００６】
【発明の実施の形態】
以下、本発明の第１の実施の形態について図を参照して説明する。
図１は本発明の第１の実施の形態に係る可変電源サーボ増幅器の制御系を示すブロック図である。
図１において、１は可変電圧電源（ＶＶＰＳ）、２および３は±Ｖpのピーク電圧電源（ＨＶＰＳ）で、可変電圧電源１より例えば昇圧ＤＣ／ＤＣコンバータ等によって生成される。４および５は電圧調整用トランジスタ（ＴPD）と（ＴND）。６および７は逆電圧阻止用ダイオード（ＤP）と（ＤN）である。８は電力増幅器（Ｐ．ＡＭＰ）、９は電源電圧制御器（Ｖ．ＣＯＮ）で、１０はサーボ制御器（Ｓ．ＣＯＮ）、１１は負荷Ｌで、１２、１３はピーク電圧出力スイッチ用トランジスタＴP、ＴNである。
また、各信号系は、ｘ*が指令、ｘfはフィードバック信号、Ｖccは可変電圧制御信号、ｕは操作量、Ｖchはピーク電圧出力スイッチ信号、Ｖcfは電圧微調スイッチ用制御信号である。
【０００７】
つぎに動作について説明する。
以上のように図１は、定格電圧の１５０％以上の電圧のピーク電圧電源（ＨＶＰＳ）２と定格電圧の５０％以内で電圧調整する可変電圧電源（ＶＶＰＳ）１の２つの電源と、電力増幅器（Ｐ．ＡＭＰ）８、ピーク電圧電源２の出力をオンオフするトランジスタ（ＴP、ＴN）１２、１３で構成するピーク電圧出力スイッチ、可変電圧電源（ＶＶＰＳ）１の電圧を微調する電圧調整用トランジスタ（ＴPD、ＴND）４、５で構成する電圧微調整スイッチ（電圧レギュレータ）と、ピーク電圧出力スイッチと可変電圧電源の電圧の粗調と電圧微調整スイッチによる微調とを制御する電源電圧制御器（Ｖ．ＣＯＮ）９と、逆電圧阻止用ダイオード６、７とによって構成されている。
以上による電源の切換制御は、ピーク電圧電源（ＨＶＰＳ）と、可変電圧電源（ＶＶＰＳ）の２つの電源を切換える高低切換えと、更に、可変電圧電源（ＶＶＰＳ）の粗調整と微調整の切換えによる精密制御を含む。
この切換え制御は、先ず、指令ｘ*と、負荷Ｌ（モータ）１１からの電流あるいは電圧の各種フィードバックｘfとにより得られる偏差ｅをＰＩＤ制御則を用いたサーボ制御器（Ｓ．ＣＯＮ）１０によって操作量ｕが演算される。
指令ｘ*、操作量ｕが急激な変化をした時、電源電圧制御器（Ｖ．ＣＯＮ）９は操作量ｕを基にしきい値判断を行い、ピーク電圧出力スイッチ信号ｖchを出力してピーク電圧出力スイッチ用トランジスタ１２、１３をオンして、ピーク電圧電源ＨＶＰＳから電力増幅器（Ｐ．ＡＭＰ）８へ給電する。
また、それ以外の定常時や高速応答が必要では無い時には、ピーク電圧出力スイッチ用トランジスタ１２、１３をオフして、可変電圧電源（ＶＶＰＳ）１の給電に切換え、可変電圧制御信号Ｖccにより可変電圧電源（ＶＶＰＳ）１の電圧±ＶDを粗調整し、必要ならば電圧微調スイッチ用制御信号ｖｃｆにより電圧調整用トランジスタ（ＴPD、ＴND）４、５のゲート電圧等を制御して、電圧の微調制御を行う。この電圧微調スイッチのトランジスタＴPD、ＴNDの出力には、ピーク電圧電源（ＨＶＰＳ：±ＶP）２、３からの高圧の印加を阻止する逆電圧阻止ダイオード（ＤP、ＤN）６、７が挿入されている。
なお、粗調整された可変電圧電源（ＶＶＰＳ）１の出力電圧でも、電力増幅器（Ｐ．ＡＭＰ）８へ与える影響が無視できる場合は、電圧微調スイッチは不要である。
また、ピーク電圧電源（ＨＶＰＳ）２、３は、可変電圧電源（ＶＶＰＳ）１の出力からＤＣ／ＤＣコンバータにより昇圧して生成しているが、ＡＣ電源を入力とすることも可能である。また、ピーク電圧電源２、３の電圧は一定であってもよいし、指令値や要求される整定時間に応じて変えてもよい。
【０００８】
次に、本発明の第２の実施の形態について図を参照して説明する。
図２は本発明の第２の実施の形態に係る可変電源サーボ増幅器の電流制御系のブロック図である。
図２において、図１と異なる構成は、ピーク電圧電源（ＨＶＰＳ）±ＶPが、昇圧トランス、スイッチ、整流ダイオード、充電コンデンサ、等で構成する昇圧部を持つピーク電圧電源（ＨＶＰＳ）１４、１５の図示に変わり、サーボ制御器（Ｓ．ＣＯＮ）が電流制御器（Ｉ．ＣＯＮ）１７に変わり、電流検出器（Ｉ．ＤＥＴ）１６が追加され、フィードバック信号ｘfがフィードバック電流ｉf、指令ｘ*が電流指令ｉ*に変っている。
なお、その他の図１と同一構成には、同一符号を付して重複する説明は省略する。
【０００９】
以上の図２のブロックは、誘導性負荷（Ｌ）１１の電流を高速・精密に制御する電流制御系であり、この制御系は以下の（１）〜（５）の各要素部に制御上分けられ構成されている。
（１）、リニア増幅の電力増幅器（Ｐ．ＡＭＰ）８。
（２）、電力増幅器（Ｐ．ＡＭＰ）８へ電圧±ＶDDの電力を供給するための可変電圧電源（ＶＶＰＳ）１と、ピーク電圧電源（ＨＶＰＳ）２の２つの電源とこれらの電源の出力電圧を切換えるための各トランジスタ４、５、１２´、１３´と、逆転阻止ダイオード６、７。
（３）、これらのトランジスタの制御信号Ｖcc、Ｖcf、Ｖchを出力する電源電圧制御器（Ｖ．ＣＯＮ）９。
（４）、電流制御を行なうため、負荷の電流フィードバック信号ｉfを得る電流検出器（Ｉ．ＤＥＴ）１６。
（５）、電流指令ｉ*と電流フィードバック信号ｉｆから操作量ｕ（電力増幅器Ｐ．ＡＭＰの入力）を出力する、電流制御器（Ｉ．ＣＯＮ）１７によって構成されている。
【００１０】
つぎに動作について説明する。
先ず、電源電圧制御器９は、指令ｉ*または、比例、積分、微分すなわちＰＩＤの演算を行なう電流制御器（Ｉ．ＣＯＮ）１７の出力であるｕ、あるいはこれらの信号を併用して、電力増幅器（Ｐ，ＡＭＰ）８へ供給する電圧±ＶDDを次のように切り換える。
ケース１：指令ｉ*またはｕが急激な変化をしたとき、ピーク電圧出力スイツチ・トランジスタ（ＴPHV、ＴNHV）１２´、１３´をオンする。すなわち、ピーク電圧電源（ＨＶＰＳ）から給電する。
ケース２：ケース１以外のとき。可変電源電圧（ＶＶＰＳ）１の出力電圧±ＶDを、
｜ｕ｜＜δ （ここでδ＞０の定数）、
あるいは、ｉ*に対応して、
｜ｉ*｜＜ｉL （但し、ｉLは設計仕様によって決められる一定の電流値）のときＶD＝ＶDL（ＶDLはＶVPSの出力電圧の下限の値）とする。
｜ｉ*｜＞ｉLのとき、
ＶD＝ＶDL＋Ｋ｜ｉ*｜ （ここで、Ｋは比例定数）に可変電圧電源の出力を粗調し、トランジスタ（ＴPHV、ＴNHV）１２´、１３´をオフにする。更に、必要ならばトランジスタ（ＴPCV、ＴNCV）４、５を微調する。
以上によって、負荷Ｌの電流を効率良く高速・精密に制御できる。
【００１１】
【発明の効果】
以上説明したように、本発明によれば、制御系の指令が急変したとき応答を改善するため、電力増幅器へ供給する電源電圧を高電圧にする。そして制御系が定常状態になったとき、あるいは定常状態に近づいたときは、限定された一定の範囲で調整可能な低電圧電源を用いる。以上のことによって、電力増幅器の損失を低減し、コンパクトで省スペースの高出力・精密・高速応答の電力増幅器を実現できる効果がある。
【図面の簡単な説明】
【図１】本発明の第１の実施の形態に係る可変電源サーボ増幅器の制御系を示すブロック図である。
【図２】本発明の第２の実施の形態に係る可変電源サーボ増幅器の電流制御系のブロック図である。
【図３】従来の電力増幅装置のブロック図である。
【図４】従来の光受信装置のブロック図である。
【符号の説明】
１ 可変電圧電源ＶＶＰＳ
２、３、１４、１５ ピーク電圧電源ＨＶＰＳ
４、５ 電圧調整用トランジスタＴPD、ＴND
６、７ 逆電圧阻止用ダイオードＤP、ＤN
８ 電力増幅器Ｐ．ＡＭＰ
９ 電源電圧制御器Ｖ．ＣＯＮ
１０ サーボ制御器Ｓ．ＣＯＮ
１１ 負荷Ｌ
１２、１３、１２´、１３´ ピーク電圧出力スイッチＴPHV、ＴNHV
１６ 電流検出器Ｉ．ＤＥＴ
１７ 電流制御器Ｉ．ＣＯＮ
ｉf フィードバック電流
ｉ* 電流指令
Ｌ 負荷
ｕ 操作量
ＶCC 可変電圧制御信号
Ｖch ピーク電圧出力スイッチ信号
Ｖcf 電圧微調スイッチ用制御信号
ｘ* 指令
ｘf フィードバック信号[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a servo amplifier for controlling voltage or current at high speed and precisely, for example, a servo amplifier used for an actuator driving controller that requires high accuracy and high speed response such as force, speed, position, and the like.
[0002]
[Prior art]
PWM (pulse width modulation) amplifiers and linear amplifiers are used as power amplifiers that control the load current and voltage, but these power amplifiers are expensive when the output current is large and high-speed response is required. A power supply voltage is required. This power supply voltage dominates the response characteristics especially when the load is inductive. Therefore, since the power amplifier with a high response speed is driven under an unnecessarily high power supply voltage in a steady state, the efficiency is deteriorated. In order to improve this, multiple power supply voltages are prepared and the power supply is switched. Alternatively, techniques such as changing the power supply voltage in conjunction with commands and outputs have been applied.
The “power amplifying apparatus” disclosed in Patent Document 1 is an example thereof, and makes it possible to significantly increase the total output power of a plurality of power amplifiers while maintaining high efficiency. FIG. 3 is a block diagram thereof, and inputs to the signal input terminals 1A to 1E are input to the plurality of amplifiers 19A to 19E, and the attenuation is adjusted in inverse proportion to the gain thereof, via the signal attenuation control unit 23. The output from the dual power supply switching signal amplifiers 41A and 41B is applied to the maximum value detection control unit 40 that selects and outputs the maximum value from the signals at the plurality of input terminals, and amplifies the signal at the output terminal. A plurality of amplifiers are controlled by controlling the dual power supply switching control unit 44 so that the positive and negative high voltage power supply control transistors 80 and 82 are made active or cut off depending on whether or not a predetermined threshold value is exceeded. The power supply voltage applied to 19A to 19E is switched between high and low.
Further, the “optical receiver” disclosed in Patent Document 2 enables normal reception without causing waveform distortion even when the level of an input optical signal is high. As shown in FIG. 4, the input signal is input to a plurality of preamplifiers 40 and 50 having different amplification factors to be converted into a plurality of voltage outputs, and the threshold value is compared with a voltage threshold value set in advance by the selection circuit 120. By switching and outputting an output that does not exceed, a saturation region operation is avoided, and a voltage signal that does not cause waveform distortion and has a high amplification factor is output.
[0003]
[Patent Document 1]
JP-A-8-316739 (paragraphs [0016 to 0032], FIG. 1)
[Patent Document 2]
JP 11-298259 A (paragraphs [0022 to 0046], FIG. 1)
[0004]
[Problems to be solved by the invention]
However, in the above-described prior art, since several types of power supplies are used, there is a problem that the power supply cost is excessive and the volume is increased.
In addition, the method of continuously changing the voltage with a single power source has problems such as a voltage variable range and a voltage response.
Therefore, the present invention sets the power supply voltage supplied to the power amplifier to a high voltage in order to improve the response when the control system command changes suddenly, and when the control system becomes steady or approaches the steady state. An object of the present invention is to provide a variable power servo amplifier having a power amplifier with high output, high precision, and high speed response by reducing the loss of the power amplifier by using a low voltage power source that can be adjusted within a limited range. It is said.
[0005]
[Means for Solving the Problems]
In order to solve the above problems, the present invention is configured as follows. The invention according to claim 1 is a PID controller that inputs a control command of a control system and a detected value of load current or voltage and outputs an operation amount to a power amplifier, and the power by pulse width modulation or linear amplification method. In a servo amplifier equipped with an amplifier, a variable voltage power supply that can adjust the voltage within 50% of the rated voltage, a short-time rated peak voltage power supply that outputs a voltage of 150% or more of the rated voltage, and an output voltage of the variable voltage power supply A power supply voltage controller that creates a control signal for coarse / fine control and a peak voltage output switch signal for turning on / off the output of the peak voltage power supply, and switches the variable voltage power supply and the peak voltage power supply to be those power supplied to the power amplifier, the power supply voltage controller is when the time variation of the control command or the operation amount is larger than the predetermined value, the pin When the peak voltage output switch signal is turned on so that power is supplied from the voltage power supply to the power amplifier, and the time change amount of the control command or the operation amount is smaller than a predetermined value, the power amplifier is supplied from the variable voltage power supply. The control signal is output so that power is supplied to the power source, and the peak voltage output switch signal is output off .
According to a second aspect of the present invention, the power supply voltage controller according to the first aspect provides a variable voltage control signal for coarse adjustment and a voltage fine adjustment switch signal for fine adjustment of the output voltage of the variable voltage power supply. These two control signals are output .
According to a third aspect of the present invention, in the variable voltage servo amplifier according to the first or second aspect, a control power semiconductor is connected to an output of the variable voltage power supply, and the control is performed based on the voltage fine adjustment switch signal. The power semiconductor is operated linearly to finely adjust the output voltage of the variable voltage power source .
According to a fourth aspect of the present invention, in the variable voltage servo amplifier according to the first aspect, a control power semiconductor is connected to an output of the peak voltage power supply, and the control power is based on the peak voltage output switch signal. The semiconductor is turned on / off to supply power to the power amplifier .
According to a fifth aspect of the present invention, when the time change amount of the control command or the operation amount is larger than a certain value by the power source voltage controller according to the first or second aspect, the peak voltage power source When the peak voltage output switch signal is turned on so as to supply power to the power amplifier, and the time change amount of the control command or the operation amount is smaller than a certain value, power is supplied from the variable voltage power source to the power amplifier. The control signal is output at the same time, and the peak voltage output switch signal is output off to switch between the variable voltage power source and the peak voltage power source.
According to a sixth aspect of the present invention, the output voltage of the variable voltage power supply is roughly adjusted based on the variable voltage control signal by the power supply voltage controller according to the first or second aspect, and further a voltage fine adjustment switch. Fine adjustment is made based on the signal for use.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a control system of the variable power supply servo amplifier according to the first embodiment of the present invention.
In FIG. 1, 1 is a variable voltage power supply (VVPS), 2 and 3 are ± V p peak voltage power supplies (HVPS), which are generated from the variable voltage power supply 1 by, for example, a step-up DC / DC converter. Reference numerals 4 and 5 denote voltage adjusting transistors (T PD ) and (T ND ). Reference numerals 6 and 7 denote reverse voltage blocking diodes (D P ) and (D N ). 8 is a power amplifier (P.AMP), 9 is a power supply voltage controller (V.CON), 10 is a servo controller (S.CON), 11 is a load L, and 12 and 13 are transistors for a peak voltage output switch. T P and T N.
Further, each signal system, x * is a command, x f is the feedback signal, V cc variable voltage control signal, u is the manipulated variable, V ch is the peak voltage output switch signal, V cf is the voltage control signal for fine tuning switch is there.
[0007]
Next, the operation will be described.
As described above, FIG. 1 shows two power sources: a peak voltage power source (HVPS) 2 having a voltage of 150% or more of the rated voltage, and a variable voltage power source (VVPS) 1 that adjusts the voltage within 50% of the rated voltage, and a power amplifier. (P.AMP) 8, a peak voltage output switch composed of transistors (T P , T N ) 12, 13 for turning on / off the output of the peak voltage power source 2, and a voltage adjustment for finely adjusting the voltage of the variable voltage power source (VVPS) 1 Voltage fine adjustment switch (voltage regulator) composed of transistors (T PD , T ND ) 4, 5, power supply voltage for controlling the coarse adjustment of the voltage of the peak voltage output switch and the variable voltage power supply and the fine adjustment by the voltage fine adjustment switch It is composed of a controller (V.CON) 9 and reverse voltage blocking diodes 6 and 7.
The power source switching control as described above is performed by high / low switching for switching between the two power sources, the peak voltage power source (HVPS) and the variable voltage power source (VVPS), and the precision by switching between coarse adjustment and fine adjustment of the variable voltage power source (VVPS). Includes control.
The switching control, first, the command x *, load L (motor) servo controller the obtained deviation e with PID control law by the various feedback x f of the current or voltage from 11 (S.CON) 10 The operation amount u is calculated by.
Command x *, when the operation amount u has a sudden change, performs power supply voltage controller (V.CON) 9 is a threshold determined based on the operation amount u, and outputs a peak voltage output switch signal v ch peak The voltage output switch transistors 12 and 13 are turned on to supply power from the peak voltage power supply HVPS to the power amplifier (P.AMP) 8.
Further, when the steady state or high speed response is not necessary, the peak voltage output switch transistors 12 and 13 are turned off to switch to the power supply of the variable voltage power supply (VVPS) 1 and variable by the variable voltage control signal Vcc. coarsely adjusting the voltage ± V D of the voltage source (VVPS) 1, if necessary for voltage regulation transistor by the voltage control signal vcf fine tuning switch (T PD, T ND) by controlling the gate voltage and the like of 4,5, Perform fine voltage control. The outputs of the transistors T PD and T ND of the voltage fine control switch include reverse voltage blocking diodes (D P and D N ) 6 that block high voltage from the peak voltage power supplies (HVPS: ± V P ) 2 and 3, 7 is inserted.
If the influence on the power amplifier (P.AMP) 8 is negligible even with the output voltage of the variable voltage power supply (VVPS) 1 that has been roughly adjusted, the voltage fine adjustment switch is unnecessary.
The peak voltage power supplies (HVPS) 2 and 3 are generated by boosting the output of the variable voltage power supply (VVPS) 1 using a DC / DC converter, but an AC power supply can also be used as an input. Moreover, the voltage of the peak voltage power supplies 2 and 3 may be constant, or may be changed according to the command value and the required settling time.
[0008]
Next, a second embodiment of the present invention will be described with reference to the drawings.
FIG. 2 is a block diagram of the current control system of the variable power supply servo amplifier according to the second embodiment of the present invention.
2, the configuration different from that in FIG. 1 is that the peak voltage power supply (HVPS) ± V P has a voltage boosting section (HVPS) 14, 15 having a boosting section composed of a boosting transformer, a switch, a rectifier diode, a charging capacitor, and the like. changes to the illustrated, instead servo controller (S.CON) is to the current controller (I.CON) 17, a current detector (I.DET) 16 is added, the feedback signal x f is the feedback current i f, Directive x * is changed to the current command i * .
In addition, the same code | symbol is attached | subjected to the other structure same as FIG. 1, and the overlapping description is abbreviate | omitted.
[0009]
The above block in FIG. 2 is a current control system that controls the current of the inductive load (L) 11 at high speed and with precision. This control system includes control elements in the following (1) to (5). Divided and structured.
(1) A linear amplification power amplifier (P.AMP) 8.
(2) Two power sources, a variable voltage power source (VVPS) 1 for supplying power of voltage ± V DD to the power amplifier (P.AMP) 8 and a peak voltage power source (HVPS) 2, and outputs of these power sources Transistors 4, 5, 12 ′, 13 ′ for switching the voltage and reverse blocking diodes 6, 7.
(3) A power supply voltage controller (V.CON) 9 for outputting control signals V cc , V cf and V ch of these transistors.
(4) A current detector (I.DET) 16 for obtaining a current feedback signal if of the load for current control.
(5) It is constituted by a current controller (I.CON) 17 that outputs an operation amount u (input of the power amplifier P.AMP) from the current command i * and the current feedback signal if.
[0010]
Next, the operation will be described.
First, the power supply voltage controller 9 uses the command i * or u which is the output of the current controller (I.CON) 17 for performing proportional, integral, differential, ie, PID calculations, or these signals in combination. The voltage ± V DD supplied to the amplifier (P, AMP) 8 is switched as follows.
Case 1: When the command i * or u changes suddenly, the peak voltage output switch transistors (T PHV , T NHV ) 12 ′, 13 ′ are turned on. That is, power is supplied from a peak voltage power supply (HVPS).
Case 2: Other than case 1. Output voltage ± V D of variable power supply voltage (VVPS) 1
| U | <δ (where δ> 0),
Or, corresponding to i *
When | i * | <i L (where i L is a constant current value determined by design specifications), V D = V DL (V DL is the lower limit value of the output voltage of V VPS ).
| When> i L, | i *
The output of the variable voltage power supply is roughly adjusted to V D = V DL + K | i * | (where K is a proportional constant), and the transistors (T PHV , T NHV ) 12 ′ and 13 ′ are turned off. Further, if necessary, the transistors (T PCV and T NCV ) 4 and 5 are finely adjusted.
As described above, the current of the load L can be efficiently controlled at high speed and precisely.
[0011]
【The invention's effect】
As described above, according to the present invention, the power supply voltage supplied to the power amplifier is set to a high voltage in order to improve the response when the control system command changes suddenly. When the control system reaches a steady state or approaches a steady state, a low voltage power source that can be adjusted within a limited range is used. As described above, there is an effect that the loss of the power amplifier can be reduced, and a compact, space-saving, high-output, precise, high-speed response power amplifier can be realized.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a control system of a variable power supply servo amplifier according to a first embodiment of the present invention.
FIG. 2 is a block diagram of a current control system of a variable power supply servo amplifier according to a second embodiment of the present invention.
FIG. 3 is a block diagram of a conventional power amplification device.
FIG. 4 is a block diagram of a conventional optical receiver.
[Explanation of symbols]
1 Variable voltage power supply VVPS
2, 3, 14, 15 Peak voltage power supply HVPS
4, 5 Voltage adjustment transistors T PD , T ND
6, 7 Reverse voltage blocking diodes D P , D N
8 Power amplifier AMP
9 Power supply voltage controller CON
10 Servo controller CON
11 Load L
12, 13, 12 ′, 13 ′ Peak voltage output switches T PHV , T NHV
16 Current detector DET
17 Current controller I.I. CON
if feedback current i * current command L load u manipulated variable V CC variable voltage control signal V ch peak voltage output switch signal V cf voltage fine control switch control signal x * command x f feedback signal

Claims (6)

制御系の制御指令と負荷の電流または電圧の検出値を入力し電力増幅器への操作量を出力するＰＩＤ制御器と、パルス幅変調あるいはリニア増幅方式による前記電力増幅器を備えたサーボ増幅器において、
定格電圧の５０％以内で電圧調整できる可変電圧電源と、
定格電圧の１５０％以上の電圧を出力する短時間定格のピーク電圧電源と、
前記可変電圧電源の出力電圧を粗微調制御する制御信号と、前記ピーク電圧電源の出力をオンオフするピーク電圧出力スイッチ信号と、を創出する電源電圧制御器と、を備え、
前記可変電圧電源と前記ピーク電圧電源を切替えて前記電力増幅器へ電力供給するものであって、
前記電源電圧制御器が、前記制御指令または前記操作量の時間変化量が一定値より大きい場合、前記ピーク電圧電源から前記電力増幅器へ電力供給するように前記ピーク電圧出力スイッチ信号をオン出力し、前記制御指令または前記操作量の時間変化量が一定値より小さい場合、前記可変電圧電源から前記電力増幅器へ電力供給するように前記制御信号を出力し、かつ、前記ピーク電圧出力スイッチ信号をオフ出力することを特徴とする可変電源サーボ増幅器。In a servo amplifier including a PID controller that inputs a control command of a control system and a detected value of a current or voltage of a load and outputs an operation amount to the power amplifier, and the power amplifier by pulse width modulation or linear amplification method,
A variable voltage power supply that can adjust the voltage within 50% of the rated voltage;
A short-time rated peak voltage power supply that outputs a voltage of 150% or more of the rated voltage;
A power supply voltage controller for creating a control signal for coarsely and finely controlling the output voltage of the variable voltage power supply, and a peak voltage output switch signal for turning on and off the output of the peak voltage power supply,
The variable voltage power supply and the peak voltage power supply are switched to supply power to the power amplifier ,
When the power supply voltage controller has a time change amount of the control command or the operation amount larger than a certain value, the peak voltage output switch signal is turned on so as to supply power from the peak voltage power source to the power amplifier, When the time change amount of the control command or the manipulated variable is smaller than a certain value, the control signal is output so that power is supplied from the variable voltage power supply to the power amplifier, and the peak voltage output switch signal is output off. A variable power supply servo amplifier. 前記電源電圧制御器が、前記可変電圧電源の出力電圧を、粗調整する可変電圧制御信号と微調整する電圧微調スイッチ用信号と、の２つの前記制御信号を出力することを特徴とする請求項１記載の可変電圧サーボ増幅器。The power supply voltage controller outputs the two control signals of a variable voltage control signal for coarse adjustment and a voltage fine adjustment switch signal for fine adjustment of the output voltage of the variable voltage power supply. 1. The variable voltage servo amplifier according to 1. 前記可変電圧電源の出力に制御用電力半導体を接続し、前記電圧微調スイッチ用信号に基づいて前記制御用電力半導体をリニア動作させて、前記可変電圧電源の出力電圧を微調整することを特徴とする請求項１または２記載の可変電圧サーボ増幅器。A control power semiconductor is connected to the output of the variable voltage power supply, and the control power semiconductor is linearly operated based on the voltage fine adjustment switch signal to finely adjust the output voltage of the variable voltage power supply. The variable voltage servo amplifier according to claim 1 or 2. 前記ピーク電圧電源の出力に制御用電力半導体を接続し、前記ピーク電圧出力スイッチ信号に基づいて前記制御用電力半導体をオンオフさせて、前記電力増幅器へ電力供給させることを特徴とする請求項１記載の可変電圧サーボ増幅器。2. The control power semiconductor is connected to an output of the peak voltage power supply, and the control power semiconductor is turned on / off based on the peak voltage output switch signal to supply power to the power amplifier. Variable voltage servo amplifier. 請求項１または２に記載の前記電源電圧制御器により、前記制御指令または前記操作量の時間変化量が一定値より大きい場合、前記ピーク電圧電源から前記電力増幅器へ電力供給するように前記ピーク電圧出力スイッチ信号をオン出力し、The power supply voltage controller according to claim 1 or 2, wherein when the time change amount of the control command or the manipulated variable is larger than a certain value, the peak voltage is supplied to the power amplifier from the peak voltage power supply. The output switch signal is turned on,
前記制御指令または前記操作量の時間変化量が一定値より小さい場合、前記可変電圧電源から前記電力増幅器へ電力供給するように前記制御信号を出力し、かつ、前記ピーク電圧出力スイッチ信号をオフ出力し、When the time change amount of the control command or the manipulated variable is smaller than a certain value, the control signal is output so that power is supplied from the variable voltage power supply to the power amplifier, and the peak voltage output switch signal is output off. And
前記可変電圧電源と前記ピーク電圧電源を切替えることを特徴とする可変電圧サーボ増幅器の電源電圧制御方法。A power supply voltage control method for a variable voltage servo amplifier, wherein the variable voltage power supply and the peak voltage power supply are switched. 請求項１または２に記載の前記電源電圧制御器により、前記可変電圧制御信号に基づいて前記可変電圧電源の出力電圧を粗調整し、更に電圧微調スイッチ用信号に基づいて微調整することを特徴とする請求項１または４記載の可変電圧サーボ増幅器の電源電圧制御方法。The power supply voltage controller according to claim 1 or 2, wherein the output voltage of the variable voltage power supply is roughly adjusted based on the variable voltage control signal, and further finely adjusted based on a voltage fine adjustment switch signal. The power supply voltage control method of the variable voltage servo amplifier according to claim 1 or 4.
JP2003067099A 2003-03-12 2003-03-12 Variable power supply servo amplifier and power supply voltage control method Expired - Fee Related JP4277544B2 (en)

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