JPH03135386A - Speed controller for motor - Google Patents

Abstract

PURPOSE:To improve efficiency at the time of a series of operation including complicate operation by a movable section in multiaxial control by installing a switching device changing over speed command voltage to the first or second input terminal of a drive and outputting the speed command voltage. CONSTITUTION:A controller 1 outputs speed command voltage 6 for conducting operation acquired to a movable section, and monitors the position and speed of the movable section from feedback pulses 8 from an encoder 5, and performs correction to an error. The controller 1 also outputs a switching signal 7. A switching device 2 input the speed command voltage 6 to the first input terminal A or second input terminal B of a drive 3. Inputting to either of the first input terminal A and the second input terminal B is determined by the switching signal 7 output from the controller 1.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a motor speed control device.

[Prior Art] Speed control of a motor is performed by a drive device controlling the rotational speed of the motor in accordance with a speed command voltage output from a control device. Precise speed control is required when making a robot perform a series of tasks including motion. For this reason, conventionally, precise speed control has been performed using the following method.

In other words, in the drive device, an input section with a voltage dividing circuit with a variable voltage division ratio is used to divide the speed command voltage manually inputted from the control device, and adjust the rotation speed of the motor according to the divided speed command voltage. I will make it happen.

In this way, the speed change of the motor in response to the change in the speed command voltage from the control device can be reduced, so that the speed can be controlled with the desired precision.

[21 Problems to be Solved by the Invention] However, in the speed control method described above, since the speed command voltage is divided at a certain voltage division ratio, it is difficult to change the motor speed by 1fil.
#1 also had the disadvantage of being narrow.

For this reason, when using multi-axis control to make a moving part perform a series of tasks involving complex movements, precise control is not necessary, but even when prompt movement is required, it is necessary to operate at low speeds. This made the work less efficient.

An object of the present invention is to provide a motor speed control device that can increase efficiency when causing a movable part to perform a series of operations including complicated operations in multi-axis control.

[One stage for solving the problem] A motor speed control device of the present invention includes: a control device that outputs a speed command voltage and a switching signal; The second input terminal has a voltage dividing circuit capable of dividing the voltage manually to a voltage division ratio of 0.5 If the speed command voltage is input from the first input terminal, the motor's rated rotation If the speed command voltage is input manually from the second input terminal, the motor is driven at a speed according to the voltage divided by the voltage dividing circuit. The driving device includes a driving device, and a switching device that switches between a first input terminal and a second input terminal to which the speed command voltage outputted from the control device is inputted, using the switching signal.

[Function] If you want the motor to rotate at high speed, you can input the speed command voltage to the drive device from the first input terminal, and if precise speed control is required, you can input the speed command voltage to the drive device from the second input terminal. It has a control range of up to 300 degrees and can perform precise speed control when rotating at low speeds, so it can improve efficiency when making movable parts perform a series of tasks including complex movements in multi-axis control.

[Example] Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a motor speed control device showing one embodiment of the present invention. Figure 1 shows 1 in multi-axis control.
It shows the configuration of the axes.

Xl, +control device 1 has a D/A circuit (not shown),
ii Speed command voltage 6 for causing the J moving parts to perform the desired operation
It also monitors the position and speed of the movable part using feedback pulses 8 from the encoder 5, and corrects for errors. The control device 1 also outputs a switching signal 7. The switching device 2 switches the speed command voltage 6 to the first voltage of the drive device 3.
input terminal A or second input terminal B. Which of the first input terminal A and the second input terminal B is to be manually operated is determined by the switching signal 7 output from the control device 1. The drive device 3 has two speed command voltage input terminals, a first input terminal A and a second input terminal B. When the speed command voltage 6 is manually applied to the first input terminal A, the motor 4 When the motor 4 is driven at a speed according to the speed command voltage 6 within the range up to the rated rotation, and the speed command voltage 6 is manually applied to the second input terminal B,
The speed command voltage 6 is divided by a voltage dividing circuit (not shown), and the motor 4 is driven at a speed corresponding to the divided voltage. The voltage dividing ratio in the voltage dividing circuit is variable and can be set to any desired voltage dividing ratio. Note that the drive device 3 itself is publicly known.

Now, the rated rotation speed of the motor 4 is ±N1, the voltage division ratio of the voltage dividing circuit is X, and the resolution of the D/A circuit is ±A bits.

If the variable range of the speed command voltage 6 is 2 volts, then the first
When the speed command voltage 6 is applied manually from the input terminal A of the motor 4, the motor 4 can be controlled in the range of -N to 10N rotations in steps of N/A rotations. Further, when the speed command voltage 6 is manually applied from the second input @B, the motor 4 can be controlled in the range of -NX to +NX rotations with an ilJ width of NX/A.

That is, in this embodiment, both precise speed control and high-speed speed control are possible depending on which of the first human power I4A and the second input terminal B the speed command voltage 6 is input to. There is.

[Effects of the Invention] As explained above, the present invention has a switching device that switches and outputs the speed command voltage to the first or second input terminal of the drive device, so that it can be used when precise control is required. and II control, which is suitable for both cases where precise control is not required but high speed as possible is possible, increasing the efficiency when making a series of movements including complex movements on moving parts in multi-axis control. There is an effect that can be done.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a motor speed control device showing one embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Control device, 2... Switching device, 3... Drive device, 4... Motor, 5... Encoder, 6...
... Speed command voltage, 7... Switching signal, 8... Feedback pulse, A... First input terminal, B...
Second input end.

Claims (1)

[Claims] 1. A control device that outputs a speed command voltage and a switching signal, first and second input terminals, and a voltage dividing circuit capable of dividing the input voltage to an arbitrary voltage division ratio. However, when the speed command voltage is input from the first input terminal, the motor is driven at a speed according to the speed command voltage until the motor's rated rotation, and when the speed command voltage is input from the second input terminal, A drive device that drives the motor at a speed according to the voltage divided by the voltage dividing circuit, and a speed command voltage output from the control device are input to either a first input terminal or a second input terminal. and a switching device for switching between the two states according to the switching signal.