JPS58141689A - Controller for motor - Google Patents

Controller for motor

Info

Publication number
JPS58141689A
JPS58141689A JP57025215A JP2521582A JPS58141689A JP S58141689 A JPS58141689 A JP S58141689A JP 57025215 A JP57025215 A JP 57025215A JP 2521582 A JP2521582 A JP 2521582A JP S58141689 A JPS58141689 A JP S58141689A
Authority
JP
Japan
Prior art keywords
motor
speed
pulse width
voltage
back electromotive
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.)
Pending
Application number
JP57025215A
Other languages
Japanese (ja)
Inventor
Akiyuki Shimamura
島村　昭幸
Katsujirou Nakajima
中嶋　克次郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP57025215A priority Critical patent/JPS58141689A/en
Publication of JPS58141689A publication Critical patent/JPS58141689A/en
Pending legal-status Critical Current

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
    • H02P7/2855—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 whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

PURPOSE:To reduce the cost and size of a motor by controlling the speed of the motor by utilizing the counterelectromotive force of the motor. CONSTITUTION:A comparator 2 receives a target speed voltage from aspeed setter 1 and the output voltage of a counterelectromotive force detector 8, compares both, and produces the difference voltage as a speed command to an amplifier 3. The amplifier 3 amplifies the speed command and produces it to a pulse width controller 5. The controller 5 chops the output voltage of a DC power source 4, modulates the pulse width in response to the amplified speed command and outputs a pulse train. A motor 6 rotates with the output voltage from the controller 5, thereby driving a load. The synthetic voltage of the output voltage of the controller 5 at the input side of the motor 6 and the counterelectromotive force of the motor 6 is inputted to a counterelectromotive force detector 8.

Description

【発明の詳細な説明】 この発明は、モータにより負荷紮駆動し速度制御を行う
、モータ制御装置に関するものである０ まず、第１図および第２図を用いて、従来のこの種モー
タ制御装置について説明する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a motor control device that performs load drive and speed control using a motor. First, using FIG. 1 and FIG. I will explain about it.

第１図において、（１）は速度設定ｉ、＋２）Ｆｉ、比
較器、＋３１ｄ増幅器、（４）は電源、（５）はパルス
幅制御器、（６）はモータ、（７）Ｆｉ、角速度検出器
である。In Figure 1, (1) is speed setting i, +2) Fi, comparator, +31d amplifier, (4) is power supply, (5) is pulse width controller, (6) is motor, (7) Fi is angular velocity. It is a detector.

なお、ここで説明を簡単にするために、電源（４）は直
流電源とし、角速度検出器（７）は速度発電機とする。In order to simplify the explanation, the power source (4) is assumed to be a DC power source, and the angular velocity detector (7) is assumed to be a speed generator.

このような構成において、速度設定器（１）は任意にモ
ータ（６）の目標速度を設定することができ。In such a configuration, the speed setter (1) can arbitrarily set the target speed of the motor (6).

目標速度電圧を出力する。比較器（２）は、上記目標速
度電圧と、角速度検出器（７）の出力電圧とを受け９両
者を比較して、その差、の電圧を速度指令として増幅器
（３）に送り、増幅器（３）　＃ｌ；を速度指令を増幅
して、パルス幅制御器（５）に送る。パルス幅制御器（
５）は、直流の電源（４）の出力電圧をチョッパし、増
幅された速度指令に応じて、パルス幅を変調し、モータ
（６）に供給する。ここでパルス幅制御器（５）は速度
指令が大きくなるに従って。Outputs target speed voltage. The comparator (2) receives the target speed voltage and the output voltage of the angular velocity detector (7), compares them, and sends the difference voltage as a speed command to the amplifier (3). 3) #l; amplifies the speed command and sends it to the pulse width controller (5). Pulse width controller (
5) chops the output voltage of the DC power source (4), modulates the pulse width according to the amplified speed command, and supplies the modulated pulse width to the motor (6). Here, the pulse width controller (5) changes as the speed command increases.

各パルスのパルス幅が長くなるように制御する。The pulse width of each pulse is controlled to be long.

モータ（６）は、パルス幅変調されたパルスの電力の平
均値に比例して回転する。また、一方、角速度検出器（
７）は、モータ（６）の回転軸とシャフト等で連結して
いるため、モータ（６）の回転と同期して回転すること
ができるので、角速度検出器（７）はモータ（６）の角
速度に比例した電圧を出力し。The motor (6) rotates in proportion to the average value of the power of the pulse width modulated pulses. Moreover, on the other hand, the angular velocity detector (
7) is connected to the rotating shaft of the motor (6) by a shaft, etc., so it can rotate in synchronization with the rotation of the motor (6), so the angular velocity detector (7) is connected to the rotating shaft of the motor (6). Outputs a voltage proportional to angular velocity.

比較器（２）に送る。Send to comparator (2).

この様に構成することにより、速度設定器（１）の出力
電圧と角速度検出器（７）の出力電圧の差がなくなるよ
うに、つまり、速度設定器（１）の設定速度とモータ（
６）の回転速度が同じになるように。With this configuration, the difference between the output voltage of the speed setter (1) and the output voltage of the angular velocity detector (7) is eliminated, that is, the set speed of the speed setter (1) and the motor (
6) so that the rotation speeds are the same.

モータ（６）の回転速度が制−される。The rotational speed of the motor (6) is controlled.

第２図は、この従来のモータ制御装置の各部の動作波形
を示すもので、（７）は速度設定器（１１の出力電圧波
形で、任意に設定された目標速度を表わす。０）は、速
度指令に応じてパルス幅変調されたパルス幅制御器（５
）の出力電圧波形である。FIG. 2 shows the operating waveforms of each part of this conventional motor control device, where (7) is the output voltage waveform of the speed setter (11) and represents the arbitrarily set target speed. A pulse width controller (5) that modulates the pulse width according to the speed command
) is the output voltage waveform of

（つ）は、角速度検出器（７）の出力電力波形であり。(1) is the output power waveform of the angular velocity detector (7).

モータ（６）の角速度に比例した電圧である。It is a voltage proportional to the angular velocity of the motor (6).

以上のように従来のモータ制御装置は、角速度検出器（
７）により角速度を検出し、それをフィードバックさせ
ることにより、閉回路を形成し。As mentioned above, conventional motor control devices use angular velocity detectors (
7), a closed circuit is formed by detecting the angular velocity and feeding it back.

モータ（６）を安定に制御しようとするものである。The purpose is to stably control the motor (6).

しかし、従来のモータ制御装置は、モータ（６）とは別
個にモータ（６）の角速度を検出するためにモータ（６
）の回転軸に専用の角速度検出器（７）を取り付ける必
要があり、構造も大きくなり９価格も高価となり、また
保守の必要性などの問題があった。However, conventional motor control devices detect the angular velocity of the motor (6) separately from the motor (6).
), it is necessary to attach a dedicated angular velocity detector (7) to the rotating shaft of the rotor, which results in a larger structure and higher price, and there are other problems such as the need for maintenance.

この発明は、従来の装置のこれらの問題を改善しようと
するもので、角速度検出器（７）ヲ用いないで９等価的
にモータ（６）の角速度に比例した電圧であるモータ（
６）の逆起電圧を利用して、速度制御を行うようにした
点を特徴とするものである。This invention attempts to improve these problems of the conventional device, and instead of using the angular velocity detector (7), the motor (6) whose voltage is equivalently proportional to the angular velocity of the motor (6)
6) is characterized in that speed control is performed using the back electromotive voltage.

以下、第３図、第４図および第５図を用いてこの発明の
一実施例について説明する。第３図は、この発明による
モータ制御装置の構成例を。An embodiment of the present invention will be described below with reference to FIGS. 3, 4, and 5. FIG. 3 shows an example of the configuration of a motor control device according to the present invention.

第４図は、第３図に示す逆起電圧検出器ｔｉ＋の詳細構
成例であり、第３図において、（１）は速度設定器、（
２）は比較器、（３）は増幅器、（４）は電源、（５）
゛　　　はパルス幅制御器、（６）はモータ、（８）は
逆起電圧検出器である。FIG. 4 is a detailed configuration example of the back electromotive voltage detector ti+ shown in FIG. 3. In FIG. 3, (1) is a speed setting device, (
2) is a comparator, (3) is an amplifier, (4) is a power supply, (5)
゛ is a pulse width controller, (6) is a motor, and (8) is a back electromotive voltage detector.

第４図において、（９）はサンプリング回路、（１１は
ピークホールド回路、ａｎｉｔフィルタ回路である０ 第５図はこの発明によるモータ制御装置の各部の波形を
示すもので、（支）は速度設定器（１）の出力電圧波形
、（イ）はパルス幅制御器（５）の出力電圧波形、に）
はモータ（６）の逆起電圧波形、す碌わちモータ（６）
の角速度に比例した電圧波形、（６）はサンプリング回
路（９）や出力電圧波形、（効はピークホールド回路（
１（Ｉの出力電圧波形、（至）はフィルダ　回路（９の
出力電圧波形である。In FIG. 4, (9) is a sampling circuit, (11 is a peak hold circuit, and anit filter circuit.) FIG. (A) is the output voltage waveform of the pulse width controller (5).)
is the back electromotive voltage waveform of the motor (6), and is the motor (6)
The voltage waveform proportional to the angular velocity (6) is the sampling circuit (9) and the output voltage waveform (the effect is the peak hold circuit (
1 (output voltage waveform of I, (to) is the output voltage waveform of filter circuit (9).

この発明のモータ制御装置において、速度設定器（１１
ＩＩｉ任意にモータ（６）の目標速度を設定することが
でき、速度設定器（１１からは、第２図（７）ののよう
な設定電圧が出力される−そして比較器（２）ｌｄ　、
上記目標速度電圧と逆起電圧検出器（８）の出力電圧と
を受け１両者を比較して、その差の電圧を速度指令とし
て増幅器（３）Ｋ送る。増幅器（３）は速度指令を増幅
して、パルス幅制御器（５）Ｋ送る。パルス幅制御器（
５）は、直流の電源（４）の出力電圧をチョッパし、増
幅された速度指令に応じて、パルス幅を変調し、第２図
（イ）のような。In the motor control device of the present invention, a speed setter (11
IIi The target speed of the motor (6) can be arbitrarily set, and a set voltage as shown in FIG. 2 (7) is output from the speed setter (11) - and the comparator (2) ld,
The target speed voltage and the output voltage of the back electromotive voltage detector (8) are received and compared, and the difference voltage is sent to the amplifier (3)K as a speed command. The amplifier (3) amplifies the speed command and sends it to the pulse width controller (5)K. Pulse width controller (
5) chops the output voltage of the DC power source (4) and modulates the pulse width according to the amplified speed command, as shown in FIG. 2 (A).

パルス列を出力する。モータ（６１ｆｌ　、パルス幅制
御器（５）の出力電圧により回転し、負荷を駆動する。Outputs a pulse train. The motor (61fl) is rotated by the output voltage of the pulse width controller (5) and drives the load.

ここで、モータ（６）の入力側の、パルス幅制御器（５
）の出力電圧と第２図に）のようなモータ（６）の逆起
電圧の合成電圧を、逆起電圧検出器（８）に入力する。Here, the pulse width controller (5) on the input side of the motor (6)
) and the back electromotive voltage of the motor (6) as shown in FIG. 2 are input to the back electromotive voltage detector (8).

逆起電圧検出器（８）は、第４図のように、サンプリン
グ回路（９）とピークホールド回路員とフィルタ回路ａ
ｉ＋とから構成されている。サンプリング回路（９）は
、パルス幅制御器（５）が出力するパルスとパルスの間
の時間に同期した微小時間に、つまジモータ（６）の逆
起電圧だけが表われている時、サンプリングをし、第２
図（３）は。As shown in FIG. 4, the back electromotive voltage detector (8) includes a sampling circuit (9), a peak hold circuit member, and a filter circuit a.
i+. The sampling circuit (9) performs sampling when only the back electromotive force of the toothed motor (6) appears at a minute time synchronized with the time between the pulses output by the pulse width controller (5). And the second
Figure (3) is.

このサンプリング電圧波形である。ピークホールド回路
（ＩＩ　？ｉ、第２図（刈のように、サンプリング電圧
をピークホールドし、フィルタ回路ａ９を通過されるこ
とにより、第２図（４）のような、なめらか電圧波形と
なる。このフィルタ回路＜１１１の出力電圧は、モータ
（６）の逆起電圧であり、逆起電圧検出器（８）はモー
タ（６）の入力側の合成電圧から、モータ（６）の逆起
電圧だけを取り出すことができる。前にも説明したよう
に、モータ（６）の逆起電圧は、従来例の角速度検出器
（７）の出力電圧と同等の、モータ（６）の角速度に比
例した電圧であるので、逆起電圧検出器（８）の出力電
圧を比較器（２）に送出することにより、従来例と同様
にモータ（６）の速度フィードバック、制御ができる。This is the sampling voltage waveform. The peak hold circuit (II?i, FIG. 2) peak-holds the sampling voltage and passes it through the filter circuit a9, resulting in a smooth voltage waveform as shown in FIG. 2 (4). The output voltage of this filter circuit <111 is the back electromotive force of the motor (6), and the back electromotive voltage detector (8) detects the back electromotive force of the motor (6) from the composite voltage on the input side of the motor (6). As previously explained, the back electromotive voltage of the motor (6) is proportional to the angular velocity of the motor (6), which is equivalent to the output voltage of the conventional angular velocity detector (7). Since it is a voltage, by sending the output voltage of the back electromotive voltage detector (8) to the comparator (2), speed feedback and control of the motor (6) can be performed in the same manner as in the conventional example.

なお、この発明は電源（４）が直流電源の場合について
説明したが、この発明は、これに限らず交流電源でもよ
く、この場合、ノ（ルス幅制御器（５）は、サイリスタ
・レオナードでもよい。Although this invention has been described with reference to the case where the power source (4) is a DC power source, this invention is not limited to this and may be an AC power source, and in this case, the pulse width controller (5) may be a thyristor Leonardo. good.

以上のように、この発明に係る。モータ制御装置では、
角速度検出器（７）ヲ用いないで、モータ（６）の逆起
電圧を利用して、モータ（６）の速度制御ができるので
、従来に比べ安価でかつ、小型ができ、保守が簡略化で
きる利点がある。As described above, the invention relates to the present invention. In motor control equipment,
The speed of the motor (6) can be controlled by using the back electromotive force of the motor (6) without using the angular velocity detector (7), making it cheaper and smaller than before, and simplifying maintenance. There are advantages that can be achieved.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は従来のモータ制御装置の構成図、第２図は従来
のモータ制御装置の動作波形図、第３図はこの発明によ
るモータ制御装置の構成図。 第４図はモータの逆起電圧検出器の構成図、第５図はこ
の発明のモータ制御装置の動作波形図である 図中、（１）は速度設定器、（２）は比較器、（３）は
増幅器、（４）は電源、（５）はパルス幅制御器、（６
）はモータ、（７）は角速度検出器、（８）は逆起電圧
検出器。 （９）はサンプリング回路、　（ＩＩはピークホールド
回路、ａυはフィルター−路である。− なお１図中同一あるいは相当部分には同一符号を付して
示しである。 →−１町FIG. 1 is a block diagram of a conventional motor control device, FIG. 2 is an operating waveform diagram of the conventional motor control device, and FIG. 3 is a block diagram of a motor control device according to the present invention. FIG. 4 is a block diagram of a motor back electromotive voltage detector, and FIG. 5 is an operating waveform diagram of the motor control device of the present invention. In the figure, (1) is a speed setting device, (2) is a comparator, ( 3) is an amplifier, (4) is a power supply, (5) is a pulse width controller, and (6) is a power supply.
) is the motor, (7) is the angular velocity detector, and (8) is the back electromotive voltage detector. (9) is a sampling circuit, (II is a peak hold circuit, and aυ is a filter path.- In addition, the same or equivalent parts in Figure 1 are indicated with the same symbols. →-1 town

Claims (2)

【特許請求の範囲】[Claims] （１）　　モーｊの目標速度を設定する速度設定器と。 上記目標速度とモータの角速度との差を速度指冷として
出力する比較器と、上記速度指冷を増幅する増幅器と、
上記増幅器と電源とに接続され、増幅された速度指令に
応じてパルス幅を制御するパルス幅制御器と、パ、ルス
幅変調されたパルスの電力に比例して回転し。 かつ負荷を駆動するモータと、このモータの逆起電圧を
検出し、比較器に送出する逆起電圧検出器とから構成さ
れ、上記逆起電圧検出器により閉ループを構成するとと
もに、モータの角速度信号としてモータの逆起電圧を利
用して、モータの速度制御を行うようにしたことを特徴
とするモータ制御装置。(1) A speed setting device to set the target speed of motor j. a comparator that outputs the difference between the target speed and the angular velocity of the motor as a speed index cooling; and an amplifier that amplifies the speed index cooling;
A pulse width controller is connected to the amplifier and the power source and controls the pulse width in accordance with the amplified speed command; and the pulse width controller rotates in proportion to the power of the pulse width modulated pulse. It consists of a motor that drives a load, and a back electromotive voltage detector that detects the back electromotive voltage of this motor and sends it to a comparator. A motor control device characterized in that the speed of the motor is controlled by using the back electromotive force of the motor. （２）上記逆起電圧検出器り、サンプリング回路とピー
クホールド回路とフィルタ回路とから構成されているこ
とを特徴とする特許請求の範ＦＭ第（１）項記載のモー
タ制御装置０(2) The motor control device 0 according to claim FM (1), characterized in that the back electromotive voltage detector is composed of a sampling circuit, a peak hold circuit, and a filter circuit.
JP57025215A 1982-02-18 1982-02-18 Controller for motor Pending JPS58141689A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP57025215A JPS58141689A (en) 1982-02-18 1982-02-18 Controller for motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57025215A JPS58141689A (en) 1982-02-18 1982-02-18 Controller for motor

Publications (1)

Publication Number Publication Date
JPS58141689A true JPS58141689A (en) 1983-08-23

Family

ID=12159732

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57025215A Pending JPS58141689A (en) 1982-02-18 1982-02-18 Controller for motor

Country Status (1)

Country Link
JP (1) JPS58141689A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008113102A (en) * 2006-10-30 2008-05-15 Teac Corp Motional feedback type speaker system
US7902482B2 (en) * 2002-06-14 2011-03-08 Mitsubishi Denki Kabushiki Kaisha Laser machining apparatus and control method for the apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7902482B2 (en) * 2002-06-14 2011-03-08 Mitsubishi Denki Kabushiki Kaisha Laser machining apparatus and control method for the apparatus
JP2008113102A (en) * 2006-10-30 2008-05-15 Teac Corp Motional feedback type speaker system

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