JPH01259770A - Hunting preventing system - Google Patents

Abstract

PURPOSE:To prevent hunting from being generated, by arranging an input- change-directional flag and a feedback-change-directional flag, and by detecting the excessive state of a motor from these flags and a deviation. CONSTITUTION:A motor controller is composed of a motor 1 driven by an AC power source 6, the controlling circuit 2 of the motor, a switch 3, an input signal oscillator 4, and a potentiometer 5. An input data from the input signal oscillator 4 and a feedback data from the potentiometer 5 are compared with each other by a micro-computer 2a in the controlling circuit 2 and are discriminated, and by turning the switch 3 ON/OFF, the forward rotation, reverse rotation, and stopping of the motor 1 are controlled. In this case, an input-data- change-directional flag and a feedback-data-change-directional flag are arranged. Then, from the flags and the deviation of the data, the excessive state of the motor 1 is detected, and as long as the input data does not change, the motor 1 is stopped. As a result, the response of the motor 1 can be quickened.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a motor for rotating or moving a controlled object;
A sensor that detects the rotation angle or position of a controlled object, rotation angle data or position data output by the sensor (hereinafter referred to as 1 feedback data), and external input data that sets the rotation angle or position. The present invention relates to a method for preventing hunting of a motor in a rotation angle or positioning device equipped with a control circuit that controls normal rotation, reverse rotation, and stop of a receiving motor.

[Prior art]

FIG. 3 is an explanatory diagram of conventional motor control operation. In the figure, arrow 1, arrow 2, and arrow 3 indicate the rotation direction of the motor.

If the deviation X of the feedback data from the controlled object with respect to the input data set from the outside is positive, the motor will run in the forward direction (arrow 2), and if it is negative, it will run in the reverse direction (arrow 1). Rotate until X is within the dead zone (X, ≦X
≦X+), it is stopped. At this time, the motor stops at a point where it has gone too far from X=X or X=XI due to reasons such as motor inertia and gear play. However, when the amount of overshoot exceeds the dead band width 1xo-X mouth, the motor is turned off again when
In order to rotate in the direction of
. Conventionally, in order to prevent this hunting condition,
The dead zone width was widened.

[Problem to be solved by the invention]

However, in the above-mentioned conventional hunting prevention method, since the degree of gear play etc. differs depending on the motor, it is not only necessary to change the dead band width for each motor, but also by widening the dead band width, minute changes in the input signal can be caused. There is a problem in that the motor cannot follow the rotation angle or the positioning accuracy of the controlled object.

SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above drawbacks and provide a hunting prevention method that does not cause hunting in any motor without changing the dead zone width.

[Means to solve the problem]

In order to solve the above problems, the present invention provides an input change direction flag indicating the change direction of input data and a feedback change direction flag indicating the change direction of feedback data,
The overshooting state of the motor is detected from which input change direction flag and feedback change direction flag and the deviation of the feedback data from the input data, and when the motor overshooting state occurs, the motor is stopped unless the input data changes and hunting is performed. This was made to prevent this.

[Effect]

By configuring the hunting prevention method as described above,
If an overshoot condition occurs, the motor is stopped and prevented from rotating in the opposite direction, so hunting does not occur. Furthermore, since hunting does not occur, there is no need to provide a dead zone to prevent hunting, and the motor can respond quickly to minute changes in input.

〔Example〕

Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 1 is a circuit diagram of a motor control device to which a hunting prevention method according to the present invention is applied. In the same figure, 1 is AC
2 is a control circuit that controls the motor 1; 3 is a switch that is turned on and off by the control circuit 2; 4 is an input signal oscillator; 5 is a resistor that operates in conjunction with the rotation of the motor 1. A potentiometer whose value changes, 6 is an AC power source.

The input data from the input signal oscillator 4 and the feedback data obtained from the potentiometer 5 are compared and judged by the microcomputer 2a in the control circuit 2, and the switch 3 is turned on and off to cause the motor 1 to rotate in the normal direction.
Performs reverse and stop control.

Hereinafter, a method for preventing hunting in the motor control device having the above configuration will be explained with reference to the operation diagram of FIG. 2.

In the same figure, the deviation or the data obtained by subtracting the feedback data from the input data, and the input change direction flag A, are set when the input data changes and its value becomes larger than the previous time.
This flag becomes "0" when the value becomes "1" and becomes smaller, and indicates the direction of increase/decrease in the input setting data.The feedback data change direction flag B becomes "1" when the feedback changes and its value becomes smaller than the previous value. “0” when
” indicates the rotation direction of the motor 1. In the combination of deviation X, input change direction flag A, and feedback change direction flag B, if deviation X is positive (x>
0), motor 1 rotates forward, and negative (x<0), motor 1
is reversed, and if it is 0, motor 1 is stopped. However, when the deviation This is a case of going too far. Also, when the deviation In this case, the motor 1 is stopped.As mentioned above, in this embodiment, the input change direction flag A indicating the direction of change of input data and feedback data is
A feedback change direction flag B is provided, and when an overshooting state is detected, the motor is stopped to prevent it from rotating in the opposite direction, and the motor is allowed to stop as long as the setting data does not change. In this case, even if an overshoot condition is detected, the amount of overshoot is about a few bits of data, which is extremely small compared to the data width during which the input data and feedback change from the lower limit value to the upper limit value, so the motor There is no practical problem even if 1 is stopped.

As described above, in this embodiment, when an overshooting condition occurs, the motor 1 is stopped and prevented from rotating in the opposite direction, so hunting does not occur.

Furthermore, according to this example, since hunting does not occur, there is no need to provide a dead zone to prevent hunting, and the response of the motor 1 to minute changes in input can be made faster.

In the above embodiment, the potentiometer 5 is connected to the motor 1.
The rotation angle of the motor 1 is detected in conjunction with the rotation of the motor 1, but the means for detecting the rotation angle or movement position of the controlled object is replaced with the potentiometer 5, and the rotation angle or movement of the controlled object is It goes without saying that by using a detector that directly or indirectly detects the position, it is also possible to control the rotation angle or movement position of the object to be controlled.

〔Effect of the invention〕

As explained above, according to the present invention, the following excellent effects can be obtained.

■When the motor overshoots, the motor is stopped to prevent it from rotating in the opposite direction, so hunting does not occur.

■Also, since the dead zone is not used to prevent hunting, there is no need to change the dead zone width for each motor, and it is possible to set the dead zone width to 0. It is possible to improve the responsiveness of the control object and improve the rotation angle or positioning accuracy of the controlled object.

[Brief explanation of the drawing]

Fig. 1 is a circuit diagram of a motor control device to which the anti-hunting method according to the present invention is applied, Fig. 2 is a diagram for explaining the operation of the anti-hunting method according to the present invention, and Fig. 3 is a circuit diagram of a motor control device applying the anti-hunting method according to the present invention. FIG. In the figure, 1...motor, 2...control circuit, 3...
...Switch, 4...Input signal oscillator, 5...
Potentiometer, 6... AC power supply.

Claims (1)

[Claims] A motor that rotates or moves a controlled object, a detector that detects the rotation angle or movement position of the controlled object, and rotation angle data or position data output by the detector and an external device that sets the rotation angle or position. In a rotation angle or positioning device equipped with a control circuit that receives setting data and controls forward rotation, reverse rotation, and stop of a motor, the rotation angle or position data output from the detector and the setting data from the outside are used. , means for obtaining a change direction of the rotation angle or position data, a change direction of the setting data, and a deviation of the rotation angle or position data with respect to the setting data; and change direction data of the rotation angle or position data and change direction data of the setting data. and deviation data, the hunting prevention method is characterized by comprising means for detecting an overshooting state of the motor, and stopping the motor as long as the setting data does not change when the motor overshooting state occurs.