JPH0728542B2 - Actuator control device - Google Patents
Actuator control deviceInfo
- Publication number
- JPH0728542B2 JPH0728542B2 JP62269629A JP26962987A JPH0728542B2 JP H0728542 B2 JPH0728542 B2 JP H0728542B2 JP 62269629 A JP62269629 A JP 62269629A JP 26962987 A JP26962987 A JP 26962987A JP H0728542 B2 JPH0728542 B2 JP H0728542B2
- Authority
- JP
- Japan
- Prior art keywords
- phase
- signal
- signals
- frequency
- output
- 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
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- Control Of Electric Motors In General (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は位置検出器や角度検出器として使用されるリニ
アスケールやロータリーエンコーダーなどのエンコーダ
ーの２相の出力パルスを検出信号とし、この検出信号に
よりモーターなどのアクチュエーターの位置決め、ある
いは速度制御を行うためモーターの回転あるいは直進運
動をコントロールする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 uses a two-phase output pulse of an encoder such as a linear scale or a rotary encoder used as a position detector or an angle detector as a detection signal. The present invention relates to a control device for controlling rotation or rectilinear movement of a motor for positioning actuators or controlling speed.
従来の技術 従来のエンコーダーを使用したアクチュエーター（以後
モーターと呼ぶ）制御装置では第４図に示す様に、エン
コーダー出力の２相信号の物理的配置の位相差によりモ
ーターの回転方向によって２相信号の位相の進み遅れの
関係が変ることを利用し、回転方向の検出ができるエン
コーダーを用いてエンコーダー２の２相信号ＡとＢとモ
ーターの速度設定用の外部入力信号の入力パルス数が制
御回路13で比較され、両者のパルス数差がゼロになる様
に制御回路13でモーターが制御されている。モーターの
速度を変える場合、外部入力信号の周波数を変えれば良
いが、時として周波数の範囲が制限されている場合があ
る。このためモーターの速度制御のみを行う場合第５図
の様にエンコーダー２の２相信号ＡとＢの立上り立下り
エッジを検出し４てい倍する４てい倍回路15の出力信号
をPLL回路16に入力し、分周回路17により周波数をM1／M
2倍とし、エンコーダー２の分解能を凝似的にM1／M2倍
にすることによりモーターの速度をM2／M1倍にしてい
る。2. Description of the Related Art In a conventional actuator (hereinafter referred to as a motor) controller using an encoder, as shown in FIG. 4, the phase difference of the physical arrangement of the two-phase signal of the encoder output causes the two-phase signal of The number of input pulses of the two-phase signals A and B of the encoder 2 and the external input signal for setting the speed of the motor is controlled by using the encoder that can detect the rotation direction by utilizing the change in the relationship between the phase lead and the delay. The motor is controlled by the control circuit 13 so that the difference in pulse number between the two becomes zero. When changing the speed of the motor, the frequency of the external input signal may be changed, but sometimes the frequency range is limited. For this reason, when only controlling the speed of the motor, as shown in FIG. 5, the output signal of the 4x multiplication circuit 15 which detects the rising / falling edges of the two-phase signals A and B of the encoder 2 and multiplies by 4x is output to the PLL circuit 16. Input and input the frequency by dividing circuit 17 to M 1 / M
The encoder speed is doubled, and the resolution of encoder 2 is mimetically increased by M 1 / M 2 times to increase the motor speed by M 2 / M 1 times.
発明が解決しようとする問題点 しかしながら、上記従来の構成によればエンコーダーか
ら出力される２相信号ＡとＢの位相差は理想的には90°
であるが、実際には90°に対して多少のばらつきができ
る。このためPLL回路に入力される４てい倍後の検出信
号のパルス間隔にばらつきが生じる。このためPLL回路
出力は不安定となり、モーターを精度よく制御できな
い。また、この方法では検出信号が１相だけになり、位
置情報が得られず位置決め制御できない。本発明はかか
る点に鑑みてなされたもので、精度よく、また広範囲に
渡ってモーターの速度制御と位置決め制御を行う制御装
置を提供することを目的としている。However, according to the above conventional configuration, the phase difference between the two-phase signals A and B output from the encoder is ideally 90 °.
However, in reality, there may be some variation with respect to 90 °. Therefore, the pulse interval of the detection signal after being multiplied by 4 that is input to the PLL circuit varies. Therefore, the output of the PLL circuit becomes unstable and the motor cannot be controlled accurately. In addition, in this method, the detection signal is only one phase, position information cannot be obtained, and positioning control cannot be performed. The present invention has been made in view of the above point, and an object of the present invention is to provide a control device that performs speed control and positioning control of a motor accurately and over a wide range.
問題点を解決するための手段 本発明は上記問題点を解決するために、エンコーダー出
力の２相信号A1またはB1を分周して分周出力A2を出力す
る分周器と、分周信号A2から90°位相をシフトさせた分
周信号B2を出力する位相器と、前記２相信号A1とB1の位
相関係からモーター運動方向を検出する方向検出器と、
入力されたA2とB2を前記方向検出器の出力で切替えるこ
とにより、前記２相信号A1とB1の位相関係と同じ位相関
係になる２相信号A3とB3を出力する切替器と、前記２相
信号A3とB3によりアクチュエーターを設定速度に制御す
るものである。Means for Solving the Problems In order to solve the above problems, the present invention divides a two-phase signal A 1 or B 1 of an encoder output and outputs a divided output A 2, and a frequency divider. A phase shifter that outputs a frequency-divided signal B 2 that is 90 ° out of phase with the frequency signal A 2 , and a direction detector that detects the motor movement direction from the phase relationship between the two-phase signals A 1 and B 1 .
Switching to output two-phase signals A 3 and B 3 having the same phase relationship as the two-phase signals A 1 and B 1 by switching the input A 2 and B 2 by the output of the direction detector And a two-phase signal A 3 and B 3 for controlling the actuator at a set speed.
作用 本発明は上記した構成により、エンコーダーの２相信号
A1またはB1を分周して得られた分周信号A2とA2の位相を
90°シフトして得られた分周信号B2とを切替器に入力
し、方向検出器の出力により切替器を切替えることによ
り２相信号A1とB1の位相関係と同じ位相関係を保つ２相
分周信号A3とB3が得られ、このA3とB3が制御回路の制御
入力となるため、エンコーダーの分解能は分周器の分周
比Ｎによって決まりエンコーダー２の分解能の1/N倍と
なり、外部入力信号の周波数を変えなければモーターの
速度はＮ倍となり、モーターは外部入力信号の周波数の
範囲が制限されていても広範囲に渡って制御可能とな
る。Action The present invention has the above-described configuration and provides a two-phase signal for the encoder.
The phase of the divided signals A 2 and A 2 obtained by dividing A 1 or B 1
The divided signal B 2 obtained by shifting 90 ° is input to the switching device, and the switching device is switched by the output of the direction detector to maintain the same phase relationship as the phase relationship between the two-phase signals A 1 and B 1. Two-phase frequency dividing signals A 3 and B 3 are obtained, and these A 3 and B 3 become the control input of the control circuit. Therefore, the resolution of the encoder is determined by the frequency division ratio N of the frequency divider, which is 1 of the resolution of the encoder 2. / N times, the speed of the motor becomes N times if the frequency of the external input signal is not changed, and the motor can be controlled over a wide range even if the frequency range of the external input signal is limited.
実施例 以下本発明の一実施例のモーター制御装置について、図
面を参照しながら説明する。第１図は本発明の第１の実
施例におけるモーター制御装置のブロック図である。第
１図において１はモーター、２はエンコーダー、A1はエ
ンコーダー２の２相出力A1、B1は２相出力B1、３は分周
比Ｋの分周器、４は1/2分周器、５はシフトレジスタ
ー、６は切替器、７は立上り検出器Ｉ、８は立上り検出
器II、９は立下り検出器、10はラッチ回路、11は方向検
出器、12は外部入力信号、13は制御回路である。Embodiment A motor controller according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a motor control device according to a first embodiment of the present invention. 1 Motor in FIG. 1, 2 encoder, A 1 is 2-phase output A 1 of the encoder 2, B 1 is 2-phase output B 1, 3 is a frequency divider division ratio K, 4 ½ minutes Frequency divider, 5 is a shift register, 6 is a switch, 7 is a rise detector I, 8 is a rise detector II, 9 is a fall detector, 10 is a latch circuit, 11 is a direction detector, and 12 is an external input signal. , 13 are control circuits.
２相信号A1は分周器３、1/2分周器４により1/2Kに分周
された信号A2になる。A2はシフトレジスター５により90
°位相が遅れ信号B2になる。第２図は分周比Ｋ＝４（即
ち、分周比Ｎ＝８）の時の２相信号の波形図である。ａ
はA1、ｂはB1、ｃはA2、ｄはB2であり、A2とB2の位相差
が90°になっている。ラッチ回路10の入力は、２相信号
A1の立上りエッジを検出する検出器I7の出力をＳ入力、
２相信号B1の立上りエッジを検出する検出器II8の出力
をＲ入力としている。ラッチ回路10の出力は方向検出器
11のＤ入力に入力され、２相信号A1の立下りエッジ毎に
方向検出器11でラッチされる。T1時を境にモーター１の
運動方向が切替わるとA1とB1の位相関係が逆転し、B1が
A1に対し進みとなる。T2時にA1の信号が立下ると方向検
出器11はラッチされ出力（第２図ｅ）はＬからＨにな
る。方向検出器11の出力により切替器６の出力A3（第２
図ｆ）とB3（第２図ｇ）は切替わる。これによりA1とB1
の位相関係とA3とB3の位相関係はモーター１の運動方向
に関わらず同じになり、A3，B3の周波数はA1，B1に対し
1/2K倍となる。制御回路13で比較される外部入力信号12
の周波数を一定にしておけば、エンコーダーの２相信号
A1とB1を直接A3，B3の代わりに制御回路13に入力した時
と比べてモーター１の速度は2K倍になる。また、２相信
号A1，B1と同相関係にある分周信号A3，B3と分周比Ｎに
より位置情報が得られるため、基準信号12との比較によ
り位置決め制御が行える。The two-phase signal A 1 becomes a signal A 2 which is divided into 1 / 2K by the frequency divider 3 and the 1/2 frequency divider 4. A 2 is 90 by shift register 5
° Phase becomes delayed signal B 2 . FIG. 2 is a waveform diagram of a two-phase signal when the frequency division ratio K = 4 (that is, the frequency division ratio N = 8). a
Is A 1 , b is B 1 , c is A 2 , and d is B 2 , and the phase difference between A 2 and B 2 is 90 °. The input of the latch circuit 10 is a two-phase signal
The output of the detector I7 for detecting the rising edge of A 1 S input,
The output of the detector II8 for detecting a rising edge of the 2-phase signal B 1 is set to R input. The output of the latch circuit 10 is the direction detector.
It is input to the D input 11 and is latched by the direction detector 11 at each falling edge of the two-phase signal A 1 . When the moving direction of the motor 1 is switched after T 1 o'clock, the phase relationship between A 1 and B 1 is reversed, and B 1 becomes
It is ahead of A 1 . When the signal of A 1 falls at the time of T 2 , the direction detector 11 is latched and the output (Fig. 2e) changes from L to H. The output of the direction detector 11 causes the output A 3 of the switching device 6 (second
Figure f) and B 3 (Figure 2g) switch. This gives A 1 and B 1
The phase relationship between A 3 and B 3 is the same regardless of the direction of movement of motor 1, and the frequencies of A 3 and B 3 are the same as those of A 1 and B 1.
It becomes 1 / 2K times. External input signal 12 compared by control circuit 13
If the frequency of is kept constant, the two-phase signal of the encoder
The speed of motor 1 is 2K times faster than when A 1 and B 1 are directly input to control circuit 13 instead of A 3 and B 3 . Further, since position information can be obtained from the frequency dividing signals A 3 and B 3 and the frequency dividing ratio N that are in phase with the two-phase signals A 1 and B 1 , positioning control can be performed by comparing with the reference signal 12.
第３図は本発明の他の実施例であって、分周器３の分周
比Ｋを分周設定器14により設定できる様になっている。
分周比Ｋによりシフトレジスター５の出力が常に入力信
号A2に対し90°の位相遅れになる。したがってモーター
の動作モードに応じて分周比Ｋの値を変えることにより
凝似的にエンコーダー２の分解能を変えることができ、
モーター１の性能限界を越えない限り、低速から高速ま
で広範囲に渡りモーター１の運動を制御できる。FIG. 3 shows another embodiment of the present invention in which the frequency division ratio K of the frequency divider 3 can be set by the frequency division setting device 14.
Due to the division ratio K, the output of the shift register 5 always has a phase delay of 90 ° with respect to the input signal A 2 . Therefore, by changing the value of the frequency division ratio K according to the operation mode of the motor, the resolution of the encoder 2 can be changed in a similar manner.
As long as the performance limit of the motor 1 is not exceeded, the motion of the motor 1 can be controlled over a wide range from low speed to high speed.
発明の効果 以上述べてきた様に、本発明によればモーターの運動範
囲が自由に選べ、しかも制御回路での外部入力信号と検
出信号との位相比較周波数の範囲を広くとらずにすむた
め、外部入力信号が作り易い。また外部入力信号を単一
周波数のクロック（水晶など）を分周して作る場合、高
周波では設定が粗くなるが、本発明ではエンコーダーの
分解能と分周比の選び方により精度の良い設定ができ
る。また、エンコーダーの分周された２相信号がエンコ
ーダーの検出信号と同相であるため分周後の２相信号で
もモーターの回転方向の検出が可能となり、位置決め制
御においても基準信号との比較を周波数信号で行える利
点がある。As described above, according to the present invention, the range of motion of the motor can be freely selected, and further, the range of the phase comparison frequency between the external input signal and the detection signal in the control circuit does not have to be wide. Easy to create external input signal. Further, when an external input signal is generated by dividing a single-frequency clock (such as a crystal), the setting becomes rough at high frequencies, but in the present invention, the setting can be made with high accuracy by selecting the resolution and dividing ratio of the encoder. In addition, since the divided two-phase signal of the encoder is in phase with the detection signal of the encoder, it is possible to detect the rotation direction of the motor even with the two-phase signal after the division, and the frequency of comparison with the reference signal is also used in positioning control. There is an advantage that can be done with signals.
第１図は本発明のモーター制御装置の一実施例を示すブ
ロック図、第２図は本発明のモーター制御装置の要波形
図、第３図は本発明のモーター制御装置の第２の実施例
を示すブロック図、第４図，第５図は従来例のモーター
制御装置のブロック図である。 １……モーター、２……エンコーダー、３……分周器、
４……1/2分周器、５……シフトレジスター、６……切
替器、７……立上り検出器Ｉ、８……立上り検出器II、
９……立下り検出器、10……ラッチ回路、11……方向検
出器、12……外部入力信号、13……制御回路。FIG. 1 is a block diagram showing an embodiment of a motor control device of the present invention, FIG. 2 is a waveform diagram of a motor control device of the present invention, and FIG. 3 is a second embodiment of the motor control device of the present invention. FIG. 4, FIG. 4 and FIG. 5 are block diagrams of a conventional motor control device. 1 ... motor, 2 ... encoder, 3 ... divider,
4 ... 1/2 divider, 5 ... shift register, 6 ... switch, 7 ... rise detector I, 8 ... rise detector II,
9 ... Fall detector, 10 ... Latch circuit, 11 ... Direction detector, 12 ... External input signal, 13 ... Control circuit.
Claims (2)
を有し、相互の位相差略π/2を保ち、前記アクチュエー
ターの運動方向により位相の遅れ進みの関係が変わる２
相信号A1とB1を出力するエンコーダと、前記２相信号A1
またはB1を分周して分周信号A2を出力する分周器と、分
周信号A2から位相をπ/2シフトさせた分周信号B2を出力
する位相器と、前記２相信号A1とB1の位相関係から前記
アクチュエーターの運動方向を検出する方向検出器と、
入力された分周信号A2とB2を前記方向検出器の出力で切
替えることにより、前記２相信号A1とB1の位相関係と同
じ位相関係になる２相信号A3とB3を出力する切替器と、
前記２相信号A3とB3を基準周波数信号と比較して誤差出
力を生じさせ、誤差出力に応じてアクチュエーターを基
準周波数信号で設定される速度に制御する制御手段を備
えたことを特徴とするアクチュエーター制御装置。1. A frequency proportional to the speed of an actuator, a mutual phase difference of approximately π / 2 is maintained, and the relationship between phase delay and advance changes depending on the direction of movement of the actuator.
An encoder that outputs the phase signals A 1 and B 1 , and the two-phase signal A 1
Or a frequency divider for outputting a divided signal A 2 by dividing the B 1, a phase shifter for outputting a divided signal divided signal B 2 where the phase from A 2 to [pi / 2 shift, the two-phase A direction detector for detecting the movement direction of the actuator from the phase relationship between the signals A 1 and B 1 ,
By switching the input divided signals A 2 and B 2 by the output of the direction detector, the two-phase signals A 3 and B 3 having the same phase relationship as the phase relationship of the two-phase signals A 1 and B 1 are generated. A switch to output,
A control means for comparing the two-phase signals A 3 and B 3 with a reference frequency signal to generate an error output, and controlling the actuator to a speed set by the reference frequency signal according to the error output. Actuator control device.
器を備えた特許請求の範囲第１項に記載のアクチュエー
ター制御装置。2. The actuator control device according to claim 1, further comprising a frequency division setting device that freely sets a frequency division ratio of the frequency divider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62269629A JPH0728542B2 (en) | 1987-10-26 | 1987-10-26 | Actuator control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62269629A JPH0728542B2 (en) | 1987-10-26 | 1987-10-26 | Actuator control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01114388A JPH01114388A (en) | 1989-05-08 |
| JPH0728542B2 true JPH0728542B2 (en) | 1995-03-29 |
Family
ID=17475013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62269629A Expired - Lifetime JPH0728542B2 (en) | 1987-10-26 | 1987-10-26 | Actuator control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0728542B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2561147B2 (en) * | 1989-05-17 | 1996-12-04 | 株式会社船井電機研究所 | High speed search servo circuit |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57170085A (en) * | 1981-04-13 | 1982-10-20 | Ricoh Co Ltd | Specified speed control unit for motor |
-
1987
- 1987-10-26 JP JP62269629A patent/JPH0728542B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01114388A (en) | 1989-05-08 |
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