JPH05113826A - Speed controller - Google Patents

Abstract

PURPOSE:To enable stable, high-response speed controller by providing two kinds of speed controllers, and switching them between stop time and operation time and performing the speed control. CONSTITUTION:The speed controllers ASR1A and ASR1B perform two kinds of speed control arithmetic; and, for example, the 1A is made low in gain and the 1B is made high in gain to perform the control by the 1A at the stop time or by the 1B at the operation time. For the purpose, a selector 4 and a switch SW are provided and the selector 4 monitors a speed command value. When the operation time is judged, the 1B is selected by the switch SW, but when the operation time is judged, on the other hand, the 1A is selected by the switch SW. Since the speed control is performed principally when the speed is sufficient (when the linearity of speed detection is excellent), the control rules of the speed control system are preferably switched according to the speed. Consequently, the performance of a loop can fully be displayed and the control is performed excellently including the whole speed range including the stop time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention finds a speed actual value by differentiating a position detection signal, and performs a speed adjustment operation for matching the obtained speed actual value with its target value, and based on the result. The present invention relates to a speed control device that controls the speed of a load or a control target.

[0002]

2. Description of the Related Art FIG. 2 shows a general example of a speed control device. As shown in the figure, this type of speed control device comprises a speed adjuster (ASR) 1, a torque control amplifier (AMP) 2, a motor (MOTOR) 3 as a controlled object, etc., and forms a closed loop. AD is a comparator or an adder / subtractor. That is, in the comparator AD, the deviation between the speed command v ^* and the speed detection value (actual speed value) v from the speed detector (not shown) is calculated, and the ASR1 performs a predetermined adjustment calculation to make this deviation zero. The resulting output is amplified by AMP2 and given to MOTOR3, so that MOTOR3 is controlled to have a desired speed.

[0003]

A closed loop control system of this kind is often used in a servo system or the like where response is required, but it may cause a problem in stability. In particular, when speed detection is obtained by differentiating a discrete position detection signal such as a pulse encoder, the speed detection accuracy near the stop point becomes worse due to the influence of ripples (linearity of speed detection is poor. Therefore, the stability margin of control becomes significantly smaller than that in the case where the vehicle is operated at a certain speed (hereinafter, also referred to as operation: also, the vicinity of the stop point is also referred to as stop), and the control performance deteriorates. There is a problem. In other words, conventionally, the ASR gain is constant irrespective of the speed, so if it is attempted to adjust so that the stability at the time of stop is improved, the responsiveness at the time of operation becomes poor, while the response at the time of operation becomes good If you try to adjust it so that the stability at the time of stopping will deteriorate. Therefore, an object of the present invention is to enable stable speed control with high response.

[0004]

In order to solve such a problem, according to the present invention, a position detection signal is differentiated to obtain an actual speed value, and a predetermined speed adjustment calculation is performed so that the actual speed value matches the command value. In the speed control device that performs the speed control for the controlled object based on the result,
Two kinds of speed adjusters for performing the speed adjustment calculation are provided, and selection means for selecting one of the two kinds of speed adjusters according to the speed command value is provided, and the speed adjuster is provided according to the speed. It is characterized in that any one of the above is selected for speed control.

[0005]

With two types of speed regulators, speed control can be executed by selecting one of them according to the speed, and both stability during stop and responsiveness during operation are satisfied.

[0006]

1 is a block diagram showing an embodiment of the present invention. As is clear from the figure, this embodiment has two types of ASRs 1A and 1B and a selector 4 as compared with the conventional example shown in FIG.
And a switch SW. The rest is the same as in FIG. That is, two types of ASR1
Of A and 1B, for example, the gain of 1A is low and the gain of 1B is high, and control is performed by ASR1A when stopped and by ASR1B during operation. Therefore, the selector 4 and the switch SW are provided, the speed command value is monitored by the selector 4, and when it is determined that the operation is in progress, the switch SW selects ASR1B. It is selected (note that FIG. 1 shows a state where the ASR1B side is selected). This makes it possible to satisfy both the stability during stoppage and the responsiveness during operation. That is,
Speed control is mainly performed when the speed is sufficiently high (when the linearity of speed detection is good), so it is desirable to switch the control law of the speed control system according to the speed. This means that the full performance can be brought out and good control is possible over the entire speed range, including when stopped.

[0007]

According to the present invention, two types of speed adjusters are provided, and the speed is controlled by switching between the stop mode and the operating mode. Therefore, it is possible to perform stable and highly responsive control. Is brought about. As a result, it is possible to expand the application range for various uses.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of the present invention.

FIG. 2 is a configuration diagram showing a conventional example.

[Explanation of symbols]

 1 speed controller (ASR) 2 torque control amplifier (AMP) 3 motor (MOTOR) 4 selector 1A speed controller 1B speed controller SW switch AD comparator (adder / subtractor)

Claims (1)

[Claims] 1. A speed for performing speed control of a controlled object based on a result of performing a predetermined speed adjustment calculation so as to obtain a speed actual value by differentiating a position detection signal to match the speed actual value with its command value. In the control device, two kinds of speed adjusters for performing the speed adjustment calculation are provided, and selection means for selecting one of the two kinds of speed adjusters according to the speed command value is provided, and the speed is adjusted according to the speed. A speed control device characterized by performing speed control by selecting one of the controllers.