JPS58198179A - Rotation controller for rotor - Google Patents

Abstract

PURPOSE:To enable to control the irregular rotation of a motor by storing in advance the waveform for the rotating angle of a motor in variation in the torque of the motor and correcting the variation in the torque with a read-out signal from memory means. CONSTITUTION:The component which does not relate to the drive current of a rotary head drive motor and the component which is generated corresponding to the drive current of the torque variations that are produced by a rotor of the motor are written in response to the rotating angle of a rotor in ROMs 1, 2 of torque variation correcting circuit 14. A signal S10 is read out from the ROM 1 in response to the signal S3 corresponding to the rotating angle inputted to a rotating angle detector 15, and a signal S11 and the rotating speed detection signal S7 of the rotor are mixed by a mixer 21. Simultaneously, the signal S13 which is read out from the ROM 2 controls the gain of a gain controller 22, the output signal S12 of the circuit 21 which controls the rotation of the rotor is amplified or attenuated, and the rotation of the rotor is controlled by the output signal S9 of the circuit 22.

Description

[Detailed description of the invention] The present invention relates to a rotating shaft device of a rotating body.

In particular, in a direct current electronic commutator sweater, the torque +m generated by the sweater itself is corrected by a secondary circuit formed to offset this, thereby stabilizing its rotation.

In recent years, 1N! A diagonal scanning magnetic recording and reproducing device (hereinafter referred to as a VTR) that performs 6c recording of Jōhakugo.
1 rotation head drive motor, castan drive 7-
Small, efficient and reliable DC electronics for motors, reel drives, I motors, etc. ! Used in Tabijinko motor direct drive. In such a VTR, the video signal is sent to the rotating head 1.
Since recording is performed on a magnetic recording medium by a rotary head that is driven to rotate at high speed by a motor, if there is any unevenness in the rotary head drive motor, #4 of the mixed video signal
The II'i&l axis fluctuates, causing horizontal thin lines to appear on the rotten grains that are cut into the telehesion, leading to deterioration of the Wm quality. Therefore, it is necessary to keep the heartbeat of the rotating head and body motor, which is the cause of uneven rolling, to a low level. It was a monkey. The audio Iro issue is a (12 memory) with a head set at 1 for a running thread of 7°, and if there is any unevenness in the Capsta 7 secret motor that drives the tape running, the pressure will be increased. A temporal movement called wah-futsuta occurs in the voice of the voice, leading to an increase in the pitch of the it-voice.

[Capstan body] Even in the case of klI, it is necessary to suppress fluctuations in F-rhi, which are the cause of uneven rotation, to a low level. Furthermore, if we do not suppress the friction that occurs in Lee and A's main plow motors, the tape tension of the tape running thread will be reduced.
Check the unevenness of the capstan drive motor and rotary head drive motor! Released, PI student - the statue moved laterally and was repressed)! It is sung by Wah Futsuta of No. 1. .

As shown in C, in order to ensure the stability of Shoide No. 18 in VTRs, etc., the I4I system for torque fluctuations, which is consistent with the current level, is essential.

Conventionally, in order to suppress rotational unevenness caused by torque fluctuations such as C, a force has been adopted by increasing the moment of inertia of a rotating body and increasing the gain of the control system. But possible JIF
In the VTjl of F, in order to reduce the number of [Lm] and downsize, the rotation speed of the rotary head drive motor a is lowered, so 1@I is used as a lever.

It is unclear whether the method of increasing the moment of inertia of the body and increasing the gain of the IIFliml system is sufficient to counteract the one-turn unevenness.

In the present invention, the torque generated by the motor * klJ (1)
Memorize the waveform for the motor rotation angle in advance + set the instruction ζ
The above-mentioned torque 9EiEIi is adjusted to correct 1 using the read signal from this storage means to suppress uneven rolling.
[It is something that Before entering into the description of the present invention, the torque drive generated by the child commutator Tanabata will be explained.

The slowing torque of the electronic commutator generator! eqst,
) It is wrapped around the data in the IKI style.
If the Kamekiko Kame-ryu is faithful to the child winding tightening, and if the armature Kame-ku IM is in one run, then depending on the rotation angle θ foot of Tanabata, it will be either a sori-no-gumi or a one that does not improve. It is.

TM-K6, LM (IJio・
Proportional grass number (-4-) However, this torque 1' Makoto is due to the following factors) As shown in the power distribution equation 2, the rotation angle of the motor 1/i
It varies depending on f, and the variation is
Proportional component [second equation h2 term (0R)/Irei]
Components related to eclipse [Ck in the 8th term of the second equation (
(IR) Lost by J.

1'M(#R)-(ko+lLm(0R))-1M+
C11(#R), to・1M+1LR(#R)・l
In addition, in the second equation, the first term represents the average value of the motor generated torque, and the second term represents the average value of the motor generated torque. TM (indicates the component proportional to tm child turtle @ IM in 0 Rinoni Motion (hereinafter referred to as Torri 1 Motion). Also, the sum of the first shelf and the second term of the trunk, that is, Ck > 0 + ILRCθ rat) )・I noodles is Den 411I-
fIIILfIL), and the eighth
The terms represent components unrelated to the armature 1:151EIM, and the second and eighth terms, θi = θ
~2ffCrad], the average price is zero.

Well, then! # Of the torque fluctuations that occur, those that are unrelated to the armature current are the (0th order (θR)) of the S term of the ship's formula 2.
And this is usually called cogging force and was made with an iron core in the stator! In an electronic commutator switcher in which a 1aclk-shaped core is used and a permanent magnet is used, the following occurs due to the magnetic attraction between the rotor permanent magnet and the stator core. Even if the winding edge is not excited by current, if the rotor is rotated by an external force, vibration will occur in the direction of one rotation.

For example, it becomes a distortion waveform whose fundamental wave is the rotation period of the motor as shown in Fig. 1. Kametsuki I [511M will make a joke by slandering the same sweater]
! In the case of E &, the stator shape and the rotor magnet's 11 magnetic waveforms will be the same for all motor connections, so the instant [! The attraction force is similar, the waveform of the cogging force is similar, and the waveform of the cogging force is similar, and it is generated in proportion to the armature wL flow.

The torque generated by the armature current is proportional to the product of the magnetic TIL linkage between the symbol winding and the rotor magnet and the armature current 1M, and this occurs because the magnetic flux linkage is K1 due to the rotation angle θ. It is something. In addition, Ko+Ki+(θR), which is the IM proportional term of the steel equation 2, corresponds to the above am-multiplier and does not change depending on LM, and KO is the average value -11 (#
n) indicates the variation. It was home.

The torque fluctuation [KR(θR)·IM in the second term of Equation 2] that occurs in proportion to *m is hereinafter referred to as torque clip.

The friction (f
LO+KlC#R))・IM is proportional to the number of magnetic flux linkages as mentioned above, so the number of turns of the electrode winding and S
Determined by the guard, similar to cogging force.

For example, the rotation period of Yū-Yu as shown in m2 diagram (4)
It becomes a distorted waveform with ゛ as the fundamental wave. Also, similar to the cogging force, s@ has many raw noodles using the same motor.

At dusk, the stator shape, the rotor magnet's arrival waveform, and the winding ridges and windings of the 1kh child winding are the same. & The waveform of the torque peak KR(θR)IM corresponding to the journey 11 to the electron 1 is also similar.

Hereinafter, embodiments of the present invention will be described by taking as an example a VTR rotation/throat drive motor.

Figure 8 of the ship reduces the #I composition of lIi'1111111 yarn at the time of arrangement of the rotary head 1 plow motor of V]'R. In the same figure, the rotary head T#AlklI motor (υ rotation + (! Rotating Ill (21 no 1-4c)
The Aya 116 Denki (6), which generates N pulses of multiple I values with one rotation of the head drive motor (11 to obtain a rotational speed of 1!), was installed and turned in the first place. .

The output signal of this glue wave number generator (6) is connected to the Sawasugi rolled wholesale button (7).
), shape the cedar and obtain the green rectangular S1 shown in S in Figure 4, and convert this rectangular cedar to the speed control circuit (
In addition to 147, the speed control signal S□ is applied, and this speed control signal s2 is added to the mixed circuit (90C is added to the C length, and the autorotational axis (2) is rotated 1, t, ] 1 rotation. The concave inversion phase book number OJ that generates a pulse is marked with a hash (), and its output 0! be converted to 'jsx'.In other words,
This rectangular signal s8 is applied to the rotary head drive motor (11 of 17).
The rotation period is similar to the Tanabata rotation period TR. The rectangular signal S3 is applied to the phase 1 auxiliary braking circuit (b). Phase synchronization @III
In addition to the self-recorded rectangular signal S3Q, the Iglk (b) also includes a frame synchronization signal S5, which is obtained by applying the spectral image signal S4- to the frame synchronization signal generation system, and has one phase. - Period system (sha) circuit (2) is connected to creation signal S3 and frame 11 period 5. The phase control signal S6, which outputs the 0th order No. 1 S6 of the phase system Co., Ltd. corresponding to the phase difference between This signal S7 is applied to the torque cuff stop circuit O◆, which will be discussed later, and the torque fluctuation causes the movement of the cuff S9. The motor drive path αQ recommends the drive current ilJ to be supplied to the armature of the shearing rotary head drive motor (1) in proportion to the magnitude of the signal S9.

Motor kj! Brake the IJ Kamishin LM and control the rotational head drive motor (υ phase 1llJ3. Except other blocks and VTR
Since the phase-synchronized subshaft of the rotary head drive motor is already well known, the details will be omitted. In addition, in the case of this plane shown in Figure 8, ideally the same rotating head driver
The torque 1'M generated by the torque (υ) is proportional to the signal 57,
In addition, it is desirable that the moving table of the other gs, 1Ji-group, and the motor rotation angle θR be a constant value and do not cause torque reaction.
When isr is added to Li2 contact to motor drive circuit ati 6
．． Even if No. 6 S7 is kept constant, the cogging force CR (UR) and torque ripple Ks + (θk) are lost according to the above formula 1482.
・For IM.

When the rotation angle of the motor (byc)>g, a torque reaction occurs.

Now, to explain the principle of torque fluctuation correction according to the present invention, the relationship between the Tanabata Ben raw torque ゛l゛-(CR) and the electric machine pre-energizing hole IM is in the second equation Q1, and this 1-(#
In order to make it proportional to the necessary U distribution signal 87 regardless of the turning angle of the motor, use the lsz formula.

'I'm ($1) CLo+LmCeR) )・Iy4
U mouse (θ mouse) dew.・8. (JJ (where M is a constant of proportionality) is a constraint, and as if satisfying this, the signal 8.
Even if the torque is constant, the torque fluctuation can be suppressed by flowing the shaft current l(0), which changes by 1" depending on the rotation angle aR.

Tanabata drive wholesale road ■ is the input signal 8. It is related to the rotation 80R.

1M (θ illusion - b0・8・φ) (However, Bo
is a proportionality constant), if wIL is proportional to the signal S, and is supplied as the electric machine pre-charge tIILIM (#Ii), the signal S9 to satisfy the fourth equation of fJu is as follows.

This 8C is the cogging force correction signal, K (
The θ illusion is called a cripple correction coefficient. Therefore, if a ceramic signal like the above-mentioned formula 6 is obtained for the signal by torque trap motion compensation@road, then formula 8 is satisfied and the motor generated torque is Believe l, regardless of the rotation angle C'@
8A, torque fluctuations such as cogging force and torque clip are compensated for, and the JJ rotation of the co-rotating head motor (1) is stabilized.

For this reason, the torque fluctuation correction [at the gl route, the first memory circuit stores the TFI information for correcting the cogging force CR (Og), and the memory circuit of JR2 stores the TFI information for correcting the torque ripple. The information obtained by formula (6) is stored, and this information is read out in correspondence with the first turn angle θ, and the signal S7 is read out from the storage circuit of ①.
! The cogging force CR(
CR) and the cogging force correction signal 8cm-17mm in opposite phase.
-UR(#R) and corrected this coking signal St+8C=8. -17mm.・CR (CR) is a monk,
This signal is passed through the concession M111 circuit, and the torque ripple coefficient K (CR
) and is controlled by 7, and the output signal of the torque fluctuation correction circuit that satisfies Equation 6 can be used to correct the torque fluctuation. Next, this will be explained in detail based on FIGS. 4 and 6.

In the ship diagram 6, the rotation angle detection circuit 05 is a binary counter Q.
η, bus generation circuit 1 (to), J and double multiplier circuit 0 o'clock. The signal 83 is added to the bar/L'nu moxibustion agent 815, and the signal 83 1 is output as shown in Fig. 815.
Signal 88 that pulses at the edge. occurs.

This passive '81. is the reset terminal P of a binary counter.
The binary counter O is added to the signal 81. pulse generation (reset Y at timing h. Also, the signal 81
It is converted into a pulse signal 814 with twice the Ii!a wave number as shown in FIG. 4 through the IJ211i double wave number.

This signal 814 is applied to the clock terminal CLK of the binary counter. In this way, the binary counter a
The output of 7) is reset to 0゛° when the value of m @ 'ts is generated, and the pulse of signal b14 or 1
Binary information S8 is obtained in which the numerical value increases by one for the thigh that ranks highest in gA. Figure 4, S, represents this information.

In addition, it can be seen by comparing 53 and S in Fig. 4.

The contents of the binary information S (binary numerical value) are numerical values corresponding to the (b) rotation angle of the rotary head drive motor (1). Note that here, the signal (
What communicates the wave number of Sl) is the amount of drive per rotation of the head.
This is done in order to prevent angle detection from becoming rough due to a decrease in the number of % rotations during one rotation of the motor (6).

Now, regarding the torque fluctuation correction circuit (b) in Section 111,
muIC! Binary information S obtained from the two-way counter Qη
,teeth.

F ruku kaIillill: 2 set in the enclosure (ro)
Added to Atrea and Fin of Mori-ROMI and RQMg. Therefore, ROMI, RO
From MK', the change in the binary number Nss, that is, the tb information written in advance corresponding to the rotation angle of the co-rotating head drive motor (υ) is read out.ROMm contains 1'[
Digital information corresponding to IN picoging sleeve supplement number b (is written in the address corresponding to the rotation angle, R
The digital signal 81G extracted from OMI is converted from digital to analog! ! Iw! It is converted into an analog signal via... and becomes a signal SIS. The cogging correction signal 8c
This analog signal 511 corresponding to the 1tlE signal S
7 is added to the mixing circuit (2), and the signal S1φS corresponding to the cogging-corrected S, -8G is obtained at the output of the mixing fault circuit (2). Signals S, d, t are applied to gain control circuit 4. On the other hand, the first ROM 2 contains digital information corresponding to the torque ripple μ correction coefficient K (b), which is information for correcting the torque ripple. ! 1
It is stored in the address corresponding to the turning angle, and the ROM
The gain AI of the gain control path f is controlled in accordance with the digital signal SSS read from the digital signal SSS, and the signal 512 is amplified or attenuated by the gain multiplier of the gain control path.
, or worn. Namely.

The gain control Ilh connection to the gain is the digital signal E11.
3, the signal S12 is amplified by a magnification proportional to the μ clip Jv correction coefficient k (#R) of the sixth equation, which is information for correcting the torque ripple. The output of tiemh1mW & (2) is (87-sc) as described in the previous formula 6. ・IL
(#s+)a-s8. HJ#il) mS9 was obtained. In this way, the signal S obtained by obscuring the signal S by the signal from the ROMI and JvROM2
9 is connected to and controlled by the co-rotating head drive motor (1) via the motor drive path (to), the drive current, that is, the motor's electron current 1 set, produces a cogging force with an opposite phase. The torque b+ cancels out the cogging force, and the armature current IM is adjusted to %L by the gain si+tiu circuit 4 to cancel out the torque ripple, so the torque ripple is also compensated for, and the same IIIIIIIII system, that is, the rotation The head drive motor (1) has an equal moment of inertia, and a rotation control device that has a control string with the same wave number characteristics and the same wave number characteristics, and has less rotational unevenness due to the suppression of fluctuations in the nodal μ and ri. can be provided. In addition, in the torque station movement correction circuit (b) of the above-mentioned figure 1, ROMI, ROM2
, digital μm analog Tohaku circuit 4 and mixed (b)
As for the details of road ■.

Since it can be constructed with a flat membrane of Marichi on the rail, a detailed explanation will be omitted. The gain control circuit 11J (2) uses a 1-multiplication type analog-digital A/& conversion circuit, and when the signal st1 is applied to its analog input section and the signal 511 is applied to its digital input section, its output l! As a ratio, a voltage proportional to the sum of the voltage of the signal 512, which is an analog signal, and the value indicated by the signal SL1, which is a digital signal, is added, and this can be taken out as the signal S@.

In the sixth equation, the motor drive circuit generates an armature current IM(#R) relative to the input signal S, independent of the rotation angle θR, and proportional to the signal S9 as shown in equation (5). The above-mentioned formula 11F & 4 is satisfied. In other words, the relationship between the signal S that suppresses torque fluctuations and the signal S9 was determined.1wt - Child current IM (#l) does not satisfy Equation 6) IMC#l of Equation 7) - (Bo + Bm (θR) )”e
(7) However, B, , constant BR(θR): As it varies depending on the rotation angle aR, (1!1 The variation term m1( which changes depending on the rotation angle 0R)
θR), and when lsi+(#i+) cannot be ignored with respect to Bo, in order for the motor torque generated torque TMC#R) to be independent of the rotation angle θR and proportional to the signal S1, the above vh2 formula and the seventh Formula libel TM(aR),, (No+Ki(aR))・IM+C3
R(aR) Peng(ni0+1LR(θ1house(B0+Bh(a
R))・8. +Gm(aR)-Ao・8,
(IIJ.The relationship between signals 87 and 80 to satisfy this 8th formula is -("t-8c)"(aR) (9). 1 Is the cogging force correction signal 8C unchanged? The number '(aR) is different from the formula 6 in the Lu book.Therefore, for such a platform, R in the book att (Figure 1) (JM2 has the '(aR month) The corresponding signal is written first.

In the above explanation, we have explained the case where the current electronic commutator motor uses a salient pole-shaped core made of an iron core of fP in the stator, or a salient pole-shaped core made of an iron core of 1t' in the stator. In a noodle motor called a coreless motor, which is not used in the past, the attraction force in the U-turn direction is reduced to the point where the cogging force is negligible. The correction of cogging force when suppressing that torque oscillation is unknown.

The IO & 1m, digital-to-analog conversion circuit and mixing circuit shown in the ship diagram are no longer needed, and the signal S7
Torque ripple can be compensated for by adding this to the gain damping circuit (support). On the other hand, in a motor with a large cogging force, if the motor is in a negative direction during steady state, the torque generated by the motor with a small lift will also be small.1 Therefore, the torque ripple will also be small, so in such a case, Most of the torque fluctuation is due to the coking force, and even if the torque ripple is corrected, the torque vibration can be significantly suppressed by correcting the cogging force. Therefore, in this case, the gain iIl1m (b) road (2) of torque ripple correction as shown in Th51V and the beast 0rei2 are unnecessary, and the signal SI2 corrected for the cogging force is used to directly drive the motor. Circuit 1 may be added to 4.

In addition, ROMI and ROM21 of the embodiment in Figure 6 of rd
1: The information to be stored is 1- Even if it is not compatible with the jaw motor, write multiple correction information compatible with multiple noodle motors, and compile it according to the motor used.
The tl report may be switched.

In the above embodiment, the case where it is applied to the control system of the one-rotation head drive motor (1) has been described, but other hair motors may also be used.
The present invention can be similarly applied to, for example, a capstan drive motor in a VTR. It has already been mentioned that the present invention is effective for DC electronic commutator motors, and also for Ebk motors and other AC motors that have an II current due to mechanical contact, the present invention has a sufficient correction effect. Have medicine.

According to the present invention as described above, the following effects are achieved.

■It is possible to correct cogging and torque clip μ without complicating the motor structure, making Tanabata smaller and easier to process and assemble when reducing the moment of inertia. Moreover, if the present invention is applied to a structure in which the structure of -1-1 is made multi-phase and multi-polar to reduce cogging force and torque ripple, torque fluctuation can be further reduced.

■One-way torque ripple correction can be realized with a relatively simple configuration, and since it can be integrated into one path, significant cost reductions can be achieved.

■When the present invention is applied, even if the frequency of torque fluctuation changes depending on the rotational speed of the rotary body, it is possible to apply 1gIb
Since the (b) rotation angle of the body is detected and the supplementary information of the tori heart beat stored in the detected signal is read out, the frequency of the correction signal also responds to the (b) rotation speed of the rotating body. and can be corrected.

[Brief explanation of drawings]

Figure 1 shows cogging and cogging correction 0! Figure 2 shows the waveform of the torque generated by the motor and the change in the degree of amplification of the SHIRARI sweep-up to cancel out the torque ripple. 1- VTil the present invention
1 is a waveform diagram of the rotation angle detection circuit of the diagram shown in Figure 8 and the assembled diagram, and the fifth figure is the torque pulse correction circuit and rotation angle. FIG. 2 is a block diagram of a detection circuit. (1)...Rotating head drive top, Q4...Torque compensation circuit, (G)...Rotation angle detection l! ! 1F11! ,
(2)...mixing path, working...gain control 111 circuit,
ROMI, ROM2...#11. Memories of plane 2-
Agent Yoshihiro Morimoto Figure 1 Egg Figure 2 (Hen: R rB) Figure 3 Figure 4

Claims (1)

[Claims] 1. ml signal (S, ) corresponding to the (b) rotation angle of the single rotation body
A total rotation angle detection hand Pi (2) that obtains the rotation angle, and a storage means (R
OMI) and a mixing circuit that mixes a second signal read out from the storage means (ROMI) in opposition to the first signal (S8) with the single rotation speed detection signal (S, ) of the rotating body. (b) One rotation of the rotating body 111J 11 which performs the same rotation fIII11 of the rotating body iu by the output signal of this mixing circuit (2).
II device. 2. The first all! corresponding to the one turn angle of the 1g1 rolling body! j
(Ss)) and (ii) the torque generated by the rolling body is the component generated corresponding to the drive current during good movement of the rolling body. The gain is determined by the storage means (110M2) written in correspondence to the 1 inversion angle and the Ayu 2 signal (alg) extracted from this storage means (ROM2) in response to the ml signal (8g). (7) gain control means for amplifying or attenuating the signal (S, *); (b) One round rotation of the rotating body which performs round rotation control of the rotating body using the output signal. 8 11!1 signal (S,) corresponding to the rotation angle of the same rotator
and a storage means (ilOMl) of &1 written in correspondence with the -turn angle, which is a component that is not involved in the drive current during the torque development generated by the above-mentioned one-turn body.
And, this turtle 1's storage means (from ROMI input *1 + entry 1)
The signal of the tortoise 2 which is protruded in response to the signal (S,) of - is the rotational speed F! of the rolling body. A mixing circuit that mixes with the L pole output (S7). A second memory means (itomz) written in correspondence with the torque generated by the rolling body and the torque generated in response to the drive current and the rotation angle of the island 2. The information of turtle 8 read out from the storage means (ROM) in response to the first signal (aS)
It is equipped with a gain control means (support) for amplifying or attenuating the output signal of path (2), and the output of the control button (signed with i@) is provided. One rotation of a rotating body that controls the same rotation of an extension and one rotation body.