JPH0196793U - - Google Patents

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Publication number
JPH0196793U
JPH0196793U JP1987191649U JP19164987U JPH0196793U JP H0196793 U JPH0196793 U JP H0196793U JP 1987191649 U JP1987191649 U JP 1987191649U JP 19164987 U JP19164987 U JP 19164987U JP H0196793 U JPH0196793 U JP H0196793U
Authority
JP
Japan
Prior art keywords
motor
command signal
feedback control
control loop
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP1987191649U
Other languages
Japanese (ja)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1987191649U priority Critical patent/JPH0196793U/ja
Publication of JPH0196793U publication Critical patent/JPH0196793U/ja
Pending legal-status Critical Current

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  • Control Of Electric Motors In General (AREA)

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本考案にかかるモータの駆動制御装置
の一実施例の構成図、第２図は本考案にかかるモ
ータの駆動回路の他の実施例の構成図、第３図は
第２図のパルス幅／電圧変換回路の入出力の特性
図、第４図は第２図のパルス幅／電圧変換回路の
構成例を示した図、第５図は第４図の回路の動作
説明用のタイムチヤート、第６図はロボツトアー
ムの構成例を示した図である。 １……モータ、２……エンコーダ、３……検出
カウンタ、４……Ｆ／Ｖ変換器、５……指令カウ
ンタ、６……アダー、７……Ｄ／Ａ変換器、８１
，８２……モード切換スイツチ、９……速度補償
アンプ、１０……積分補償器、１１……加算器。 FIG. 1 is a block diagram of one embodiment of the motor drive control device according to the present invention, FIG. 2 is a block diagram of another embodiment of the motor drive circuit according to the present invention, and FIG. A characteristic diagram of the input and output of the pulse width/voltage conversion circuit. Figure 4 is a diagram showing an example of the configuration of the pulse width/voltage conversion circuit in Figure 2. Figure 5 is a time diagram for explaining the operation of the circuit in Figure 4. FIG. 6 is a diagram showing an example of the configuration of a robot arm. 1... Motor, 2... Encoder, 3... Detection counter, 4... F/V converter, 5... Command counter, 6... Adder, 7... D/A converter, 8 1
 , 8 2 ... mode changeover switch, 9 ... speed compensation amplifier, 10 ... integral compensator, 11 ... adder.

Claims (1)

【実用新案登録請求の範囲】 (1) モータの回転位置のフイードバツク制御ル
ープと回転速度のフイードバツク制御ループを有
し、これらのループを選択的に用いてモータの駆
動を制御する装置において、 前記２つのループに位置指令信号と速度指令信
号を与える指令信号付与手段と、 回転位置のフイードバツク制御ループを用いて
いるときには、使用されていない回転速度のフイ
ードバツク制御ループの速度指令信号入力端子に
モータの出力トルクの補償信号を与える入力切換
手段と、 この入力切換手段から与えられた補償信号でモ
ータに与える駆動信号を補償する補償手段、 を具備したことを特徴とするモータの駆動制御
装置。 (2) 前記指令信号付与手段は、シリアルパルス
指令信号が入力され、このシリアルパルス指令信
号のパルス数から位置指令信号を作成し、パルス
幅からトルクの補償信号を生成することを特徴と
する実用新案登録請求の範囲第(1)項記載の装置
。[Claims for Utility Model Registration] (1) A device having a feedback control loop for the rotational position of the motor and a feedback control loop for the rotational speed, and controlling the drive of the motor by selectively using these loops, When a rotational position feedback control loop is used, the motor output is connected to a speed command signal input terminal of an unused rotational speed feedback control loop. 1. A motor drive control device comprising: input switching means for giving a torque compensation signal; and compensation means for compensating a drive signal given to the motor with the compensation signal given from the input switching means. (2) The command signal providing means receives a serial pulse command signal, creates a position command signal from the number of pulses of the serial pulse command signal, and creates a torque compensation signal from the pulse width. The device according to claim (1) of patent registration.
JP1987191649U 1987-12-17 1987-12-17 Pending JPH0196793U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1987191649U JPH0196793U (en) 1987-12-17 1987-12-17

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1987191649U JPH0196793U (en) 1987-12-17 1987-12-17

Publications (1)

Publication Number Publication Date
JPH0196793U true JPH0196793U (en) 1989-06-27

Family

ID=31482551

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1987191649U Pending JPH0196793U (en) 1987-12-17 1987-12-17

Country Status (1)

Country Link
JP (1) JPH0196793U (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58169374A (en) * 1982-03-31 1983-10-05 Hitachi Ltd Magnetic disk device
JPS61273611A (en) * 1985-05-30 1986-12-03 Matsushita Electric Ind Co Ltd Industrial robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58169374A (en) * 1982-03-31 1983-10-05 Hitachi Ltd Magnetic disk device
JPS61273611A (en) * 1985-05-30 1986-12-03 Matsushita Electric Ind Co Ltd Industrial robot

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