JPH029362Y2 - - Google Patents

Description

[Detailed description of the invention] This invention is an input/output signal converter for converting and outputting an input signal according to a specific input/output characteristic curve, typically a mechanical device on the operating side in a radio control system. Depending on the operation, it changes into an input/output signal conversion device used for signal processing to establish a predetermined relationship between the control amount on the controlled object side that corresponds to the manipulated variable on the operating side, and in particular, it changes linearly according to the manipulated variable. The present invention relates to an input/output signal conversion device that converts a changing linear signal into desired functional characteristics.

For example, a control system for operating a model airplane using radio control, to which the configuration of this invention can be applied, is a control system that uses variable control by operating a stick corresponding to a control stick on an operating section 1, as shown in FIG. The slider of the resistor 1a is moved to the left and right of the midpoint position, and the output voltage at this time is supplied to the transmission unit 2, where the signal is processed for communication and then transmitted to the controlled unit 3. . In the controlled object section 3, the servo motor 3a rotates according to the operation amount of the stick, that is, the amount of movement of the slider of the variable resistor 1a, and the controlled object 3b connected to the motor rotation shaft, for example,
It is configured to control the rudder angle of the main wing flap.

In the above control system, the relationship between the amount of control of the control target section 3 and the amount of operation of the operating section 1 is generally as shown by a straight line a in FIG. 2(A). That is, the controlled variable _Mv is maintained in a directly proportional relationship to the manipulated variable _Ms. In such a directly proportional relationship, the manipulated variable
Since the control sensitivity (expressed as the slope of the straight line a in FIG. 2(A)) is the same over the entire range of M _s , uniform operability is provided in any flight mode.
On the other hand, for example, near the midpoint of the stem, the steering angle is controlled for horizontal flight, slow roll, etc., and near the maximum operation position, the steering angle is controlled for various maneuvers such as spin and quick crawl. ,
From the viewpoint of operability, it is desired to change the control sensitivity in response to such differences in performance content.
Therefore, in view of these circumstances, in addition to the characteristic of the direct proportional relationship described above, there is also a characteristic of a relationship in which the rate of change of the controlled variable M _v with respect to the manipulated variable M _s is small, as shown by the straight line b in FIG. 2 (A), That is, a method has been put into practical use in which a characteristic of low control sensitivity is given, and these two types of control sensitivity are selected and switched depending on the content of the performance.

However, in the above switching method, as shown in Fig. 2(A)
As shown in , considering the range of change in the controlled variable corresponding to the total change range P ₁ to _{P 2} of the manipulated variable M _s ,
Regarding straight line a, what was Mva is straight line b
The problem is that the controlled object 3b cannot be driven over the entire variable control range, and the performance of the controlled object can only be partially utilized. It was hot.

Therefore, as a solution to such a problem, as shown in Fig. 2 (B), the control amount M _v for the manipulated variable M _s has a small rate of change near the midpoint position N, and the maximum operation position P ₁ , P ₂ , it has been proposed to maintain a functional relationship that represents a specific curve with a large rate of change. As a means of achieving such characteristics, it is known to give functional characteristics to the output characteristics of the variable resistor itself in the operation section, and for this purpose, the resistance winding of the variable resistor is wound more closely. is also being carried out.

However, since the above-mentioned special specification variable resistors are manufactured in small quantities in a wide variety of types, they are not only very expensive, but also have a complicated and delicate structure, resulting in poor durability. Therefore, it is desired to realize a simple and excellent input/output signal conversion device that obtains input/output characteristics according to a desired function through signal processing while using a variable resistor having linear characteristics similar to the conventional one in the operating section.

The purpose of this invention was to solve the problems of the production cost and durability of variable resistors based on the above-mentioned conventional technology by using an operating means in which the output signal changes linearly according to the amount of operation, typically a linear A linear signal obtained from a variable resistor with different characteristics is processed by a combination of standard signal processing means, such as a limiter means, a subtraction means, and an addition means, and an output signal is converted to follow the desired input/output characteristics. The present invention aims to eliminate the above-mentioned drawbacks, eliminate the use of special variable resistors, and provide an excellent input/output signal conversion device with low cost and high durability.

The configuration of this invention in accordance with the above purpose is to supply a linear signal generated by the operating means and linearly varying in proportion to the manipulated variable to the limiter means, limit it at the upper and lower limit levels, and output the limiter output signal. is obtained, the limiter output signal and the linear signal are subtracted by a subtracting means to obtain a difference signal, and the difference signal and the linear signal are added by an adding means. In the range of a small manipulated variable that does not exert a limiting effect, the difference signal from the subtracting means is set to zero, and the adding means generates a signal by adding the zero signal as a difference signal and a linear signal, On the other hand, in the range of a large operation amount where the limiter means exerts a limiting effect, the difference signal from the subtraction means is made into a signal whose magnitude is determined according to the gain of the subtraction means. Then, from the adding means, an output reliability is obtained which is generated by adding a signal having a magnitude determined according to the gain as a difference signal and a linear signal, and which changes with a large gradient with respect to the manipulated variable. ,
The gist of this invention is to realize input/output characteristics represented by a broken line in which the slopes of two different magnitudes are switched depending on the operation amount corresponding to the upper and lower limit levels.

Next, the structure and operation of one embodiment of this invention will be explained based on FIGS. 3 to 5 as follows.

As shown in FIG. 3, an operating section ₁ corresponding to the operating section of FIG _. At V _L , a limiter section 4 that limits, a subtraction section 5 that subtracts an output voltage E ₂ as a limiter output signal from the limiter section 4 and an output voltage E ₁ of the operation section 1; and an addition section 6 that adds the output voltage E ₀ as a difference signal and the output voltage E ₁ from the operation section 1,
An output voltage V ₀ as a converted output signal is obtained at the output terminal of the adder 6. continue,
The specific circuit configuration will be explained below based on FIG. In order to operate this circuit with a single power supply, 1/2 of the power supply voltage Vc.c. is selected as the operating reference point of the operational amplifier, and when the slider of the variable resistor is at the midpoint position, its output voltage becomes 1/2Vc.c.

The operating section 1 includes a variable resistor 1a whose slider is operated by a stick mechanism (not shown) and which outputs an output voltage _E1 as a linear signal directly proportional to the amount of operation, and a slider of the variable resistor 1a. an operational amplifier 1b following the actuator and connected in voltage follower form;
It consists of

The limiter section 4 includes a transistor 4a that performs a limiting action, a variable resistor 4b connected to the emitter of the transistor 4a to set one limit level _VL , and a variable resistor 4b connected to the collector of the transistor 4a to set the other limit level _VH. A variable resistor 4c is connected to the base of the transistor 4a, and its emitter is connected to the output terminal of the operational amplifier 1b, in order to compensate for temperature changes in the base-emitter voltage _VBE of the transistor 4a. The temperature compensation transistor 4d has temperature characteristics similar to those of the transistor 4a, and has a collector connected to a power supply and a base.

The subtraction unit 5 forms a differential amplifier, and includes an input resistor 5a whose one end is connected to the emitter of the transistor 4a, an input resistor 5b whose one end is connected to the output terminal of the operational amplifier 1b, and an inverter. an operational amplifier 5c whose input terminal is connected to the other end of the resistor 5a and whose non-inverting input terminal is connected to the other end of the resistor 5b; and an operational amplifier 5c connected between the inverting input terminal and the output terminal of the operational amplifier 5c. and a resistor 5e, one end of which is connected to the non-inverting input terminal of the operational amplifier 5c, and the other end of which is supplied with the shift voltage 1/2Vc.c.

The adder 6 consists of a variable resistor 6a whose one end is connected to the output terminal of the operational amplifier 5c and the other end is connected to the output terminal of the operational amplifier 1b, and the slider of the variable resistor 6a is connected to the output terminal 6b. connected to.

The operation of the above circuit configuration will be explained below with reference to FIG.

From the variable resistor 1a of the operation unit 1, as _shown in FIG. Correspondingly, the operation amount M _s such that the other maximum operation position P ₂ corresponds to O
Output voltage as a linear signal directly proportional to
E ₁ is obtained, and this output voltage E ₁ is applied to the operational amplifier 1b.
The signal is supplied to the emitter of a transistor 4d for temperature compensation at a low output impedance through the transistor 4d, and then directly supplied to the base of the transistor 4a of the limiter section 4 via the transistor 4d.

Voltages V _H and V _L obtained by dividing the power supply voltage Vc.c. by variable resistors 4c and 4b are applied to the collector and emitter of the transistor 4a, respectively.

Now, the operating position of the slider of the variable resistor 1a in the operating section 1 is between _P3 and _P4 , and the limiter section 4
is supplied as an input signal to The output voltage E ₁ from the operating section 1 is the upper and lower limit levels V _H , V _L
When the limiter section 4 is in between, the transistor 4a of the limiter section 4 operates in the operating region, and the limiter section 4 outputs the input signal as it is as a limiter output signal.
That is, it is output as the output voltage _E2 .

On the other hand, when the operating position exceeds P ₃ and the output voltage E ₁ from the operating section 1 exceeds the upper limit level V _H , the transistor 4a in the limiter section 4 becomes saturated, so that the emitter of the transistor 4a The potential of the collector is kept approximately equal to the limit level _VH set by the variable resistor 4c, and the limiter output signal from the limiter section 4, that is, the output voltage _E2 , is as shown in FIG. 5(B). As shown in a, the upper limit level _VH is fixed.

Conversely, when the operating position exceeds _P4 and the output voltage _E1 from the operating section 1 becomes less than the lower limit level _VL , the transistor 4a is cut off, so the emitter potential of the transistor 4a decreases. is maintained approximately equal to the limit level V _L set by the variable resistor 4b, and the limiter output signal from the limiter section 4, that is, the output voltage _E2 , is kept approximately equal to the limit level V L set by the variable resistor 4b.
As shown in Figure (B) b, the lower limit level V _L
Fixed.

Then, the output voltage E ₂ from the limiter section 4
is supplied to the inverting input terminal of the operational amplifier 5c of the subtraction unit 5, while the output voltage _E1 from the operating unit 1 is supplied to the non-inverting input terminal of the operational amplifier 5c through the input resistor 5b, and further, A shift voltage 1/2Vc.c. is supplied through the resistor 5e, and the output voltage E ₀ as a difference signal from the subtractor 5 in this operating state is E ₀ =-R ₂ /R ₁ (E _{2 -E1} )+1/2Vc.c. (1) However, it is known that _R1 ...resistance value of resistors 5a and 5b _R2 ...resistance value of resistors 5d and 5e.

Therefore, regarding the output voltage E ₀ as a difference signal from the subtractor 5, when the operating position is between P ₃ and _{P 4} , E ₁ = E ₂ , so E in equation (1) is The relationship ₀ =1/2Vc.c. is established, and the subtractor 5 outputs a constant voltage of 1/2Vc.c. as a difference signal, as shown in FIG. 5(C)c.

On the other hand, when the operation position P ₃ is exceeded, E ₁ > E ₂ (Fig. 5 (B) a), so the relationship E ₀ > 1/2Vc.c. is established in equation (1), and the subtraction The section 5 outputs a voltage that increases linearly starting from 1/2Vc.c. as a difference signal, as shown in FIG. 5(C)d.

Furthermore, when the operating position exceeds P ₄ , E ₁ < E ₂ (Fig. 5 (B) b), so the relationship E ₀ < 1/2Vc.c. is established in equation (1), The subtractor 5 outputs a voltage that linearly decreases from 1/2Vc.c. as a difference signal, as shown in FIG. 5(C)e.

As mentioned above, the gradient of the voltage that increases or decreases linearly (FIG. 5(C) d, e) is the gain of the differential amplifier formed in the subtracting section 5, that is, in the equation (1) above. of
If the gain is selected to be ₁ or more, the slope (Fig. 5(C ₎ d,
e) is the slope of the output voltage _E1 from the operating section 1 (the fifth
It is larger than the figure (A)).

The subsequent adder 6 receives the output voltage E0 as a limiter output signal from the limiter section 5 at one input terminal (FIG. 5(D)f), and further receives the output voltage _E0 from the limiter section 5 as a limiter output signal (FIG. 5(D)f). , receives the output voltage E ₁ as a linear signal from the operation unit 1 (Fig. 5 (D) g), and adds both voltages E ₀ and E ₁ to produce the output signal as shown in Fig. 5 (D) (g). D) As shown in h, operation position P ₃ ~
Between _P4 , the slope changes with a gentler slope than the slope of the voltage _E1 (Fig. 5 (D) h'), and outside the operating positions _P3 to _P4 , the slope changes steeper than the slope of the voltage _E1. It changes with a gradient of
Then, the output voltage V ₀ matches the voltage E ₁ at the maximum operating positions P ₁ and P ₂ (Fig. 5 (D) h″, h).
is supplied to the output terminal 6b.

In the configuration of the above embodiment, the division ratio of the resistance values of the variable resistors 4b, 4c of the limiter section 4 and the ratio of the resistance values of the resistors 5a, 5b and 5d, 5e of the calculation section 5 are set appropriately. As a result, small gradients in the operating position range near the midpoint position N and large gradients outside that range can be varied in various ways while maintaining the output voltage at a constant value at the maximum operating positions P ₁ and P ₂ . .

Furthermore, in the configuration of the above embodiment, the maximum operating position
At P ₁ and P ₂ , in order to match the output voltage V ₀ from the adding section 6 with the output voltage E ₁ from the operating section 1,
Although the gain of the subtractor 5 is selected to be 1 or more, the gain is not limited to this, and the gain is selected to be 1 or less to obtain an output voltage V ₀ that changes along various input/output characteristic curves. That is voluntary.

As described above, according to this invention, a linear signal from an operating means including a linear variable resistor, which has been widely used in the past, that is, a signal that changes linearly with respect to the operating amount, can be used as a limiter means. , a subtraction means;
By processing the signal with the addition means and converting it into an output signal that changes according to a function representing a desired input/output characteristic with respect to the manipulated variable, the desired input with respect to the manipulated variable is processed. There is no need to employ a special variable resistor as the operating means, unlike in the prior art in which an output signal that changes according to a function representing the output characteristic is obtained directly from the operating means, so it is possible to use a variety of resistors. It is said that the high cost caused by small-scale production and the lack of durability caused by the complex and microscopic structure of the resistor will be eliminated, and as a result, the cost of the entire device will be reduced and the durability will be improved. It has excellent effects.

Furthermore, the input/output characteristic curve can be changed significantly by simple operations such as adjusting the upper and lower limit levels in the limiter means and adjusting the gain in the subtracting means. It also has the advantage that it is not fixedly specified and can easily respond to various requests for input/output characteristics during use.

In addition, in the configuration of the embodiment, by selecting the gain of the subtraction means to be 1 or more, the output signal from the addition means at the maximum operation position and the linear signal from the operation means at that time can be made equal. Therefore, there is an advantage that the change range of the controlled variable of the controlled object is not reduced in the slightest when converting the input/output characteristics, and the performance of the controlled object is not sacrificed.

[Brief explanation of the drawing]

Figure 1 is a circuit diagram showing the configuration of a control system of a radio control system as an example to which the configuration of this invention is applied, and Figures 2 (A) and (B) show the amount of operation and control in the radio control system. Graphs showing the relationship between quantities, Figures 3 to 5 are related to embodiments of this invention, Figure 3 is a block diagram showing its basic configuration, and Figure 4 is its specific circuit configuration. The circuit diagrams shown in FIGS. 5(A) to 5(D) are voltage waveform diagrams of main parts. 1'...Operation section, 4...Limiter section, 5...Subtraction section, 6...Addition section.

Claims (1)

[Claims for Utility Model Registration] (1) An operating means that outputs a linear signal that changes linearly with respect to the manipulated variable, and an upper and lower limit to which the linear signal is set in advance in response to the linear signal. When it is within the limit level, the linear signal is output as it is as a limiter output signal,
When the linear signal is above a preset upper limit level, the upper limit level is output as a limiter output signal, and when the linear signal is below a preset lower limit level, the lower limit level is output as a limiter output signal. limiter means for outputting as an output signal; subtraction means for outputting a difference signal obtained by subtracting the limiter output signal and the linear signal and further multiplying by a constant; and adding the difference signal and the linear signal. an input/output signal conversion device comprising an adding means for outputting an output signal. (2) The input/output signal conversion device according to claim 1, wherein the subtracting means comprises a differential amplifier having a gain of 1 or more.