JPH0242288A - Drive control device for actuator - Google Patents

Abstract

PURPOSE:To perform one physical displacement responding to one command value by a method wherein based on a regulation command signal, a relation between a command value and an output value is held as a linear function, and based on the linear function data, a control signal is outputted to a drive circuit. CONSTITUTION:A control input means 1 outputs a control signal S1 by means of which a control amount of an actuator 4 is commanded. A computing processing means 2 to execute computing processing based on a control signal S1 from a control amount input means 1 and outputting a control command signal S2 has a following function. Based on a regulation command signal S4 from a regulation value input means 5B, a relation between a command value and an output value is computed as a linear function to hold it. The control command signal S2 is computed based on the linear function data so that a command value by a characteristic signal produces an output value of a drive signal S3 responding to the command value, and the computing result is outputted to a drive circuit 7.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a drive control device for a proportionally operating actuator, such as a proportional solenoid.

[Conventional technology]

Actuators such as this type of proportional solenoid are used, for example, to control proportional solenoid valves for hydraulic cylinders that drive actuating members such as swivels, booms, arms, and packets in hydraulic excavators.

FIG. 4 is a block diagram of a conventional nuclide actuator drive control device.

In the figure, 1 is a manipulated variable input means, such as a lever,
It consists of an operating member such as a pedal, and a group of operating amount detectors that generate electrical signals according to the operating amount of the operating member, and the output of the operating amount detector is amplified, A/D converted, etc. as necessary. The signal is processed and sent to the arithmetic processing means 2 as an operation signal S1. The arithmetic processing means 2 is composed of a microcomputer, and includes various IO interfaces, a ROM that stores main control programs and fixed data, a RAM that reads and writes various flags and operation signal data, and a μCPU that controls the entire system. Equipped with

Then, the arithmetic processing means 2 uses predetermined program data in order to drive the actuator to be controlled, which will be described later, by the operation signal S1 by an amount corresponding to a command value (command amount) by the operation signal S1. A control command signal 32' resulting from this calculation is sent to an actuator 4 such as a proportional solenoid to be controlled via a D/A converter 3 and, if necessary, an amplifier (not shown). The signal is sent to the drive circuit 10 for driving. Each of the drive circuits 10 receives a control command signal S2'
Based on this, a drive signal S3 for driving the actuator 4 is sent out, and the actuator 4 thereby drives a driven member (for example, a valve).

By the way, since there are variations in the precision of the component parts of the driven member driven by the actuator 4, the relationship between the input (drive signal S3) to the actuator 4 and the output (physical displacement amount) varies greatly from product to product. , the same drive signal S
Even if 3 is supplied, the amount of displacement obtained will differ for each product. Therefore, each drive circuit 10 includes two trimmer resistors (variable resistors) 10a, 10b and each trimmer resistor 10a.
, 10b each have a negative feedback loop, and the control command signal S2' is adjusted according to variations in the operating characteristics of the driven member driven by each actuator 4. Adjustments are made to obtain the drive signal S3.

That is, in one adjustment stage of the drive circuit 10 described above, the control command signal 82' (in other words, the operation signal 31)
The rate of change of the drive signal S3 (degree of slope of the -order number) with respect to the change in is corrected and set by the first trimmer resistor 10a (usually referred to as gain adjustment). Further, in the other adjustment stage of the drive circuit 10, a level adjustment called zero adjustment (adjustment of the starting point of the minus order number) of the drive signal S3 is performed by the other trimmer resistor 10b.

As a result, the same command value (control valve command signal 8
2') to obtain the same amount of physical displacement.

[Problem to be solved by the invention]

In the conventional configuration described above, as shown in FIG. If you want to correct the linear function of command value - output value from the dotted line in the figure as shown by the solid line, first adjust the starting point of the dotted line to 1 by using the zero adjustment described above.
The output value corresponding to the command value a is adjusted to the output value C by changing it as shown by the dotted chain line. Then, when the gain adjustment described above is performed and the slope adjustment is performed as shown by the two-dot chain line in the same figure, where the output value d is combined with the command value A, the previously combined command value a and the output value are There was a problem with it shifting. Note that here, the output value C is the operating origin of the actuator 4, and the output value d is the displacement amount 100 of the actuator 4.
%, and if there is still a discrepancy between the command value a and the output value C after correction as described above, the amount of play until the actuator 4 starts will differ depending on the product, and the operator's operation will be affected. It will cause trouble.

Of course, in order to solve this problem, the adjustment function in the drive circuit IO is upgraded, and the command value - as shown by the solid line in FIG.
Although it is possible to provide output value characteristics, the drive circuit 1
0 becomes more complicated, and since the drive circuit 10 itself has the above-mentioned gain adjustment and zero adjustment functions, the drive circuit 10 obstructs the space saving and cost reduction of the control device, and is especially complicated. In the case of channel control, this becomes serious.

Therefore, the technical problem to be solved by the present invention is to solve the above-mentioned problems of the prior art, and its purpose is to simplify the structure of the drive circuit for the actuator compared to before. In addition, an actuator drive control device is provided that can obtain the same amount of displacement for the same command value from the operation amount input means, regardless of variations in the operating characteristics of the driven member operated by the actuator. It is about providing.

[Means to solve the problem]

In order to achieve the above-mentioned object, the actuator drive control device of the present invention includes an actuator that can operate proportionally, a manipulated variable input means that sends a manipulation signal that commands the manipulated variable of the actuator, and arithmetic processing means for performing arithmetic processing based on an operation signal from the means and sending out a control command signal; and sending a drive signal for driving the actuator to the actuator based on the control command signal from the arithmetic processing means. and an adjustment value for inputting into the arithmetic processing means an adjustment value for adjusting characteristics of an output value by the drive signal that changes linearly proportionally in response to a command value by the operation signal. input means, and the arithmetic processing means calculates the command value-output value characteristic line as at least one linear function connecting two desired points based on the adjustment command signal from the adjustment value input means. The control command signal is calculated and held, and the drive circuit calculates the control command signal to make the command value by the operation signal the corresponding output value of the drive signal based on the adjusted linear function data. so that it is sent to
configured.

[Effect]

As described above, the arithmetic processing means calculates and holds the above-mentioned command value-output value relationship as a linear function connecting two desired points based on the adjustment command signal from the adjustment value input means. Since the operation signal is calculated into the control command signal based on the linear function data obtained and sent to the drive circuit, in other words, when the operation signal is X and the control command signal is y, the calculation becomes y=Ax+B. (A is the gain setting value, B is the level reference setting value) and sends out an output of y, so there is no difference in the operating characteristics of the driven member driven by the actuator, and the same A corrected control command signal is sent to the drive circuit so that the actuator can be actuated by the same amount without variation for each product with respect to the command value. Therefore, the same amount of physical displacement is always obtained for the same command value, and the operability of the product is stable.In addition, as mentioned above, the control command signal is corrected in response to variations in the driven member side. is input to the drive circuit, the drive circuit does not need to have an adjustment function like the conventional one, and the drive circuit can be simplified compared to the conventional one.

〔Example〕

The present invention will be explained below with reference to illustrated embodiments.

FIG. 1 is a block diagram of an actuator drive control device according to an embodiment of the present invention. In this figure, the same reference numerals are given to the parts corresponding to the conventional configuration shown in FIG. 4, and the explanation thereof will be omitted to avoid duplication.

In FIG. 1, 5A and 5B are adjustment value input means provided in pairs corresponding to each actuator 4 that performs the above-mentioned proportional operation, and are composed of, for example, a trimmer resistor, and the adjustment command signal s4 is: Amplifier (not shown) if necessary
The signal is sent to the arithmetic processing means 2 consisting of the above-mentioned microcomputer via the /D converter 6 and the like. One of the adjustment value input means 5A of the pair is used for adjusting the level reference value, and the other adjustment value input means 5B is used for adjusting the gain. (The adjustment value input means consisting of this group of trimmer resistors can be replaced by a keyboard, etc., and can be used to command the actuator to be adjusted, specify whether it is level reference value adjustment or gain adjustment, and input the adjustment value. ) 7 is the arithmetic processing means 2
Although the drive circuit receives the control command signal S2 and sends out the drive signal S3 for driving the actuator 4 based on the control command signal S2, it is different from the conventional drive circuit 10 described above.
It does not have the variable setting adjustment function that can be operated externally.

In the above configuration, in a state where adjustment has not been made for each actuator 4 in consideration of variations in the operating characteristics of the driven member, etc., the command value based on the operation signal s1 of the operation amount input means 1 and the The relationship between the output value of the drive signal s3 of the drive circuit 7 and the output value of the drive signal s3, which changes numerically with the change, is as shown by the dotted line in FIG.
Consider the case where this is corrected to the originally required command value-output value characteristic line as shown by the solid line in the figure. In this case, if the command value by the operation signal S1 is X and the output value by the drive signal S3 is y, then the straight line shown by the solid line in FIG. 2 is expressed by a linear function of y=Ax+B. Therefore, the value of A, which is the gain setting value, is set to (d
c)/(b-a), set the value of B, which is the level reference setting value, to the value g shown in the figure by the adjustment value input means 5A, and input this y=into the register section of the calculation processing means 2.
Store linear function data expressed as (d−c)/(ba)+g. Then, the arithmetic processing means 2 performs arithmetic processing to make the operation signal S1 correspond to the output value on this -order function based on the stored linear function data, and uses the arithmetic result as the control command signal S2. is sent to the drive circuit 7, and the drive circuit 7 then drives the actuator 4.
drive. Therefore, the actuator 4 will always be displaced by the same amount in response to the same command value, regardless of variations in the driven portion. It goes without saying that the adjustment by the adjustment value input means 5A, 5B described above is performed for each actuator 4 in its entirety.

Here, setting (adjusting) the command value-output value characteristic line described above is nothing but defining a linear function connecting two desired points. Therefore, it is also possible to set the relationship between the command value and the output value to have a characteristic like the polygonal line in Figure 3 (of course, the input method using the adjustment value input means needs to be devised), and in this way, the command value a In the range of ~e, the output value can be gradually increased, and in the range of the command value e%b, the output value can be rapidly increased, making it possible to realize an actuator with arbitrary operating characteristics and greatly improving the so-called usability. I can do it.

〔Effect of the invention〕

As described above, according to the present invention, regardless of the variation in the operating characteristics of the driven member operated by the actuator that operates proportionally, the same command value from the manipulated variable input means is the same. It is possible to provide a drive control operation for an actuator that can obtain a displacement amount of 1,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000 yen displacement.

[Brief explanation of the drawing]

Figures 1 to 3 relate to the present invention, Figure 1 is a block diagram of an actuator drive control device according to an embodiment of the present invention, and Figure 2 is an example of correction of the command value-output value characteristic line. FIG. 3 is a graph showing another example of the command value-output value characteristic line, FIGS. 4 and 5 are related to conventional examples, and FIG. 4 is a graph showing conventional actuator drive. FIG. 5, which is a block diagram of the control device, is a graph diagram for explaining the state of correction of the conventional command value-output value characteristic line. 1... Operation amount input means, 2... Arithmetic processing means, 3... D/A converter, 4...
Actuator, 5A, 5B... Adjustment value input means, 6... A/D converter, 7... Drive circuit, Sl... Operation signal, S2 ...Control command signal, S3... Drive signal, S4...
...Adjustment command signal. Fig. 1 Fig. Fig. O # Nursing care Fig. Fig.

Claims (1)

[Claims] An actuator that can operate proportionally, a manipulated variable input means that sends out a manipulation signal that commands the manipulated variable of the actuator, and a control command signal that is generated by performing arithmetic processing based on the manipulation signal from the manipulated variable input means. a drive circuit that sends a drive signal to the actuator for driving the actuator based on a control command signal from the arithmetic processing means, and a linear function corresponding to the command value based on the operation signal. adjustment value input means for inputting into the calculation processing means an adjustment value for adjusting the characteristics of the output value by the drive signal that changes proportionally, and the calculation processing means includes the adjustment value input means Based on the adjustment command signal from , the characteristic line of the command value-output value is calculated as at least one linear function connecting two desired points, and this is held, and this adjusted linear function data is A drive control device for an actuator, characterized in that the control command signal is calculated and sent to the drive circuit so that a command value based on the characteristic signal becomes an output value of the drive signal corresponding to the command value based on the characteristic signal.