JPH0465989B2 - - Google Patents
Info
- Publication number
- JPH0465989B2 JPH0465989B2 JP59111798A JP11179884A JPH0465989B2 JP H0465989 B2 JPH0465989 B2 JP H0465989B2 JP 59111798 A JP59111798 A JP 59111798A JP 11179884 A JP11179884 A JP 11179884A JP H0465989 B2 JPH0465989 B2 JP H0465989B2
- Authority
- JP
- Japan
- Prior art keywords
- circuit
- servo
- resistor
- analyzer
- loop
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000005259 measurement Methods 0.000 claims description 9
- 230000003321 amplification Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Measurement Of Resistance Or Impedance (AREA)
- Testing And Monitoring For Control Systems (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、コンパクトデイスク（CD）プレー
ヤ等で使用されるサーボ回路の開ループ伝達関数
測定用回路に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a circuit for measuring an open-loop transfer function of a servo circuit used in a compact disc (CD) player or the like.
CDプレーヤ等におけるサーボ回路の安定度は、
一般に開ループ伝達関数における利得余裕と位相
余裕によつてチエツクされる。サーボ回路そのも
のは閉ループ構成になつているため、その開ルー
プ伝達関数の測定にはループ切断等の工夫を要す
る。しかし、CDプレーヤ等のDC利得の非常に高
いサーボ回路の開ループ伝達関数は、原理的に第
３図のように閉ループ状態で測定できる。但し、
このためには測定対象とするサーボ回路１のルー
プ内に、測定時のみ必要な加算回路２を予め挿入
しておく必要がある。３は希望周波数の正弦波を
出力する信号発生器出力端Ｓと２つの分析入力端
Ａ，Ｂを有するサーボアナライザで、測定時には
図示のような結線をする。サーボアナライザ３は
２チヤンネルのFFTアナライザで、サーボ回路
１の端子ｕに現われる信号の時間変化ｕ（ｔ）を
フーリエ変換した値と、端子ｖに現われる信号の
時間変化ｖ（ｔ）をフーリエ変換した値からそれ
らの振幅比と位相差を測定する。CDプレーヤに
用いられるサーボ回路には、デイスクの回転制御
を対象とするものや、デイスクと光学ピツクアツ
プの位置制御を対象とするものがあり、いずれも
高度の安定性が要求される。
The stability of the servo circuit in CD players, etc.
Generally checked by the gain margin and phase margin in the open loop transfer function. Since the servo circuit itself has a closed loop configuration, measures such as loop cutting are required to measure its open loop transfer function. However, the open-loop transfer function of a servo circuit with a very high DC gain, such as a CD player, can in principle be measured in a closed-loop state as shown in FIG. however,
For this purpose, it is necessary to insert in advance the addition circuit 2, which is required only during measurement, into the loop of the servo circuit 1 to be measured. 3 is a servo analyzer having a signal generator output terminal S that outputs a sine wave of a desired frequency and two analysis input terminals A and B, which are connected as shown in the figure during measurement. Servo analyzer 3 is a two-channel FFT analyzer that Fourier transforms the time change u(t) of the signal appearing at terminal u of servo circuit 1 and the time change v(t) of the signal appearing at terminal v. Measure their amplitude ratio and phase difference from the values. The servo circuits used in CD players include those that control the rotation of the disk and those that control the position of the disk and optical pickup, and both require a high degree of stability.
加算回路２は等価的に加算器２１と利得−１の
反転増幅器２２として表わされるが、具体的には
第４図のように構成される。つまり、２３は非反
転端子（＋）を接地したOPアンプで、その出力
が出力端ｕとなる。このOPアンプ２３の出力端
から反転端子（−）の間に帰還抵抗R3を接続し、
且つ該反転端子に抵抗R2を介してループ入力ｖ
を、また抵抗R1を介してアナライザ出力Ｓを供
給する構成とすると、R1＝R2＝R3の条件で第３
図の加算回路２が構成される。 The adder circuit 2 is equivalently represented as an adder 21 and an inverting amplifier 22 with a gain of -1, and is specifically constructed as shown in FIG. That is, 23 is an OP amplifier whose non-inverting terminal (+) is grounded, and its output becomes the output terminal u. A feedback resistor R 3 is connected between the output terminal of this OP amplifier 23 and the inverting terminal (-),
And the loop input v is connected to the inverting terminal via the resistor R2 .
Also, if the configuration is such that the analyzer output S is supplied via the resistor R 1 , the third
The adder circuit 2 shown in the figure is configured.
サーボ回路１は外部入力ｘを安定化して外部出
力ｙを得るもので、G1，G2は分割して示すルー
プゲインである。このサーボ回路の開ループ伝達
関数G0は加算回路２の出力端子ｕからG2，G1を
通り入力端子ｖへ戻るものであるから、
G0＝G1・G2＝ｖ／ｕ
として表わされる。但し、加算回路２に反転増幅
器２２が挿入されているのでループゲインの一方
は−G2になつている。 The servo circuit 1 stabilizes an external input x to obtain an external output y, and G 1 and G 2 are loop gains shown as divided. The open-loop transfer function G 0 of this servo circuit is from the output terminal u of the adder circuit 2 through G 2 and G 1 and returns to the input terminal v, so it can be expressed as G 0 = G 1 · G 2 = v/u. It will be done. However, since the inverting amplifier 22 is inserted in the adder circuit 2, one of the loop gains is -G2 .
上述した測定方式では部品点数の多い加算回路
２を全てのサーボ回路に予め備えさせておく必要
があるので１台毎の単価が高価になり、また、小
型化の妨げになる欠点がある。
In the above-mentioned measurement method, it is necessary to equip all the servo circuits with the adder circuit 2, which has a large number of parts, so that the unit cost of each servo circuit is high, and there is also a drawback that it impedes miniaturization.
本発明は測定対象となるサーボ回路には抵抗１
本だけを挿入しておく構成とすることによりサー
ボ回路の低価格化および小型化を図り、測定に必
要なループ開放用の回路はアダプタ化してサーボ
アナライザと共に全てのサーボ回路で共用できる
ようにするものである。このため本発明のサーボ
回路特性測定回路は、閉ループを構成するサーボ
回路を開ループ伝達特性を２チヤンネルのサーボ
アナライザで測定するに際し、該閉ループを等価
的に開放するサーボ回路特性測定用回路におい
て、該閉ループの開放すべき個所に予め挿入され
た抵抗と、該抵抗の入力端側の信号と該サーボア
ナライザの出力信号とを加算する機能を有した単
一利得の第１の反転増幅器と、該第１の反転増幅
器の出力を更に反転して該抵抗の出力端側に供給
する単一利得の第２の反転増幅器とを備え、該第
１および第２の反転増幅器からなる単一利得の非
反転増幅系をアダプタ回路とし、更に該アダプタ
回路を該サーボ回路およびサーボアナライザに対
し測定時にのみ着脱自在に接続させる構成とする
と共に、該第１の反転増幅器の出力および該抵抗
の入力端側の信号をそれぞれ該アダプタ回路を通
して該サーボアナライザの２入力端に供給するよ
うにしてなることを特徴とするものである。
In the present invention, the servo circuit to be measured has a resistor 1.
The servo circuit can be made smaller and cheaper by inserting only the book, and the loop opening circuit required for measurement is made into an adapter so that it can be shared by all servo circuits along with the servo analyzer. It is something. For this reason, the servo circuit characteristic measuring circuit of the present invention is a servo circuit characteristic measuring circuit that equivalently opens the closed loop when measuring the open loop transfer characteristic of the servo circuit constituting the closed loop with a two-channel servo analyzer. a resistor inserted in advance at a point in the closed loop to be opened; a first inverting amplifier with a unity gain having a function of adding the signal on the input end side of the resistor and the output signal of the servo analyzer; a second inverting amplifier with a unity gain which further inverts the output of the first inverting amplifier and supplies the inverted output to the output end side of the resistor, the inverter with a unity gain consisting of the first and second inverting amplifiers; The inverting amplifier system is an adapter circuit, and the adapter circuit is configured to be detachably connected to the servo circuit and servo analyzer only during measurement, and the output of the first inverting amplifier and the input terminal side of the resistor are The present invention is characterized in that signals are supplied to two input terminals of the servo analyzer through the adapter circuits, respectively.
サーボアナライザとサーボ回路の間にループ開
放用のアダプタを介在させる方法であると、サー
ボ回路のループ内には僅かな部品を追加するだけ
で済み、各サーボ回路の小型化および低価格化が
図れる。
If a loop opening adapter is interposed between the servo analyzer and the servo circuit, only a few components will be added to the servo circuit loop, making each servo circuit smaller and cheaper. .
以下、図面を参照しながら本発明の実施例を説
明する。
Embodiments of the present invention will be described below with reference to the drawings.
第１図は本発明の一実施例で、４はループ開放
用のアダプタ回路である。このアダプタ回路４は
サーボ回路１とサーボアナライザ３（第３図参
照）の間に着脱自在に介在するものであるが、そ
の動作原理を第２図で説明する。同図は単一利得
非反転アンプ４′に関する説明図で、OPアンプ４
１と入力抵抗R4および帰還抵抗R5で利得−１の
反転増幅器を構成し（R4＝R5）、またOPアンプ
４２と入力抵抗R6および帰還抵抗R7で利得−１
の反転増幅器を構成し（R6＝R7）、これらを継続
接続して全体として利得１の非反転増幅器４′を
構成している。この非反転増幅器４′に出力イン
ピダンスRgの信号源e0を接続し、その入出力端
間にRsなる抵抗を接続したと仮定した場合、Rg
≪Rsであれば抵抗Rsが増幅器４′に与える影響を
無視できる。つまり、抵抗Rsの部分は増幅器
４′にとつて開放されていることと等価である。 FIG. 1 shows an embodiment of the present invention, and 4 is an adapter circuit for opening the loop. This adapter circuit 4 is detachably interposed between the servo circuit 1 and the servo analyzer 3 (see FIG. 3), and its operating principle will be explained with reference to FIG. The figure is an explanatory diagram of the single gain non-inverting amplifier 4', and the OP amplifier 4
1, input resistor R 4 and feedback resistor R 5 constitute an inverting amplifier with a gain of -1 (R 4 = R 5 ), and the OP amplifier 42, input resistor R 6 and feedback resistor R 7 constitute an inverting amplifier with a gain of -1.
(R 6 =R 7 ), and these are continuously connected to form a non-inverting amplifier 4' with a gain of 1 as a whole. Assuming that a signal source e 0 with an output impedance Rg is connected to this non-inverting amplifier 4', and a resistor Rs is connected between its input and output terminals, Rg
If <<Rs, then the influence of the resistance Rs on the amplifier 4' can be ignored. In other words, the resistor Rs is equivalent to being open to the amplifier 4'.
この原理に基づくのが第１図のアダプタ回路４
で、その抵抗R9〜R12は第２図の抵抗R4〜R7に対
応する。アダプタ回路４としては、初段の反転増
幅器４１の入力抵抗R9の開放端ｖをサーボアナ
ライザ３のＢ入力およびサーボ回路１の端子１１
に接続する。また次段の反転増幅器４２の出力端
をサーボ回路１の端子１２に接続する。これらの
端子１１，１２は前述した抵抗Rsをサーボ回路
１のループ内に挿入したとき、その抵抗の両端に
接続されたものである。また初段の反転増幅器４
１の出力端ｕはサーボアナライザ３のＡ入力に接
続され、更にその反転入力端（−）は抵抗R8を
介して該アナライザのＳ出力に接続される。 The adapter circuit 4 shown in Figure 1 is based on this principle.
The resistors R 9 to R 12 correspond to the resistors R 4 to R 7 in FIG. The adapter circuit 4 connects the open end v of the input resistor R 9 of the first stage inverting amplifier 41 to the B input of the servo analyzer 3 and the terminal 11 of the servo circuit 1.
Connect to. Further, the output terminal of the next stage inverting amplifier 42 is connected to the terminal 12 of the servo circuit 1. These terminals 11 and 12 are connected to both ends of the resistor Rs when the resistor Rs is inserted into the loop of the servo circuit 1. Also, the first stage inverting amplifier 4
The output terminal u of servo analyzer 3 is connected to the A input of servo analyzer 3, and its inverting input terminal (-) is connected to the S output of the analyzer via resistor R8 .
上記構成において、R8＝R9＝R10≫Z0に設定す
ると、抵抗R8〜R10とOPアンプ４１は第４図と
同様の加算回路を構成する。またR11＝R12に設
定すると抵抗R11，R12とOPアンプ４２は利得−
１の反転増幅器を構成するので、サーボ回路１２
の後段回路のゲインは非反転のG2で済む。ZINは
この後段回路の入力インピダンスであり、また上
述のZ0はゲインG1の前段回路の出力インピダン
スであるが、ここでZ0≪Rs≪ZINを満すようにRs
の抵抗値を設定すると、アダプタ回路４の接続時
に抵抗Rsの部分は第２図で説明したように等価
的にオープン状態とみなすことができる。このた
めに、Z0が数Ω、ZINが100K〜1MΩであるとすれ
ばRsを1K〜10KΩ程度に設定し、アダプタ接続
時の抵抗分割の影響が極力出ないようにする。
尚、アダプタ回路４の非接続時に抵抗Rsがルー
プ内に存在しても系の安定性に支障がないことは
明らかである。 In the above configuration, when R 8 =R 9 =R 10 >>Z 0 is set, the resistors R 8 to R 10 and the OP amplifier 41 constitute an adder circuit similar to that shown in FIG. 4. Also, when R 11 = R 12 , the resistors R 11 and R 12 and the OP amplifier 42 have a gain of -
1 inverting amplifier, the servo circuit 12
The gain of the subsequent circuit is just G2 , which is non-inverting. Z IN is the input impedance of this subsequent stage circuit, and Z 0 mentioned above is the output impedance of the previous stage circuit with gain G 1 .
By setting the resistance value of , when the adapter circuit 4 is connected, the portion of the resistor Rs can be equivalently considered to be in an open state as explained in FIG. For this reason, if Z 0 is several Ω and Z IN is 100K to 1MΩ, Rs should be set to about 1K to 10KΩ to minimize the influence of resistance division when connecting the adapter.
It is clear that even if the resistor Rs is present in the loop when the adapter circuit 4 is disconnected, the stability of the system will not be affected.
以上述べたように本発明によれば、サーボアナ
ライザを用いてサーボ回路の開ループ伝達特性を
測定する際に、該サーボ回路の閉ループを等価的
に開ループにする回路の大部分をアダプタ化して
全てのサーボ回路で共通使用できるようにし、各
サーボ回路には抵抗１本だけを挿入しておくよう
にしたので、サーボ回路側の構成が簡単になり、
小型化および低価格化が図れる。また、アダプタ
回路とサーボアナライザ、サーボ回路との各接続
部をコネクタ、プラグイン方式等にしておけば測
定時の作業性は著しく簡単である。
As described above, according to the present invention, when measuring the open loop transfer characteristics of a servo circuit using a servo analyzer, most of the circuits that convert the closed loop of the servo circuit into an equivalent open loop are converted into adapters. Since it can be used commonly by all servo circuits and only one resistor is inserted in each servo circuit, the configuration of the servo circuit side is simplified.
It can be made smaller and lower in price. Furthermore, if the connection parts between the adapter circuit, servo analyzer, and servo circuit are connected by connectors, plug-in systems, etc., the workability during measurement is significantly simplified.
第１図は本発明の一実施例を示す回路図、第２
図はその原理を説明するための回路図、第３図は
従来のサーボ回路の開ループ伝達関数測定系の構
成図、第４図はサーボ回路に挿入される従来の測
定用回路の構成図である。
図中、１はサーボ回路、３はサーボアナライ
ザ、４はループ開放用アダプタ回路、４１は第１
の反転増幅器、４２は第２の反転増幅器、Rsは
抵抗である。
Figure 1 is a circuit diagram showing one embodiment of the present invention, Figure 2 is a circuit diagram showing an embodiment of the present invention.
The figure is a circuit diagram for explaining the principle, Figure 3 is a configuration diagram of a conventional open loop transfer function measurement system for a servo circuit, and Figure 4 is a configuration diagram of a conventional measurement circuit inserted into a servo circuit. be. In the figure, 1 is a servo circuit, 3 is a servo analyzer, 4 is a loop opening adapter circuit, and 41 is a first
, 42 is a second inverting amplifier, and Rs is a resistor.
Claims (1)
達特性を２チヤンネルのサーボアナライザで測定
するに際し、該閉ループを等価的に開放するサー
ボ回路特性測定用回路において、該閉ループの開
放すべき個所に予め挿入された抵抗と、該抵抗の
入力端側の信号と該サーボアナライザの出力信号
とを加算する機能を有した単一利得の第１の反転
増幅器と、該第１の反転増幅器の出力を更に反転
して該抵抗の出力端側に供給する単一利得の第２
の反転増幅器とを備え、該第１および第２の反転
増幅器からなる単一利得の非反転増幅系をアダプ
タ回路とし、更に該アダプタ回路を該サーボ回路
およびサーボアナライザに対し測定時にのみ着脱
自在に接続させる構成とすると共に、該第１の反
転増幅器の出力および該抵抗の入力端側の信号を
それぞれ該アダプタ回路を通して該サーボアナラ
イザの２入力端に供給するようにしてなることを
特徴とするサーボ回路特性測定用回路。1. When measuring the open-loop transfer characteristics of a servo circuit constituting a closed loop with a two-channel servo analyzer, in the servo circuit characteristic measurement circuit that equivalently opens the closed loop, a a single-gain first inverting amplifier having a function of adding a signal on the input side of the resistor and an output signal of the servo analyzer; A second circuit with a unity gain that is supplied to the output side of the resistor
an inverting amplifier, a single gain non-inverting amplification system consisting of the first and second inverting amplifiers is used as an adapter circuit, and the adapter circuit is detachably attached to the servo circuit and the servo analyzer only during measurement. The servo is configured such that the output of the first inverting amplifier and the signal on the input terminal side of the resistor are respectively supplied to two input terminals of the servo analyzer through the adapter circuit. Circuit for measuring circuit characteristics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59111798A JPS60253982A (en) | 1984-05-31 | 1984-05-31 | Circuit for measuring characteristic of servo circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59111798A JPS60253982A (en) | 1984-05-31 | 1984-05-31 | Circuit for measuring characteristic of servo circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60253982A JPS60253982A (en) | 1985-12-14 |
| JPH0465989B2 true JPH0465989B2 (en) | 1992-10-21 |
Family
ID=14570418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59111798A Granted JPS60253982A (en) | 1984-05-31 | 1984-05-31 | Circuit for measuring characteristic of servo circuit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60253982A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4321772A1 (en) | 2022-08-10 | 2024-02-14 | Able Human Motion, S.L. | Backdrivable actuator for exoskeleton |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014228930A (en) * | 2013-05-20 | 2014-12-08 | 株式会社荏原製作所 | Servo controller |
-
1984
- 1984-05-31 JP JP59111798A patent/JPS60253982A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4321772A1 (en) | 2022-08-10 | 2024-02-14 | Able Human Motion, S.L. | Backdrivable actuator for exoskeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60253982A (en) | 1985-12-14 |
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