JPH01222684A - Synchronous controller - Google Patents

Abstract

PURPOSE:To need no reference point match at the time of starting and shorten a synchronous desired time and simplify synchronous operation, by setting the Z-phase pulse signal of the original signal of an encoder, as a reference, and by controlling the speed of a follow-up side machine. CONSTITUTION:By a phase difference detection circuit 8, each Z-phase pulse signal of encoders 3a, 3b is respectively set as clear and latch signal, and the pulse number of four-times frequency pulse signal from a frequency multiplication direction discriminating circuit 6a included in a difference period at the time point of the generation of both the signals is counted. Then, with the reference of the rotating state of the encoder 3a, a phase difference alpha between both encoder original-points is detected. The input of the phase difference alphato an angle regulating circuit 12 is provided, and a correction angle gamma is corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a synchronous control device for synchronously operating two machines driven by induction motors via an inverter device.

[Conventional technology]

As a conventional synchronous control device of this type, one illustrated in the control block diagram of FIG. 2 is known.

FIG. 3 is a diagram showing the output waveform and relative position relationship of the synchro electric machine in FIG. 2. In FIG. 2, 1a and 1b are machines driven by induction motors 2a and 2b and operated synchronously, and in the illustrated case, 1a is the leading machine and 1b is the follower machine. 20a and 20b are respectively the machine 1a.
In the illustrated case, 20a is a transmitter and 20b is a receiver, which are paired with each other. A sine wave voltage corresponding to the difference in relative angle between the stator and rotor of each of the transmitter and receiver plates is applied to the receiver 20b.
output to the stator side. Reference numeral 21 denotes a displacement detection port which receives the sine wave output voltage and determines the magnitude and polarity of the difference in rotation angle of the transmitter rotor position. Reference numeral 22 denotes a motor drive circuit which receives the output of the detection circuit and controls acceleration and deceleration of the follower motor 2b so as to make the rotation angle difference between the two rotors zero. In addition, FIG. 3(A) shows the waveform of the sine wave output voltage, and FIG. 3 shows the relative relationship of the receiver rotor positions in the case of FIG.

[Problem to be solved by the invention]

However, in the above conventional method, the output voltage of the synchronized receiver for detecting the positional deviation of both the leading and following devices described in i5I changes in a sine wave shape, and the phase angle θ of the sine wave is 2π(r
ad) Positional deviations corresponding to above and below cannot be distinguished,
Therefore, for an integer n, sin θ and 5in(2πn+θ)
Provide n detection means for identification, or always 0≦θ<2
It is necessary to drive without pi. This complicates operations such as simultaneous activation of both the preceding and following plates after the starting points have been aligned, and furthermore, the coupling of the two plates and their respective synchronized electric machines so that their origins coincide;
Alternatively, the control circuit becomes complicated.

In view of this, it is an object of the present invention to provide a synchronous control device that solves the above-mentioned problems by counting and calculating the output pulses of a rotary encoder.

[Means to solve the problem]

The set speed of the inverter for controlling the speed of the following machine is the speed of the preceding machine, the speed difference between the leading and following plates, and the required correction amount of the phase difference angle between specific positions of the encoders driven by the two plates, respectively. Means are provided for calculating the sum of the three differences between the correction amount and the temporal follow-up dose. That is, in the synchronous control device for two machines driven by induction motors, one of which is a leading machine and the other is a follower of the preceding machine and is operated in synchronization with the preceding machine, the two machines are each connected to the two machines. A phase and B phase rotate with each other and have a phase difference of 90 degrees depending on the rotation angle.
two sets of encoders that output a two-phase pulse signal with the phase and an origin signal of one pulse per rotation, that is, a Z-phase signal;
2 Mi frequency and direction discrimination circuits for outputting quadrupled frequency pulse signals of the two-phase pulse signals of the two-phase pulse signals of the two-phase pulse signals and determining the rotation directions of the respective encoders; Two sets of speed detection circuits that calculate the rotational speed of the corresponding encoder from the phase or B-phase pulse signals, and the Z-phase pulse signal of each of the two encoders and the quadruple frequency pulse signal corresponding to the encoder of the preceding machine. a phase difference detection circuit that calculates a phase difference angle between origins of both encoders at the time of starting synchronous control for the follower; and a phase difference setting circuit that provides a set value of the phase difference angle between origins at the time of completion of the synchronous control. and an angle adjustment circuit that calculates the output difference between the phase difference detection circuit and the setting circuit, and calculates the difference between the integrated values of the quadrupled frequency pulse signals corresponding to both encoders, including the sign thereof. a deviation counter circuit that subtracts the integrated value difference from the output value of the angle adjustment circuit given as an initial cent value; a first addition/subtraction calculator that calculates the output difference of both speed detection circuits; a second addition/subtraction calculator that calculates the sum of the output of the corresponding speed detection circuit, the output of the deviation counter circuit, and the output of the first addition/subtraction calculator; and two sets of speed controls for each of the induction motors. An inverter device is provided, and the output of the second addition/subtraction calculator is used as a set speed signal of the inverter device for adjusting the speed of the induction motor of the follower.

[Effect]

Generally, in synchronized operation of two machines, it is necessary to match the constant velocity ratio between the synchronized moving parts of the two plate machines and the required specific positions of the two moving parts. Therefore, the two plate machines are divided into a leading machine and a following machine which should be synchronized with the preceding machine.
If so, the synchronized control of the two plate machines includes two steps: one is equal linkage control with the preceding machine by appropriate acceleration/deceleration control for the following machine, and the other is control to make the deviation between the required specific positions of the preceding and following two plates zero.
The content is the type of control. The present invention is directed to the case where the driving sources of both plate machines are induction motors, and each of the two types of motors is variable speed controlled and synchronously controlled by an inverter, and the speed setting value of the follower control inverter is controlled. The speed and position of the following machine relative to the preceding machine are calculated as the sum of the speed detection value of the preceding machine, the difference in speed detection values of the preceding and following plates, and the deviation between the required specific positions of the rain gutter. Follower side on both sides? 111 to control the speed difference term and position deviation term in the speed setting value to both be zero. The speed difference term and the position deviation term are respectively applied to the inverter via a proportional-integral (PI) regulator so that they are input to the motor speed control system with optimal time characteristics. Here, the positional deviation term is defined as the deviation between the respective reference positions of the preceding and following plates at the start of synchronous control for the following machine and the reference position whose temporal integrated value is increased according to the speed difference of the rain gutter. This is the difference between the positional deviation and the position tracking correction value, and is a temporally integrated value. Furthermore, in the present invention, the speed and position specifications are determined by
Phase A and phase B are output from two sets of encoders that are connected to the two machines in a specific positional relationship and driven to rotate, and are emitted with a phase difference of 90 degrees at each specified rotation angle of each encoder. a reference origin signal, that is, a Z-phase pulse signal, which is emitted at a rate of one pulse per rotation of each encoder, and a quadrupled frequency pulse signal of the two-phase pulse signal, which is synthesized from the two-phase pulse signal and the two-phase pulse signal. This is done through various digital operations. That is, the speed is detected by a speed detection circuit that compares the A-composition or B-phase pulse signal cycle with a clock signal, and the positional deviation is within the difference in the generation time of the Z-phase pulse signals of both encoders. A phase difference detection circuit that counts the number of quadrupled frequency pulses by the preceding encoder included therein detects the number of pulses corresponding to the angle. Note that if the origin position of the encoder and the required specific position of the machine corresponding to the encoder do not match, a position signal corresponding to the discrepancy is output from the phase difference setting circuit as the number of angle-corresponding pulses, and the phase difference detection circuit outputs a position signal corresponding to the difference. The origin position is corrected by subtracting it from the number of output pulses.

Furthermore, the position tracking correction value is calculated as a difference between the temporal integrated values of both the quadruple frequency pulse signals corresponding to the encoder signals of the preceding tracking plates, and the value is proportional to the speed difference of the rain gutter. , the positive and negative polarities should represent the slow-speed relationship between the speeds of the two aircraft.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a control block diagram showing an embodiment of the present invention. In Fig. 1, 18 and 1b are dielectric electric motors m2a and 2
In the illustrated case, 1a is the leading machine and 1b is the following machine. Below, the suffixes a and b attached to each component indicate that the component performs signal processing corresponding to the machines 1a and 1b, respectively.

3a and 3b are connected to the corresponding machines and rotate, and a two-phase pulse signal of A phase and B phase having a phase difference of 90 degrees from each other according to the rotation angle, and a two-phase pulse signal for each rotation. This is an encoder that outputs a one-pulse origin signal, that is, a Z-phase signal. 4a and 4b are insulating circuits, and 5a and 5b are shaping circuits for the A, B, and Z phase pulse signal waveforms passing through the insulating circuits. 6a and 6b are frequency multiplication direction discrimination circuits, which receive the A-phase and B-phase pulse signals, respectively, and combine and output a quadrupled frequency pulse signal (A+B) of both signals, thereby converting the signal 1. The angular resolution per pulse is improved, and the rotational direction of the corresponding encoder is determined based on the relative relationship between the lead and lag of the 90-degree phase difference between the A-phase and B-Japanese pulse signals. 7a and 7b are speed detection circuits, which in the illustrated case receive the A-phase pulse signal as input, compare its pulse period with a clock signal, and detect the rotational speeds fp and fc of the corresponding encoders, respectively. be. Note that speed detection can be similarly performed when the B-phase pulse signal is input.

8 is a phase difference detection circuit between the origins of the encoders 3a and 3b, and each Z of the encoders 3a and 3b is
By counting the number of pulses of the quadruple frequency pulse signal from the frequency multiplication direction discriminating circuit 6a that is included within the period of difference between the generation points of the phase pulse signals and the launch signal, the encoder 3a The phase difference α between the origins of both encoders is detected as follows, based on the rotational state of .

Nd However, Nd: Number of pulses counted by the phase difference detection circuit 8 Ne: Number of pulses per revolution of the encoder 3a, or mechanical deviation during assembly between the required reference position of both machines and the corresponding Z-phase pulse generation reference point of each encoder A value obtained by integrating the angles corresponding to both combinations is set by the phase difference setting circuit 13 as the correction angle T for the phase difference α. Reference numeral 12 denotes an angle adjustment circuit that calculates the difference between the phase difference α and its correction angle T.

The angular difference between the outputs of the angle adjustment circuit is determined by the difference between the two reference points corrected by the angle γ of each encoder corresponding to the positional deviation between the synchronization target reference points of the two machines at the start of synchronous control of the two machines. This is the angular difference between the two and indicates the required correction angle for synchronization. Reference numeral 9 denotes a deviation counter circuit, which counts the difference in the number of pulses between the quadruple frequency pulse signals (A and B) corresponding to the encoders 3a and 3b, respectively, and inputs the difference in the number of pulses as an initial set value. The angle adjustment circuit 1
The number of pulses corresponding to the required correction angle from 2 is subtracted. Here, the difference in the number of pulses between the two quadruple frequency pulse signals is proportional to the difference in rotational speed of both the encoders and therefore the two machines, and since the rotation angle per pulse is determined, the difference in the number of pulses is The temporally integrated value of indicates the total displacement angle within the integration period. The total displacement angle indicates a follow-up correction angle with respect to the required correction angle, and therefore, the output angle β of the deviation counter circuit 9, which is the difference between the two angles, indicates the remaining amount of the required correction angle at the time of counting the pulse difference. ,
It is given as below.

However, Nc: Number of output pulses of the deviation counter circuit 9 Ne: Number of pulses per rotation of the encoder 3a 10 and 11 are proportional-integral (PT) regulators, and the angle β and the rotational speed difference fp- of both encoders Addition/subtraction calculator 1 that calculates fc
The outputs of 5 and 5 are respectively input. The encoder 3a
The sum of the rotational speed fp and the outputs of both the PT regulators 10 and 11 is calculated by the addition/subtraction calculator 14, and the output fs is sent to the inverter device 16 as a speed setting signal to the induction motor 2b of the follower. and the electric motor 2
Acceleration/deceleration control is performed for b.

The output j of the regulator 10, which is the angle correction term of the speed setting signal, and the output of the regulator 11, which is the speed correction term, reach zero as the synchronous control progresses, and the rotational speed [C becomes equal to the rotational speed fp of the preceding machine, and the synchronous control τ■ is completed.

〔Effect of the invention〕

According to the present invention, the Z-phase pulse signal, which is the origin signal of the encoders connected to two machines that are operated synchronously, is used as a reference, and the A-phase or B-phase pulse signal that is emitted at each specified rotation angle in both encoders is used as a reference. The positional deviation between the two encoders, their respective speeds, and their deviations are determined by counting the pulse signals, and the speed of the following machine is controlled so that the positional deviation between the two encoders becomes zero. By eliminating the need for reference point alignment at startup, the time required for synchronization is shortened and synchronization operations are simplified, and correction control for synchronization loss due to disturbance during synchronized operation can be performed reliably and quickly. Furthermore, when assembling the two machines and their respective encoders, the positional deviation between the two reference points can be easily corrected by electrically setting a correction value from the phase difference setting circuit, which reduces the amount of work involved in assembling the two machines. Wide simplification is possible.

[Brief explanation of the drawing]

FIG. 1 is a control block diagram showing an embodiment of the present invention, and FIG.
The figure is a control block diagram showing an embodiment of the prior art, and FIG. 3 is a diagram showing the output waveform and relative position relationship of the synchro electric machine in FIG. 2. 1a... Machine (leading machine i), lb... Machine (following machine)
, 2a, 2b...induction motor, 3a, 3b...encoder, 4a, 4b...insulation circuit, 5a, 5b...
Shaping circuit, 6a, 6b... Frequency multiplication direction discrimination circuit, 7a. 7b... Speed detection circuit, 8... Phase difference detection circuit, 9
... Deviation counter circuit, 10.11... Proportional/integral (PI) adjuster, 12... Angle adjustment circuit, 13...
Phase difference setting circuit, 14.15... Addition/subtraction calculator, 16.
...Inverter device, 20a... Synchro electric machine (transmitter), 20b... Synchro electric machine a (receiver), 21...
- Displacement detection circuit, 22... motor drive circuit.

Claims (1)

[Claims] 1) In a synchronous control device for two machines driven by induction motors, one of which is a leading machine and the other is a follower of the preceding machine and operates in synchronized manner, each of the two machines is coupled to the two machines. 2 sets of two-phase pulse signals of A phase and B phase which have a phase difference of 90 degrees from each other according to the rotation angle and output one pulse origin signal, that is, Z phase signal for each rotation. an encoder, two sets of frequency multiplication direction discrimination circuits that output quadrupled frequency pulse signals of the two-phase pulse signals of the two-phase pulse signals of the two-phase pulse signals and discriminate the rotation direction of each of the corresponding encoders; Calculating the rotational speed of the corresponding encoder from each of the A-phase or B-phase pulse signals 2
a set of speed detection circuits, a Z-phase pulse signal of each of the two encoders, and the four encoders corresponding to the encoder of the preceding machine.
a phase difference detection circuit that calculates a phase difference angle between the origins of the encoders at the time of starting synchronous control for the follower based on a double frequency pulse signal, and providing a set value for the phase difference angle between the origins at the time of completing the synchronous control; a phase difference setting circuit; an angle adjustment circuit that calculates the output difference between the phase difference detection circuit and the setting circuit; a deviation counter circuit that calculates the integrated value difference and subtracts the difference from the output value of the angle adjustment circuit given as an initial set value; and a first deviation counter circuit that calculates the difference between the outputs of the two speed detection circuits.
a second addition/subtraction calculator that calculates the sum of the output of the speed detection circuit corresponding to the preceding machine, the output of the deviation counter circuit, and the output of the first addition/subtraction calculator; Two sets of inverter devices each controlling the speed of the induction motor are provided, and the output of the second adjustment calculator is used as a set speed signal of the inverter device for adjusting the speed of the induction motor of the follower. Synchronous control device.