JPH0438185A - Rotating body controller - Google Patents

Abstract

PURPOSE:To make the detecting gain of a speed error detecting means higher by controlling the detecting means to make a prescribed value obtained from the detecting means to zero. CONSTITUTION:The FG signal of an FG 2 provided to a capstan motor 1 is inputted to a speed error detecting means 6. At the means 6, Ev' is calculated from the shown formulae against the error E of the frequency fm of the FG signal to the reference frequency f0 and the calculated error is outputted as a speed error. The speed error Ev' is inputted to a motor drive circuit 5 after gain compensation is performed on the error Ev' by means of a compensating means 4 and the capstan motor 1 is driven with a torque corresponding to the output signal of the means 4 under a condition where the drive of the motor 1 is controlled so as to make the error Ev' zero, namely, the frequency fm of the FG signal can become the reference frequency f0. Therefore, the capstan motor 1 is controlled so that the motor 1 can be rotated at a rotating speed proportional to the reference frequency f..

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a control device for a rotating body, such as a control device for a capstan motor of a magnetic recording/reproducing device (hereinafter referred to as VTR).

BACKGROUND OF THE INVENTION FIG. 5 is a block diagram of a control device for a capstan motor in a conventional VTR. In FIG. 5, 1 is a capstan motor for transporting the magnetic tape, 2 is provided in the capstan motor 1, and a frequency signal (hereinafter referred to as F) with a frequency proportional to the rotational speed of the capstan motor 1
It is called the G signal. ) generates a frequency generator (hereinafter referred to as FG)
It is called. ), 3 is the reference frequency f of the FG multiplied signal frequency f1
This is speed error detection means for detecting the error Ev with respect to m. 4 is a speed error signal E obtained from the speed error detection means 3
Compensating means 5 performs gain compensation for v, and 5 is a motor drive circuit that drives the capstan motor 1 with a torque according to the output signal from the compensating means 4.

The operation of the conventional capstan motor control device configured as described above will be described below.

In FIG. 5, the F provided in the capstan motor 1
The FG multiplied signal obtained from G2 is input to the speed error detection means 3, and the error Ev of the FG multiplied signal frequency fm with respect to the reference frequency f9 is detected. This error signal Ev is
After gain compensation is performed at , the signal is input to the motor drive circuit 5 so that the error E of the FG multiplied signal frequency fm with respect to the reference frequency fm becomes zero, that is, so that the FG multiplied signal frequency f1 becomes fe. The capstan motor 1 is driven and controlled. Therefore, the capstan motor 1 is fi
It is controlled to rotate at a rotation speed proportional to l.

Problems to be Solved by the Invention In the conventional capstan motor control device described above, the larger the absolute value of the error Ev of the FG multiplied signal frequency fm with respect to the reference frequency flI, that is, the steady state (Ev= Stable state near 0)
It is desirable that the gain of the open-loop transfer function of the rotational speed control system be higher as the transient state is further from the steady state.

The higher the gain of the open-loop transfer function of the rotation speed control system, the higher the frequency response of the closed loop of the rotation speed control system extends to higher frequencies. The closed-loop frequency response also extends to higher frequencies, reducing the pull-in time to steady state. Therefore, it is desirable that the detection gain of the speed error detection means be higher as the absolute value of the error Ev becomes larger.

In view of this, an object of the present invention is to provide a control device for a rotating body in which the larger the absolute value of the error Ev, the higher the detection gain in the speed error detection means.

Means for Solving the Problems In order to achieve the above objects, the present invention provides a frequency signal generating means for generating a frequency signal having a frequency corresponding to the rotational speed of a rotating body, and a frequency f@ (or period Tm) of the frequency signal.
) with respect to the reference frequency fg (or reference period T9), when Ev≧O, Ev′=Ev2・
When nEv is 0) i: vl = g, in(
(where n is a natural number) and a first speed error detection means for calculating E, +, and is configured to perform control so that the value of E obtained from the speed error detection means becomes zero. be.

The present invention also provides a frequency signal generating means for generating a frequency signal having a frequency corresponding to the rotational speed of a rotating body, and a reference frequency fs (of the frequency fm (or period Tm) of the frequency signal).
or a second speed error detection means that calculates E v'' with respect to the error E with respect to the reference period T0) E vn = E V2− n+1 (where n is a natural number); The configuration is such that control is performed so that the obtained value of E9 becomes zero.

Operation The present invention has the above-described configuration so that the error B vT calculated by the first speed error detection means becomes zero, that is, the FG multiplied signal frequency f0 becomes f0 (or the FG multiplied signal period Tm becomes T9). The rotating body is driven and controlled so that At this time, the gain dE,'/dE, of Evl calculated by the first speed error detection means with respect to Ev is as follows: When Ev≧0, dEv'/dEV=2 ” n ” Ev”
When '-Ev〈0, dE v '/dE, = -2 fist n ・ E
, 2 ゛ n-1, and the larger the absolute value of Ev, the higher the detection gain in the first speed error detection means.

Further, the present invention has the above-described configuration so that the error Ev'' calculated by the second speed error detection means becomes zero, that is, the FG multiplied signal frequency fm is set to fθ (or the FG multiplied signal period Tm is set to T). The rotating body is drive-controlled so that: At this time, the gain dEv''/dEv of Ev calculated by the second speed error detection means with respect to Ev is E, and when ≧0, dE; '/dE,=2・n・E, 1n−1Ev When 0, dEv' /dEv=−2・n@Ev2°n−1, and the larger the absolute value of Ev, the more Detection gain will be higher.

Embodiment FIG. 1 is a block diagram of a capstan motor control device for a VTR, which is a first embodiment of the rotating body control device of the present invention. In FIG. 1, 1 is a capstan motor for transporting the magnetic tape, 2 is an FG provided in the capstan motor 1 and generates an FG multiplied signal with a frequency proportional to the rotational speed of the capstan motor 1, and 6 is an F
Reference frequency f of G times signal frequency fm (or period Tm)
For the error EV with respect to 9 (or reference period Ta),
When Ev≧0, Ev”=Ev2; when Ev≧0, Ev′=Ev” A speed error detection means calculates Ev′ and outputs it as a speed error. 4 is a speed error signal Ev obtained from the speed error detection means 3. Compensating means 5 performs gain compensation for the compensation means 4, and 5 is a motor drive circuit that drives the capstan motor 1 with a torque according to the output signal from the compensating means 4.

The operation of the capstan motor control device of this embodiment configured as described above will be described below.

In FIG. 1, the F provided in the capstan motor 1
The FG multiplied signal obtained from G2 is input to the speed error detection means 6. In the speed error detection means 6, with respect to the error Ev of the FG multiplied signal frequency fm (or period Tm) with respect to the reference frequency fQ (or reference period T e ), when Ev≧0,
When E v' = E 112, E vl
is calculated and output as a speed error.

The speed error Ev' is subjected to gain compensation in the compensation means 4 and then input to the motor drive circuit 5, and the motor drive circuit 5 drives the capstan motor 1 with a torque according to the output signal from the compensation means 4. , EV' become zero, that is, the capstan motor 1 is driven and controlled so that the FG multiplied signal frequency fm becomes f0 (or the FG multiplied signal period Tm becomes Tg). Therefore, the capstan motor 1 is controlled to rotate at a rotational speed proportional to fe (inversely proportional to Til).

Here, the gain dE,'/dEV of Ev' calculated by the speed error detection means 6 with respect to the error E is E, ≧O
When dEv'/dEv=2·EvEv<0, dEv'/dEv=-2 fistEv, as shown in FIG. That is, the larger the absolute value of the error E, the higher the detection gain in the speed error detection means 6.

Therefore, according to the capstan motor control device of this embodiment, the larger the absolute value of the error Ev of the FG multiplied signal frequency fm (or period Tm) with respect to the reference frequency fll (or reference period TQ), the more the rotation speed control becomes The gain of the system's open-loop transfer function increases and the closed-loop frequency response of the rotational speed control system extends to higher frequencies, reducing the pull-in time to a steady state.

FIG. 3 shows a block diagram of a VTR capstan motor control device, which is a second embodiment of the rotating body control device of the present invention. In FIG. 3, 1 is a capstan motor for transporting the magnetic tape, 2 is an FG provided in the capstan motor 1 and generates an FG multiplied signal with a frequency proportional to the rotational speed of the capstan motor 1, and 7 is an F
For the error E of the G multiplied signal frequency fm (or period KllT, ) with respect to the reference frequency f9 (or reference period T[+), calculate E, l'', which is Ev''''Ev3, and calculate the speed error as 4 is a compensating means for performing gain compensation on the speed error signal Ev obtained from the speed error detecting means 3; 5 is a compensating means for controlling the capstan motor 1 with a torque corresponding to the output signal from the compensating means 4; This is a motor drive circuit that drives the motor.

The operation of the capstan motor control device of this embodiment configured as described above will be described below.

In FIG. 3, the F provided in the capstan motor 1
The FG multiplied signal obtained from G2 is input to the speed error detection means 7. In the speed error detection means 7, Evll, which is Ev''Ev3, is calculated for the error Ev of the FG multiplied signal frequency fm (or period Tm) with respect to the reference frequency fe (or reference period TQ), Output as speed error.

The speed error E Vll is input to the motor drive circuit 5 after gain compensation is performed in the compensation means 4, and the motor drive circuit 5 drives the capstan motor 1 with a torque according to the output signal from the compensation means 4. , Ev" become zero, that is, the FG multiplied signal frequency f1 becomes f[l(
Alternatively, the capstan motor 1 is drive-controlled so that the FG double signal period T1 becomes T9). Therefore, the capstan motor 1 is controlled to rotate at a rotational speed proportional to fa (inversely proportional to Tg).

Here, the gain dEv''/dEv of the Ev'' calculated by the speed error detection means 7 with respect to the error Ev is dEv
"/dEv=3.EV2, as shown in FIG. 4. That is, the larger the absolute value of the error E, the higher the detection gain in the speed error detection means 7.

Therefore, according to the capstan motor control device of this embodiment, the error E of the FG multiplied signal frequency fm (or period Tm) with respect to the reference frequency f0 (or reference period T a ) is
The larger the absolute value of v, the higher the gain of the open-loop transfer function of the rotational speed control system, and the frequency response of the closed loop of the rotational speed control system extends to a higher frequency, so the pull-in time to reach a steady state is shortened.

In addition, 1. In the second embodiment, the rotating body to be controlled is the capstan motor of a VTR.
It is not limited to the R capstan motor.

Further, in the first embodiment, the speed error detection means 6 is
Reference frequency f0 of double signal frequency fm (or period Tm)
(or the reference period T a ), when Ev≧0, E V ''' E V2°nE,
When <0, Ev' is calculated as E, in (where n is a natural number) and is output as a speed error. The gain dE,'/dE, of E, I is E,
When ≧O, dE,' /d EV=2 @ n @ Ev2°n-
1E, when <0, dEv' /dEv=-2・n @ EV"",
When the absolute value of EV is large, the detection gain in the speed error detection means 6 becomes high. Therefore, the same effects as in the first embodiment can be obtained.

Further, in the second embodiment, the speed error detection means 7 is
Reference frequency fe of double signal frequency fm (or period T)
(or the reference period T a ), Ev''=Ev2°n41 (where n is a natural number) Even if you calculate E and n and output them as speed errors, the error Ev The gain dEV''/dEv of E vIT calculated by the speed error detection means 7 is dEv
”/dE v= (2・n+1) “Ev 2
°n, and the larger the absolute value of NEV, the higher the detection gain in the speed error detection means 7 becomes. Therefore, the same effects as in the second embodiment can be obtained.

As described in detail, according to the present invention, the larger the absolute value of the speed error, the higher the gain of the open loop transfer function of the rotational speed control system, and the shorter the bowing time until reaching a steady state.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a capstan motor control device for a VTR, which is a first embodiment of the rotating body control device of the present invention, and FIG. 2 shows changes in the detection gain of the speed error detection means in the same embodiment. A characteristic diagram for explanation, FIG. 3 is a block diagram of a VTR capstan motor control device which is a second embodiment of the rotating body control device of the present invention, and FIG. 4 is a speed error detection diagram in the same embodiment. A characteristic diagram for explaining changes in the detection gain of the means, and FIG. 5 is a block diagram showing an example of a conventional control device for a rotating body. 1...Capstan motor, 6.7...Speed error detection means, Road. 2...Frequency generator, 5...Name of motor drive agent Patent attorney Kazutaka Awano Shiwo Rin two-run: t'i Jitsu 5 (F6
)l P-ide stun motor 2-・k8 shikinmonun resistance t Saito 5 (F6)
Diagram Anti-Ev- Ev- Diagram! −′pm map stan motor

Claims (2)

[Claims] (1) A frequency signal generating means that generates a frequency signal with a frequency corresponding to the rotational speed of a rotating body, and an error E_v of the frequency f_m (or period T_m) of the frequency signal with respect to the reference frequency f_0 (or reference period T_0). So, when E_v≧0, E_v'=E_v^2^・^nE
When _v<0, E_v'=-E_v^2^・^n(
(where n is a natural number) speed error detection means for calculating E_v' such that the speed error detection means performs control so that the value of E_v' obtained from the speed error detection means becomes zero. Device. (2) A frequency signal generating means for generating a frequency signal with a frequency corresponding to the rotational speed of the rotating body, and an error E_v of the frequency f_m (or period T_m) of the frequency signal with respect to the reference frequency f_0 (or reference period T_0). and a speed error detection means for calculating E_v" as follows: E_v"=E_v^2^・^n^+^1 (where n is a natural number), and the value of E_v" obtained by the speed error detection means is A control device for a rotating body, characterized in that it performs control so that the rotational speed becomes zero.