JPH07110147B2 - DC motor speed controller - Google Patents
DC motor speed controllerInfo
- Publication number
- JPH07110147B2 JPH07110147B2 JP59177792A JP17779284A JPH07110147B2 JP H07110147 B2 JPH07110147 B2 JP H07110147B2 JP 59177792 A JP59177792 A JP 59177792A JP 17779284 A JP17779284 A JP 17779284A JP H07110147 B2 JPH07110147 B2 JP H07110147B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- amplifier
- motor
- rotation speed
- deviation
- 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
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
- H02P7/288—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 using variable impedance
- H02P7/2885—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 using variable impedance 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】 産業上の利用分野 本発明は直流電動機の回転速度を目標回転速度に制御す
る速度制御装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device for controlling the rotation speed of a DC motor to a target rotation speed.
従来の技術 第４図は従来の速度制御装置の一例を示すブロック図で
あり、直流電動機１の回転速度は速度検出器、楽えばパ
ルスピックアップ２で検出される。パルスピックアップ
２は直流電動機１の回転速度に対応した周波数の速度検
出パルスを出力する。2. Description of the Related Art FIG. 4 is a block diagram showing an example of a conventional speed control device. The rotation speed of the DC motor 1 is detected by a speed detector, which is a pulse pickup 2, for example. The pulse pickup 2 outputs a speed detection pulse having a frequency corresponding to the rotation speed of the DC motor 1.
この速度検出パルスは比較回路３によって、速度設定器
４で設定された目標回転速度に対応した周波数のデイジ
タル信号と比較される。そして、比較回路３の偏差パル
ス信号はＦ−Ｖ変換器５によって該偏差パルス周波数差
に対応した電圧信号に変換される。比較回路３の偏差出
力パルスは設定＝検出時αHZとすると第５図（ａ）に示
す波形の如く変化し、Ｆ−Ｖ変換器５の出力電圧は第５
図（ｂ）に示す如く変化する。このＦ−Ｖ変換器５の出
力電圧信号は、反転増幅器６および７を示し速度制御ア
ンプ８に入力される。この場合、目標回転速度と検出速
度とが等しい時の比較回路３の偏差出力を第５図（ａ）
に示すようにα〔HZ〕とすると、このα〔HZ〕の時に時
速制御アンプ８の入力電圧が零になるようにバイアス設
定器９で反転増幅器６のバイアスが調整される。これに
より、速度制御アンプ８には目標回転速度と検出速度と
の偏差に応じて第５図（ｃ）に示すような特性の電圧信
号が入力される。The speed detection pulse is compared by the comparison circuit 3 with a digital signal having a frequency corresponding to the target rotation speed set by the speed setter 4. Then, the deviation pulse signal of the comparison circuit 3 is converted into a voltage signal corresponding to the deviation pulse frequency difference by the FV converter 5. The deviation output pulse of the comparator circuit 3 changes as shown in FIG. 5 (a) when setting = αH Z at the time of detection, and the output voltage of the FV converter 5 changes to the fifth value.
It changes as shown in FIG. The output voltage signal of the FV converter 5 indicates the inverting amplifiers 6 and 7 and is input to the speed control amplifier 8. In this case, the deviation output of the comparison circuit 3 when the target rotation speed and the detected speed are equal is shown in FIG.
As shown in (1), the bias of the inverting amplifier 6 is adjusted by the bias setter 9 so that the input voltage of the hourly speed control amplifier 8 becomes zero at the time of this α [HZ]. As a result, the voltage signal having the characteristic shown in FIG. 5C is input to the speed control amplifier 8 in accordance with the deviation between the target rotation speed and the detected speed.
速度制御アンプ８で増幅された目標回転速度と検出速度
との偏差に対応した電圧信号は、正回転と逆回転の切換
回路10を介して電流アンプ11に入力される。そして、こ
の電流アンプ11において直流電動機１の駆動電流に検出
値と比較され、その比較結果は直流電動機１の移相器12
に入力されて任意に移相されたゲートパルス信号が得ら
れる。The voltage signal corresponding to the deviation between the target rotation speed and the detected speed amplified by the speed control amplifier 8 is input to the current amplifier 11 via the forward / reverse rotation switching circuit 10. Then, in the current amplifier 11, the drive current of the DC motor 1 is compared with the detected value, and the comparison result is the phase shifter 12 of the DC motor 1.
A gate pulse signal, which is input to, is arbitrarily shifted in phase.
このゲートパルス信号は、正回転および逆回転の切換回
路14を介して逆並列接続したサイリスタ整流器13のサイ
リスタ素子群に入力されて、所定の制御が行われる。こ
れにより、直流電動機１は目標回転速度まで正回転方向
または逆回転方向に加速または減速され、所定のデイジ
タル制御が行われる。This gate pulse signal is input to the thyristor element group of the thyristor rectifier 13 connected in antiparallel via the forward rotation and reverse rotation switching circuit 14, and predetermined control is performed. As a result, the DC motor 1 is accelerated or decelerated in the forward rotation direction or the reverse rotation direction up to the target rotation speed, and predetermined digital control is performed.
発明が解決しようとする問題点 ところが上述したデイジタル速度制御装置においては、
制御精度が良いという利点がある反面、偏差が小さい領
域では速度制御アンプ８以降の回路系の応答が遅くな
り、目標回転速度に到達するまで時間がかかるという問
題点がある。この問題点を解消する為に速度制御アンプ
８の利得を上げ、速度制御アンプ８の入力特性を第５図
（ｃ）の破線ｌに示すようにした場合、今度はわずかな
速度偏差で速度制御アンプ８以降の回路系が応答するよ
うになり、制御系の動作が不安定となって乱調を招くと
いう問題点がある。Problems to be Solved by the Invention However, in the above-described digital speed control device,
Although it has the advantage of good control accuracy, it has a problem that the response of the circuit system after the speed control amplifier 8 becomes slow in a region where the deviation is small, and it takes time to reach the target rotation speed. In order to solve this problem, if the gain of the speed control amplifier 8 is increased and the input characteristic of the speed control amplifier 8 is shown by the broken line l in FIG. 5 (c), this time the speed control is performed with a slight speed deviation. There is a problem in that the circuit system after the amplifier 8 becomes responsive and the operation of the control system becomes unstable and causes disorder.
本発明は上記のような問題点を解決するためになされた
もので、その目的は制御系の乱調を招くことなく、短時
間のうちに目標回転速度に制御することができる直流電
動機の速度制御装置を提供することにある。The present invention has been made to solve the above problems, and its purpose is to control the speed of a DC motor capable of controlling to a target rotation speed in a short time without causing disturbance of the control system. To provide a device.
問題点を解決するための手段及び作用 このため本発明は、速度制御アンプの前段の反転増幅器
を比例積分型とリミッター付とし、速度制御系のループ
ゲインを上げて速度変動に対する応答を上げると同時
に、高ゲインによる不安定応答を前記リミッター回路で
制限するように構成したものである。Therefore, in the present invention, the inverting amplifier in the preceding stage of the speed control amplifier is provided with a proportional-integral type and a limiter, and the loop gain of the speed control system is increased to increase the response to speed fluctuations. The limiter circuit limits unstable response due to high gain.
実施例 以下、図示する実施例に基づき本発明を詳細に説明す
る。Examples Hereinafter, the present invention will be described in detail based on the illustrated examples.
第１図は本発明の一実施例を示す全体ブロック図であ
り、第４図に示した従来装置と同一部分は全て同一符号
で表している。FIG. 1 is an overall block diagram showing an embodiment of the present invention, and the same parts as those of the conventional apparatus shown in FIG.
第１図において、第４図の従来装置と異なる点は、反転
増幅器７に比例積分機能を備えるとともに出力リミッタ
機能を備えたことと、マイナーループとして、パルスピ
ックアップ２の速度検出パルスをＦ−Ｖ変換器15によっ
て変換した電圧信号と、速度設定器４のデイジタル設定
信号をデイジタル−アナログ変換した電圧信号とを速度
制御アンプ８に入力して制御装置を構成することにより
目標回転速度付近における速度制御系の利得を上げ応答
性を高めるようにし、且つ前記反転増幅器７の出力リミ
ッタにより高ゲインに起因する乱調を防止し、安定性を
高めたことである。1 is different from the conventional device shown in FIG. 4 in that the inverting amplifier 7 is provided with a proportional integration function and an output limiter function, and the speed detection pulse of the pulse pickup 2 is FV as a minor loop. By inputting the voltage signal converted by the converter 15 and the voltage signal obtained by digital-analog converting the digital setting signal of the speed setter 4 to the speed control amplifier 8 to configure a control device, speed control near the target rotation speed is achieved. That is, the gain of the system is increased to improve the responsiveness, and the output limiter of the inverting amplifier 7 prevents the disturbance caused by the high gain to improve the stability.
上記のように反転増幅器７は比例積分機能を備えている
ので、入力電圧が第２図（ａ）に示すようなものであっ
たとしても、その出力電圧は第２図（ｂ）に示すように
比例積分を受けたものとなり、僅かな速度偏差であって
も大きなレベルの電圧信号が得られる。Since the inverting amplifier 7 has the proportional-integral function as described above, even if the input voltage is as shown in FIG. 2 (a), its output voltage is as shown in FIG. 2 (b). Therefore, a voltage signal of a large level can be obtained even with a slight speed deviation.
すなわち反転増幅器７の利得が事実上大きくなり、反転
増幅器７から速度制御アンプ８に入力される電圧信号の
特性は第５図（ｃ）の破線ｌち近い特性となる。これに
よって偏差が小さい領域であっても大きな電圧信号が速
度制御アンプ８に入力され、応答性が向上して短時間の
うちに目標回転速度に制御することができる。That is, the gain of the inverting amplifier 7 is substantially increased, and the characteristic of the voltage signal input from the inverting amplifier 7 to the speed control amplifier 8 becomes a characteristic close to that of the broken line l in FIG. 5 (c). As a result, a large voltage signal is input to the speed control amplifier 8 even in a region where the deviation is small, the response is improved, and the target rotation speed can be controlled in a short time.
また反転増幅器７の利得が大きくなったことによる制御
系の乱調は反転増幅器７のリミッタ機能により防止され
る。In addition, the limiter function of the inverting amplifier 7 prevents the control system from being disturbed due to the increased gain of the inverting amplifier 7.
ここで例えば起動時の速度設定器４の設定パターンは第
３図（ａ）のように示されるが、第４図の従来装置では
目標回転数到達時に第３図（ｃ）の破線に示すようにオ
ーバーシュートが発生する恐れがある。しかし本発明の
装置では反転増幅器７の利得が大きいため、僅かにオー
バーシュートした場合でも第３図（ｂ）の破線丸印内の
ように回転速度を抑える方向に反転増幅器７から電圧が
出力される（すなわちオーバーシュート時は第５図
（ｃ）の設定＜検出領域に示す電圧のように、設定＞検
出領域とは反対の方向の電圧が出力される）。この結果
直流電動機１の回転速度は第３図（ｃ）の実線で示すよ
うにごく僅かのオーバーシュートで抑えられる。Here, for example, the setting pattern of the speed setter 4 at the time of start-up is shown as in FIG. 3 (a), but in the conventional device of FIG. 4, when the target rotation speed is reached, as shown by the broken line in FIG. May overshoot. However, in the device of the present invention, since the gain of the inverting amplifier 7 is large, a voltage is output from the inverting amplifier 7 in the direction in which the rotation speed is suppressed as indicated by the broken line circle in FIG. (That is, at the time of overshoot, the voltage in the direction opposite to the setting> detection area is output as in the setting <voltage in the detection area in FIG. 5C). As a result, the rotation speed of the DC motor 1 is suppressed by a very slight overshoot as shown by the solid line in FIG. 3 (c).
尚直流電動機１の運転停止時のオーバーシュートについ
ても前記同様の動作となる。The same operation is performed for the overshoot when the DC motor 1 is stopped.
前記速度制御アンプ８は３入力の偏差増幅器として動作
するものであり、ディジタル−アナログ変換器16の出力
を正入力とし、反転増幅器７の出力を負入力とし、Ｆ−
Ｖ変換器15の出力を負入力としている。The speed control amplifier 8 operates as a 3-input deviation amplifier. The output of the digital-analog converter 16 is a positive input, the output of the inverting amplifier 7 is a negative input, and the F-
The output of the V converter 15 is used as a negative input.
このように速度設定信号分（ディジタル−アナログ変換
器16の出力）および回転速度検出信号分（パルスピック
アップ２の出力）をマイナーループとしてダイレクトに
速度制御アンプ８に入力して３入力の偏差をとることに
より、直流電動機１の回転速度が急変した場合でも、よ
り迅速に且つ正確に目標回転速度に制御することができ
る。Thus, the speed setting signal component (output of the digital-analog converter 16) and the rotation speed detection signal component (output of the pulse pickup 2) are directly input to the speed control amplifier 8 as a minor loop to obtain a deviation of 3 inputs. As a result, even if the rotation speed of the DC motor 1 suddenly changes, the target rotation speed can be controlled more quickly and accurately.
また、定常運転時に負荷変動等により速度偏差が生じた
場合でも反転増幅器７によって制御感度が向上され、直
流電動機１の回転速度は、直ちに目標回転速度に正確に
収束するように制御される。Further, the control sensitivity is improved by the inverting amplifier 7 even when a speed deviation occurs due to a load change or the like during steady operation, and the rotation speed of the DC motor 1 is controlled so as to immediately converge to the target rotation speed accurately.
このように本実施例によれば、速度制御アンプ８の前段
の反転増幅器７を比例積分型とし、且つリミッタ付とし
たため、小さな速度変動に対する応答性が向上し、目標
回転速度に迅速に制御することができる。また、速度制
御系のループゲインを上げた事によって生ずる不安定な
動作は、反転増幅器７のリミッタ回路によって制限され
乱調を確実に防止できるばかりでなく起動時や停止時に
おけるオーバーシュートも防止することができる。As described above, according to the present embodiment, since the inverting amplifier 7 in the preceding stage of the speed control amplifier 8 is of the proportional-integral type and has the limiter, the response to a small speed fluctuation is improved and the target rotation speed is quickly controlled. be able to. In addition, the unstable operation caused by increasing the loop gain of the speed control system is limited by the limiter circuit of the inverting amplifier 7 so that not only the disorder can be surely prevented but also the overshoot at the time of starting and stopping is prevented. You can
発明の効果 以上のように本発明によれば、制御系の乱調を招くこと
無く応答性を極力高め、定格回転数到達までの所要時間
を短縮することができるばかりで無く、運転全域に渡っ
て非常に安定した運転を行うことができる。さらにデイ
ジタル制御による高精度な制御という利点を何ら損なう
ことなく、起動時や停止時及び定格回転数到達時のオー
バーシュートを防止でき、且つ回路構成を極力簡素化し
てあるので安価な装置を実現できる等の効果が得られ
る。EFFECTS OF THE INVENTION As described above, according to the present invention, not only can the responsiveness be increased as much as possible without causing the control system to be disturbed, the time required to reach the rated speed can be shortened, and the entire operating range can be reduced. Very stable operation is possible. Further, it is possible to realize an inexpensive device because it is possible to prevent overshoot at the time of starting, stopping, and reaching the rated speed without sacrificing the advantage of high precision control by digital control, and simplifying the circuit configuration as much as possible. And so on.
第１図は本発明の一実施例を示す全体ブロック図、第２
図および第３図（ａ），（ｂ），（ｃ）は第１図の動作
を説明するための波形図、第４図は従来の速度制御装置
の一例を示す全体構成図、第５図は第４図の動作を説明
するための特性図である。 １……直流電動機、２……パルスピックアップ、３……
比較回路、４……速度設定器、5,15……Ｆ−Ｖ変換器、
6,7……反転増幅器、８……速度制御アンプ、16……デ
イジタル−アナログ変換器。FIG. 1 is an overall block diagram showing an embodiment of the present invention.
3 and (a), (b), and (c) are waveform diagrams for explaining the operation of FIG. 1, and FIG. 4 is an overall configuration diagram showing an example of a conventional speed control device, and FIG. FIG. 6 is a characteristic diagram for explaining the operation of FIG. 1 ... DC motor, 2 ... pulse pickup, 3 ...
Comparison circuit, 4 ... Speed setting device, 5, 15 ... FV converter,
6,7 ... Inverting amplifier, 8 ... Speed control amplifier, 16 ... Digital-analog converter.
Claims (1)
部（パルスピックアップ２）と、 直流電動機の目標回転速度を設定する速度設定部（速度
設定器４）と、 この速度設定部の出力信号と前記速度検出部の出力信号
を比較する比較部（比較回路３）と、 比例積分機能および出力リミッタ機能を有し、前記比較
部の偏差出力信号を増幅する第１増幅部（反転増幅器
７）と、 前記第１増幅部および速度検出部の各出力信号の和と、
前記速度設定部の出力信号との偏差を増幅する第２増幅
部（速度制御アンプ８）とを備え、 前記第２増幅部の出力信号に基づき直流電動機の駆動電
流を制御して直流電動機の回転速度を目標回転速度に制
御する直流電動機の速度制御装置。1. A speed detection unit (pulse pickup 2) for detecting the rotation speed of a DC motor, a speed setting unit (speed setting unit 4) for setting a target rotation speed of the DC motor, and an output signal of this speed setting unit. And a comparison unit (comparison circuit 3) for comparing the output signals of the speed detection unit, and a first amplification unit (inversion amplifier 7) having a proportional integration function and an output limiter function and amplifying the deviation output signal of the comparison unit. And the sum of the output signals of the first amplifier and the speed detector,
A second amplifier (speed control amplifier 8) that amplifies a deviation from the output signal of the speed setting unit, and controls the drive current of the DC motor based on the output signal of the second amplifier to rotate the DC motor. A speed control device for a DC motor that controls the speed to a target rotation speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59177792A JPH07110147B2 (en) | 1984-08-27 | 1984-08-27 | DC motor speed controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59177792A JPH07110147B2 (en) | 1984-08-27 | 1984-08-27 | DC motor speed controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6158489A JPS6158489A (en) | 1986-03-25 |
| JPH07110147B2 true JPH07110147B2 (en) | 1995-11-22 |
Family
ID=16037177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59177792A Expired - Lifetime JPH07110147B2 (en) | 1984-08-27 | 1984-08-27 | DC motor speed controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07110147B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100356280C (en) * | 2004-12-30 | 2007-12-19 | 杭州和利时自动化有限公司 | Dynamic compensation method for distortion measurement in discrete control and control system thereof |
-
1984
- 1984-08-27 JP JP59177792A patent/JPH07110147B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6158489A (en) | 1986-03-25 |
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