JPH059197U - Motor drive - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a motor drive device capable of driving a plurality of motors using a common driver and sensor, and further improving the synchronization accuracy of the plurality of motors. Aim to achieve. [Structure] In-phase coils on multiple motors are connected in series or in parallel, and the rotation of one of the multiple motors is detected by an encoder and based on the detected signal. A common driver generates a feedback control signal, and based on this control signal, the common driver applies an excitation signal to the coils connected in series or parallel to drive multiple drivers simultaneously.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a motor driving device used in a device for synchronously driving multiple axes.

[0002]

[Prior Art]

 In servo actuators in the field of factory automation (FA), devices that drive multiple axes in synchronization are often used. For example, as a device for driving the two axes in synchronization, there are a roll feeder as shown in FIG. 5 and an XY table as shown in FIG. In the roll feeder of FIG. 5, the two servo drivers 2 and 3 receiving the command value from the controller 1 output a drive signal to drive two motors (not shown), With these motors, the rollers 4 and 5 are synchronously driven to rotate, and the carrier 6 is sent. Further, in the XY table of FIG. 6, the two servo drivers 2 and 3 receiving the command value from the controller 1 output a drive signal to drive the two linear motors 7 and 8 and the carriage. 9 is run in the XX 'direction.

However, the driving device shown in FIGS. 5 and 6 has a problem that the servo driver and the servo driver must be provided with two sensors each for obtaining a feedback signal. .. Also, since two motors are driven by different servo drivers, if the drive delay time varies for each servo driver, the synchronization accuracy of the two motors will deteriorate. was there.

[0004]

[Problems to be solved by the device]

 The present invention has been made to solve such a problem, and it is possible to drive a plurality of motors by using a common driver and a sensor, and further, the synchronization accuracy of the plurality of motors is improved. The purpose is to realize a drive device for a driven motor.

[0005]

[Means for Solving the Problems]

 The present invention relates to a motor driving apparatus for synchronously driving a plurality of motors, wherein the plurality of motors have coils of the same phase connected in series or in parallel. -An encoder that detects the rotation of any one of the motors, and a control signal that controls the feedback of the motor is generated based on the detection signal of this encoder. And a common driver that applies an excitation signal to the coils connected in series or in parallel on the basis of a signal to drive a plurality of motors at the same time.

[0006]

[Action]

 In this invention, the rotation of any one of the plurality of motors is detected by the encoder, and a common driver generates a feedback control signal based on the detected signal. A plurality of motors are driven simultaneously based on this control signal. This reduces the number of drivers and improves the synchronization accuracy between multiple motors.

[0007]

【Example】

 The present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of an embodiment of the present invention. In FIG. 1, 10 and 11 are motors, and the figure illustrates a three-phase AC servo motor. These two motors have in-phase coils connected in parallel. Reference numeral 12 is an encoder for detecting the rotation of one motor 11. Numeral 13 is an encoder interface section (hereinafter, the interface is referred to as I / F), which receives the detection signal of the encoder 12 and has an encoder pulse whose pulse number is proportional to the rotation angle of the motor. And a commutation signal representing the phase shift of the motor 10 rotor and stator teeth within one tooth pitch. Reference numerals 14 and 15 are current detection circuits that detect the current flowing through the motor coil based on the voltage generated across the resistor due to the exciting current. Reference numeral 16 is a driver. In the driver 16, 161 is a sin table in which the value of the commutation signal is addressed and the sin value is read out, and 162 is a detection signal of the rotation speed of the motor 10 based on the pulse rate of the encoder pulse. Is a counter for counting the number of encoder pulses, and 164 is a counter for counting the number of serial pulses giving a position command value. Reference numeral 165 denotes a position control unit which outputs a control signal for feedback controlling the rotational position of the motor based on the deviation between the position command value given by the counter 164 and the position detection value given by the counter 163. Output. Reference numeral 166 is a speed control unit, and a deviation I between the speed command value given by the output of the position control unit 165 and the speed detection value given by the output of the F / V converter 162 is defined as the amplitude I, and from the sin table 161. From the read sin value, find the values of sin θ and sin (θ + 120 °) (θ is the phase shift within one tooth pitch between the rotor and stator teeth of the motor 10), and from these values, obtain Isin θ The signal of the current command value of Isin (θ + 120 °) is output. Reference numeral 167 is a PWM circuit (PWM is a pulse width modulation), which is based on the deviation between the current command value given by the speed control unit 166 and the current detection value given by the current detection circuits 14 and 15. A PWM signal for driving the controller. The PWM circuit 167 has two inputs, but has three outputs because the output obtained by pulse-width modulating the input having a phase difference of 120 ° also has a phase difference of 120 °. This is because when two outputs are generated, the remaining one output is naturally obtained. A drive circuit 168 drives the transistor based on the PWM signal from the PWM circuit 167 to excite the three sets of parallel-connected coils in the motors 10 and 11. The components 12 to 16 in FIG. 1 are described, for example, in the specification of Japanese Patent Application No. 1-183937 filed by the present applicant.

In such a driving device, the coils of the motors 10 and 11 are connected in parallel to the output part of the driver 16. The motor 10 has a rotation sensor and a current sensor, but does not have the motor 11. Therefore, the motor 11 behaves the same as the motor 10. Since there is a time delay in the control by the driver, the actual position of the motor 10 follows the command position with a delay. However, since a similar tracking delay occurs in the motor 11, the synchronism between the motors 10 and 11 does not deteriorate. This is shown in the figure. If a driver and a sensor are provided for each motor as in the conventional example, as shown in FIG. The variation of is large. On the other hand, when two motors are driven by a common driver and sensor as in the present invention, the variation of the tracking delay is reduced as shown in FIG.

Although the embodiment has been described with respect to the case where two motors are provided, three or more motors may be provided. For example, like the roll feeder shown in FIG. 4, a motor is provided for each of three or more rollers R 1, R 2, R 3 ... And these motors are synchronized by a common driver. You may drive. Further, although the case where the coils of the same phase are connected in parallel has been described in the embodiment, they may be connected in series.

[0010]

[Effect of the device]

 According to the present invention, since the in-phase coils of a plurality of motors are connected in series or in parallel and the coils connected in series or in parallel are driven by the common driver and sensor, the number of drivers and sensors is reduced. it can. In addition, since there is only one motor control circuit, variations in tracking delay that occur in each motor are reduced. This can improve the synchronization accuracy of multiple motors.

[Brief description of drawings]

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

FIG. 2 is an operation explanatory diagram of the apparatus of FIG.

FIG. 3 is an operation explanatory view of the apparatus of FIG.

FIG. 4 is a diagram showing a configuration example of a roll feeder.

FIG. 5 is a diagram showing a configuration example of a conventional motor driving device.

FIG. 6 is a diagram showing a configuration example of a conventional motor driving device.

[Explanation of symbols]

 10, 11 Motor 12 Encoder 16 Driver

Claims (1)

[Claims for utility model registration] 1. In a motor driving apparatus for driving a plurality of motors in synchronization, the plurality of motors have coils of the same phase connected in series or in parallel. And an encoder for detecting the rotation of any one of the plurality of motors, and feedback control of the motor based on the detection signal of the encoder. A common driver that generates a control signal and applies an excitation signal to the coils connected in series or in parallel based on the control signal to drive a plurality of motors at the same time. -A drive device for data.