JP5740319B2 - Drive control device and drive control method for power generation device - Google Patents

Description

The present invention, drive kinetic control device, and a drive control method of the power generating device.

  Generally, drive control of a drive source such as a DC motor is performed as follows. For example, a circular pulse plate having a plurality of slits and rotating around the rotation shaft is attached to the rotation axis of the drive source, and light that has passed through the slit by irradiating light to the pulse plate with an LED An optical sensor that generates a pulse signal each time a raptor receives light is provided. Then, a pulse signal generated by the optical sensor is input to a control unit composed of a CPU or the like, and the control unit controls the rotation speed of the drive source by feedback control using the pulse signal. In Patent Document 1 below, drive control of a stepping motor using a rotational speed acquired by a photo interrupter is disclosed.

JP-A-2005-331760

  The control unit appropriately varies the phase of the drive pulse used for driving the drive source so that the period of the pulse signal fed back from the optical sensor is set to the target value, thereby targeting the drive source. It is driven by the rotation speed and torque. However, since a drive source such as a DC motor has a specific moment of inertia for each type of drive source, in order to drive and control each drive source at a target rotational speed and torque, the inertia of each drive source It is necessary to set the period of the drive pulse in accordance with the moment. For this reason, in the case of using a plurality of types of drive sources, there is a problem that a control board or a control program in which a control characteristic having an appropriate period or the like is incorporated must be attached for each type of drive source.

  The present invention has been made to solve the above problem, and requires a separate control board or control program for each type of drive source, even when a plurality of types of drive sources are used. Instead, the object is to enable accurate drive control of a plurality of types of drive sources with a target rotational speed and torque.

The invention according to claim 1 of the present invention includes a plurality of different types of drive sources having a rotation shaft for generating a rotational driving force and transmitting the rotational driving force to the outside,
A plurality of slits of the same shape along the periphery are formed side by side at a uniform interval, and each is attached to the rotation shaft of each drive source, and a circular pulse plate that rotates concentrically with the rotation shaft ;
An optical sensor that irradiates light at a position where the slits are formed side by side in the pulse plate, and generates a pulse signal each time light that has passed through the pulse plate is received;
An arithmetic unit that counts the number of pulses using the pulse signal obtained from the optical sensor;
A control unit that controls the rotational speed of the drive source according to the number of pulses counted by the calculation unit is provided for each drive source,
From the sum of the moments of inertia of the drive source and the pulse plate attached to the drive source by making the slit areas of the pulse plates different while making the number of slits formed in each pulse plate the same. The total inertia moment is the same for each of the plurality of drive sources, and the cycle of the pulse signal for each of the plurality of drive sources is the same .

The invention according to claim 2 is the drive control device according to claim 1,
The arithmetic unit counts the number of pulses by counting the arrival of a falling portion after the phase of the pulse indicated by the pulse signal reaches a high level .

In the invention according to claim 5, a driving source having a rotating shaft for generating a rotational driving force and transmitting the rotational driving force to the outside, and a plurality of slits of the same shape along the periphery are arranged at equal intervals. A drive control method for a power generation device comprising a circular pulse plate formed and attached to the rotary shaft of the drive source and rotating concentrically with the rotary shaft,
For the plurality of drive sources of different types, the number of slits formed in the pulse plate of each drive source is the same, while the slit area of each pulse plate is different, each of the drive source and the pulse plate The total moment of inertia consisting of the sum of the moments of inertia is the same for each of the plurality of drive sources,
Each of the drives is provided from each optical sensor provided for each of the drive sources that irradiates light to the slit formation position on the pulse plate and generates a pulse signal each time the light passing through the pulse plate is received. This is a drive control method for outputting the pulse signal at the same cycle at the source .

  In these inventions, the mass of the pulse plate is adjusted by making the slit area of each pulse plate provided in each of the plurality of drive sources different, and each of the pulse source attached to the drive source and the drive source is adjusted. Since the total moment of inertia, which is the sum of the moments of inertia, is the same for each drive source, the drive pulse signal cycle determined according to the moment of inertia of each drive source can be the same for each drive source. become. In addition, in order to make the number of slits formed on each pulse plate of a plurality of drive sources the same, an optical sensor is provided on each of the drive sources and the corresponding pulse plate so that the light irradiated to the pulse plate passes through the pulse plate. When a pulse signal is generated each time, an optical sensor attached to any drive source can obtain a pulse signal having the same cycle. Therefore, it is possible to use a control board or a control program in which common control characteristics are incorporated for any drive source and corresponding pulse plate. Thus, even when a plurality of types of drive sources are used, the number of revolutions targeted at each type of drive source without requiring a separate control board or control program for each type of drive source. And it becomes possible to control the drive accurately with torque.

Further, the invention according to claim 3 is the power generation device according to claim 1 or 2 , wherein the thicknesses of the respective pulse plates are further made different to each other for each of the plurality of drive sources. The total moment of inertia is the same.

  In the present invention, the mass of each pulse plate can be adjusted by changing the thickness of each pulse plate in addition to making the slit area of each pulse plate different. It is possible to widen the range of adjustment to make the total moment of inertia of the same.

Further, the invention according to claim 4 is the power generation device according to any one of claims 1 to 3 , wherein the plurality of drive sources are provided by further differentiating the materials of the pulse plates. In which the total moment of inertia is the same.

  In the present invention, the mass of each pulse plate can be adjusted by changing the material of each pulse plate in addition to making the slit area of each pulse plate different. It is possible to widen the range of adjustment to make the total moment of inertia the same.

  According to the present invention, even when a plurality of types of drive sources are used, a plurality of types of drive sources are targeted without requiring a separate control board or control program for each type of drive source. The drive can be accurately controlled by the number of rotations and torque.

It is a whole perspective view showing the power generator concerning one embodiment of the present invention. It is a side view showing a power generator concerning one embodiment of the present invention. (A) is a figure which shows notionally the light reception state by an optical sensor, (B) is a figure which shows the pulse signal output from an optical sensor. It is a block diagram which shows the structure of the drive control apparatus which concerns on one Embodiment of this invention. It is a figure which shows one of the drive devices with which a motive power generator is provided, (A) is a figure which shows a moving source, (B) is a figure which shows a pulse plate. It is a figure which shows the other drive device from which an inertia moment differs, (A) is a figure which shows a moving source, (B) is a figure which shows a pulse plate. (A) is a figure which shows notionally the light reception state by the optical sensor of a drive device, (B) is a figure which shows the pulse signal output from the optical sensor. (C) is a diagram conceptually showing a light receiving state by the optical sensor of the driving device, and (D) is a diagram showing a pulse signal output from the optical sensor.

  Hereinafter, a power generation device, a drive control device, and a drive control method for a power generation device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall perspective view showing a power generation device according to an embodiment of the present invention. FIG. 2 is a side view showing a power generation device according to an embodiment of the present invention. FIG. 3A is a diagram conceptually showing a light receiving state by the optical sensor 13, and FIG. 3B is a diagram showing a pulse signal output from the optical sensor 13.

  The power generation device 1 includes a plurality of drive devices 10 each having a drive source 11 and a pulse plate 12 attached to the drive source 11. Although the number of drive devices 10 included in the drive device 10 is not limited, the power generation device 1 includes the drive device 10 including the drive sources 11 having at least different inertia moments. FIG. 1 shows one of the driving devices 10.

  In the driving apparatus 10, the driving source 11 is a motor that generates a rotational driving force, and includes a rotating shaft 111 for transmitting the rotational driving force to the outside. The drive source 11 is a servo motor (for example, a DC motor). The drive source 11 has attachment plates 3 attached to both sides thereof. The drive source 11 is fixed on the substrate 5 disposed below the drive source 11 by the mounting plate 3. The drive source 11 is driven by the control unit 103 described later using power supplied from a power source (not shown).

  The pulse plate 12 has a circular plate shape, and a plurality of slits 121 are arranged at equal intervals along the periphery. The plurality of slits 121 have the same shape. The pulse plate 12 is attached to the rotary shaft 111 so as to rotate concentrically with the rotary shaft 111 of the drive source 11.

  An optical sensor 13 is provided at a position facing the pulse plate 12. The optical sensor 13 has an outer case 14 in which a concave portion 14a is formed in which a part of the peripheral edge of the pulse plate 12 is sandwiched without contact. The optical sensor 13 is fixed on the substrate 5.

  A light emitting portion 131 is provided at a position facing one side surface portion 12a of the pulse plate 12 on one case side portion 141 constituting the concave portion 14a. The light emitting unit 131 includes, for example, an LED (Light Emitting Diode), and irradiates light to the arrangement position of the slit 121 in the pulse plate 12.

  A light receiving portion 132 is provided at a position facing the other side surface portion 12b of the pulse plate 12 on the other case side portion 142 constituting the concave portion 14a. The light receiving unit 132 includes, for example, a photo interrupter. The light receiving unit 132 is disposed on the case side portion 142 at a position where the light emitting unit 131 can receive the light irradiated to the arrangement position of the slit 121 of the pulse plate 12. The light receiving unit 132 receives light that is emitted from the light emitting unit 131 to the pulse plate 12 and that has passed through the slit 121. The light receiving unit 132 converts the light amount of the received light into an electrical signal and outputs it. For example, if the rotation shaft 111 and the pulse plate 12 are rotated at a constant speed by the rotational drive of the drive source 11, as shown in FIG. 3 (A), the arrangement positions of the light emitting unit 131 and the light receiving unit 132 are changed to pulses. Each time the slit 121 of the plate 12 passes, the light receiving part 132 receives the light passing through the slit 121. Therefore, as shown in FIG. The amount of light increases every time the slit 121 arrives, and an electrical signal indicating that the amount of light decreases when the slit 121 moves away from the arrangement position is output. That is, the light receiving unit 132 generates a pulse signal every time it receives light that has passed through the slit 121. FIG. 3B shows a pulse signal obtained by inverting the amount of light received by the light receiving unit 132.

  Next, a drive control device according to an embodiment of the present invention will be described. FIG. 4 is a block diagram showing the configuration of the drive control apparatus according to one embodiment of the present invention. A drive control apparatus 100 according to an embodiment of the present invention includes a plurality of drive units 110 having a target value input unit 101, a calculation unit 102, a control unit 103, a drive device 10, and an optical sensor 13. . The number of drive units 110 included in the drive control apparatus 100 is not limited.

  The target value input unit 101 receives an input of a target value of the rotational speed when the drive source 11 is rotationally driven from an operator or the like. The target value input unit 101 outputs the input target value SV to the calculation unit 102.

  The calculation unit 102 calculates the target value based on the target value SV input from the target value input unit 101 and the (motor position detection signal) PV indicated by the pulse signal fed back from the optical sensor (rotation speed detection unit) 13. The manipulated variable (speed command) MV is calculated using an algorithm such as PID control so that the deviation e between the SV and the measured value PV is zero. The calculation unit 102 receives the motor position detection signal PV composed of a pulse signal as shown in FIG. 3B from the optical sensor 13, but arrives at the falling portion after the pulse phase reaches the high level. By counting, the number of pulses is counted.

  The control unit 103 calculates a duty ratio of a drive pulse signal used for drive control of the drive source 11 according to the operation amount MV input from the calculation unit 102, and generates a drive pulse signal composed of the calculated duty ratio. And output to the drive source 11. By changing the duty ratio, the control unit 103 arbitrarily changes the energization width of the on pulse according to the operation amount MV. That is, the control unit 103 controls the rotation speed of the drive source 11 by modulating the pulse width of the drive pulse signal used for driving control of the drive source 11 and controlling the energy supplied to the drive source 11. Thereby, the rotation speed of the drive source 11 is maintained at a value that is the same as or close to the target value SV.

  The drive source 11 is rotationally driven by a drive pulse signal having the duty ratio. The rotational driving force generated by the drive source 11 by this rotational driving is transmitted from the gear attached to one end of the rotating shaft 111 to the load 6 side having a gear meshing with the gear. For example, in the case of an image forming apparatus, the load 6 is recorded on a conveyance roller that conveys a recording sheet toward or from the image forming mechanism, a developing roller provided in the developing apparatus, or a sheet feeding cassette. A paper feed roller that picks up the recording paper in contact with the uppermost recording paper.

  When the rotational driving force is transmitted from the driving source 11 to the load 6, light is emitted from the light emitting unit 131 of the optical sensor 13 to the pulse plate 12 when the pulse plate 12 is rotating with the rotation of the rotating shaft 111. Of the light, when the light receiving unit 132 receives light that has passed through the slit 121, the pulse signal illustrated in FIG. 3A is output to the calculation unit 102 as the measured value PV each time the light is received. This is used for the above calculation of the operation amount MV by 102.

  For example, the calculation unit 102 and the control unit 103 referred to here are examples of the control unit in the claims. However, the control unit referred to in the claims is not limited to this configuration.

  Next, the configuration of the drive source 11 and the pulse plate 12 included in the drive device 10 will be described. FIG. 5 is a diagram showing one of the drive devices included in the power generation device 1, in which (A) shows a drive source and (B) shows a pulse plate. FIGS. 6A and 6B are diagrams showing another driving device having different moments of inertia. FIG. 6A shows a driving source and FIG. 6B shows a pulse plate. In FIG. 6, members similar to those of the driving device 10 shown in FIG. Hereinafter, an example in which the power generation device 1 includes two driving devices will be described. However, this is not intended to limit the number of driving devices included in the power generation device 1 to two sets.

  The power generation device 1 includes two driving devices 10 (FIG. 5A) and a driving device 10 '(FIG. 6A). The driving source 11 of the driving device 10 and the driving source 11 ′ of the driving device 10 ′ have different moments of inertia. In the present embodiment, it is assumed that the inertia moment Jm of the drive source 11 is smaller than the inertia moment Jm ′ of the drive source 11 ′.

  The pulse plate 12 of the driving device 10 and the pulse plate 12 'of the driving device 10' are made of the same material. Further, the area of each slit 121 formed in the pulse plate 12 is the same, and the area of each slit 121 ′ formed in the pulse plate 12 ′ is the same, but the slit 121 of the pulse plate 12 and the pulse In comparison with the slit 121 ′ of the plate 12 ′, the areas of the slits are different. The area of each of the slits 121 and 121 'is set as follows.

  First, the sum of the inertia moment Jm of the drive source 11 and the inertia moment Jp of the pulse plate 12 is defined as the total inertia moment J of the drive device 10 (J = Jm + Jp). Further, the sum of the moment of inertia Jm ′ of the drive source 11 ′ and the moment of inertia Jp ′ of the pulse plate 12 ′ is defined as the total moment of inertia J ′ of the drive device 10 ′ (J ′ = Jm ′ + Jp ′). .

  In this case, the mass of the pulse plate 12 of the drive device 10 and the mass of the pulse plate 12 ′ of the drive device 10 ′ are the same as the total moment of inertia J of the drive device 10 and the moment of inertia Jm ′ of the drive source 11 ′. Is set to a value. That is, the masses of the pulse plate 12 and the pulse plate 12 ′ are values that satisfy J = J ′, Jp = J−Jm, and Jp ′ = J′−Jm ′. In order to satisfy this condition, the masses of the pulse plates 12 and 12 'are adjusted by making the areas of the slits formed different from each other.

  In the drive source 11 ′ having an inertia moment Jm ′ larger than the inertia moment Jm of the drive source 11, the rotation shaft 111 ′ is less likely to rotate than the rotation shaft 111 of the drive source 11. Therefore, as shown in FIGS. 5B and 6B, each slit 121 ′ in the pulse plate 12 of the drive source 11 ′ has an opening shape that is more than that of each slit 121 in the pulse plate 12 of the drive source 11. Is also set larger.

  As a result, the mass of the pulse plate 12 ′ of the drive source 11 ′ is made smaller than the mass of the pulse plate 12 of the drive source 11, and the inertia moment Jp ′ of the pulse plate 12 ′ is greater than the inertia moment Jp of the pulse plate 12. Also make it smaller. The size of each opening 121 of each slit 121 of the pulse plate 12 and each slit 121 ′ of the pulse plate 12 ′ is such that the mass of the pulse plate 12 and the pulse plate 12 ′ is equal to the total moment of inertia J of the driving device 10. The inertial moment Jm ′ of the drive source 11 ′ is determined to be the same area. That is, the mass of each pulse plate is adjusted by adjusting the slit area of one or a plurality of pulse plates provided in the power generation device 1, and thereby the total moment of inertia of each drive device is made the same.

  When the power generating device 1 includes three or more driving devices, the mass (slit area) of the pulse plate of each power generating device is determined so that the total moment of inertia of all the driving devices is the same. It is done.

  Here, the output of the pulse signal from the optical sensor 13 in each drive unit 110 including the drive devices 10 and 10 'is as follows. FIG. 7A is a diagram conceptually showing a light receiving state by the optical sensor 13 of the driving device 10, and FIG. 7B is a diagram showing a pulse signal output from the optical sensor 13. (C) conceptually shows a light receiving state by the optical sensor 13 of the driving device 10 ′, and (D) shows a pulse signal output from the optical sensor 13. 7B and 7D show pulse signals obtained by reversing the amount of light received by the light receiving unit 132. FIG.

  The light receiving state by the light receiving unit 132 of the optical sensor 13 of the driving device 10 is as shown in FIG. 7A, and the pulse signal is as shown in FIG. 7B. In the light receiving unit 132 of the optical sensor 13 ′ of the apparatus 10 ′, the area of the slit 121 ′ of the pulse plate 12 ′ is larger than the area of the slit 121. Therefore, as shown in FIG. As shown in FIG. 7D, the pulse signal that is longer than that and has the light reception amount inverted has a pulse phase width that is greater than the phase width of the pulse signal of the light receiving unit 132 of the optical sensor 13 of the driving device 10. Becomes smaller.

  However, since the number of slits in each of the pulse plates 12 and 12 'is the same, a pulse signal having the same cycle is output from any of the optical sensors 13 of the driving devices 10 and 10'. Further, the calculation unit 102 of each drive unit 110 counts the number of pulses by counting the arrival of the falling portion after the pulse phase reaches the high level. For this reason, based on the pulse signal from any optical sensor 13, the rotation information of the drive source to be controlled can be acquired by the calculation unit 102 using the same algorithm.

  In this way, by making the total moment of inertia of each driving device included in the power generation device 1 the same, the period of the driving pulse signal of each driving source determined according to the moment of inertia of each driving source is different for each driving source. It becomes possible to be the same. Since the number of slits formed on each pulse plate of multiple drive sources is the same, pulse signals (motor position detection signals) PV with the same period are fed back from optical sensors attached to any drive source. Can be made. Therefore, the target value input unit 101, the calculation unit 102, and the control unit 103 having common settings are used for the rotation drive control for any drive source and the corresponding pulse plate included in the power generation device 1. That is, it is possible to use a control board or a control program in which common control characteristics are incorporated. As a result, even in the power generation device 1 that uses a plurality of types of drive sources, each type of drive source can be targeted without requiring a separate control board or control program for each type of drive source. It is possible to accurately control the drive with the rotation speed and torque.

  The present invention is not limited to the configuration of the above embodiment, and various modifications can be made. For example, in the above embodiment, the mass of each pulse plate is adjusted by making the slit areas of the plurality of pulse plates different from each other, but further, by making the thicknesses of the plurality of pulse plates different, The mass of each pulse plate may be adjusted so that the total moment of inertia of each drive source and pulse plate is the same. In this case, the range of adjustment for making the total inertia moments of the plurality of drive sources and pulse plates the same can be widened.

  Further, the mass of each pulse plate may be adjusted by further changing the materials of the plurality of pulse plates so that the total moment of inertia of each drive source and pulse plate may be the same. In this case, the range of adjustment for making the total moments of inertia of the plurality of drive sources and pulse plates the same can be further increased.

  Moreover, in the said embodiment, although embodiment of this invention is made into the motive power generator 1 and the drive control apparatus 100, embodiment of this invention is not limited to these. For example, for a plurality of drive sources having different configurations as described above, the number of slits formed in each pulse plate is the same, and the slit areas of the respective pulse plates are made different so that the drive source and A configuration in which the total moment of inertia composed of the sum of the moments of inertia of the pulse plates is made the same for each of the plurality of drive sources, the drive plates and the pulse plates attached to the drive sources, or a power generation device equipped with them. By adopting it, a drive control method for a power generation apparatus that outputs the pulse signal at the same cycle from each optical sensor provided for each drive source is also an embodiment of the present invention.

DESCRIPTION OF SYMBOLS 1 Power generator 10, 10 'Drive apparatus 11, 11' Drive source 111, 111 'Rotating shaft 121, 121' Slit 12, 12 'Pulse plate 13 Optical sensor 131 Light emission part 132 Light reception part 100 Drive control apparatus 101 Target value input Unit 102 Calculation unit 103 Control unit 110 Drive unit

Claims (5)

A plurality of different types of drive sources having a rotating shaft for generating a rotational driving force and transmitting the rotational driving force to the outside;
A plurality of slits of the same shape along the periphery are formed side by side at a uniform interval, and each is attached to the rotation shaft of each drive source, and a circular pulse plate that rotates concentrically with the rotation shaft ;
An optical sensor that irradiates light at a position where the slits are formed side by side in the pulse plate, and generates a pulse signal each time light that has passed through the pulse plate is received;
An arithmetic unit that counts the number of pulses using the pulse signal obtained from the optical sensor;
A control unit that controls the rotational speed of the drive source according to the number of pulses counted by the calculation unit is provided for each drive source,
From the sum of the moments of inertia of the drive source and the pulse plate attached to the drive source by making the slit areas of the pulse plates different while making the number of slits formed in each pulse plate the same. The total inertia moment is the same for each of the plurality of drive sources, and the period of the pulse signal for each of the plurality of drive sources is the same . 2. The drive control device according to claim 1, wherein the arithmetic unit counts the number of pulses by counting arrival of a falling portion after a phase of a pulse indicated by the pulse signal reaches a high level. The drive control device according to claim 1 or 2 , wherein the total moment of inertia of each of the plurality of drive sources is made the same by further varying the thicknesses of the pulse plates. The drive control device according to any one of claims 1 to 3, wherein the total moment of inertia of each of the plurality of drive sources is made the same by further differentiating the materials of the pulse plates. A drive source having a rotation shaft for generating a rotation drive force and transmitting the rotation drive force to the outside, and a plurality of slits having the same shape along the periphery are formed side by side and formed on the rotation shaft of the drive source. A drive control method for a power generation device including a circular pulse plate that is attached and rotates concentrically with the rotation shaft,
For the plurality of drive sources of different types, the number of slits formed in the pulse plate of each drive source is the same, while the slit area of each pulse plate is different, each of the drive source and the pulse plate The total moment of inertia consisting of the sum of the moments of inertia is the same for each of the plurality of drive sources,
Each of the drives is provided from each optical sensor provided for each of the drive sources that irradiates light to the slit formation position on the pulse plate and generates a pulse signal each time the light passing through the pulse plate is received. A drive control method for outputting the pulse signal at the same cycle at a source .