JPH0954618A - Controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a high-band angle controller by composing an angle signal by using an angle detector which detects the angle of rotation of amotor and an angle detector which detects the angle of rotation of a gimbal part, and canceling the influence of a machine resonance point. SOLUTION: This controller is provided with the angle detector 4 which detects the angle of rotation of a motor 2, the angle detector 5 which detects the angle of rotation of a gimbal part 1, and an angle composition unit 6 which composes the outputs of the two angle detectors 4 and 5. An angle error computing element 7 computes the error between an angle command and the output of the angle composition unit 3 and a power amplifier 8 amplifies the output of the angle error computing element 7 to rotate the motor 2 until the angle error becomes 0. Thus, the influence of the machine resonance point can be canceled by composing the angle signal by using the angle detector 4 which detects the angle of rotation of the motor 2 and the angle detector 5 which detects the angle of rotation of the gimbal part 1, so this control unit can be made larger in gain, namely, high in band than a conventional controller.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for providing a high-bandwidth control system to a control target which is required to control an angle and an angular velocity.

[0002]

2. Description of the Related Art FIG. 7 is a configuration diagram showing a configuration example of a control device in the prior art. In the figure, 1 is a gimbal portion for fixing a controlled object, 2 is a motor for rotating the gimbal portion 1, and 3 is a motor 2. A gear transmission mechanism that amplifies the rotation torque and transmits the torque to the gimbal portion 1, 4 is an angle detector that detects the rotation angle of the motor 2, and 7 is an angle error that calculates an error between the angle command and the output of the angle detector 4. An arithmetic unit, 8 is a power amplifier for amplifying the output of the angle error arithmetic unit 7 and rotating the motor 2. In addition, FIG. 8 is a motion model conceptual diagram in which the motor 2, the gear transmission mechanism 3, and the gimbal portion 1 are represented by an inertial performance rate and a spring. In FIG. 8, JM is the inertial performance rate of the motor 2, JL is the inertial performance rate of the gimbal portion 1, and KL is the spring constant existing between the motor 2 and the gimbal portion 1.

Next, the operation will be described. It is assumed that the angle detector is arranged between the motor 2 and the gimbal portion 1 at a position having a ratio of (1-γ): γ. Angle detector 4 in FIG.
Shows the case where γ = 1 in FIG. Also, γ
When = 0, it means that the rotation angle of the gimbal portion is detected. The rotation angle of the motor 2 is detected by the angle detector 4, and then the error from the angle command is calculated by the angle error calculator 7. This error is amplified by the gain inside the angle error calculator 7 and then power amplified by the power amplifier 8 to rotate the motor until the angle error becomes zero. At this time, it is the gain inside the angle error calculator that determines the time until the error becomes zero. Increasing the gain shortens the time required for this settling, and decreasing it lengthens the time. In general, it is desired to make this settling time as short as possible, that is, to increase the band, but it is not possible to unnecessarily increase this gain due to the following constraint conditions. In order to explain this constraint condition, a motion equation is set up from FIG. When the rotation torque applied to the motor 2 is T, the rotation angle of the motor 2 is θM, the rotation angle of the gimbal portion is θL, and the rotation angle detected by the angle detector arranged at the position of γ is θS, the following equation 1 is established. .

[0004]

[Equation 1]

The viscous damping coefficient: DM and DL are ignored,
When Equation 1 is converted into matrix notation, Equation 2 is obtained.

[0006]

[Equation 2]

In Expression 2, S represents a Laplace operator.
When Equation 2 is solved for θM and θL, Equation 3 is obtained.

[0008]

(Equation 3)

On the other hand, the angle signal θs detected by the angle detector
Is expressed using γ,

[0010]

(Equation 4)

Substituting equation 3 into equation 4,

[0012]

(Equation 5)

By rearranging Equation 5, Equation 6 is obtained.

[0014]

(Equation 6)

Equation 6 has a characteristic that the phase is delayed by 180 degrees at the frequency of ωR and the phase is advanced by 180 degrees at the frequency of ωAR. Generally, ωR is called a mechanical resonance point and ωAR is called a mechanical anti-resonance point.

[0016]

As described above, in the conventional angle control device, since the mechanical resonance point ωR exists, it becomes unstable at the frequency ωR, so that the gain of the control system is unnecessarily increased. There was a problem that it was not possible, in other words, the bandwidth could not be increased.

The present invention has been made to solve the above problems, and an object thereof is to obtain a high bandwidth angle control device. Another object of the invention is also to obtain a high-bandwidth angular velocity control device.

[0018]

An angle control device according to a first embodiment of the present invention outputs an angle signal using an angle detector for detecting a rotation angle of a motor and an angle detector for detecting a rotation angle of a gimbal portion. It is composed so as to cancel the influence of the mechanical resonance point.

Further, in the second embodiment of the present invention, an angle detector for detecting the rotation angle of the gear transmission mechanism, which is an intermediate point between the motor and the gimbal portion, is used to cancel the influence of the mechanical resonance point. It is a thing.

Further, in the third embodiment of the present invention, the angular velocity signal is synthesized by using the angular velocity detector for detecting the rotational angular velocity of the motor and the angular velocity detector for detecting the rotational angular velocity of the gimbal portion, and the influence of the mechanical resonance point is influenced. It is configured to offset each other.

Further, in the fourth embodiment of the present invention, an angular velocity detector for detecting the rotational angular velocity of the gear transmission mechanism, which is an intermediate point between the motor and the gimbal portion, is used to cancel the influence of the mechanical resonance point. It is a thing.

[0022]

In the angle control device of the first embodiment configured as described above, in the equation 4, if an angle signal is synthesized from the motor rotation angle and the gimbal rotation angle at a ratio of γ = JM / (JM + JL), ωR = ωAR Therefore, the angle signal can be fed back without being affected by the mechanical resonance point. As a result, a high bandwidth angle control system can be constructed.

Further, in the angle control device of the second embodiment, if the angle detector is arranged at the position of the ratio γ = JM / (JM + JL) at the intermediate point of the gear transmission mechanism, ωR = ωAR can be obtained, so that The angle signal can be fed back without being affected by the resonance point. As a result, a high bandwidth angle control system can be constructed.

Further, in the angular velocity control device of the third embodiment,
In γ = JM / (JM + JL), by combining the angular velocity signal from the motor rotation angular velocity and the gimbal rotation angular velocity, ωR = ωAR can be obtained, and thus the angular velocity signal can be fed back without being affected by the mechanical resonance point. . As a result, a high-bandwidth angular velocity control system can be constructed.

Further, in the angular velocity control device of the fourth embodiment, if the angular velocity detector is arranged at the position of the ratio of γ = JM / (JM + JL) at the intermediate point of the gear transmission mechanism, ωR = ωAR can be obtained, so that The angular velocity signal can be fed back without being affected by the resonance point. As a result, a high-bandwidth angular velocity control system can be constructed.

[0026]

【Example】

Embodiment 1 FIG. First Embodiment FIG. 1 is a configuration diagram showing a first embodiment of an angle control device according to the present invention. 1 to 4 and 7 to 8 in the figure
Is the same as the conventional angle control device, 5 is an angle detector for detecting the rotation angle of the gimbal portion, and 6 is an angle detector 4.
It is an angle synthesizer for synthesizing the angle signals detected by and 5 at a ratio of γ. FIG. 5 is a block diagram showing the angle control device of FIG. 1 by a transfer function. In the figure, JM, JL, K
L and θS are the same as in FIG. S represents a Laplace operator.

Next, the operation will be described. Solving for γ for which ωR = ωAR in Formula 6, Formula 7 is obtained.

[0028]

(Equation 7)

By substituting equation 7 into equation 4, equation 8 is obtained.

[0030]

(Equation 8)

When γ = JM / (JM + JL), ωR = ωA
Since it becomes R, the mechanical resonance point where the phase is delayed by 180 degrees is canceled as described above. Therefore, the gain is larger than that of the conventional device, that is, the band can be increased. The detailed operation is exactly the same as the conventional angle control device.

Example 2. Second Embodiment FIG. 2 is a configuration diagram showing a second embodiment of the angle control device according to the present invention. 1 to
Reference numerals 3 and 7 to 8 are the same as those of the conventional angle control device, and reference numeral 9 is an angle detector for detecting the rotation angle of the gear transmission mechanism. At a position that satisfies the condition of Expression 7, that is, γ = JM
If the angle detector 9 is arranged at the position of / (JM + JL),
Since ωR = ωAR, the mechanical resonance point where the phase is delayed by 180 degrees is canceled as described above. Therefore,
The gain is larger than that of the conventional device, that is, the band can be increased. The detailed operation is exactly the same as the conventional angle control device.

Embodiment 3 FIG. Third Embodiment FIG. 3 is a configuration diagram showing a third embodiment of an angular velocity control device according to the present invention. 1 to
3 and 8 are the same as the conventional angular velocity control device,
10 is an angular velocity detector for detecting the rotational angular velocity of the motor, 1
1 is an angular velocity detector for detecting the rotational angular velocity of the gimbal portion,
Reference numeral 12 is an angular velocity synthesizer that synthesizes the angular velocity signals detected by the angular velocity detectors 10 and 11 at a ratio of γ, and 13 is an angular velocity error calculator. Further, FIG. 6 is a block diagram in which the angular velocity control device of FIG. 3 is expressed by a transfer function. In the figure, JM, J
L, KL, and θS are the same as in FIG. S represents a Laplace operator.

Next, the operation will be described. Differentiating both sides of the equations 6 and 4, the equations 9 and 10 are obtained.

[0035]

[Equation 9]

[0036]

(Equation 10)

When solving for γ such that ωR = ωAR in the equation 9, the same result as the equation 7 is obtained.

By substituting equation 7 into equation 10, equation 11 is obtained.

[0039]

[Equation 11]

When γ = JM / (JM + JL), ωR = ωA
Since it becomes R, the mechanical resonance point where the phase is delayed by 180 degrees is canceled as described above. Therefore, the gain is larger than that of the conventional device, that is, the band can be increased. The detailed operation is exactly the same as the conventional angular velocity control device.

Example 4. Fourth Embodiment FIG. 4 is a configuration diagram showing a fourth embodiment of an angular velocity control device according to the present invention. 1 to
Reference numerals 3, 8 and 13 are the same as those of the conventional angular velocity control device, and 14 is an angular velocity detector for detecting the rotational angular velocity of the gear transmission mechanism. If the angular velocity detector 14 is arranged at a position that satisfies the condition of Expression 7, that is, at a position of γ = JM / (JM + JL), ωR = ωAR, and as described above, the mechanical resonance in which the phase is delayed by 180 degrees The points are offset. Therefore, the gain is larger than that of the conventional device, that is, the band can be increased. The detailed operation is exactly the same as the conventional angular velocity control device.

[0042]

The angle control device according to the first embodiment of the present invention is constructed as described above if the angle signals are combined by using the angle detector for detecting the rotation angle of the motor and the angle detector for detecting the rotation angle of the gimbal portion. Since the influence of the mechanical resonance point can be canceled out, there is an effect that the gain is larger than that of the conventional device, that is, the band can be increased.

In the second embodiment of the present invention, the influence of the mechanical resonance point can be canceled by using the angle detector which detects the rotation angle of the gear transmission mechanism which is the intermediate point between the motor and the gimbal portion. There is an effect that the gain is larger than that of the conventional device, that is, the band can be increased.

Further, in the third embodiment of the present invention, if the angular velocity signals are combined using the angular velocity detector for detecting the rotational angular velocity of the motor and the angular velocity detector for detecting the rotational angular velocity of the gimbal portion, the influence of the mechanical resonance point will be exerted. Since they can cancel each other, there is an effect that the gain is larger than that of the conventional device, that is, the band can be increased.

Further, in the fourth embodiment of the present invention, the influence of the mechanical resonance point can be canceled by using the angular velocity detector for detecting the rotational angular velocity of the gear transmission mechanism which is the intermediate point between the motor and the gimbal portion. There is an effect that the gain is larger than that of the conventional device, that is, the band can be increased.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a first embodiment of an angle control device according to the present invention.

FIG. 2 is a configuration diagram showing a second embodiment of the angle control device according to the present invention.

FIG. 3 is a configuration diagram showing a third embodiment of the angular velocity control device according to the present invention.

FIG. 4 is a configuration diagram showing a fourth embodiment of an angular velocity control device according to the present invention.

FIG. 5 is a block diagram showing a first embodiment of the angle control device according to the present invention.

FIG. 6 is a block diagram showing a third embodiment of the angular velocity control device according to the present invention.

FIG. 7 is a configuration diagram showing an angle control device in a conventional device.

FIG. 8 is a motion model conceptual diagram of a motor, a gear transmission mechanism, and a gimbal portion.

[Explanation of symbols]

1 gimbal part, 2 motor, 3 gear transmission mechanism, 4
Angle detector, 5 angle detector, 6 angle combiner, 7 angle error calculator, 8 power amplifier, 9 angle detector, 10
Angular velocity detector, 11 angular velocity detector, 12 angular velocity synthesizer, 13 angular velocity error calculator, 14 angular velocity detector.

Claims (4)

[Claims] 1. A gimbal portion that supports a controlled object, a motor that rotates the gimbal portion, a gear transmission mechanism that amplifies rotational torque of the motor and transmits the torque to the gimbal portion, and a rotation angle of the motor. An angle detector for detecting, and an angle detector for detecting the rotation angle of the gimbal portion,
An angle synthesizer that synthesizes the outputs of the two angle detectors,
A control device comprising: an angle error calculator that calculates an error between an angle command and an output of the angle synthesizer; and a power amplifier that power-amplifies the output of the angle error calculator and rotates the motor. 2. A gimbal portion that supports a controlled object, a motor that rotates the gimbal portion, a gear transmission mechanism that amplifies rotational torque of the motor and transmits the torque to the gimbal portion, and a rotation of the gear transmission mechanism. An angle detector that detects an angle, an angle error calculator that calculates an error between an angle command and the output of the angle detector, and a power amplifier that power-amplifies the output of the angle error calculator and rotates the motor. A control device characterized in that 3. A gimbal portion that supports a controlled object, a motor that rotates the gimbal portion, a gear transmission mechanism that amplifies the rotation torque of the motor and transmits the torque to the gimbal portion, and a rotation speed of the motor. The angular velocity detector for detecting, the angular velocity detector for detecting the rotational angular velocity of the gimbal portion, the angular velocity synthesizer for synthesizing the outputs of the two angular velocity detectors, and the error between the angular velocity command and the output of the angular velocity synthesizer. A control device comprising: an angular velocity error computing unit for computing; and a power amplifier for power amplification of an output of the angular velocity error computing unit to rotate the motor. 4. A gimbal portion that supports a controlled object, a motor that rotates the gimbal portion, a gear transmission mechanism that amplifies rotational torque of the motor and transmits the torque to the gimbal portion, and a rotation of the gear transmission mechanism. An angular velocity detector that detects a velocity, an angular velocity error calculator that calculates an error between an angular velocity command and the output of the angular velocity detector, and a power amplifier that amplifies the output of the angular velocity error calculator to rotate the motor A control device characterized in that