JPH0731175A - Pll rotation controller - Google Patents

Abstract

PURPOSE:To prevent runaway of a motor during rotation control by a PLL control system. CONSTITUTION:A clock input pulse CK from a controller 1 is monitored by a stop detection circuit 17. When the clock input pulse CK is lower than a preset frequency, a stop state signal Sd is delivered to an alarm generating section 15 which outputs an alarm signal Sr to a control section 13 and a stop control circuit 16. Since the control section 13 conducts stop operation for a power section 14 and the stop control circuit 16 is conducted to ground a deviation signal Se from a PLL control section 12, abnormality of the clock input pulse CK can be detected positively by conducting the stop operation for the power section 14 based on a stop command, i.e. the deviation signal Se. Runaway of a brushless motor is prevented positively by duplicating the stop control for the control section 13.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a PLL control type rotary device using a PLL control system for performing rotation control so that the frequency phase of a clock input pulse and a frequency of a feedback pulse from an encoder coincide with each other. .

[0002]

2. Description of the Related Art Conventionally, in the case of controlling the rotation of an air spindle whose spindle is supported by an air bearing by a PLL control method, for example, as shown in FIG. Operation control signal Sc such as stop, reset signal Srs, forward rotation /
A reverse rotation direction signal Sw, a clock input pulse CK, and the like are transmitted, and based on these control signals, in the driver 2, a position detection signal St from an encoder or the like attached to the air spindle 31 of the spindle unit 3 and a brushless Based on the phase detection signal Sf from the Hall sensor of the motor 32, the brushless motor 32 is driven and controlled, and the rotation of the air spindle 31 is controlled.

FIG. 5 is a block diagram showing the configuration of the driver 2. The driver 2 includes an input / output unit 11
And a PLL control unit 12, a control unit 13, a power unit 14, and an alarm generation unit 15. Various control signals from the controller 1 are input to the PLL control unit 12 via the input / output unit 11. . The PLL control unit 12
The deviation signal Se is obtained from the deviation between the operation control signal Sc, the clock input pulse CK from the controller 1, and the position detection signal St from the encoder or the like mounted on the air spindle 31, and the deviation signal Se is sent to the control unit 13 together with the rotation direction signal Sw. Output.

The control unit 13 is a PLL control unit 12
Based on the rotation direction signal Sw from the PLL control unit 12
Drive signal Sm of the brushless motor 32 is generated based on the deviation signal Se from the above and the phase detection signal Sf from the Hall sensor of the brushless motor 32, and is supplied to the brushless motor 32 as the drive current Sa via the power unit 14. To do. Further, the control unit 13 has an alarm generation unit 15
When the alarm signal Sr is input from the power supply unit 14, the output of the drive signal Sm to the power unit 14 is stopped and the reverse energization signal is output,
The rotation of the brushless motor 32 is rapidly stopped.

Further, the power unit 14 detects an abnormal state such as overcurrent, overheat, overspeed, etc., and outputs an abnormal signal Sp to the alarm generating unit 15, which then outputs the abnormal signal S.
An alarm signal Sr is output based on p and is output to, for example, an external device such as an alarm lamp to notify the operator of the abnormality, and the alarm signal S is also sent to the control unit 13.
Output r.

Then, for example, when the start operation control signal Sc is output from the controller 1, the PLL is
The control unit 12 obtains the deviation signal Se based on the clock input pulse CK from the controller 1 and the position detection signal St from the encoder or the like, and the control unit 13 detects the deviation signal Se and the phase detection from the hall sensor. The drive signal S based on the signal Sf and the rotation direction signal Sw from the controller 1 input via the PLL control unit 12.
m is generated and supplied to the brushless motor 32 as the drive current Sa through the power unit 14.

During operation, in the power section 14,
When overcurrent, overheat, overspeed, etc. are detected, the power unit 14 sends an abnormality signal Sp to the alarm generation unit 15, which causes the alarm generation unit 15 to output an alarm signal Sr to indicate an abnormality. At the same time as the notification, the alarm signal Sr activates the control unit 13 to send the drive signal Sm to the power unit 14 as a reverse energization signal to stop the brushless motor 32.

[0008]

However, in the above-mentioned conventional PLL control type rotation control device, the clock input pulse CK is input because the gain of the feedback control system is set high in order to improve the response. If there is not, or if the clock input pulse CK is less than or equal to a predetermined frequency and is used in an unusual manner, the brushless motor 32 runs out of rotation and the rotation of the air spindle 31 is controlled. There is an unsolved problem of being unable to do so.

Therefore, the present invention has been made by paying attention to the above-mentioned unsolved problems of the prior art, and the motor runs out of control even when the clock command pulse CK is not input or even when the frequency is below a specified frequency. It is an object of the present invention to provide a PLL control type rotation control device that can perform rotation control without using the rotation control device.

[0010]

In order to achieve the above object, in a PLL control type rotation control device according to the present invention, rotation control is performed so that the frequency phase of a clock input pulse and a frequency phase of a feedback pulse from an encoder match. In a PLL control type rotation control device including a PLL control means for performing the above and a drive means for performing drive control of a motor based on a drive control signal from the PLL control means, the clock input pulse is monitored to detect an abnormal state. Stop state detecting means for determining whether or not there is an abnormal state and outputting a stop state signal, stop control means for setting a drive control signal to the driving means in a stop state, and stop state of the stop state detecting means An abnormal stop that activates the stop control means based on a signal and forcibly stops the driving of the motor by the drive means. It is characterized in that a means.

[0011]

For example, the drive control of the motor is performed based on the PLL control means for controlling the rotation so that the frequency phase of the clock input pulse and the frequency phase of the feedback pulse from the encoder coincide with each other, and the drive control signal from the PLL control means. In a PLL control type rotation control device including a driving means, a stop state detecting means monitors a clock input pulse to determine whether or not there is an abnormal state. When the stop signal is input to the abnormal stop means, the stop control means is activated to stop the drive control signal for the drive means, and the abnormal stop means forcibly stops the driving of the motor by the drive means. .

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an embodiment of a PLL control type rotation control device to which the present invention is applied. The PLL control type rotation control device includes, for example, a controller 1, a driver 2, and a spindle unit 3. The spindle unit 3 includes an air spindle 31 and a brushless motor 32.
It consists of and. Then, the controller 1 outputs the operation control signal Sc such as start / stop, the reset signal Srs, the forward / reverse rotation direction signal Sw and the clock input pulse CK to the driver 2.

The driver 2 also includes an operation control signal Sc, a reset signal Srs, a rotation direction signal Sw and a clock input pulse CK from the controller 1, and a position detection signal St from an encoder or the like provided on the air spindle 31.
And a phase detection signal Sf from the Hall sensor of the brushless motor 32, a drive current Sa of the brushless motor 32 is generated and supplied to the brushless motor 32, and rotation control of the brushless motor 32 is performed. 31 rotation control is performed.

FIG. 2 is a block diagram showing the configuration of the driver 2. Each control signal output from the controller 1 is transmitted via the input / output unit 11 to the PL as a PLL control means.
While being input to the L control unit 12, the operation control signal Sc is input to the stop detection circuit 17 as the stop state detection unit, and the reset signal Srs is input to the alarm generation unit 15 as the abnormal stop unit.

The clock input pulse CK from the controller 1 is supplied to the PLL controller 12 and the stop detection circuit 17.
Entered in. Then, the PLL control unit 12 receives the operation control signal Sc and the reset signal Srs from the input / output unit 11.
And a clock input pulse CK from the controller 1,
A position detection signal St from an encoder or the like attached to the air spindle 31 is input, and the operation control signal Sc is set to "LO".
It operates at the time of W "to obtain the deviation between the clock input pulse CK and the position detection signal St, and the deviation signal Se corresponding thereto is obtained.
Is output to the control unit 13, and the operation is stopped when the operation control signal Sc is “HIGH”.

The control unit 13 is a PLL control unit 12
The rotation direction signal Sw and the deviation signal Se are input via the, and the phase detection signal Sf from the Hall sensor of the brushless motor 32 is input, and based on these signals,
The drive signal Sm of the brushless motor 32 is generated and supplied to the power unit 14. Further, the control unit 13 inputs the alarm signal Sr from the alarm generation unit 15, and when the alarm signal Sr is “HIGH”, outputs the drive signal Sm to the brushless motor 32 as a reverse energization signal.

The power section 14 receives the drive signal Sm from the control section 13, generates a drive current Sa based on the drive signal Sm and supplies the drive current Sa to the brushless motor 32, as well as overcurrent, overheat, overrotation and the like. An abnormality is detected, and an abnormal signal Sp that is "HIGH" when normal and "LOW" when abnormal is output to the alarm generator 15. Here, the control unit 13 and the power unit 14 correspond to the driving means.

On the other hand, the stop detection circuit 17 is composed of the retriggerable monomultivibrator shown in FIG. 3, and inputs the operation control signal Sc from the input / output unit 11 to the terminal A and the clock input pulse CK to the terminal B. . And terminal A
When the operation control signal Sc input to is “LOW” and the clock input pulse CK is input to the terminal B, the rising edge thereof triggers the retriggerable mono multivibrator, and the pulse width determined by T1 and T2 tw
Is output from the output terminal Q as the stop state signal Sd.

The output terminal Q is connected via a diode to the transmission line of the abnormal signal Sp from the power section 14 to the alarm generation section 15, the anode side of the diode is connected to the transmission line, and the cathode side is output via a resistor. Terminal Q
Connected with. Then, when the stop state signal Sd from the output terminal Q is “LOW”, the abnormal signal Sp from the power section 14 is forcibly input as “LOW” to the preset input terminal PR of the alarm generating section 15.

The alarm generator 15 is, for example, a synchronous R
An S flip-flop is used to input the abnormal signal Sp from the power section 14 to the preset input terminal PR and the reset signal Srs from the input / output section 11 to the clear input terminal CLR via the inverter. The sync input terminal C is grounded. When the abnormal signal Sp is "LOW", the alarm signal Sr of "HIGH" is output to the external device to generate, for example, an alarm sound or an alarm lamp, and the control unit 13 and stop. An alarm signal Sr is sent to the stop control circuit 16 as a control means.
When the reset signal Srs of “LOW” is input from the input / output unit 11, the alarm signal Sr is set to “LO”.
It is output as W "and the alarm sound is stopped.

One end of the stop control circuit 16 is connected to the transmission line of the deviation signal Se between the PLL control unit 12 and the control unit 13, and the other end is grounded. Then, when the alarm signal Sr of "HIGH" is input from the alarm generation unit 15, it becomes conductive, and the deviation signal Se from the PLL control unit 12 is forcibly dropped to the ground and output to the control unit 13 as a stopped state. .

Next, the operation of the above embodiment will be described with reference to the timing chart of FIG. In addition, in FIG.
(A) is an operation control signal Sc, (b) is a clock input pulse CK, (c) is a stop state signal Sd, (d) is an alarm signal Sr, (e) is a reset signal Srs, and (f) is an abnormal signal Sp. Represents the timing of. At time t0, the controller 1 outputs the operation control signal Sc of "LOW",
It is assumed that the clock input pulse CK is output at time t1 and the brushless motor 32 is rotating normally at high speed.

The operation control signal Sc and the rotation direction signal Sw
Is input to the PLL control unit 12 via the input / output unit 11, and the operation control signal Sc is input to the stop detection circuit 17. In the PLL control unit 12, since the operation control signal Sc is “LOW”, the deviation signal Se is based on the clock input pulse CK from the controller 1 and the position detection signal St from the encoder or the like attached to the air spindle 31. Is generated and output to the control unit 13, and the control unit 13 drives the drive signal S from the phase detection signal Sf from the Hall sensor of the brushless motor 32 and the deviation signal Se.
generate m. Then, the drive signal Sm and the forward rotation direction signal Sw are output to the power unit 14, and the power unit 14 supplies the forward drive current Sa to the brushless motor 32.

On the other hand, in the stop detection circuit 17, the operation control signal Sc is input to the terminal A and the clock input pulse CK is input to the terminal B. At this time, since the clock input pulse CK has a high frequency, time points t1 to t6. As shown in, the output from the output terminal Q, that is, the stop state signal Sd is
At this time, since the PLL control type rotation control device is operating normally, the abnormal signal Sp from the power section 14 is “HIGH”, and the stop state signal Sd from the stop detection circuit 17 is , "HIGH", the abnormal signal Sp is input to the preset input terminal PR of the alarm generation unit 15 as "HIGH", so no alarm occurs, but, for example, FIG. 4 (d), (e), As indicated by a phantom line in (f), when the power unit 14 detects an abnormality such as overcurrent, overheat, or overspeed at the time point t2, the abnormality signal Sp becomes “LOW”. The alarm signal Sr from 15 is output as "HIGH", and the alarm signal Sr is "HIGH" until the reset signal Srs becomes "LOW" at time t3.
Output as H ".

Then, for example, the clock input pulse CK from the controller 1 gradually becomes a low frequency at time t4, and the stop state signal Sd from the stop detection circuit 17 for the clock input pulse CK at time t5 is "HIGH". When the next clock input pulse CK is not input before the pulse width tw has elapsed, the stop state signal Sd becomes “LOW” at time t6.

At this time, since the power unit 14 has not detected an abnormality, the abnormality signal Sp is "HIGH", but the stop signal Sd becomes "LOW", so that the abnormality signal Sp becomes "LOW". ", And this is input to the preset input terminal PR. Therefore, an alarm signal Sr of "HIGH" is output from the output terminal Q to notify the operator of the abnormality by turning on an alarm lamp by an external device, and an alarm of "HIGH" is given to the control unit 13 and the stop control circuit 16. The signal Sr is output.

As a result, in the control section 13,
The drive signal Sm to the power unit 14 is output as a reverse energization signal, and the stop control circuit 16 is brought into a conductive state, so that PL
Deviation signal Se from L control unit 12 to control unit 13
Forcibly drop to ground. Therefore, the control unit 13 inputs the deviation signal Se as a stop command and outputs the drive signal Sm to the power unit 14 to the brushless motor 32 as a reverse energization signal.

At this time, at time t7, the clock input pulse CK is input again, and the stop state signal Sd becomes "HIGH."
However, the alarm generation unit 15 continues to output the alarm signal S until "LOW" is input to the clear input terminal CLR.
When r is output as “HIGH” and the reset signal Srs becomes “LOW” at time t8, the alarm signal S
The alarm is stopped by setting r to "LOW".

Therefore, in this way, the stop detection circuit 1
7, when the clock input pulse CK has a frequency equal to or lower than a preset frequency, the "LOW" stop state signal S
By outputting d, the abnormal signal Sp from the power section 14 is forcibly set to "LOW", the alarm generation section 15 is activated to notify the control section 13, and the stop control circuit 1
6, the PLL control unit 12 to the control unit 13 are provided.
By forcibly setting the deviation signal Se to the stop signal as the stop signal, the rotation runaway of the brushless motor 32 occurs when the clock input pulse CK is equal to or lower than the specified frequency or when the clock input pulse CK is not input. Can be reliably prevented.

Since the control unit 13 is controlled to stop by the command signals from both the alarm signal Sr from the alarm generation unit 15 and the deviation signal Se from the PLL control unit 12, for example, Even if the transmission line between the alarm generation unit 15 and the control unit 13 is abnormal, the control unit 13 can be stopped, and the stop control of the brushless motor 32 can be reliably performed when the abnormality occurs.

Further, the alarm generator 15 is "LO".
Since the alarm signal Sr is output as "HIGH" until the reset signal Srs of W "is input, the operator can surely recognize the abnormality of the clock input pulse CK. In the above embodiment, Although the case where the synchronous RS flip-flop is used as the alarm generation unit 15 has been described, the present invention is not limited to this, and the alarm generation unit 15 can be configured by combining the RS flip-flop and the NAND circuit.

In the above embodiment, the case where the stop control circuit composed of the switch circuit is applied as the stop control means has been described, but the present invention is not limited to this, and the processing device is provided between the PLL control unit 12 and the control unit 13. Etc.,
The deviation signal Se from the PLL control unit 12 is output to the control unit 13 via the processing device, and when the alarm signal Sr is input to the processing device, a stop command is output instead of the deviation signal Se from the PLL control unit 12. It is also possible to do so.

[0033]

As described above, according to the rotation control device of the PLL control system according to the present invention, the stop state detecting means monitors the clock input pulse to judge whether or not it is in an abnormal state, and In this state, the stop state signal is output to the abnormal stop means, and when the abnormal stop means inputs the stop state signal, the stop control means is set to the operating state to stop the drive control signal for the drive means, and the abnormal stop means By forcibly stopping the driving of the motor by the driving means, it is possible to reliably prevent the runaway of the motor due to the low frequency of the clock input pulse.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a PLL control type rotation control device to which the present invention is applied.

FIG. 2 is a block diagram showing a configuration of a driver.

FIG. 3 is a block diagram showing a configuration of a stop detection circuit.

FIG. 4 is a timing chart of a stop detection circuit.

FIG. 5 is a block diagram showing a configuration of a conventional driver.

[Explanation of symbols]

 12 PLL control section 13 Control section 14 Power section 15 Alarm generation section 16 Stop control circuit 17 Stop detection circuit

Claims (1)

[Claims] 1. A PLL control means for controlling rotation so that a frequency phase of a clock input pulse and a frequency phase of a feedback pulse from an encoder coincide with each other, and a motor drive control based on a drive control signal from the PLL control means. In a PLL control type rotation control device including a driving means, a stop state detecting means for monitoring the clock input pulse to determine whether or not there is an abnormal state and outputting a stop state signal when the abnormal state is present, A stop control means for setting a drive control signal to the drive means in a stop state, an operation state of the stop control means based on a stop state signal of the stop state detection means, and a forced stop of driving of the motor by the drive means. A PLL control type rotation control device, comprising: