JPH053234B2 - - Google Patents
Info
- Publication number
- JPH053234B2 JPH053234B2 JP59037247A JP3724784A JPH053234B2 JP H053234 B2 JPH053234 B2 JP H053234B2 JP 59037247 A JP59037247 A JP 59037247A JP 3724784 A JP3724784 A JP 3724784A JP H053234 B2 JPH053234 B2 JP H053234B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- motor
- current
- control circuit
- signal
- 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
- 230000007423 decrease Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 230000003321 amplification Effects 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/2855—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は負荷変動に対する速度制御応答を改善
した電動機制御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a motor control device that improves speed control response to load fluctuations.
電動機の速度を制御する電動機制御装置の従来
の一例を第１図に示す。
An example of a conventional motor control device for controlling the speed of an electric motor is shown in FIG.
第１図は交流電源２からサイリスタ変換器３を
介して直流電動機１を速度制御するものであり、
電動機速度Ｎは速度発電機６および速度検出回路
７を介して速度フイードバツク信号S2として検出
され、設定された速度基準S1と共に速度制御回路
１０に入力されて速度偏差が比例積分され電流基
準信号S2が出力される。 FIG. 1 shows the speed control of a DC motor 1 from an AC power source 2 via a thyristor converter 3.
The motor speed N is detected as a speed feedback signal S2 via the speed generator 6 and the speed detection circuit 7, and is inputted to the speed control circuit 10 together with the set speed reference S1 , where the speed deviation is proportionally integrated and converted into a current reference signal. S 2 is output.
電流基準信号S3は変流器８および電流検出回路
９を介して検出された電流フイードバツク信号S4
と共に電流制御回路１２に入力され、電流偏差が
演算されて位相制御信号S7が出力される。 The current reference signal S3 is a current feedback signal S4 detected via the current transformer 8 and the current detection circuit 9.
The current deviation is also input to the current control circuit 12, a current deviation is calculated, and a phase control signal S7 is output.
上記位相制御信号S7は、上記電流基準信号S3お
よび電流フイードバツク信号S4を入力して所要電
流方向を判別する正負切換ロジツク回路１１の出
力する正方向選択信号S5と負方向選択信号S6と共
に位相制御回路１３に入力され、位相制御信号S7
の大さおよび方向選択信号S5またはS6の選択に応
じてそれぞれゲート点弧信号S8またはS9をサイリ
スタ変換器３の正電流用サイリスタ４または負電
流用サイリスタ４または負電流用サイリスタ５の
ゲートに入力し、これによつて直流電動機１の速
度Ｎを速度基準S1に制御する。 The phase control signal S7 is a positive direction selection signal S5 and a negative direction selection signal S output from a positive/negative switching logic circuit 11 which inputs the current reference signal S3 and current feedback signal S4 to determine the required current direction. 6 is input to the phase control circuit 13 together with the phase control signal S 7
The gate firing signal S 8 or S 9 is applied to the positive current thyristor 4 or the negative current thyristor 4 or the negative current thyristor 5 of the thyristor converter 3 depending on the magnitude and the selection of the direction selection signal S 5 or S 6, respectively. , thereby controlling the speed N of the DC motor 1 to the speed reference S1 .
上記第１図において、速度制御回路１０は比例
積分回路で構成されているので、定常運転時は電
動機速度は速度基準に対応して安定に制御される
が、負荷に大きな変動があると、電動機電流の立
上りが遅れて速度変動が大きくなるという問題が
ある。 In FIG. 1 above, the speed control circuit 10 is composed of a proportional-integral circuit, so during steady operation the motor speed is stably controlled in accordance with the speed standard, but if there is a large fluctuation in the load, the motor speed There is a problem in that the rise of the current is delayed and speed fluctuations become large.
すなわち例えば圧延機運転の場合第２図に示す
ように、速度基準S1が一定であり、時点T1では
負荷が一定で電流基準S3も小さな一定値になつて
いるが、時点T2が圧延機が材料を噛込んで負荷
が急増すると、速度が低下してS2が小さくなり、
電流基準S3が増加して電動機トルクを増大させ電
動機速度を回復させるように動作するが、S3の立
上りが遅いので速度の回復が遅くなり、従つて速
度変動が大きくなる。 For example, when operating a rolling mill, as shown in Figure 2, the speed reference S 1 is constant, the load is constant at time T 1 , and the current reference S 3 is also a small constant value, but at time T 2 When the rolling mill bites the material and the load suddenly increases, the speed decreases and S2 becomes smaller,
The current reference S 3 increases to increase the motor torque and operate to restore the motor speed, but the slow rise of S 3 slows the speed recovery and therefore increases speed fluctuations.
本発明は速度フイードバツク信号の推移方向と
トルク方向に応じて速度制御回路の積分特性を補
正する補正信号を出力し、これによつて急峻負荷
時の速度制御応答を改善した負荷応答の良い電動
機制御装置を提供することを目的としている。
The present invention outputs a correction signal that corrects the integral characteristic of the speed control circuit according to the transition direction of the speed feedback signal and the torque direction, thereby improving the speed control response during steep loads and providing motor control with good load response. The purpose is to provide equipment.
本発明は、速度基準値に対する電動機速度検出
値の偏差を比例積分して電流基準信号を出力する
速度制御回路と上記電流基準値に対応して電動機
トルクを制御する電流機制御回路を備え、電動機
速度を速度基準値に制御する電動機制御装置にお
いて、負荷トルクの増大による上記電動機速度の
減速率が所定値以上のとき、該減速率に応じた値
で上記速度制御回路の積分のみを動作させ、電流
基準の立上がりを速める負荷時補正手段を設けて
いるので、急峻負荷時の電動機トルクの立上がり
を速くして速度回復を速め、速度の低下を小さく
したものである。
The present invention includes a speed control circuit that proportionally integrates the deviation of a detected motor speed value with respect to a speed reference value and outputs a current reference signal, and a current machine control circuit that controls motor torque in accordance with the current reference value. In a motor control device that controls the speed to a speed reference value, when a deceleration rate of the motor speed due to an increase in load torque is equal to or higher than a predetermined value, only the integral of the speed control circuit is operated at a value corresponding to the deceleration rate; Since a load correction means is provided for accelerating the rise of the current reference, the rise of the motor torque during steep loads is accelerated, speed recovery is accelerated, and speed decrease is reduced.
本発明の一実施例を第３図に示す。第４図は第
３図における速度制御回路１０の詳細を示す回路
図である。
An embodiment of the present invention is shown in FIG. FIG. 4 is a circuit diagram showing details of the speed control circuit 10 in FIG. 3.
第３図において、１４は速度微分演算増幅器で
あり、減速度−dN／dtに比例した速度微分信号
S10を比較器１６，１７および演算増幅器２１に
出力する。比較器１６はS10＞０で且つその絶対
値が設定器３１による設定値以上のとき出力信号
S12を“１”とし、それ以外ではS12を“０”とす
る。 In Fig. 3, 14 is a speed differential operational amplifier, which provides a speed differential signal proportional to deceleration -dN/dt.
S10 is output to comparators 16, 17 and operational amplifier 21. The comparator 16 outputs an output signal when S 10 >0 and its absolute value is greater than the value set by the setting device 31.
S12 is set to "1", and otherwise S12 is set to "0".
比較器１７はS10＜０で且つその絶対値が設定
器３２の設定値以上のとき出力信号S13を“１”
とし、それ以外ではS13を“０”とする。 The comparator 17 sets the output signal S 13 to “1” when S 10 <0 and its absolute value is greater than or equal to the setting value of the setting device 32.
Otherwise, S13 is set to "0".
また演算増幅器２１はS10を設定器２２で設定
した倍率で増幅した補正信号S17をS10と同一極性
で出力し、入力信号S16で開閉される半導体スイ
ツチ２３を介して速度制御回路１０に補正信号
S23として入力している。 In addition, the operational amplifier 21 outputs a correction signal S 17 which is amplified by the magnification set by the setting device 22, with the same polarity as S 10 , and outputs the correction signal S 17 to the speed control circuit 10 via the semiconductor switch 23, which is opened and closed by the input signal S 16 . to correction signal
I am entering it as S 23 .
一方上記出力信号S12，S13はAND回路１８，
１９を介してそれぞれ前記方向選択信号S5，S6と
の論理積信号S14，S15を出力し、さらにOR回路
２０を介してその論理和信号S16を出力し、これ
によつて上記半導体スイツチ２３を閉路する。他
は第１図と同じである。 On the other hand, the output signals S 12 and S 13 are output from the AND circuit 18,
The AND signals S 14 and S 15 with the direction selection signals S 5 and S 6 are outputted through the OR circuit 20, respectively, and the OR signal S 16 is outputted through the OR circuit 20. The semiconductor switch 23 is closed. Others are the same as in Figure 1.
上記補正回路を備えた速度制御回路１０の一例
を第４図に示す。 FIG. 4 shows an example of a speed control circuit 10 equipped with the above correction circuit.
第４図において速度フイードバツク信号S2は演
算増幅器４１で極性を反転されて速度基準信号S1
と共に比例演算増幅器４２に入力され、これによ
つて速度偏差S2−S1が比例増幅される。 In FIG. 4, the polarity of the speed feedback signal S2 is inverted by an operational amplifier 41, and the speed reference signal S1 is inverted.
The speed deviation S 2 −S 1 is also input to the proportional operational amplifier 42, whereby the speed deviation S 2 -S 1 is proportionally amplified.
上記S1，S2は同時に積分演算増幅器４３にも入
力され上記補正信号S23に応じて変化する傾斜で
S2−S1が積分増幅される。 The above S 1 and S 2 are simultaneously input to the integral operational amplifier 43 and are slopes that change according to the above correction signal S 23 .
S 2 −S 1 is integrally amplified.
上記比例増幅出力S20と積分増幅出力S21は演算
増幅器４４で加算され、前記比例積分された電流
基準信号S3を出力する。 The proportional amplification output S 20 and the integral amplification output S 21 are added by an operational amplifier 44 to output the proportionally integrated current reference signal S 3 .
これによつて正転時に急峻負荷がかかつて減速
し減速度が所定値より大きくなると上記補正信号
S23によつて積分増幅出力S21の立上りが速くな
り、電流基準信号S3が速く上昇して電動機トルク
を増大し減速からの復帰を速め、速度の低下を小
さくする。 As a result, when a steep load is applied during normal rotation and deceleration occurs, and the deceleration becomes greater than a predetermined value, the above correction signal is sent.
S23 causes the integral amplification output S21 to rise quickly, causing the current reference signal S3 to rise quickly, increasing the motor torque, speeding up recovery from deceleration, and reducing the reduction in speed.
逆転時減速の場合も同様にして減速からの復帰
が速くなり、速度の低下が小さくなる。 Similarly, in the case of deceleration during reverse rotation, the recovery from deceleration becomes faster and the decrease in speed becomes smaller.
なお本発明は交流電動機の運転についても適用
が可能であり、またアナログ制御回路の代りにマ
イクロプロセツサを用いたデイジタル制御回路を
用いることも可能である。 Note that the present invention can also be applied to the operation of an AC motor, and it is also possible to use a digital control circuit using a microprocessor instead of an analog control circuit.
以上説明したように本発明によれば、正転また
は逆転運転中に急峻な負荷が印加されて速度低下
が生じたとき補正信号を発生させて比例積分要素
から成る速度制御回路の積分動作の立上りを速め
るので、電動機トルクの上昇が速くなり、速度の
低下が小さくなる。
As explained above, according to the present invention, when a steep load is applied during forward or reverse rotation and the speed decreases, a correction signal is generated to increase the integral operation of the speed control circuit composed of proportional-integral elements. Since the motor torque increases faster, the decrease in speed becomes smaller.
また補正信号の発生は速度低下の減速度が所定
値以上のときにのみ行われるので、微小な速度変
化に対しては補正信号は発生せず、従つて通常の
運転に対しては影響をあたえず、制御の安定性を
保持している。 In addition, since the correction signal is generated only when the deceleration of the speed reduction is equal to or higher than a predetermined value, the correction signal is not generated for minute speed changes, and therefore does not affect normal operation. First, control stability is maintained.
第１図は従来の電動機制御装置の一例を示すブ
ロツク図、第２図は第１図における負荷変動時の
速度変化を示すタイムチヤート、第３図は本発明
の一実施例を示すブロツク図、第４図は第３図に
おける速度制御回路１０の構成を示す回路図であ
る。
１…直流電動機、３…サイリスタ変換器、４…
正電流用サイリスタ、５…負電流用サイリスタ、
７…速度検出回路、９…電流検出回路、１０…速
度制御回路、１１…正逆切換ロジツク回路、１２
…電流制御回路、１３…位相制御回路、１４…速
度微分演算増幅器、１６，１７…比較器、１８，
１９…AND回路、２０…OR回路、２１…補正信
号発生用演算増幅器、２３…半導体スイツチ、４
１〜４４…演算増幅器。
FIG. 1 is a block diagram showing an example of a conventional motor control device, FIG. 2 is a time chart showing speed changes during load fluctuations in FIG. 1, and FIG. 3 is a block diagram showing an embodiment of the present invention. FIG. 4 is a circuit diagram showing the configuration of the speed control circuit 10 in FIG. 3. 1... DC motor, 3... Thyristor converter, 4...
Thyristor for positive current, 5... Thyristor for negative current,
7...Speed detection circuit, 9...Current detection circuit, 10...Speed control circuit, 11...Forward/reverse switching logic circuit, 12
...Current control circuit, 13...Phase control circuit, 14...Speed differential operational amplifier, 16, 17...Comparator, 18,
19...AND circuit, 20...OR circuit, 21...compensation signal generation operational amplifier, 23...semiconductor switch, 4
1 to 44... operational amplifier.
Claims (1)
を比例積分して電流基準信号を出力する速度制御
回路と、上記電流基準値に対応して電動機トルク
を制御する電流制御回路を備え、電動機速度を速
度基準値に制御する電動機制御装置において、負
荷トルクの増大による上記電動機速度の減速率が
所定値以上のとき、該減速率に応じた値で上記速
度制御回路の積分のみを動作させ、電流基準の立
上がりを速める負荷時補正手段を設けたことを特
徴とする電動機制御装置。1 Equipped with a speed control circuit that proportionally integrates the deviation of the detected motor speed value with respect to the speed reference value and outputs a current reference signal, and a current control circuit that controls the motor torque in accordance with the current reference value, In a motor control device that controls to a reference value, when the deceleration rate of the motor speed due to an increase in load torque is equal to or higher than a predetermined value, only the integral of the speed control circuit is operated at a value corresponding to the deceleration rate, and the current reference value is A motor control device characterized by being provided with a load correction means for accelerating start-up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59037247A JPS60183988A (en) | 1984-03-01 | 1984-03-01 | Controller for motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59037247A JPS60183988A (en) | 1984-03-01 | 1984-03-01 | Controller for motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60183988A JPS60183988A (en) | 1985-09-19 |
| JPH053234B2 true JPH053234B2 (en) | 1993-01-14 |
Family
ID=12492296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59037247A Granted JPS60183988A (en) | 1984-03-01 | 1984-03-01 | Controller for motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60183988A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5765289A (en) * | 1980-10-07 | 1982-04-20 | Toshiba Corp | Controller for speed of tandem rolling mill |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57189295U (en) * | 1981-05-25 | 1982-12-01 |
-
1984
- 1984-03-01 JP JP59037247A patent/JPS60183988A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5765289A (en) * | 1980-10-07 | 1982-04-20 | Toshiba Corp | Controller for speed of tandem rolling mill |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60183988A (en) | 1985-09-19 |
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