JPH0722942A - Digital/synchronizing converting method - Google Patents

Abstract

PURPOSE:To smooth the change of an analog synchronizing signal in response to a digital angle command. CONSTITUTION:A difference 10a between a digital angle command theta and a present value 2 is obtained by subtraction, and an analog difference voltage 11a obtained by converting the difference 10a into an analog data is varied and amplified by an analog amplifier 12. The amplified analog difference voltage 11a is converted to a frequency by a voltage/frequency converter 13, counted by an up/down counter 6, and a synchronizing signal 7a is obtained. Thus, a synchronizing signal 7a smooth in inclination can be obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a digital / synchronous conversion method, and more particularly to a new improvement for smoothing a change in an analog synchro signal with respect to a digital angle command.

[0002]

2. Description of the Related Art As a digital / synchronous conversion method of this type which has been conventionally used, the method shown in FIG. 3 has been generally adopted. That is, the reference numeral 1 in FIG. 3 is a comparator, and the digital angle command θ is input to the first input terminal A of the comparator 1. Also,
A current value 2 described later is input to the second input terminal B.

The first output 1a of the comparator 1 is input to the first gate 4 of the three-terminal input type first and second gates 4 and 5 to which the clock signal 3 is input, and the second output 1b is input to each of the gates 4 and 5, and the third output is input to the second gate 5. The up pulse 4a output from the first gate 4 and the down pulse 5a output from the second gate 5 are input to an up / down counter 6.

The current value 2 obtained from the up / down counter 6 is input to the second input terminal B of the comparator 1, and at the same time, an analog synchro signal 7a is obtained via the digital / synchro converter 7. Was configured as.

[0005]

Since the conventional digital / synchronous conversion method is configured as described above, there are the following problems. That is, the digital angle command θ is compared with the current value, and the comparison result (A> B, A =
Since B and A <B) are used to obtain the up pulse and the down pulse from each gate, the rate of change θ ₁ of the analog synchro signal passing through the digital / synchro converter is as shown in FIG. Inevitably, they are the same, and therefore the synchro signal shown in FIG. 4 is a curve with a clear degree of change and is not smooth. When the operation of a robot or the like is controlled using this synchro signal, The movement was not smooth.

The present invention has been made to solve the above problems, and in particular, provides a digital / synchronous conversion method for smoothing changes in analog synchro signals with respect to digital angle commands. With the goal.

[0007]

Digital / digital according to the invention
The synchro conversion method is a digital / synchro conversion method in which a digital angle command is converted into an analog synchro signal through an up / down counter and a digital / sync converter, and the difference between the digital angle command and the current value is calculated. Obtained by subtraction, the analog difference voltage obtained by analogizing the difference is variably amplified by an analog amplifier, and the analog difference voltage amplified by the analog amplifier is converted into a frequency by a voltage / frequency converter, This is a method of counting by the up / down counter based on this frequency and outputting the synchro signal.

More specifically, it is a method of stopping the generation of a pulse from the voltage / frequency converter when the digital angle command and the current value match.

[0009]

In the digital / synchronous conversion method according to the present invention, the difference between the digital angle command and the current value is obtained by subtraction, and the analog difference voltage 11a obtained by analogizing this difference is obtained.
Is variably amplified by an analog amplifier, the analog difference voltage variably amplified by this analog amplifier is converted into a frequency, and this frequency is counted by an up / down counter, so the gain of this analog amplifier is changed. As a result, as shown in FIG. 2, the tilt angles θ _{1 to} θ ₄ of the analog sync signal can be freely changed, and a smoother sync signal than the sync signal shown in FIG. 4 can be obtained.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the digital / synchronous conversion method according to the present invention will be described in detail below with reference to the drawings. It should be noted that the same or equivalent portions as those of the conventional example will be described using the same reference numerals. A reference numeral 10 in FIG. 1 is a subtractor in which the digital angle command θ is input to the first input terminal A, and the second input terminal B of the subtracter 10 is input with a current value 2 described later. ing.

The difference 10a output from the output terminal C of the subtractor 10 is analogized by the digital / analog converter 11, amplified by the analog amplifier 12, and input to the voltage / frequency converter 13. The analog amplifier 12 is constructed so that its amplification gain G can be made variable.

Up pulse 13a and down pulse 1 based on the frequency obtained from the voltage / frequency converter 13
3b is input to the amplifier / down counter 6, and the current value 2 which is the output of the up / down counter 6 is input to the second input terminal B of the subtractor 10 and
It is input to the digital / synchronization converter 7 and the analog synchronization signal 7a is output.

In the configuration described above, the stepwise digital angle command θ shown in FIG. 2 is input to the subtractor 10, and the difference (C = AB) 10a between the digital angle command θ and the current value 2 is converted into an analog form. After that, it is amplified by the analog amplifier 12.
By variably controlling the gain G of the analog amplifier 12, it is possible to make the tilt angles θ _{1 to} θ ₄ variable and have the synchro signal 7a having a smooth change, as shown in FIG.

The digital angle command θ is a signal output every 260 msec, for example, at a constant time, and is proportional to the magnitude of the difference 10a obtained from the voltage / frequency converter 13. Each pulse 13a of the pulse train,
Even when 13b is variable with respect to time, it is possible to obtain a smoother sync signal 7a than before.

[0015]

Since the digital / synchronous conversion method according to the present invention is configured as described above, the change of the synchronizing signal becomes a gentle and smooth state, and the operation of the controlled member can be made smoother. You can

[Brief description of drawings]

FIG. 1 is a block diagram showing a digital / synchronization conversion method according to the present invention.

FIG. 2 is a waveform diagram showing a digital angle command and a synchro signal of FIG.

FIG. 3 is a block diagram showing a conventional method.

FIG. 4 is a conventional waveform diagram.

[Explanation of symbols]

 θ Digital angle command 2 Current value 6 Up / Down counter 7 Digital / Sync converter 7a Sync signal 10a Difference 11a Analog difference voltage 12 Analog amplifier 13 Voltage / frequency converter

Claims (2)

[Claims] 1. A digital / synchro conversion method for converting a digital angle command (θ) into an analog synchro signal (7a) via an up / down counter (6) and a digital / synchro converter (7). , The difference (10a) between the digital angle command (θ) and the current value (2) is obtained by subtraction, and the analog difference voltage (11a) obtained by analogizing the difference (10a) is input to the analog amplifier (12). Variably amplified by the analog amplifier (12), and the analog difference voltage (11a) amplified by the analog amplifier (12) is converted into a frequency by a voltage / frequency converter (13), and the up / down counter (6 ), And outputs the synchro signal (7a). 2. The digital angle command (θ) and current value
2. The digital / synchronous conversion method according to claim 1, wherein the generation of the pulse (13a, 13b) from the voltage / frequency converter (13) is stopped when (2) coincides.