JPH0362105A - Controller - Google Patents

Abstract

PURPOSE:To simplify the structure and to stabilize the control by using a rate gyro instead of a rotating speed transmitter. CONSTITUTION:When the rate gyro 7 is fitted to a controlled system 6 and rotated, a substrate 11 rotates together, but the weight 13 tends to hold its original vibrating direction because of inertia, so a support shaft 12 is twisted to generate torsional torque. This torsional torque is proportional to the rotating speed of the controlled system, so a twist detecting circuit converts it into an electric signal, which is fed back to a control circuit 3 to perform smooth and stable control.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to a control device for controlling the position of an object in response to command input, for example, and in particular to an improvement in a feedback control system.

[Prior Art] FIG. 3 is a block diagram showing an example of a conventional servomechanism control device, in which 1 is a manual handle, 2 is a first potentiometer mechanically connected to the manual handle 1, and 3 is a first potentiometer mechanically connected to the manual handle 1. A control circuit, 4 is a 7 actuator such as a servo motor,
5 is a second potentiometer that transmits the position of the actuator, 6 is a controlled object mechanically connected to the actuator 4, and 8 is a control object whose rotor is mechanically connected to the actuator 4, such as a tachogenerator. It is a rotation speed transmitter.

Conventional control devices are configured as described above. For example, in a control device that is mounted on a running vehicle and controls the attitude of a controlled object, when the manual handle is rotated by an angle θ in response to a change in the attitude of the running vehicle, A first potentiometer 2 generates an electrical signal proportional to θ and sends it to a control circuit 3. The signal amplified by the control circuit 3 is sent to the actuator 4 to drive it. A second potentiometer 5 is mechanically coupled to the actuator 4 and feeds back an electrical signal proportional to the position of the actuator 4 to the control circuit 3. This feedback signal is the manual handle 1
When the value corresponds to the rotation angle θ, the signal generated by the potentiometer 2 is canceled out, the output of the control circuit 3 becomes zero, and the actuator 4 stops at that position. That is, since the controlled object 6 also stops at that position, the controlled object 6 also rotates according to the rotation angle of the manual handle 1, so that the attitude of the controlled object 6 is controlled. The rotational speed transmitter 8 detects the rotational speed of the actuator 4 and sends it to the control circuit 3, thereby stabilizing the control of this servo mechanism.

[Problems to be Solved by the Invention] In the conventional control device as described above, the rotor of the rotational speed transmitter 8 must be mechanically connected to the actuator 4. For example, if the actuator 4 is an electric motor, The rotational speed transmitter 8 is mechanically connected to the motor shaft, and if the actuator 4 is a hydraulic cylinder, it must be connected to the cylinder by a gear. However, there have been problems in that the method is complicated and the selection of the mounting position is also restricted.

This invention was made in order to solve this problem, and aims to provide a control device in which the rotational speed transmitter 8 can be installed at any position on the controlled object 6 without requiring a mechanical coupling device. shall be.

[Means for Solving the Problems] A control device according to the present invention is provided with a late gyro that is attached to a controlled object, detects its rotational speed, and supplies this signal to a control circuit.

[Operation] In the present invention, the rotational speed of the controlled object is detected by a late gyro installed at an arbitrary position of the controlled object without using a mechanical coupling device, and stable operation is obtained.

[Embodiment] Fig. 1 is a block diagram showing an embodiment of the present invention. In the figure, 1 to 6 are the same as the above-mentioned conventional device, and E is provided to engage with the controlled object 6 and rotate it. It shows a late gyro that generates a speed signal.

Figure 2 is an explanatory diagram showing the operation of the late gyro.
1 is a board attached to the controlled object 6, 12 is a support shaft, 13
is a double pyramid and is vibrated in the direction of the arrow by a drive circuit (not shown). Reference numeral 14 indicates an input shaft provided so as to coincide with the rotational direction of the controlled object 6. When the controlled object 6 rotates in this state, the substrate 11 rotates accordingly, but the heavy cone 1
3 tries to maintain the original vibration direction due to its inertia, so the support shaft 12 is twisted and torsional torque is generated. Since the magnitude of this torsional torque is proportional to the rotational speed of the controlled object 6, it is converted into an electric signal by a torsion detection circuit (not shown) and fed back to the control circuit 3, so that the servo mechanism operates with a predetermined response. The controlled object can be controlled smoothly and stably in the commanded direction.

In this explanation, a late gyro using a vibration of a heavy cone is used, but it goes without saying that similar control can be obtained by using a late gyro using a gyro wheel that rotates at high speed.

[Failure of the invention] As explained above, in this invention, by using a late gyro instead of a rotational speed transmitter, the late gyro has a greater degree of freedom in selecting the mounting position, and the actuator provided in engagement with the late gyro has increased flexibility. Since no mechanical coupling device is required,
This has the effect of stabilizing control with a simple structure.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is an explanatory diagram showing an example of the operation of a late gyro, and FIG. 3 is a conventional control device. In the figure, 3 is a control circuit, 4 is an actuator, 6 is a controlled object, and 7 is a late gyro. Note that the same reference numerals in each figure indicate the same or corresponding parts.

Claims (1)

[Scope of Claim] A control circuit that outputs a deviation signal between a commanded input and the position of a controlled object, and a control device that controls the position of the controlled object via an actuator using the control circuit output, the control device being attached to the controlled object. A control device comprising a late gyro that detects a moving speed and supplies the signal to the control circuit.