JP6063818B2 - Synchronous drive - Google Patents

Description

The present invention relates to a shaftless rotary printing press for printing newspapers and pamphlets, a film and paper stretching device, a manufacturing device, and a synchronous drive device that realizes sectional drive of a transport device.
The present invention reduces the number of machine components, and a synchronous drive device that electronically controls each of the mechanical shafts driven by a plurality of motors to perform sectional drive and synchronizes the rotational phase. provide.

In recent years, there has been devised a synchronous drive device that performs sectional drive by electronically adjusting a rotational phase and a rotational speed of a plurality of electric motors without mechanically coupling mechanical axes of respective steps of a manufacturing apparatus. .
As an industrial application of this, for example, in a rotary printing machine, an electric motor that drives a printing machine such as yellow, cyan, magenta, and black, a driving roll such as in-feed, out-feed, and drag, and a folding machine are driven. High-speed color printing is realized by performing synchronous control that matches the rotation phase and rotation speed of each motor with high accuracy. Here, by synchronously controlling the electric motors, the mechanical shafts of a printing machine, a folding machine, and the like connected to the electric motors are also driven with the rotational phase accurately synchronized.
This shaftless rotary press is easier to install, can operate the free press, improve workability, reduce waste paper, and maintain compared to conventional rotary press with shaft There are many excellent features such as easy to use.

In addition, in the case of film production equipment, in each device such as an extruder, casting, transverse stretcher, longitudinal stretcher, and winder, the mechanical shaft that was conventionally mechanically connected to each other is an independent electric motor. Practical use of sectional drives that drive mechanical axes by synchronous control is being promoted.
This application example also has the advantages of being easy to install, eliminating the need for a mechanical coupling device, reducing costs, and facilitating maintenance.

  Here, in this patent, each output shaft connected to each electric motor for production is referred to as a mechanical shaft, and in the above example, the driving shaft of a printing press, various rolls, a folding machine, and a stretching machine is a mechanical shaft. .

In the prior art, for example, in Patent Document 1, when the number of pulse generations per rotation of the pulse generators attached to two electric motors is different, one is corrected by a coefficient unit and a multiplier and virtually described above. An invention is disclosed in which the phase difference between two pulse generators is detected by adding and subtracting the same number of pulse generations. Here, in the said patent document 1, the mechanical axis | shaft connected with an electric motor is not described.
As described above, Patent Document 1 discloses an invention in the case where the number of pulses generated per one rotation of the pulse generator is different. Here, for the ease of standardization and maintenance of the apparatus, if synchronous control is realized by using a pulse generator having the same number of pulses generated per rotation for a plurality of electric motors, there will be a great merit.

Next, Patent Document 2 discloses a method of detecting a rotational position deviation between a machine shaft driven by two or more motors and a machine shaft installed with a speed reduction mechanism between the motor and the machine shaft. . The number of pulses per rotation of the pulse generator is changed according to the reduction ratio of the reduction mechanism. Further, the invention is disclosed with the reduction ratios of 1/2 and 1/4 as examples.
And although this patent document 2 is applied according to the objective and a use, on the other hand, it is realizable to implement | achieve synchronous control using the pulse generator with the same pulse generation number per rotation for several electric motors. There is great advantage in equipment procurement, equipment standardization, and maintenance.

  Patent Document 3 discloses an invention in which a plurality of sets of electric motors, speed reducers, mechanical axes, and origin detectors are installed to perform synchronous control. In Patent Document 3, the invention is disclosed by taking N = 4 as an example when the reduction ratio of the reduction gear is 1 / N. Then, an invention is disclosed in which synchronous control is performed after detecting the phase of the mechanical axis using the origin detector, calculating the mechanical axis phase deviation and aligning the origin.

Here, if a synchronous transmission is realized by installing a transmission having a gear ratio K / M between the mechanical shaft and the electric motor, a great merit is brought to a device for various productions. Here, in this patent, K and M of the gear ratio K / M are positive integers, respectively, and the motor rotates M times when the mechanical shaft rotates K times.
And in the said patent document 3, although the invention in case the reduction gear ratio is 1 / N is disclosed using the origin detector as mentioned above, the case where the gear ratio of the reduction gear is K / M is described. Not.

Japanese Patent No. 2941790 Japanese Patent No. 3239136 Japanese Patent No. 3383264

The problems to be solved by the present invention are as follows.
(1) The prior art has disclosed an invention for detecting the phase error of two pulse generators when the number of pulse generations per rotation of the pulse generators attached to the motor is different.
In the present invention, the pulse generation coefficient per rotation of the pulse generators attached to a plurality of electric motors is made the same, thereby detecting a phase error and realizing a synchronous drive device.
(2) The prior art discloses an invention that uses a reduction gear having a reduction ratio of 1/2 or 1/4 between the electric motor and the machine shaft. However, an invention with a gear ratio of 1 / M (M is a positive integer) is not disclosed. The present invention realizes a synchronous drive device by detecting a phase error even if the transmission gear ratio is 1 / M.
(3) In the prior art, when a reduction gear is installed between an electric motor and a machine shaft, an invention is disclosed in which a phase deviation is detected using an origin detector to perform synchronous control. In the present invention, even when the reduction gear is installed, the phase deviation is detected without using the origin detector, and the synchronous control is realized.
(4) In the present invention, even if the gear ratio is not only 1 / M but K / M, a phase error is detected to realize a synchronous drive device.
(5) Further, in the present invention, in the configuration of a plurality of sets of electric motors, transmissions, and mechanical shafts, standardization of equipment is performed using a pulse generator having the same pulse generation coefficient per rotation, and the transmission gear ratio K Even if / M is different, a synchronous drive device is realized. Accordingly, it is an object of the present invention to increase the degree of freedom of the mechanical device drive configuration in a film manufacturing apparatus, a rotary printing press, a conveyance apparatus, and the like.

Thus, in the present invention, in the configuration of a plurality of sets of electric motors, transmissions, and mechanical shafts, synchronous drive is realized even if the transmission gear ratio is arbitrary K / M, and sectional drives of various production apparatuses It aims to realize.
[First embodiment]

A synchronous drive device is realized that accurately synchronizes the rotational speed and rotational phase of a mechanical shaft driven by a motor in accordance with the rotational phase command and rotational speed command output from the centralized control device. Describing the configuration, the motor is attached with a rotary encoder and is connected to the mechanical shaft by a transmission having a gear ratio of 1 / M (the motor gear ratio M is a power of 2). The synchronous drive device includes a motor rotation phase 1FB detector that receives an encoder signal output from the rotary encoder, and detects motor rotation phase feedback.
The synchronous drive device has a built-in motor speed ratio rotational speed 1FB detector, which inputs the motor rotational phase feedback output from the motor rotational phase 1FB detector and outputs the motor speed ratio rotational speed 1 feedback. .

  The motor speed ratio rotation number 1FB detector incorporates a motor virtual rotation number feedback. When the motor is operating in the forward rotation, the motor rotation phase feedback is monitored and the motor virtual rotation frequency feedback is incremented by 1 each time the motor rotates once. The result of logical AND operation of the motor speed ratio M-1) is output as a new motor speed ratio rotation count 1 feedback.

  Next, the motor speed ratio rotation frequency 1FB detector counts down the motor virtual rotation frequency feedback by 1 every time when the motor rotates in reverse and monitors the motor rotation phase feedback and makes one rotation. Then, a logical AND operation of the motor virtual rotation frequency feedback and (motor speed ratio M-1) is output as a new motor speed ratio rotation frequency 1 feedback.

  Thus, a synchronous drive device is realized, which includes the motor speed ratio rotation speed 1 FB detector for detecting the motor speed ratio rotation speed 1 feedback in the range of 0 to (M−1).

The synchronous drive device incorporates a nonvolatile memory. When the power is on, the motor rotation phase feedback and the motor gear ratio rotation frequency 1 feedback are updated, and then stored in the nonvolatile memory as the backup motor rotation phase feedback and the backup motor gear ratio rotation frequency 1 feedback , respectively. To do.

When the synchronous drive device is turned off and turned on again, the motor rotation phase 1 FB detector newly detects motor rotation phase feedback. Then, the motor rotation phase feedback is compared with the backup motor rotation phase feedback. As a result, when the motor is rotating beyond the maximum motor rotation phase, this is set to 0 when the backup motor speed ratio rotational frequency 1 feedback is (motor speed ratio M-1). In other cases, the count is incremented by 1 and corrected to the number of revolutions advanced in the forward rotation direction, and this is set as a new motor speed ratio revolution number 1 feedback.

  Further, when the motor is rotating past the minimum motor rotation phase feedback value, that is, 0, when the backup motor speed ratio rotation frequency 1 feedback is 0, this is set to (motor speed ratio M-1). . In other cases, the number of revolutions is counted down by 1 and corrected to the number of revolutions advanced in the reverse direction, and this is used as a new motor speed ratio revolution number 1 feedback.

Thus, even when the power supply is turned off once and then turned on again, the backup motor speed ratio rotation number 1 feedback is corrected to correctly obtain the motor speed ratio rotation number 1 feedback. Device.

[Second Embodiment]

This is a synchronous drive device that realizes accurate synchronization of the rotational speed and rotational phase of the mechanical shaft driven by the motor in accordance with the rotational phase command and rotational speed command output from the central control device. In this configuration, the motor is attached with a rotary encoder, and is connected to the mechanical shaft by a transmission having a gear ratio of 1 / M (motor gear ratio M is a positive integer). Next, the synchronous drive device incorporates a motor rotation phase 1 FB detector that receives an encoder signal output from the rotary encoder, and detects motor rotation phase feedback.

  The synchronous drive device has a built-in motor gear ratio rotation speed 2FB detector, which inputs the motor rotation phase feedback output from the motor rotation phase 1FB detector and outputs the motor gear ratio rotation speed 2 feedback. Output.

  The function of the motor speed ratio rotation number 2FB detector will be further described. When the motor is operating in the normal rotation, the motor speed ratio rotation number 2 is monitored every time the motor rotation phase feedback is monitored for one rotation. When the feedback is (motor speed ratio M-1), the counted up value is set to zero. In other cases, the count is incremented by 1 and this is set as a new motor speed ratio rotation count 2 feedback.

  When the motor is operating in reverse, the motor speed ratio rotation frequency 2FB detector monitors the motor rotation phase feedback and every time it rotates once, when the motor speed ratio rotation frequency 2 feedback is 0, The value obtained by counting down is set to (motor speed ratio M-1). In other cases, the value is counted down by 1 and this is set as a new motor speed ratio rotation number 2 feedback.

  In this way, the synchronous drive apparatus includes the motor speed ratio rotation speed 2FB detector for detecting the motor speed ratio rotation speed 2 feedback in the range of 0 to (M-1).

  The synchronous drive device incorporates a nonvolatile memory. When the power is on, the motor rotation phase feedback and the motor gear ratio rotation frequency 2 feedback are updated, and then stored in the nonvolatile memory as a backup motor rotation phase feedback and a backup motor gear ratio rotation frequency 2 feedback, respectively. To do.

When the synchronous drive device is turned off and then turned on again, the motor rotation phase 1FB detector newly detects motor rotation phase feedback. Then, the motor rotation phase feedback is compared with the backup motor rotation phase feedback. As a result, when the motor is rotating in the forward direction exceeding the motor rotation phase feedback maximum value, when the backup motor speed ratio rotation number 2 feedback is (motor speed ratio M-1), this is 0. And In other cases, it is incremented by 1 and corrected to the number of revolutions advanced in the forward direction by 1, and this is used as a new motor speed ratio revolution number 2 feedback.

Further, when the motor is rotating in the reverse direction exceeding the minimum value of the motor rotation phase feedback, that is, 0, when the backup motor speed ratio rotational frequency 2 feedback is 0, this is (motor speed ratio M-1). And In other cases, it is counted down by 1 and corrected to the number of revolutions advanced in the reverse direction by 1, and this is set as a new motor speed ratio revolution number 2 feedback.

Thus, even if the power supply is once turned off and then turned on again, the synchronous drive device is characterized in that the backup motor speed ratio rotation number 2 feedback is corrected to correctly obtain the motor speed ratio rotation number 2 feedback. is there.
[Third embodiment]

A synchronous drive device is realized that accurately synchronizes the rotational speed and rotational phase of a mechanical shaft driven by a motor in accordance with the rotational phase command and rotational speed command output from the centralized control device. Describing the configuration, the motor is attached with a rotary encoder, and is connected to the mechanical shaft by a transmission having a gear ratio of 1 / M (motor gear ratio M is a positive integer). The rotary encoder detects the motor rotation phase and the number of motor rotations and outputs it as an encoder signal. The synchronous drive device incorporates a motor rotation 2FB detector that receives an encoder signal output from the rotary encoder, and detects motor rotation phase feedback and motor rotation frequency feedback.

The synchronous drive device has a built-in motor speed ratio rotation number 3FB detector, which inputs the motor rotation number feedback output from the motor rotation 2FB detector and outputs the motor speed ratio rotation number 3 feedback. To do.
Further, the motor speed ratio rotation number 3FB detector incorporates a motor expansion rotation number feedback, and monitors the motor rotation number feedback when the motor is operating. When the motor is operating at normal rotation, when the motor rotation frequency feedback changes from the maximum motor rotation frequency feedback value to 0, and when the motor expansion rotation frequency feedback is (motor speed ratio M-1). This is set to 0, otherwise it is incremented by 1.

  Further, when the motor speed ratio rotation number 3FB detector detects the operation of the motor in the reverse direction, when the motor rotation number feedback changes from 0 to the motor rotation number feedback maximum value, the motor expansion rotation number feedback becomes 0. In this case, this is (motor speed ratio M-1), and in other cases, it is counted down by one.

Further, the motor speed ratio rotation speed 3FB detector multiplies (the motor expansion speed feedback) by (motor rotation speed resolution) and adds the motor rotation speed feedback to the motor speed ratio M. The remainder obtained by dividing the motor speed ratio is generated as the number of rotations 3 feedback.
In this way, a synchronous drive device is realized, which includes the motor speed ratio rotation speed 3FB detector for detecting the motor speed ratio rotation speed 3 feedback in the range of 0 to (M−1).

Further, the synchronous drive device has a built-in mechanical rotation phase 1 FB detector, and the detector has (motor rotation phase resolution) (the motor speed ratio rotation number 1 feedback), (the motor speed ratio rotation number 2 feedback), Or, (motor speed ratio rotation number 3 feedback) is multiplied, and the motor rotation phase feedback is added to this to generate and output the machine rotation phase 1 feedback. As a result, the synchronous drive device enables detection of the mechanical rotation phase 1 feedback of the mechanical shaft regardless of M at any speed ratio 1 / M (the motor speed ratio M is a positive integer).
[Fourth embodiment]

A synchronous drive device is realized that accurately synchronizes the rotational speed and rotational phase of a mechanical shaft driven by a motor in accordance with the rotational phase command and rotational speed command output from the centralized control device. To explain this configuration, the aforementioned synchronous control device for detecting a rotational phase command and the rotation speed command incorporates a rotational phase velocity command detector for inputting a rotational speed command and the rotational phase command.
The motor is attached with a rotary encoder and connected to a mechanical shaft by a transmission, and the transmission has a transmission ratio K / M (the mechanical transmission ratio K and the motor transmission ratio M are positive integers), The mechanical shaft rotates K times by M rotation of the motor at the gear ratio K / M. The rotary encoder detects the motor rotation phase and the number of motor rotations and outputs an encoder signal.
The synchronous drive device incorporates a motor rotation 2FB detector that receives the encoder signal, and detects motor rotation phase feedback and motor rotation frequency feedback.

  Next, the present invention will be described. The transmission has a gear ratio K / M (the mechanical gear ratio K and the motor gear ratio M are positive integers), and the mechanical shaft is rotated by M rotation of the motor by the gear ratio K / M. Rotate K. The centralized control device generates a resolution of the common rotation phase command as a value obtained by multiplying the motor rotation phase feedback resolution by the motor speed ratio M, and the common rotation speed command generates the motor speed feedback by the motor speed ratio M. Generated as a divided value, a rotation command signal based on a common rotation phase command and a common rotation speed command is sent out.

Next, the rotation phase speed command detector built in the synchronous drive device receives the rotation command signal and separates and outputs the common rotation phase command and the common rotation speed command.
Further, the synchronous drive device includes a machine rotation phase command detector and a machine rotation speed command detector, and the machine rotation phase command detector is equal to a value obtained by dividing the motor rotation phase resolution by the speed ratio K / M. The machine rotation phase resolution is maintained, and then the remainder obtained by dividing the common rotation phase command by the machine rotation phase resolution is output as a machine rotation phase command.
The mechanical rotational speed command detector multiplies the common rotational speed command by a mechanical speed ratio K and outputs the result as a mechanical rotational speed command.

  Thus, the synchronous drive device according to the present invention inputs the common rotation phase command and the common rotation speed command output from the central control device, and outputs the machine rotation phase command and the machine rotation speed command corresponding to the gear ratio K / M. Detecting and synchronously driving the mechanical axis.

Further, when the gear ratio of the transmission is also K / M, the synchronous drive device has a mechanical rotation phase 2FB detector and a mechanical rotation speed 2FB in addition to the motor rotation 2FB detector and the motor transmission ratio rotation frequency 3FB detector. Built-in detector. The motor rotation 2FB detector detects and outputs motor rotation phase feedback and motor rotation frequency feedback. The motor speed ratio rotation number 3 FB detector inputs the motor rotation number feedback and outputs the motor speed ratio rotation number 3 feedback.
Next, as a first step, the mechanical rotational phase 2FB detector multiplies (motor rotational phase resolution) by the motor speed ratio rotational frequency 3 feedback, and adds the motor rotational phase feedback thereto to provide mechanical rotational phase 1 feedback. Generate.
Subsequently, as a second step, the remainder obtained by dividing the machine rotation phase 1 feedback by the machine rotation phase command resolution (the value obtained by multiplying the motor rotation phase resolution by the reverse gear ratio M / K) is generated and output as the machine rotation phase 2 feedback. To do.

  Next, regarding the speed feedback, the mechanical rotational speed 2FB detector generates and outputs a value obtained by multiplying the motor rotational speed feedback by the speed ratio K / M as mechanical rotational speed 2 feedback.

Thus, the mechanical rotation phase 2 feedback, which is the rotational phase of the mechanical shaft, and the mechanical rotational speed 2 feedback, which is the rotational speed of the mechanical shaft, are detected regardless of the K and M of the gear ratio K / M. performed, the machine rotation phase instruction went with the machine rotation phase 2 feedback, and the machine rotational speed command computation with the machine rotational speed 2 feedback, to enable synchronous control of the machine axis.
[Fifth embodiment]

In a drive system including a centralized control device and a plurality of sets of synchronous drive devices, motors, transmission devices, and mechanical shafts, the gear ratios of the plurality of transmission devices are Ka / Ma, Kb / Mb (Ka, Ma , Kb, and Mb are each a positive integer),
The synchronous drive device includes the machine rotation phase command detector, the machine rotation speed command detector, the machine rotation phase 2FB detector, and the machine rotation speed 2FB detector. The machine rotation phase command, the machine rotation speed command Then, the machine rotation phase 2 feedback and the machine rotation speed 2 feedback are detected to perform synchronous control.
Thus, even when the transmission gear ratio is different, the synchronous control of a plurality of machine axes is realized by following the rotation phase command and the rotation speed command output by the central control device. This is a synchronous drive device.

The effect of the synchronous drive device of the present invention is that a pulse generator having the same pulse generation coefficient per rotation can be used in the configuration of a plurality of sets of electric motors, transmission devices, and mechanical shafts, and standardization of the drive device can be realized.
Further, even if the transmission gear ratio is 1 / M or K / M, a synchronous drive device can be realized without using an origin detector.
Further, there is an advantage of realizing the synchronous drive device regardless of the positive gear ratio of 1 / M or K / M and any positive integers of K and M.

It is a block diagram which shows the structure of the 1st Example of this invention. FIG. 3 is a diagram (part 1) for explaining the operation of the first exemplary embodiment of the present invention. It is FIG. (2) explaining operation | movement of the 1st Example of this invention. It is FIG. (3) explaining operation | movement of the 1st Example of this invention. FIG. 6 is a diagram (part 4) for explaining the operation of the first example of the present invention; It is a block diagram which shows the structure of the 2nd Example of this invention. It is FIG. (1) explaining operation | movement of the 2nd Example of this invention. It is a block diagram which shows the structure of the 3rd Example of this invention. It is FIG. (1) explaining operation | movement of the 3rd Example of this invention. It is FIG. (2) explaining operation | movement of the 3rd Example of this invention. It is a block diagram which shows the structure of the 4th Example of this invention. It is FIG. (1) explaining operation | movement of the 4th Example of this invention. It is a block diagram which shows the structure of the 5th Example of this invention. It is a figure explaining operation | movement of the 5th Example of this invention.

  In the following, description will be given by showing a chart of an embodiment of the present invention. 1, 2, 3, 4 and 5 describe the first embodiment, FIGS. 6 and 7 illustrate the second embodiment, and FIGS. 8, 9, Table 1 and FIG. 10. Describes the third embodiment, FIGS. 11 and 12 illustrate the fourth embodiment, and FIGS. 13 and 14 illustrate the fifth embodiment.

FIG. 1 illustrates the configuration of the first embodiment of the apparatus of the present invention, and FIGS. 2, 3, 4 and 5 illustrate the operation thereof.
First, FIG. 1 illustrates the overall configuration of the synchronous control device of the present invention, which is roughly composed of a centralized control device 01, a synchronous drive device 03, a motor 05, and a mechanical shaft 08. The centralized control device 01 generates a rotation phase command and a rotation speed command, and sends them to a plurality of synchronous drive devices 03 described later by a rotation command signal 02.

In FIG. 1, 05 is a motor and 06 is a rotary encoder attached to the motor 05. The rotary encoder 06 detects the rotational phase of the motor 05 and sends it to the synchronous drive device 03 via an encoder signal 061.
Reference numerals 07 and 08 respectively denote a transmission and a mechanical shaft. The transmission 07 mechanically connects the motor 05 and the mechanical shaft 08 at a gear ratio of 1 / M. When the motor 05 rotates M, the mechanical shaft 08 is One rotation. The mechanical shaft 08 is a printing cylinder in the case of a rotary printing press, and in the case of a manufacturing apparatus such as a film, it is a drawing roll and is an output shaft responsible for production. Here, it should be noted that M is a power of 2 in FIG.
In the present invention, M is referred to as a motor speed ratio at a speed ratio 1 / M.

  In FIG. 1, reference numeral 031 denotes a rotation phase speed command detector, which receives the rotation command signal 02, separates the rotation phase command and the rotation speed command, and outputs a rotation phase command Ps and a rotation speed command Vs, respectively. Reference numeral 032 denotes a motor rotation phase 1 FB detector which inputs the encoder signal 061 and outputs a motor rotation phase feedback Pmf. The Pmf transitions between the motor rotation phase minimum value 0 and the motor rotation phase maximum value Pmmax. Here, the resolution of the Pmf is expressed as (Pmmax + 1) using the motor rotation phase maximum value Pmmax.

  Next, reference numerals 033, 034, 0340, and 035 denote a mechanical rotation speed 1FB detector, a motor gear ratio rotation frequency 1FB detector, a nonvolatile memory, and a mechanical rotation phase 1FB detector, respectively. The mechanical rotational speed FB1 detector 033 receives the motor rotational phase feedback Pmf, and calculates a motor rotational speed feedback Vmf from the amount of change per Pmf per fixed time as a first step. Next, as a second step, the motor rotational speed feedback Vmf is divided by the motor speed ratio M to generate and output a mechanical rotational speed 1 feedback Vkf1.

Next, the motor gear ratio rotation speed 1FB detector 034 receives the motor rotation phase feedback Pmf, and outputs a motor gear ratio rotation speed 1 feedback Nmf1 in which the value ranges from 0 (the motor speed ratio M-1). Output. The mechanical rotation phase 1FB detector 035 receives the motor speed ratio rotation number 1 feedback Nmf1 and the motor rotation phase feedback Pmf, and calculates and outputs the mechanical rotation phase 1 feedback Pkf1 of the mechanical shaft 08. Further, the nonvolatile memory 0340 has a function to maintain the motor speed ratio rotation number 1 feedback Nmf1 even when the synchronous drive device 03 stops operating and the power is turned off, and to be provided when the power is turned on again. doing.
Here, the motor speed ratio rotation number 1FB detector 034, the mechanical rotation phase 1FB detector 035, and the mechanical rotation speed 1 feedback detector 033 are according to the present invention, and the details of these operations will be sequentially described.

  Similarly, in FIG. 1, 036 and 037 indicate adders / subtracters, and 038 and 039 indicate an arithmetic controller and a power converter, respectively. The rotational speed command Vs and the mechanical rotational speed 1 feedback Vkf1 described above calculate the speed deviation by the adder / subtractor 036, and the rotational phase command Ps and the mechanical rotational speed 1 feedback Pkf1 calculate the phase deviation by the adder / subtractor 037. Output. Then, the arithmetic controller 038 inputs the two deviations to calculate a torque command, thereby generating a gate signal and sending it to the power converter 039. The power converter 039 incorporates a power switching element (not shown), and the power switching element is turned on / off by the gate signal to drive the motor 05 synchronously.

  The overall operation of FIG. 1 has been described above. Next, the disclosure of the first invention by the motor gear ratio rotation number 1FB detector 034 is disclosed in FIGS. 2 and 3, and then the second invention is disclosed. Will be described with reference to FIGS.

FIG. 2 explains the operation of the motor gear ratio rotation speed 1FB detector 034 shown in FIG. 1. Flows f1 to f7 in the figure show processes executed sequentially by a microprocessor (hereinafter referred to as MPU) not shown. This is explained below.

f1: The motor rotational phase feedback Pmf output from the motor rotational phase 1FB detector 032 is input and stored as the motor rotational phase feedback Pmf (n) of the current scan.
f2: The motor rotation phase feedback input and stored in the previous scan is Pmf (n−1), and the motor rotation phase feedback change amount ΔPmf per scan is obtained by the following equation (1).
ΔPmf = Pmf (n) −Pmf (n−1) (1) Formula f3: When the motor 05 is operating in the forward rotation, the motor rotation phase feedback change amount ΔPmf is the motor When the rotation phase feedback changes beyond the maximum negative value (−LMT), the flow proceeds to the flow f4 on the assumption that the rotation has proceeded in the forward rotation direction. Otherwise, the flow proceeds to the flow f5.
The process of the flow f3 will be further described later with reference to FIG.
f4: When the number of rotations advances in the forward rotation direction, the motor virtual rotation number feedback N is counted up by 1, and then the process proceeds to flow f7. Here, the motor virtual rotation frequency feedback N is a local variable used by the MPU in the processing of FIG.
f5: When the motor 05 is operating in reverse rotation, if the motor rotation phase feedback change amount ΔPmf changes beyond the positive maximum value of the motor rotation phase feedback change, the flow proceeds assuming that the rotation proceeds in the reverse rotation direction. Proceed to f6. In other cases, the number of rotations does not advance in either the forward direction or the reverse direction, and the process proceeds to the flow f7 on the route f5N shown in the figure. The process of the flow f5 will be further described later with reference to FIG.
f6: It is determined that the number of rotations has progressed in the reverse direction, the motor virtual rotation number feedback N is counted down by 1, and then the process proceeds to flow f7.
f7: A result obtained by performing a logical AND operation on the motor virtual rotation speed feedback N and (motor speed ratio M-1) is set as a new motor speed ratio rotation speed 1 feedback Nmf1. The motor rotation phase feedback Pmf (n) of the current scan is stored as the motor rotation phase feedback Pmf (n−1) of the previous scan in preparation for the next scan process.

  By the processing of the flow f7, the motor speed ratio rotation frequency 1 feedback Nmf1 transitions in the range of 0 to (M−1). If the gear ratio (1 / M) is shown in the example of (1/4) to facilitate the explanation, the motor gear ratio rotation speed 1 feedback Nmf1 transitions in the range of 0 to 3.

  Next, a supplementary explanation of the operations of the flows f3 and f5 will be given with reference to FIG. 3. This is intended to clarify the operation of FIG. 2, and the processing of FIG. 3 can be performed conventionally. Please be careful.

FIG. 3 illustrates detection of a change in the number of rotations, and FIGS. 3A to 3D show temporal transitions of the motor rotation phase feedback Pmf, between 0 and the motor rotation phase maximum value Pmmax. It has changed. The detection of the change in the number of rotations when the motor 05 is operated in the forward rotation is shown in FIGS. 3A and 3B, and the change in the number of rotations when the motor 05 is operated in the reverse rotation is detected in FIG. Explanation will be made with reference to c) and (d).
Further, the motor rotational phase feedback Pmf (n−1) of the previous scan input by the MPU in FIG. 3 is the point i in FIG. 3A, the point iii in (b), and the point v in (c), respectively. , And (d), and the motor rotational phase feedback Pmf (n) of the current scan inputted by the MPU is respectively represented by points ii, (b), (iv), (c) in FIG. ) Point vi and (d) point viii.

  Then, in FIGS. 3A to 3D, the motor rotation phase feedback change amount ΔPmf per scan is calculated according to the equation (1). In the figure, the maximum positive value of motor rotation phase feedback change (+ LMT) and the maximum negative value of motor rotation phase feedback change (-LMT) are used to detect changes in the number of rotations. The motor rotation phase maximum value Pmmax may be set to a value such as a half or a quarter.

First, FIGS. 3A and 3B in the case where the motor 05 operates in the normal rotation will be described. In the case of FIG. 3A, the motor rotation phase feedback change amount ΔPmf is as shown in the following equation (2). In this case, the flow proceeds from the flow f3 to the flow f5 in FIG.
0 <ΔPmf <(+ LMT) (2) Formula Next, in the case of FIG. 3B, the motor rotation phase feedback change amount ΔPmf is the following (3). It is determined that the number of rotations has advanced in the forward rotation direction as in the equation. In this case, the flow proceeds from the flow f3 to the flow f4 in FIG. 2, and the motor virtual rotation frequency feedback N is incremented by one.
ΔPmf ≦ (−LMT) (3) Equation

Next, in the case of FIG. 3C, the motor rotation phase feedback change amount ΔPmf is as shown in the following equation (4). In this case, the flow f5 in FIG. 2 goes to the flow f7 via the route f5N. Proceed with
(−LMT) <ΔPmf (4) Next, in the case of FIG. 3D, the motor rotation phase feedback change amount ΔPmf is expressed by the following (5 ) It is determined that the number of rotations has advanced in the reverse direction according to the formula. In this case, the flow proceeds from the flow f5 to the flow f6 in FIG. 2, and the motor virtual rotation frequency feedback N is counted down by one.
(+ LMT) ≦ ΔPmf (5) Equation

As described above, the supplementary explanation of the flow f3 and the flow f5 in FIG. 2 was performed with reference to FIG.

Thus, in the first invention of FIG. 1 disclosed with reference to FIGS. 2 and 3, the motor speed ratio rotation number 1FB detector 034 receives the motor rotation phase feedback Pmf, and M is The motor speed ratio rotation frequency 1 feedback Nmf1 that is a power of 2 and has a value in the range of 0 to (M−1) is generated and output.
In the present invention, as described above, when rotating from the point iii to the point iv in FIG. 3B, the rotation proceeds in the forward direction, and from the point vii to the point viii in FIG. 3D. Suppose that the rotation proceeds in the reverse direction.

Next, the disclosure of the second invention by the motor speed ratio rotation number 1FB detector 034 will be described with reference to FIGS.
Here, when the power is turned on / off, it is inevitable that the motor 05 rotates even if it is slight due to the operation of an electromagnetic brake or mechanical brake, or due to a gear backlash. A problem occurs that changes. The second aspect of the invention is to detect fluctuations in the rotation of the motor even when the power is turned on and off repeatedly, and to correct the motor speed ratio rotation frequency 1 feedback Nmf1 correctly.

FIG. 4 illustrates the operation of the embodiment using the motor gear ratio rotation speed 1FB detector 034 and the nonvolatile memory 0340. FIG. 4 shows the processing executed by the MPU in the motor gear ratio rotation speed 1FB detector 034, as in FIG. 2, and the processing in the flow f1 to f7 is the same as that in FIG. The operation of the flow f12 which is omitted and added is as follows.

f12: The backup motor rotation phase feedback Pmfnv and the backup motor speed ratio rotation frequency feedback Nmfnv are variables mapped in the nonvolatile memory 0340, and even if the power of the synchronous drive device 03 is turned off, The value written to Nmfnv is retained.
When the power is turned on, the motor speed ratio rotation speed 1FB detector 034 backs up the current rotation of the motor rotation phase feedback Pmf (n) and the motor speed ratio rotation speed 1 feedback Nmf1 detected at each scan. The Pmfnv and Nmfnv are always written to prepare for power off.

Next, the operation of the motor rotation phase 1FB detector 034 when the power is turned on will be described with reference to FIG.
FIG. 5 shows a flow processed by an MPU (not shown) as in FIG. 4 and will be sequentially described.

f0: If it is the first scan after the power is turned on, the process proceeds to flow f1. If the scan is performed twice or more after the power is turned on, the process proceeds to the end, and nothing is performed and the process is terminated.
f1: The motor rotational phase feedback Pmf output from the motor rotational phase 1FB detector 032 is input and stored as the motor rotational phase feedback Pmf (n) of the current scan.
f2: The backup motor rotational phase feedback Pmfnv is subtracted from the motor rotational phase feedback Pmf (n) of the current scan to obtain a motor rotational phase feedback change amount ΔPmfnv due to backup.
f3: While the power is off, it is checked whether the motor 05 has unexpectedly rotated in the forward direction. When the motor rotation phase feedback change amount ΔPmfnv due to the backup changes exceeding the negative maximum value (−LMT) of the motor rotation phase feedback change, it is determined that the rotation has advanced in the forward rotation direction, and the flow proceeds to flow f4. Otherwise, the process proceeds to flow f7 and proceeds to check for reverse rotation. The processing related to the flow f3 has been described with reference to FIG.
f4: When the number of rotations advances in the forward rotation direction, before counting up the backup motor speed ratio rotation number feedback Nmfnv, it is checked whether the Nmfnv has already reached the maximum value. When Nmfnv is equal to the maximum value (motor speed ratio M-1), the process proceeds to flow f5, and otherwise the process proceeds to flow f6.
f5: Since the current value of the backup motor gear ratio rotation speed feedback Nmfnv is the maximum value (M−1), the value counted up by 1 is corrected as 0, and then the flow proceeds to Step 11.
f6: Since the current value of the backup motor speed ratio rotation frequency feedback Nmfnv has not reached the maximum value, the value is incremented by 1 and corrected, and then the flow proceeds to Step 11.
f7: Check whether the motor 05 rotates unexpectedly in the reverse direction while the power is off. When the motor rotation phase feedback change amount ΔPmfnv due to the backup has changed beyond the positive maximum value (+ LMT) of the motor rotation phase feedback change, it is determined that the rotation has proceeded in the reverse direction, and the flow proceeds to flow f8. Except for the case where the rotation does not proceed in the reverse direction or the forward direction, the process proceeds to the end via the route f7N. The processing related to the flow f7 has been described with reference to FIG.
f8: When the number of rotations advances in the reverse rotation direction, it is checked whether Nmfnv has already reached the minimum value 0 before counting down the backup motor speed ratio rotation number feedback Nmfnv. When Nmfnv is equal to the minimum value 0, the process proceeds to flow f9, and otherwise, the process proceeds to flow f10.
f9: Since the current value of the backup motor speed ratio rotation frequency feedback Nmfnv is the minimum value 0, the value counted down by 1 is corrected as (motor speed ratio M-1), and then the flow proceeds to step 11.
f10: Since the current value of the backup motor speed ratio rotation frequency feedback Nmfnv has not reached the minimum value 0, it is corrected by counting down by 1, and then the flow proceeds to Step 11.
f11: The corrected backup motor speed ratio rotation frequency feedback Nmfnv is used as the motor speed ratio rotation frequency 1 feedback Nmf1.

Thus, even when the power of the synchronous drive device 03 is repeatedly turned on and off, the motor speed ratio rotation number 1FB detector 034 detects fluctuations in the rotation of the motor and rotates the motor speed ratio rotation. The number 1 feedback Nmf1 is corrected correctly.

FIG. 6 illustrates the configuration of the second embodiment of the present invention, and FIG. 7 illustrates the operation thereof.
FIG. 6 illustrates the overall configuration of the synchronous control device of the present invention, which is roughly composed of a centralized control device 01, a synchronous drive device 03, a motor 05, and a transmission device 07. 6 with the same reference numerals as those in FIG. 1 have the same functions and the description thereof is omitted. In FIG. 6, in FIG. 6, the motor speed change ratio 1FB detector 034 is replaced with the motor speed change. A specific rotation number 2FB detector 040 is installed, and the motor gear ratio rotation number 2FB detector 040 receives the motor rotation phase feedback Pmf and outputs a motor speed ratio rotation number 2 feedback Nmf2. Further, in the gear ratio 1 / M of the transmission 07, M is a positive integer unlike the power of 2.

The operation of the motor gear ratio rotation frequency 2FB detector 040 will be described with reference to FIG. Flows f1 to f12 in FIG. 7 show processing sequentially performed by an MPU (not shown), which will be described below.

f1: The motor rotational phase feedback Pmf output from the motor rotational phase 1FB detector 032 is input and stored as the motor rotational phase feedback Pmf (n) of the current scan.
f2: The motor rotation phase feedback input and stored in the previous scan is Pmf (n−1), and the motor rotation phase feedback change amount ΔPmf per scan is obtained by the above equation (1).
f3: When the motor 05 is operating in forward rotation, when the motor rotation phase feedback change amount ΔPmf changes beyond the negative maximum value (−LMT) of the motor rotation phase feedback change, the forward rotation direction If the rotation proceeds to step f4, the flow proceeds to flow f4. Otherwise, the flow proceeds to flow f7. The processing related to the flow f3 has been described with reference to FIG.
f4: When the number of rotations advances in the forward rotation direction, before counting up the motor speed ratio rotation number 2 feedback Nmf2, it is checked whether Nmf2 has already reached the maximum value. When Nmf2 is equal to the maximum value (motor speed ratio M-1), the flow proceeds to flow f5, and otherwise the flow proceeds to flow f6.
f5: The current value of the motor speed ratio rotation speed 2 feedback Nmf2 is the maximum value (M−1), so that the value counted up by 1 is set to 0, and then the flow proceeds to Step 11.
f6: The current value of the motor gear ratio rotation speed 2 feedback Nmf2 has not reached the maximum value, so the count is incremented by 1, and then the flow proceeds to flow 11.
f7: When the motor 05 is operating in reverse rotation, if the motor rotation phase feedback change amount ΔPmf changes beyond the positive maximum value of the motor rotation phase feedback change, the flow proceeds assuming that the rotation proceeds in the reverse rotation direction. Proceed to f8. In other cases, the number of rotations does not advance in either the forward direction or the reverse direction, and the process proceeds to the flow f11 through a route f7N illustrated. The processing related to the flow f7 has been described with reference to FIG.
f8: When the number of rotations advances in the reverse rotation direction, before the motor speed ratio rotation number 2 feedback Nmf2 is counted down, it is checked whether the Nmfnv has already reached the minimum value 0. When Nmfnv is equal to the minimum value 0, the process proceeds to flow f9, and otherwise, the process proceeds to flow f10.
f9: The current value of the motor gear ratio rotation speed 2 feedback Nmf2 is the minimum value 0, so the value counted down by 1 is set to (motor gear ratio M-1), and then the flow proceeds to step 11.
f10: The current value of the motor speed ratio rotation speed 2 feedback Nmf2 has not reached the minimum value, so it is counted down by 1, and then the flow proceeds to flow 11.
f11: The motor rotation phase feedback Pmf (n) of the current scan is stored as the motor rotation phase feedback Pmf (n-1) of the previous scan in preparation for the next scan process.
f12: The backup motor rotation phase feedback Pmfnv and the backup motor speed ratio rotation frequency feedback Nmfnv are variables mapped in the nonvolatile memory 0340, and even if the power of the synchronous drive device 03 is turned off, The value written to Nmfnv is retained.
When the power is on, the motor speed ratio rotation speed 2FB detector 040 backs up the current rotation of the motor rotation phase feedback Pmf (n) and the motor speed ratio rotation speed 2 feedback Nmf2 detected at each scan. The Pmfnv and Nmfnv are always written to prepare for power off.

Similarly, in FIG. 6, when the power source of the synchronous drive device 03 is turned off from on and turned on again, the operation of the motor speed ratio rotation number 2FB detector 040 is the operation described in FIG.
That is, the motor gear ratio rotation number 2FB detector 040 performs the same operation as the flow f0 to f10 in FIG. 5, and the description thereof is omitted. In the flow f11 of FIG. 5, if the motor speed ratio rotation number 1 feedback Nmf1 is replaced with the motor speed ratio rotation number 2 feedback Nmf2, the operation of the motor speed ratio rotation number 2FB detector 040 of FIG. .

Even when the power is repeatedly turned on and off in this way, the motor speed ratio rotation speed 2FB detector 040 detects the fluctuation of the motor rotation, and corrects the motor speed ratio rotation speed 2 feedback Nmf2. It is to correct.

FIG. 8 shows the configuration of the third embodiment of the apparatus of the present invention, and FIG. 9 and Table 1 explain the operation thereof.
FIG. 8 illustrates the overall configuration of the synchronous control apparatus of the present invention, and first, the differences from FIG. 6 will be described. The rotary encoder 06 detects the number of rotations in addition to the detection of the rotation phase of the motor 05 and sends it to the synchronous drive device 03 via the encoder signal 061.

Also in FIG. 8, 041 is a motor rotation 2FB detector, which receives the encoder signal 061 and outputs a motor rotation phase feedback Pmf and a motor rotation frequency feedback Rmf. The Pmf transitions in the range of the motor rotation phase minimum value 0 to the motor rotation phase maximum value Pmmax. The motor rotation phase resolution is (Pmmax + 1), and the Rmf is the motor rotation frequency minimum value 0 to the motor rotation frequency. The transition is made in the range of the maximum value Rmmax, and the motor rotation frequency resolution is (Rmmax + 1).
Next, 042 is a motor gear ratio rotation speed 3FB detector, which is a device according to the present invention. The motor speed ratio rotational frequency 3FB detector 042 receives the motor rotational frequency feedback Rmf and outputs a motor speed ratio rotational frequency 3 feedback Nmf3 whose value ranges from 0 to (the motor speed ratio M-1).

As in FIG. 6, the transmission 07 has a gear ratio of 1 / M and the motor gear ratio M is a positive integer.
In FIG. 8, in addition to those described above, those denoted by the same reference numerals as those in FIGS. 1 and 6 have the same functions and will not be described.

Next, the operation of the motor gear ratio rotation frequency 3FB detector shown in FIG. 8 will be described with reference to FIG. In FIG. 9, flows f1 to f14 indicate processing sequentially performed by an MPU (not shown), which will be described below.
The motor expansion rotation number feedback E described in the flow is a variable mapped to a memory built in the MPU, and counts an overflow or underflow of the motor rotation number feedback Rmf. That is, it is the upper digit of the motor rotation frequency feedback Rmf, and transitions from 0 to (the motor speed ratio M−1).

f1: The motor rotation frequency feedback Rmf output from the motor rotation 2FB detector 041 is input and stored as the motor rotation frequency feedback Rmf (n) of the current scan.
f2: Rmf (n-1) is the motor rotation frequency feedback of the previous scan input and stored in the previous scan, and the Rmf (n-1) is equal to the motor rotation frequency feedback Rmf (n) of the current scan. To check. That is, it is checked whether the number of rotations of the motor is the same during one scan, and if it is the same, the process ends without performing any processing. If the number of rotations changes during one scan, the process proceeds to flow f3.
f3: First, in order to detect whether the motor 06 has rotated in the forward direction and the motor rotation frequency feedback Rmf has overflowed, first, the motor rotation frequency feedback Rmf (n−1) of the previous scan is the motor rotation frequency. It is checked whether it is equal to the maximum value Rmmax.
If they are equal, the flow proceeds to flow f4, and it is checked whether the rotation further proceeds in the forward rotation direction and the motor rotation frequency feedback Rmf (n) of the current scan has overflowed.
If they are not equal, there is no overflow in the forward direction, so the flow proceeds to flow f8 to check whether the rotation has advanced in the reverse direction and underflow has occurred.
f4: It is checked whether the motor rotation number feedback Rmf (n) of the current scan is equal to the minimum rotation number 0. When equal, the motor rotation frequency feedback Rmf (n-1) of the previous scan is the motor rotation frequency maximum value Rmmax and the current scan Rmf (n) is the motor rotation frequency minimum value 0, so the motor rotation frequency feedback Rmf. (N) has overflowed. At this time, the process proceeds to the flow f5, and when not, the process proceeds to the flow f13.
f5: Since the motor rotation frequency feedback Rmf (n) has overflowed, the motor expansion rotation frequency feedback E is counted up. Since E is the maximum motor expansion speed (the motor speed ratio M-1), it is checked whether it is equal to this.
When they are equal, the flow proceeds to the flow f6, and when they are not equal, the flow proceeds to the flow f7.
f6: Since the motor expansion rotation frequency feedback E is the motor expansion rotation frequency maximum value (the motor speed ratio M-1), the value obtained by counting up this value by 1 is set to 0, and the flow proceeds to flow f13.
f7: Since the motor expansion rotation frequency feedback E has not reached the maximum motor expansion rotation frequency value, the motor expansion rotation frequency feedback E is incremented by 1, and the flow proceeds to flow f13.
f8: In order to detect whether the motor 06 has been rotated in the reverse direction and the motor rotation number feedback Rmf has underflowed, first, the motor rotation number feedback Rmf (n−1) of the previous scan is the minimum rotation number. Check if it is equal to zero.
If they are equal, the flow proceeds to the flow f9, and it is checked whether the rotation further proceeds in the reverse direction and the motor rotation frequency feedback Rmf (n) of the current scan has underflowed.
If they are not equal, the flow does not underflow in the reverse rotation direction and does not overflow in the normal rotation direction, so the flow proceeds to flow f14.
f9: It is checked whether the motor rotation frequency feedback Rmf (n) of the current scan is equal to the motor rotation frequency maximum value Rmmax. When equal, since the motor rotation frequency feedback Rmf (n-1) of the previous scan is the minimum rotation frequency 0 and the current scan Rmf (n) is the motor rotation frequency maximum value Rmmax, the motor rotation frequency feedback Rmf (n ) Underflowed. At this time, the flow proceeds to the flow f10, and when not, the flow proceeds to the flow f13.
f10: Since the motor rotation frequency feedback Rmf (n) underflows, the motor expansion rotation frequency feedback E is counted down. Then, it is checked whether the current value of E is 0. When it is 0, the flow proceeds to the flow f11, and when it is not equal, the flow proceeds to the flow f12.
f11: Since the motor expansion speed feedback E is the minimum value 0, the value obtained by counting down by 1 is set to the motor expansion speed maximum value (the motor speed ratio M-1), and the flow proceeds to step f13.
f12: Since the motor expansion rotation frequency feedback E has not reached the minimum value, the countdown is reduced by 1 and the flow proceeds to the flow f13.
f13: Motor speed ratio rotation number 3 Feedback Nmf3 is obtained by the following equation (6), and the remainder is obtained by dividing by the motor speed ratio M. In the equation (6), (motor rotation number maximum value Rmmax + 1) is the motor rotation number resolution. The equation (6) will be further described in Table 1 below.
Nmf3 = {E × (Rmmax + 1) + Rmf (n)}% M (6)

Here, the inside of {} in the equation (6) is the extended number of rotations.
Extended number of rotations = E × (Rmmax + 1) + Rmf (n) (7)

f14: The motor rotation number feedback Rmf (n) of the current scan is stored as the motor rotation number feedback Rmf (n-1) of the previous scan in preparation for the next scan process.

The calculation result by the equation (6) will be described with reference to Table 1 (a table for explaining the operation of the third embodiment of the present invention). The maximum value of the number of rotations expanded by the motor gear ratio M is expressed by the following equation (8).
Maximum number of motor expansion rotations = M × (Rmmax + 1) −1
= M × Rmmax + (M−1) (8) formula

The column “a” in Table 1 displays 5 each from the extended number of rotations 0 to the maximum number of motor expansion rotations. The b column in Table 1 represents the remainder obtained by dividing the expanded number of rotations by M, and the remainder of the maximum motor expanded number of rotations is (M−1) as shown in the b column 12 item.

  An example in which the motor gear ratio M is 5 is shown in the column c of Table 1 so that the description in the column b is easy. As shown in this figure, in the entire range of the expanded number of rotations, the column c, that is, the motor speed ratio rotation number 3 feedback, transitions in the range of 0 to 4, in other words, in the range of 0 to (M−1). To do.

  As described above, the motor speed ratio rotation number 3FB detector 042 incorporates the motor expansion rotation number feedback E regardless of the maximum rotation number Rmmax of the rotation number detected by the motor 05. The motor speed ratio rotation number 3 feedback Nmf3 that continuously changes with (the motor speed ratio M-1) is output.

  Next, the operation of the mechanical rotation phase 1 FB detector 035 of FIG. 8 will be described with reference to FIG. 10A shows the motor rotation phase feedback Pmf output by the motor rotation 2FB detector 041 of FIG. 8, and FIG. 10B shows the motor output by the motor speed ratio rotation number 3FB detector of FIG. FIG. 10 (c) shows the mechanical rotation phase 1 feedback Pkf1 generated and output by the mechanical rotation phase 1FB detector 035 as time elapses.

  In FIG. 10A, it is assumed that the motor 05 operates in the forward direction until time T3, stops from time T3 to T4, and operates in the reverse direction from time T4. As shown in the figure, the motor rotation phase feedback Pmf increases with time and increases during normal rotation and decreases during reverse rotation.

In FIGS. 10B and 10C, the motor gear ratio M is set to 5 for easy explanation.
In FIG. 10 (b), the motor speed ratio rotation frequency 3 feedback Nmf3 is counted up because it is normal rotation until time T3, and is counted down because it is reverse rotation after time T4. The Nmf3 is normal rotation at time T2 and becomes 4 to 0 due to overflow, and at time T6 is reverse and becomes 0 to 4 due to underflow.

In FIG. 10C, the mechanical rotation phase 1 feedback Pkf1 is obtained by the following equation (9). Here, (Pmmax + 1), Nmf3, and Pmf are the motor rotation phase resolution, motor speed ratio rotation frequency 3 feedback, and motor rotation phase feedback, respectively.
Pkf1 = (Pmmax + 1) × Nmf3 + Pmf (9)

Here, the equation (9) has been described with reference to FIG. 8, but in FIG. 1, if Nmf3 in the equation (9) is replaced with the motor speed ratio rotation number 1 feedback Nmf1, the mechanical rotation phase 1 feedback Pkf1 Can be detected. Further, in FIG. 6, the mechanical rotation phase 1 feedback Pkf1 can be similarly detected by replacing Nmf3 in the equation (9) with the motor speed ratio rotation frequency 2 feedback Nmf2.
Thus, in order to perform synchronous control in the synchronous drive device of the present invention, the mechanical rotation phase of the mechanical shaft responsible for production is detected instead of the motor shaft.

On the other hand, in FIG. 8, the mechanical rotational speed 1FB detector 033 receives the motor rotational phase feedback Pmf, and calculates the motor rotational speed feedback Vmf from the amount of change of the Pmf per fixed time as the first step. Next, as a second step, as shown in equation (10), the motor rotational speed feedback Vmf is divided by the motor speed ratio M to generate and output a mechanical rotational speed 1 feedback Vkf1.
Vkf1 = Vmf / M (10) Equation

  Similarly, in FIG. 8, the centralized control device 01 generates a rotation phase command and a rotation speed command for the mechanical shaft 08 instead of the motor 05, and a plurality of the synchronous drive devices 03 are generated based on the rotation command signal 02. To send. Then, the rotational phase speed command detector 031 incorporated in the synchronous drive device 03 receives the rotational command signal 02 and separates the rotational phase command and the rotational speed command, respectively, and the rotational phase command Ps for the mechanical shaft 08, respectively. The rotational speed command Vs is output.

Next, the adder / subtractor 036 calculates the speed deviation by adding / subtracting the rotational speed command Vs and the mechanical rotational speed 1 feedback Vkf1, and the speed deviation is input to the arithmetic controller 038 and the speed deviation is zero. It is controlled to become.
On the other hand, the adder / subtractor 037 calculates the phase deviation by adding / subtracting the rotational phase command Ps and the mechanical rotational phase 1 feedback Pkf1, and the phase deviation becomes an input to the arithmetic controller 038 so that the phase deviation becomes zero. It is controlled as follows.

The arithmetic controller 038 outputs a torque command to the power converter 039 so that the speed deviation and the phase deviation become 0, and the power converter 039 drives the motor 05.
In this way, the synchronous drive device 03 drives the motor 05 and the mechanical shaft 08 by synchronous control, following the rotational speed command and rotational phase command of the mechanical shaft output from the central control device 01 with high accuracy. It will be.

Next, a fourth embodiment will be described. FIG. 11 illustrates the configuration of the fourth embodiment, and FIG. 12 illustrates the operation thereof.
In FIG. 11, the centralized control device 010 generates a rotation command composed of a common rotation phase command Pcs and a common rotation speed command Vcs. Next, 044 and 046 are a machine rotation speed command detector and a machine rotation phase command detector, respectively, and 043 and 045 are a machine rotation speed 2FB detector and a machine rotation phase 2FB detector, respectively.
Further, the transmission 070 has a gear ratio of K / M unlike the previous embodiments, and K and M are respectively referred to as a mechanical gear ratio and a motor gear ratio, and are positive integers. Is rotated M times, the mechanical shaft 08 rotates K times. A feature of the fourth embodiment is that synchronous control is realized even at the gear ratio K / M.
The functions of FIG. 11 described above will be described sequentially below, and the other components having the same reference numerals as those of FIG. 8 have the same functions as those of FIG. 8 and will not be described.

Accordingly, the central control unit 010 firstly sets the resolution (Pcsmax + 1) of the common rotational phase command Pcs to the motor rotational phase resolution (Pmmax + 1) and the motor gear ratio M as shown in the equation (11). The common rotational speed command Vcs is generated at a ratio obtained by dividing the motor rotational speed feedback Vmf by the motor speed ratio M as shown in the equation (12).
(Pcsmax + 1) = (Pmmax + 1) × M (11) Formula Vcs = Vmf / M (12) Formula

The centralized control device 010 sends a rotation command composed of the common rotation phase command Pcs and a common rotation speed command Vcs to the synchronous drive device 03 via the rotation command signal 02.

Next, the rotational phase speed command detector 031 receives the rotational command signal 02 and separates it into the common rotational phase command Pcs and the common rotational speed command Vcs.
The mechanical rotational phase command detector 046 always maintains a mechanical rotational phase resolution (Pkmax + 1) that is equal to a value obtained by dividing the motor rotational phase resolution (Pmmax + 1) expressed by the equation (13) by the transmission gear ratio K / M. ing.
(Pkmax + 1) = (Pmmax + 1) / (K / M)
= (Pmmax + 1) × M / K (13)

Here, the equation (13) becomes the equation (14) according to the equation (11).
(Pkmax + 1) = (Pcsmax + 1) / K (14)

Further, the mechanical rotation phase command detector 046 receives the common rotation phase command Pcs, and divides the common rotation phase command Pcs by the mechanical rotation phase resolution (Pkmax + 1) of the equation (14) as shown in the equation (15). The remainder is output as a mechanical rotation phase command Pks.
Pks = Pcs% (Pkmax + 1) (15) Equation

Next, the mechanical rotational speed command detector 044 receives the common rotational speed command Vcs, multiplies it by the mechanical transmission ratio K, and generates and outputs a mechanical rotational speed command Vks as shown in equation (16).
Vks = Vcs x K (16) Equation

When synchronous control is established, the equation (16) becomes the following equation (17) from the equation (12).
Vks = Vmf × K / M (17)

Thus, the synchronous drive device 03 according to the present invention inputs the common rotation phase command Pcs and the common rotation speed command Vcs generated by the centralized control device 010, and outputs the mechanical rotation phase command Pks according to the equation (15). A mechanical rotation speed command Vks is generated and output from the equation (16).

The two command signals have been described so far with respect to FIG. 11. Next, two feedback signals generated by the mechanical rotation phase 2FB detector 045 and the mechanical rotation speed 2FB detector 043 will be described.
In FIG. 11, the mechanical rotation phase 2FB detector 045 detects the mechanical rotation phase 1 feedback Pkf1 as a first step. That is, the mechanical rotational phase 2FB detector 045 receives the motor rotational phase feedback Pmf and the motor speed ratio rotational frequency 3 feedback Nmf3 in the same manner as the mechanical rotational phase 1FB detector 035 of FIG. 1 Feedback Pkf1 is detected.

Next, similarly to the mechanical rotation phase command detector 046, the mechanical rotational phase 2FB detector 045 holds the mechanical rotational phase resolution (Pkmax + 1) of the equation (13). Then, the mechanical rotational phase 2FB detector 045 divides the mechanical rotational phase 1 feedback Pkf1 by the mechanical rotational phase resolution (Pkmax + 1) as shown in the equation (18) as in the equation (15) as the second step. The remainder is output as the mechanical rotation phase 2 feedback Pkf2.
Pkf2 = Pkf1% (Pkmax + 1) (18) Equation

Here, the resolution (Pkf1max + 1) of the mechanical rotational phase 1 feedback Pkf1 is the same value as the common rotational phase command resolution (Pcsmax + 1), and the mechanical rotational phase 2 feedback resolution (Pkf2max + 1) is the mechanical rotational phase resolution (Pkmax + 1). And the following equation (19) from the equation (14).
(Pkf1max + 1) = (Pcsmax + 1)
(Pkf2max + 1) = (Pkmax + 1)
From equation (14) (Pkf2max + 1) = (Pkf1max + 1) / K (19)

The mechanical rotation speed 2FB detector 043 receives the motor rotation phase feedback Pmf output from the motor rotation 2FB detector 041. As a first step, the motor rotation speed feedback Vmf is calculated from the amount of change per Pmf per fixed time. Calculate. Next, as shown in the equation (20) as in the equation (17) as a second step, the motor rotation speed feedback Vmf is multiplied by (K / M) to generate and output a mechanical rotation speed 2 feedback Vkf2.
Vkf2 = Vmf × K / M (20)

  Similarly, in FIG. 11, the machine rotation phase command Pks and the machine rotation phase 2 feedback Pkf2 are input to the adder / subtractor 037 to obtain a phase deviation, and the machine rotation speed command Vks and the machine rotation speed 2 feedback Vkf2 are added to the adder / subtractor 036. To obtain the speed deviation. The phase deviation and speed deviation are output to the arithmetic controller 038, and the synchronous driving device 03 drives the mechanical shaft 08 by synchronous control.

Next, each rotational phase described so far will be described with reference to FIG. In FIG. 12, for easy explanation, the gear ratio K / M is set to 3/5, and the mechanical shaft 08 is driven with synchronous control established, and FIGS. 12 (a), 12 (b) and ( c) represents temporal transitions of the common rotational phase command Pcs, the mechanical rotational phase command Pks, and the motor rotational phase feedback Pmf, respectively.
Then, as described in the equation (11), Pcs in FIG. 12A has a rotation phase maximum value that is (M = 5) times Pmf in FIG.
Further, as described in the equation (14), Pks in FIG. 12B has a waveform obtained by equally dividing Pcs in FIG. 12A (K = 3).

Next, FIGS. 12D and 12E show temporal transitions of the mechanical rotation phase 1 feedback Pkf1 and the mechanical rotation phase 2 feedback Pkf2, respectively. As described in the equation (19), Pkf2 in FIG. 12E has a waveform obtained by equally dividing Pkf1 in FIG. 12D (K = 3).
12A and 12D, the common rotational phase command Pcs and the mechanical rotational phase 1 feedback Pkf1 have the same rotational phase resolution.

  Then, the synchronous drive device 03 performs control so that the rotational phases in FIGS. 12B and 12E coincide with each other to drive the mechanical shaft 08 synchronously.

As described above, even if the gear ratio is K / M in FIG. 11, the synchronous drive device 03 according to the present invention has the mechanical rotation phase command Pks, the mechanical rotation speed command Vks, the mechanical rotation phase 2 feedback Pkf2, and The machine rotational speed 2 feedback Vkf2 is detected, the motor 05 is controlled, and the mechanical shaft 080 is driven synchronously.

FIG. 13 illustrates the configuration of the fifth embodiment of the apparatus of the present invention, and FIG. 14 illustrates the operation thereof.
FIG. 13 illustrates the overall configuration of the fifth embodiment, which is a synchronous drive system including a single centralized control device and a plurality of sets of the synchronous drive device, motor, transmission, and mechanical shaft. The synchronous drive devices 03a and 03b have the same function as the synchronous drive device 03 of FIG. 11, and the description thereof is omitted. The motor 05 and the rotary encoder 060 are also the same as those shown in FIG.

Now, 070a and 070b are transmissions, the gear ratios are Ka / Ma and Kb / Mb, respectively, and the gear ratios are different, and 08a and 08b are the respective mechanical shafts. Ka, Ma, Kb, and Mb are positive integers. When the mechanical shaft 08a rotates Ka, the motor 05 that drives this rotates Ma, and when the mechanical shaft 08b rotates Kb, the motor 05 drives this. Rotates Mb. Further, when the mechanical shaft 08a rotates Ka, the mechanical shaft 08b rotates Kb.
Here, in FIG. 13, two sets of the synchronous drive device, the motor, the transmission, and the mechanical shaft are illustrated as examples due to space limitations, but it goes without saying that the same applies to three or more sets.

Next, FIG. 13 will be described with reference to FIG. In FIG. 14, for ease of explanation, the transmission speed ratio Ka / Ma of the a set is 3/5, and the transmission ratio Kb / Mb of the b set is 2/7.
14 (a), (b), (c) and (e) are for explaining the operation of the device of FIG. 13a, which is shown in FIGS. 12 (a), (b), This is the same as (c) and (e), and the description thereof is omitted.

  FIGS. 14 (bb), (cc), and (ee) are for explaining the operation of the device b in FIG. 13. Although the gear ratio is different, FIGS. 12 (b), (c), and (ee) are used. This corresponds to e). That is, Pksb in FIG. 14 (bb) has a waveform obtained by equally dividing Pcs in FIG. 14 (a) by (Kb = 2) according to the equation (14), and Pmfb in FIG. The waveform is obtained by equally dividing Pcs in FIG. 14A by (Mb = 7). As described in the equation (19), Pkf2b in FIG. 14 (ee) has a waveform obtained by equally dividing b sets of mechanical rotation phase 1 feedback Pkf1b (not shown) into (Kb = 2).

14 is summarized, the synchronous drive device 03a performs control so that the rotational phases of FIG. 14 (b) and FIG. 14 (e) coincide with each other to drive the mechanical shaft 08a synchronously. The driving device 03b controls the mechanical shaft 08b synchronously by performing control so that the rotational phases of b sets in FIG. 14 (bb) and FIG. 14 (ee) match.
Here, both the mechanical rotation phase commands in FIG. 14B and FIG. 14B are generated from the common rotation phase command Pcs in FIG. 14A. Therefore, when the synchronous control is executed, when the common rotation phase command Pcs of FIG. 14A makes one rotation, the mechanical rotation phase 2 feedback Pkf2a of FIG. 14E becomes (Ka = 3) rotation. The mechanical rotation phase 2 feedback Pkf2b in FIG. 14 (ee) is (Kb = 2) rotation.
In other words, when the mechanical shaft 08a rotates (Ka = 3), the mechanical shaft 08b is synchronously driven so as to rotate (Kb = 2).

In this way, the synchronous drive devices 03a and 03b of FIG. 13 follow the rotation command output from the centralized control device 010 even if the gear ratio (K / M) of the machine shaft is different from each other. The shafts 08a and 08b are driven synchronously.

The transmission gear ratio is 1 / M and K / M, and the range of selection is expanded to realize section drive for film and paper stretching devices, manufacturing devices, conveyor devices such as belt conveyors, and shaftless rotary printing presses. .

01 Central control device 010 Central control device 02 Rotation command signal

03 Synchronous drive device 03a Synchronous drive device 03b Synchronous drive device

031 Rotational phase speed command detector 032 Motor rotational phase 1 FB detector 033 Mechanical rotational speed 1 FB detector 034 Motor speed ratio rotational frequency 1 FB detector 0340 Non-volatile memory 035 Mechanical rotational phase 1 FB detector 036 Adder / subtractor 037 Adder / subtractor 038 Operation control 039 Power converter

040 Motor gear ratio rotation frequency 2FB detector 041 Motor rotation 2FB detector 042 Motor gear ratio rotation frequency 3FB detector 043 Machine rotation speed 2FB detector 044 Machine rotation speed command detector 045 Machine rotation phase 2FB detector 046 Machine rotation phase command Detector

05 Motor 06 Rotary encoder (detects Pmf)
060 Rotary encoder (detects Pmf and Rmf)
061 Encoder signal 07 Transmission (speed ratio is 1 / M)
070 transmission (gear ratio is K / M)
070a Transmission (gear ratio is K / M)
070b Transmission (gear ratio is K / M)
08 Machine axis 08a Machine axis 08a Machine axis

E Motor expansion speed feedback K Mechanical speed ratio K / M Speed ratio M Motor speed ratio N Motor virtual speed feedback Nmfnv Backup motor speed ratio speed feedback Nmf1 Motor speed ratio speed 1 feedback Nmf2 Motor speed ratio speed 2 feedback Nmf3 Motor gear ratio rotation count 3 feedback

Pcs Common rotational phase command Pcsmax Common rotational phase command maximum value Pcsmax + 1 Common rotational phase command resolution Pks Mechanical rotational phase command Pksa Mechanical rotational phase command Pksb Mechanical rotational phase command Pkmax Mechanical rotational phase maximum value Pkmax + 1 Mechanical rotational phase resolution Pkf1 Mechanical rotational phase 1 feedback Pkf2 Mechanical rotational phase 2 feedback Pkf2a Mechanical rotational phase 2 feedback Pkf2b Mechanical rotational phase 2 feedback Pmf Motor rotational phase feedback Pmfa Motor rotational phase feedback Pmfb Motor rotational phase feedback Pmfnv Backup motor rotational phase feedback Pmf (n) Motor rotational phase of current scan Feedback Pmf (n-1) Pre-scanning motor rotation phase feedback Pmmax Motor Rotation phase maximum value Pmmax + 1 Motor rotation phase resolution Ps Rotation phase command

Rmf Motor rotation frequency feedback Rmf (n) Current rotation motor rotation frequency feedback Rmf (n-1) Previous scan motor rotation frequency feedback Rmmax Motor rotation frequency maximum value Rmmax + 1 Motor rotation frequency resolution

Vcs common rotational speed command Vkf1 mechanical rotational speed 1 feedback Vkf2 mechanical rotational speed 2 feedback Vmf motor rotational speed feedback Vs rotational speed command


ΔPmf Motor rotation phase feedback change amount ΔPmfnv Motor rotation phase feedback change amount by backup + LMT Motor rotation phase feedback change positive maximum value−LMT Motor rotation phase feedback change negative maximum value

Claims (8)

The synchronous drive device included in a drive system including a centralized control device and a plurality of synchronous drive devices, a motor, a rotary encoder, and a mechanical shaft,
The centralized control device generates a rotation phase command and a rotation speed command and sends this to the plurality of synchronous drive devices,
In each of the plurality of synchronous drive devices, each individual synchronous drive device receives the rotational phase command and the rotational speed command from the centralized control device, and
The synchronous drive device detects machine rotation phase 1 feedback and machine rotation speed 1 feedback from the rotary encoder,
A phase deviation is detected from the rotation phase command and the machine rotation phase 1 feedback, a speed deviation is detected from the rotation speed command and the machine rotation speed 1 feedback, a torque command is calculated, and synchronous control of the motor is performed.
Wherein the rotational speed command and the rotational phase command of the centralized control device, the rotational speed and rotational phase of the machine shaft driven by said motor and a high precision synchronous causes the synchronous drive apparatus,
The motor is connected to the mechanical axis in the transmission of the supplied rotary encoder gear ratio 1 / M (the power of the motor speed ratio M 2),
The synchronous drive device includes a motor rotation phase 1FB detector that receives an encoder signal output from the rotary encoder, and detects motor rotation phase feedback.
The synchronous drive device has a built-in motor speed ratio rotation speed 1FB detector,
The motor speed ratio rotation number 1FB detector inputs the motor rotation phase feedback output from the motor rotation phase 1FB detector, and outputs the motor speed ratio rotation number 1 feedback,
The motor speed ratio rotation speed 1FB detector has a built-in motor virtual rotation speed feedback. When the motor is operating in the normal rotation, the motor rotation phase feedback is monitored, and the motor virtual rotation speed feedback is performed every rotation. After counting up one by one, the logical AND operation of the motor virtual rotation number feedback and (motor speed ratio M-1) is used as a new motor speed ratio rotation number 1 feedback,
The motor gear ratio rotation frequency 1FB detector is:
When the motor is operating in reverse, the motor rotation phase feedback is monitored, and after each rotation, the motor virtual rotation frequency feedback is counted down by one, and then the motor virtual rotation frequency feedback and (motor speed ratio M-1) And the logical AND operation of the new motor speed ratio rotation number 1 feedback,
A synchronous drive device comprising a built-in motor speed ratio rotation speed 1FB detector for detecting a motor speed ratio rotation speed 1 feedback in a range of 0 to (M-1). The synchronous drive device incorporates a nonvolatile memory, and updates the motor rotation phase feedback and the motor gear ratio rotation frequency 1 feedback when the power is on, and then backs up the motor rotation phase feedback for backup and the motor gear ratio rotation frequency for backup. 1 stored in the non-volatile memory as feedback ,
When the synchronous drive device is turned off and turned on again,
The motor rotation phase 1FB detector newly detects motor rotation phase feedback, and compares the motor rotation phase feedback with the backup motor rotation phase feedback,
When the motor rotates beyond the maximum motor rotation phase, this is set to 0 when the backup motor speed ratio rotation frequency 1 feedback is (motor speed ratio M-1), and 1 otherwise. While counting up and correcting to the number of rotations that proceeded in the forward rotation direction, this is used as a new motor speed ratio rotation number 1 feedback,
When the motor rotates past the minimum motor rotation phase feedback value, that is, 0, when the backup motor speed ratio rotational frequency 1 feedback is 0, this is set to (motor speed ratio M-1), and otherwise In this case, the number of rotations is counted down by 1 and corrected to the number of rotations advanced in the reverse rotation direction.
2. The motor speed ratio rotation number 1 feedback is corrected correctly by correcting the backup motor speed ratio rotation number 1 feedback even when the power is turned off once and then turned on again. Synchronous drive device. The synchronous drive device included in a drive system including a centralized control device and a plurality of synchronous drive devices, a motor, a rotary encoder, and a mechanical shaft,
The centralized control device generates a rotation phase command and a rotation speed command, and sends them to a plurality of previous synchronous driving devices,
In each of the plurality of synchronous drive devices, each individual synchronous drive device receives the rotational phase command and the rotational speed command from the centralized control device, and
The synchronous drive device detects machine rotation phase feedback and machine rotation speed feedback from the rotary encoder,
A phase deviation is detected from the rotation phase command and the machine rotation phase feedback, a speed deviation is detected from the rotation speed command and the machine rotation speed feedback, a torque command is calculated, and synchronous control of the motor is performed.
Wherein the rotational phase command and the rotation speed command of the centralized control device, the rotational speed and rotational phase of the machine shaft driven by said motor to a synchronous drive apparatus for accurately synchronized,
The motor said included a rotary encoder gear ratio 1 / M (motor gear ratio M is a positive integer) are connected to the mechanical axis in the transmission,
The synchronous drive device includes a motor rotation phase 1FB detector that receives an encoder signal output from the rotary encoder, and detects motor rotation phase feedback.
The synchronous drive device has a built-in motor speed ratio rotational speed 2FB detector, and the motor speed ratio rotational speed 2FB detector inputs a motor rotational phase feedback output from the motor rotational phase 1FB detector and rotates the motor speed ratio. Output 2 times feedback,
When the motor is operating in the normal rotation, the motor gear ratio rotation frequency 2FB detector monitors the motor rotation phase feedback and makes the motor gear ratio rotation frequency 2 feedback (motor speed ratio M -1), the counted up value is set to 0. In other cases, the value is incremented by 1 and this is set as a new motor speed ratio rotation number 2 feedback,
The motor speed ratio rotation number 2FB detector monitors the motor rotation phase feedback when the motor is operating in reverse, and whenever the motor speed ratio rotation number 2 feedback is 0, The counted down value is (motor speed ratio M-1), otherwise it is counted down by 1 and this is used as a new motor speed ratio rotation number 2 feedback,
The motor speed ratio M is a positive integer, and the motor speed ratio speed 2FB detector for detecting the motor speed ratio speed 2 feedback in the range of 0 to (M-1) is incorporated. Synchronous drive device. The synchronous drive device has a non-volatile memory and when the power is on, after updating the motor rotation phase feedback and the motor gear ratio rotation number 2 feedback, the backup motor rotation phase feedback and the backup motor gear ratio rotation frequency, respectively. 2 stored in the non-volatile memory as feedback,
When the synchronous drive device is turned off and then turned on again,
The motor rotation phase 1FB detector newly detects motor rotation phase feedback,
Comparing the motor rotation phase feedback and the backup motor rotation phase feedback,
When the motor is rotating in the forward direction exceeding the motor rotation phase feedback maximum value, when the backup motor speed ratio rotation frequency 2 feedback is (motor speed ratio M-1), this is set to 0. Otherwise, it is incremented by 1 and corrected to the number of revolutions advanced in the forward direction by 1, and this is used as a new motor speed ratio revolution number 2 feedback,
When the motor is rotating in the reverse direction exceeding the motor rotation phase feedback minimum value, that is, 0, when the backup motor speed ratio rotation frequency 2 feedback is 0, this is set as (motor speed ratio M-1), Otherwise, it is counted down by 1 and corrected to the number of revolutions advanced in the reverse direction by 1, and this is a new motor speed ratio revolution number 2 feedback,
4. The synchronous drive device according to claim 3, wherein even if the power is turned off and then turned on again, the backup motor speed ratio rotational speed 2 feedback is corrected to obtain the motor speed ratio rotational speed 2 feedback correctly. 5. . The synchronous drive device included in a drive system including a centralized control device and a plurality of synchronous drive devices, a motor, a rotary encoder, and a mechanical shaft,
The centralized control device generates a rotation phase command and a rotation speed command, and sends them to a plurality of previous synchronous driving devices,
In each of the plurality of synchronous drive devices, each individual synchronous drive device receives the rotational phase command and the rotational speed command from the centralized control device, and
The synchronous drive device detects machine rotation phase feedback and machine rotation speed feedback from the rotary encoder,
A phase deviation is detected from the rotation phase command and the machine rotation phase feedback, a speed deviation is detected from the rotation speed command and the machine rotation speed feedback, a torque command is calculated, and synchronous control of the motor is performed.
Wherein the rotational phase command and the rotation speed command of the centralized control device, the rotational speed and rotational phase of the machine shaft driven by said motor to a synchronous drive apparatus for accurately synchronized,
The motor said included a rotary encoder gear ratio 1 / M (motor gear ratio M is a positive integer) are connected to the mechanical axis in the transmission,
The rotary encoder detects the motor rotation phase and the number of motor rotations and sends it as an encoder signal,
The synchronous drive device incorporates a motor rotation 2FB detector that receives an encoder signal output from the rotary encoder, and detects motor rotation phase feedback and motor rotation frequency feedback.
The synchronous drive device has a built-in motor speed ratio rotation speed 3FB detector,
The motor speed ratio rotation number 3FB detector inputs the motor rotation number feedback output from the motor rotation 2FB detector and outputs the motor speed ratio rotation number 3 feedback,
The motor speed ratio rotation number 3FB detector incorporates a motor expansion rotation number feedback, and monitors the motor rotation number feedback when the motor is operating,
When the motor is operating in the normal rotation, when the motor rotation frequency feedback changes from the maximum motor rotation frequency feedback value to 0, and when the motor expansion rotation frequency feedback is (motor speed ratio M-1), this Is set to 0, otherwise it is incremented by 1,
When the motor is operating in reverse rotation, when the motor rotation frequency feedback changes from 0 to the motor rotation frequency feedback maximum value, when the motor expansion rotation frequency feedback is 0, this is (motor speed ratio M-1). ), Otherwise it counts down by one,
The motor speed ratio rotation speed 3FB detector is obtained by multiplying (motor rotation speed feedback) by (motor rotation speed resolution) and adding the motor rotation speed feedback to the motor speed ratio M. Is generated as the feedback of the motor speed ratio rotation number 3 and
A synchronous drive apparatus comprising a built-in motor speed ratio rotation speed 3FB detector for detecting the motor speed ratio rotation speed 3 feedback in the range of 0 to (M-1). The synchronous drive device has a built-in mechanical rotation phase 1 FB detector, and the mechanical rotation phase 1 FB detector is set to (motor rotation phase resolution) (the motor speed ratio rotation number 1 feedback) and (the motor speed ratio rotation number 2 feedback). ), Or (motor speed ratio rotation frequency 3 feedback), and the motor rotation phase feedback is added to this to generate and output a mechanical rotation phase 1 feedback,
4. The machine rotation phase 1 feedback of the machine shaft can be detected regardless of M at any speed ratio 1 / M (the motor speed ratio M is a positive integer). The synchronous drive device according to claim 5. The synchronous drive device has a built-in rotation phase speed command detector for inputting the rotation phase command and the rotation speed command, detects the rotation phase command and the rotation speed command,
The motor is connected to the mechanical axis in the transmission comes the rotary encoder,
The transmission speed change ratio K / M (mechanical transmission ratio K and the motor speed ratio M is a positive integer) a mechanical axis by M the rotation of the motor by the speed-change ratio K / M intended to K rotating,
Before SL centralized controller, common rotational resolution of the phase command is generated as a value obtained by multiplying the motor speed ratio M to the motor rotation phase feedback resolution, common rotational speed command dividing the motor rotational speed feedback by the motor speed ratio M A rotation command signal based on a common rotation phase command and a common rotation speed command,
The rotational phase speed command detector is configured to input the rotation command signal and separate and output a common rotational phase command and a common rotational speed command,
The synchronous drive device incorporates a machine rotation phase command detector and a machine rotation speed command detector,
The machine rotation phase command detector holds a machine rotation phase resolution equal to a value obtained by dividing the motor rotation phase resolution by the gear ratio K / M, and then divides the common rotation phase command by the machine rotation phase resolution. The remainder is output as a machine rotation phase command,
The mechanical rotational speed command detector multiplies the common rotational speed command by a mechanical speed ratio K and outputs the result as a mechanical rotational speed command,
The common rotation phase command and the common rotation speed command output from the central control device are input, and the machine rotation phase command and the machine rotation speed command corresponding to the gear ratio K / M are detected,
In addition to the motor rotation 2FB detector and the motor speed ratio rotation frequency 3FB detector, the synchronous drive device includes a mechanical rotation phase 2FB detector and a mechanical rotation speed 2FB detector.
The motor rotation 2FB detector detects motor rotation phase feedback and motor rotation frequency feedback,
The motor speed ratio rotation number 3FB detector inputs the motor rotation number feedback and outputs the motor speed ratio rotation number 3 feedback;
The mechanical rotational phase 2FB detector, as a first step, multiplies (motor rotational phase resolution) by the motor speed ratio rotational frequency 3 feedback, and adds the motor rotational phase feedback to this to generate mechanical rotational phase 1 feedback,
Next, as a second step, the remainder obtained by dividing the machine rotation phase 1 feedback by the machine rotation phase command resolution (the value obtained by multiplying the motor rotation phase resolution by the reverse transmission ratio M / K) is generated and output as the machine rotation phase 2 feedback. And
The mechanical rotational speed 2FB detector generates and outputs a value obtained by multiplying the motor rotational speed feedback by the gear ratio K / M as mechanical rotational speed 2 feedback,
The machine rotation phase 2 feedback that is the rotation phase of the machine shaft and the machine rotation speed 2 feedback that is the rotation speed of the machine shaft are detected regardless of what K and M are in the gear ratio K / M.
6. The synchronous drive according to claim 5, wherein said machine rotation phase command is operated with said machine rotation phase 2 feedback, and said machine rotation speed command is operated with said machine rotation speed 2 feedback to enable synchronous control of the machine axis. Equipment . A drive system comprising the centralized control device and a plurality of sets of the synchronous drive device, a motor, a transmission, and a mechanical shaft,
Even when the gear ratios of the plurality of transmissions are different from Ka / Ma and Kb / Mb (Ka, Ma, Kb, and Mb are positive integers),
The synchronous drive device includes the mechanical rotation phase command detector, the mechanical rotation speed command detector, the mechanical rotation phase 2FB detector, and the mechanical rotation speed 2FB detector,
The machine rotation phase command, the machine rotation speed command, the machine rotation phase 2 feedback, and the machine rotation speed 2 feedback are detected to perform arithmetic control.
Wherein even when the gear ratio of the transmission are different, in accordance with the rotation speed command and the rotational phase command said centralized control unit outputs, according to claim 7, characterized in that to realize a synchronous control of a plurality of machine axes The synchronous drive device described in 1.

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