JPH01130021A - Rotation controller - Google Patents

Abstract

PURPOSE:To improve responsiveness by controlling the opening and closing of throttle on the basis of a throttle opening and closing position detected by a rotary encoder. CONSTITUTION:A rotary encoder 12 is provided coaxially with a shaft 13 of a motor 11 mounting a throttle 14 of a prime mover. Pulses generated from the rotary encoder 12 to represent the rotational displacement of throttle 14 are counted by a counter 17 to measure the rotational displacement of throttle 14. A counter 17 is related to the opening and closing position of throttle 14, so that said position can be obtained from the counting valve. Further, the motor 11 is rotated until errors between the counting valve and PWM signal of a PWM circuit section 8 become zero, so that the opening of throttle 14 is controlled. Since the position of throttle 14 is thus detected by the rotary encoder 12 and correction control is carried out, an excellent responsiveness is provided.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a two-rotation control device, and particularly to an actuator in which a motor with an encoder controls the opening and closing of a throttle, which determines the rotational speed of a prime mover. .

(Prior art) In a conventional two-engine generator system, a governor control device is provided to keep the rotation speed of the prime mover constant, and even if the load on the two generators fluctuates, the governor control device maintains the rotation speed of the prime mover constant. An automatic control system is used to maintain the generator frequency constant.

Traditionally, mechanical governor control devices have been used, but recently electronic ones have come into use.

The electronic governor control device used in conventional motor generators uses a rotary solenoid to control the opening and closing of the throttle of the prime mover and its drive, and uses a rotary solenoid to control the throttle driving force and the throttle section to control the opening and closing of the throttle of the prime mover. The opening and closing positions of the throttle were controlled by the force balance with the elastic force of the spring.

(Problem to be Solved by the Invention) Conventionally, in the conventional control of the throttle opening/closing position by balancing the force between the low-closing solenoid and the spring, the low-closing solenoid is constantly activated in order to stop and fix the throttle at the opening/closing position. The drawback was that there was a lot of energy loss because electricity had to be turned on.

Also, it takes time for the throttle opening/closing position to become stable when the islander power generated by the low-criteria solenoid and the spring elastic force are balanced.

Its responsiveness was poor and, at zero o'clock, it was sometimes worse than the responsiveness of the prime mover, and it also had the disadvantage of causing hunting.

The present invention aims to solve the above-mentioned drawbacks,
A rotary encoder detects the opening/closing position of the throttle, and a motor that controls opening/closing of the throttle based on the detected position is used.
The object of the present invention is to provide an actuator that drives a torque and controls its opening and closing.

(Means for Solving the Problems) Therefore, the rotation control device of the present invention is equipped with a governor control device, and is used in the governor control device in a motor generator device in which constant speed rotation control of a prime mover is performed.

A voltage detection circuit and a rotation speed detection circuit that respectively detect the rotation speed of the prime mover in terms of voltage and rotation speed, and a fail that prioritizes the detection signal of either the voltage detection circuit or the rotation speed detection circuit and uses it as the rotation speed detection signal.・Detects the safe circuit and the weight of the motor load.

An automatic gain adjustment circuit that changes the gain of the control system according to the weight, and a PI that creates a control signal for PID fi control based on the output obtained from the automatic gain adjustment circuit.
A D regulator, a PWM circuit unit that converts the output of the prD regulator into a pulse width control signal, an actuator that controls the rotation of the prime mover in accordance with the PWM signal output from the PWM circuit unit, and each of the above circuit units. The actuator further includes an encoder for detecting opening/closing of the throttle, a counter for receiving the output of the encoder and instructing the opening/closing position of the throttle, and a counter for instructing the opening/closing position of the throttle when the power is turned on. The present invention is characterized by comprising an initialization circuit that initializes the counter and a motor that drives the throttle based on the contents of the counter in order to associate the contents of the performance counter with the opening and closing positions of the throttle. An embodiment of the present invention will be described below with reference to the drawings.

(Example) Fig. 1 is a basic configuration diagram of an actuator of a rotation control device according to the present invention, Fig. 2 is an example configuration of an actuator of a rotation control device according to the present invention, and Fig. 3 (+), (n ) is a diagram of the configuration of the rotary encoder and its output waveform, Figure 4 is an explanatory diagram of the relative position of the signal output that initializes the counter, and Figure 5
The figure shows the configuration of an embodiment of a motor generator device in which the actuator of the rotation control device according to the present invention is used.

Before explaining the actuator of the rotation control device according to the present invention shown in FIGS. 1 to 4, an outline of how the prime mover in the motor generator is automatically controlled by the governor control device will first be explained using FIG. 5. I'll keep it.

In FIG. 5, numeral 1 is a motor generator, 2 is a rotation speed detection circuit, 3 is a voltage detection circuit, 4 is a fail-safe circuit,
5 is an automatic gain adjustment circuit, 6 is a PID adjuster, 7 is an amplifier, 8 is a PWM circuit section, 9 is an actuator, and 10 is a power supply device.

From the prime mover or generator side of the motor generator ml, if the rotational fluctuation of the motor generator 1 due to load fluctuation or some other cause is 9
The rotation speed detection circuit 2 and the voltage detection circuit 3 individually detect the rotation speed. A rotation speed detection signal detected by the rotation speed detection circuit 2.

The voltage detection signal detected by the voltage detection circuit 3 is outputted to one of the detection signals 9 by the fail-safe circuit 4.
For example, the voltage detection signal is preferentially selected as the rotation speed detection signal of the motor generator I.

The other rotation speed detection signal is such that when an abnormality occurs in the voltage detection circuit 3 system, the rotation speed detection signal obtained from the rotation speed detection circuit 2 replaces the voltage detection signal obtained from the voltage detection circuit 3. Fail-safe circuit 4 as a number detection signal
It is designed to prevent the occurrence of abnormal rotation such as runaway of the prime mover. The automatic gain adjustment circuit 5 detects the lightness or weight of the current load from the output of the motor generator 1, and determines the gain of the control system according to the weight of the load.

Then, in order for the gain of the system to be set to this determined value,
a detection signal selected from the fail-safe circuit 4;
That is, the voltage detection signal is amplified.

Subsequently, the PID adjuster 6 minimizes the residual deviation between the target value and the final value, that is, the steady-state error, and changes the responsiveness into a control signal that should quickly follow rotational fluctuations. The control signal is amplified by an amplifier 7.

Furthermore, the control signal is converted into a PWM signal in the PWM circuit section 8. The actuator 9 of the rotary encoder is controlled by the PWM signal, and the rotational speed of the prime mover in the motor generator I is controlled to be constant according to the angle output by the actuator. Positive and negative 2 from the power supply device 10 to each circuit section
Polar power supply voltage is supplied. Positive and negative voltages supplied from this power supply device 10 cause the rotation of the rotary encoder of the actuator 9 to be rotated in the positive or reverse direction according to the pulse width of the PWM signal, thereby providing a positive and negative control angle signal that keeps the rotational speed of the prime mover constant. I am getting .

Next, the actuator of the rotation control device according to the present invention will be explained with reference to FIG.

In Fig. 1, reference numeral 9 11 is a motor, 12 is a rotor
Encoder, 13 is shaft, 14 is throttle, 15
16 is an initialization circuit, and 17 is a counter.

A rotary encoder 12 is provided coaxially with the shaft 13 of the motor 11, and a throttle 14 of a prime mover is attached directly or indirectly to the shaft 13 of the motor 11. Therefore, the rotation of the motor 11 controls the opening/closing angle, that is, the opening/closing position of the throttle 14. On the other hand, the rotary encoder 12 outputs a pulse representing the amount of rotational movement of the throttle 14.

For example, by counting with counter 17.

The amount of rotational movement of the throttle 14 is measured. If the counter 17 and the opening/closing position of the throttle 14 are associated with each other, the opening/closing status of the throttle 14 can be determined from the contents of the counter 17, that is, the count value.

In other words, the open/close position can be known. Therefore.

When the power is turned on, the initialization circuit 16 sends a signal to rotate the motor 11, rotates the rotary encoder 12 via the motor 11, resets the contents of the counter 17, and associates it with the throttle 14.

After the counter 17 and the position of the throttle 14 are associated, the error between the contents of the counter 17, that is, the count value, and the PWM signal from the PWM circuit section 8 shown in FIG. 5 is calculated. The motor 11 is rotated until the error amount becomes zero. The rotation of the motor 11 is stopped at the opening/closing position of the throttle 14 where the error amount is exactly zero.

That is, the throttle 14 is driven by a motor with an encoder, and the opening/closing degree of the throttle 14 is controlled.

In this way, since the position of the throttle 14 is detected by the low-rise encoder 12 and correction control is performed, responsiveness is excellent, and energy is not required to maintain the throttle 14 at that position after the correction is completed.

FIG. 2 shows the configuration of an embodiment of the actuator of the rotation control device according to the present invention, where numerals 1.8 correspond to those in FIG. 5, and 11 to 15 correspond to those in FIG. 1. There is. Reference numeral 18 is a direction discriminator.

19 represents an up/down counter, and 20 represents an OR circuit.

The configuration of FIG. 2 is the same as that of FIG. 1.

The initialization circuit 16 is composed of an OR circuit 20.

Generally, the rotary encoder 12 is set so as to output the Z-phase signal of the rotary encoder 12 within the movement range of the throttle 14, that is, within the rotation range.

Here, the Z-phase signal of the rotary encoder 12 refers to a signal that is output once per one rotation of the rotary encoder 12. ). That is, one light emitting diode 23 and a photo sensor 2, which is a light receiving element, are sandwiched between a rotating slit plate 21 and a fixed slit plate 22.
4-1, 24-2, and 24-3 are provided facing each other.

As the rotating slit plate 21 rotates, the holes drilled in the rotating slit plate 21 coincide with the holes drilled in the fixed slit plate 22, and at that time, light from the light emitting diode 23 is transmitted to the photo sensor 24-. 1 to 24-3. The signals detected by the photo sensors 24-1 to 24-3 are sent to a corresponding waveform shaping circuit 25.
-1 to 25-3, and then appropriately amplified by respective amplifiers 26-1 to 26-3 to form the A phase.

Pulses of B-phase and Z-phase signals are output. Figure 3 (I
I) As shown in the figure, the A-phase and B-phase signals are output as pulses with a phase difference of 90'', and the Z-phase signal is output once when the rotating slit plate 21 rotates once. This is a pulse with a phase difference of 90'' from each other, B
The forward rotation or reverse rotation of the slit plate 21 for one rotation can be detected from the way the phase signals are output. The direction discriminator 18 in FIG. 2 is a circuit that discriminates the rotation direction of the motor 11.

For example, the direction of rotation can be obtained by ANDing the edge detection of the human phase signal and the B-phase signal. Furthermore, the amount of rotational movement of the motor 11 can be detected by reading the A-phase or B-phase output pulse output from the rotary encoder 12 with a counter.
A down counter 19 is used. The rotary encoder 12 outputs to the up/down counter 19 a pulse signal of either the A phase or the B phase of the up signal or down signal accompanied by the rotational direction signal detected by the direction discriminator 1 day. It has become.

The Z-phase signal output from the low-order encoder 12 is input to the up/down counter 19 via the OR circuit 20, and the up/down counter 19 is preset to a preset value N from a circuit not shown. Note that a power-on signal is also input to the OR circuit 20, and the up/down counter 1 is also input when the power is turned on.
9 is precented with the recent value N.

Now, when the power is turned on and a power-on pulse is applied to the OR circuit 20, the up/down counter 19 is preset to the preset value N. The motor 11 is rotated based on the preset value N set in the amplifier down counter 19, and the throttle 14 is opened to a rotational movement amount corresponding to the preset value N and then stopped.

The stop position of the throttle 14 and the output timing of the Z-phase signal output from the rotary encoder 12-.

That is, when the Z-phase point is on the open side of the throttle 14 as shown in FIG.
4 moves in the closing direction.

As a result, the rotation of the prime mover of motor generator 1 decreases, so 2
The automatic rotation control operates, and a PWM signal in the direction of opening the throttle 14 is sent from the PWM circuit section 8 to the motor 11.
output towards. Therefore, the position of the throttle 14 is Z
Pass through phase points.

A Z-phase signal is output from the rotary encoder 12.

The Z-phase signal is passed through an OR circuit 20 to
The counter 19 is preset to a preset value N. In other words, the position of the throttle 14 where the low encoder 12 outputs the Z-phase signal and the amplifier down counter 19
and the contents are associated with each other. That is, the up/down counter 19 is initialized.

On the other hand, when the Z-phase point is on the closing side of the throttle 14, the up/down counter 19 has a value closer to the actual value, so the throttle 14 moves in the opening direction. As a result, the rotation of the prime mover of the starting power generator m1 increases, so the automatic control of two rotation control operates, and a PWM signal in the direction of closing the throttle 14 is sent from the PWM circuit section 8 to the motor 1.
1. Therefore, the position of the throttle 14 passes through the Z-phase point, and a Z-phase signal is output from the rotary encoder 12. The glz phase signal causes the amplifier down counter 19 to preset the recent value N via the OR circuit 20. In this case, as in the case above,
The position of the throttle 14 at which the low-resolution encoder 12 outputs the Z-phase signal is associated with the contents of the amplifier down counter 19, and the amplifier down counter 19 is initialized.

(Effects of the Invention) As explained above, according to the present invention, when the rotational speed of the prime mover is stable, the actuator controlling the throttle does not require electric power, so power consumption can be reduced.

Furthermore, the open/close position of the throttle is detected by an encoder and a counter, and the throttle is electronically controlled to the open/close position, resulting in improved responsiveness.

When the power is turned on, the counter indicating the opening/closing state of the throttle can be easily initialized, making handling easier.

[Brief explanation of the drawing]

FIG. 1 is a basic configuration diagram of an actuator of a rotation control device according to the present invention, FIG. 2 is an example configuration of an actuator of a rotation control device according to the present invention, and FIG. The configuration of the encoder and its output waveform diagram, Figure 4 is a diagram explaining the relative position of the signal output that initializes the counter, and Figure 5
The figure shows the configuration of an embodiment of a motor generator device in which the actuator of the rotation control device according to the present invention is used. In the figure, 1 is a motor generator and 2 is a rotation speed detection circuit. 3 is a voltage detection circuit, and 4 is a fail-safe circuit. 5 is an automatic gain adjustment circuit, 6 is a PID adjuster, 7 is an amplifier, 8 is a PWM circuit section, and 9 is an actuator. 10 is a power supply device, 11 is a motor, 12 is a rotary encoder, 13 is a shaft, 14 is a throttle, 15 is a tube, 16 is an initialization circuit, and 17 is a counter.

Claims (1)

[Claims] In a motor generator device that includes a governor control device and performs constant speed rotation control of a prime mover, the governor control device includes a voltage detection circuit and a rotation speed detection circuit that respectively detect the rotation speed of the prime mover in terms of voltage and rotation speed; A fail-safe circuit that prioritizes the detection signal of either the voltage detection circuit or the rotation speed detection circuit as the rotation speed detection signal, and a fail-safe circuit that detects the weight of the load on the prime mover and controls the control system according to the weight. An automatic gain adjustment circuit that changes the gain, a PID adjuster that creates a control signal for PID control based on the output obtained from the automatic gain adjustment circuit, and converts the output of the PID adjuster into a pulse width control signal. a PWM circuit unit that controls the rotation of the prime mover in response to a PWM signal output from the PWM circuit unit; teeth,
An encoder that detects opening and closing of the throttle, a counter that receives the output of the encoder and indicates the opening and closing position of the throttle, and an initial value that initializes the counter to associate the contents of the counter with the opening and closing position of the throttle when the power is turned on. 1. A rotation control device comprising: a conversion circuit; and a motor that drives a throttle based on the contents of the counter.