JPS59129646A - Apparatus for controlling position - Google Patents

Apparatus for controlling position

Info

Publication number
JPS59129646A
JPS59129646A JP426483A JP426483A JPS59129646A JP S59129646 A JPS59129646 A JP S59129646A JP 426483 A JP426483 A JP 426483A JP 426483 A JP426483 A JP 426483A JP S59129646 A JPS59129646 A JP S59129646A
Authority
JP
Japan
Prior art keywords
speed
signal
controller
control device
leonard
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
JP426483A
Other languages
Japanese (ja)
Inventor
Furuto Tsuchiya
土屋　古人
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.)
Toshiba Corp
Original Assignee
Toshiba 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 Toshiba Corp filed Critical Toshiba Corp
Priority to JP426483A priority Critical patent/JPS59129646A/en
Publication of JPS59129646A publication Critical patent/JPS59129646A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33182—Uart, serial datatransmission, modem
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34236—Multiplex for servos, actuators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37486—Resolver emits pulses at zerocrossings, counter

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To reduce a machine output shaft for a sensor and a position detector, and to simplify the titled apparatus systematically, by obtaining a system that can pick up a speed feed-back signal of a Leonard controller and a position feed-back signal to a process controller. CONSTITUTION:Similarly to the speed detection and position detection of a DC motor 7 at a Leonard controller 6 at the time when speed is controlled, the speed of a DC motor 12 is controlled by a Leonard controller 11, based on a signal DELTAtheta' of a resolver 13 a speed feed-back signal N' is fed back to the apparatus 11 by a signal converter 14 and a position detection pulse signal is fed back to the process controller 4 via a pulse buffer apparatus 15, a remote output controller 5 and data transmitting sub-units 3, 2. Thus, a machine output shaft for a sensor and a position detector can be reduced and the present apparatus can be systematically simplified.

Description

【発明の詳細な説明】 発明の技術外野 本発明による位置制御装置は鉄鋼圧延プラントあるいは
物流／ステムなど速度制御を行ないなおかつ定位置停止
制御（Ａｕｔｏｍａｔｉｃ　Ｐｏ５ｉｔｉｏｎＯｏｎｔ
’Ｑ１　：以下ＡＰＯ１！：略す）を行なう必要のある
制御装置に関するものでちる０ 発明の技術的背景とその問題点 従来、速度制御を行ない、なおかつＡＰＣを行なう必要
のある制御システムにおいては、サイリスタレオナード
装置による、直流電動機の速度制御用としてタコジェネ
レーターちるいはレゾルバ−速度帰還器を用いて、ＡＰ
Ｃ用の位置検出器とシテパルスジエネレーターちるいは
レゾルバ−位置検出器とＲ／Ｄ変換器（Ｒ，ｅｖｏｌｕ
ｔ　ｉｏｎ　／Ｄｉｇｉｔａｌ変換器）を用いておシ、
速度検出器と位置検出器を各々１個個別だ設ける必要が
あった。このため通常、速度検出器は直流電動機の後部
に直結し、位置検出器は駆動対象機械から位置検出器出
力軸を設けて結合させていた。従って、設備的に速度検
出器と位置検出器の検出器を用いているため、据付、工
事、配線的に繁雑でらった。[Detailed Description of the Invention] Technical Field of the Invention The position control device according to the present invention performs speed control in a steel rolling plant or logistics/stem, and also performs automatic position stop control.
'Q1: Below is APO1! Technical background of the invention and its problems Conventionally, in a control system that requires speed control and APC, a DC motor using a thyristor Leonard device has been used. A tachogenerator or resolver speed feedback device is used to control the speed of
C position detector and pulse generator or resolver position detector and R/D converter (R, evolution
t ion /Digital converter).
It was necessary to provide one speed detector and one position detector. For this reason, the speed detector is usually directly connected to the rear of the DC motor, and the position detector is connected by providing a position detector output shaft from the machine to be driven. Therefore, since the equipment uses a speed detector and a position detector, installation, construction work, and wiring are complicated.

発明の目的 本発明は上記の事情に鑑みなされたもので、簡易な構成
で電動機の速度制御及び定位置制御を行なう位置制御装
置を提供することを目的とする。OBJECTS OF THE INVENTION The present invention was made in view of the above circumstances, and an object thereof is to provide a position control device that performs speed control and fixed position control of an electric motor with a simple configuration.

発明の概要 本発明は上記の目的を達成するために、電動機の速度制
御用及び定位置制御用の信号として電動機に設けられる
レゾルバの出力信号を用い、従来個別に必要であった速
度検出器及び位置検出器を１個にしたものである。Summary of the Invention In order to achieve the above object, the present invention uses the output signal of a resolver provided in the electric motor as a signal for speed control and fixed position control of the electric motor, and eliminates the need for a speed detector and It has one position detector.

発明の実施例 以下、本発明の一実施例を図面を参照しながら説明する
。図は位置制御装置のシステム構成図でらろ。Embodiment of the Invention An embodiment of the present invention will be described below with reference to the drawings. The figure is a system configuration diagram of the position control device.

図において、データー伝送制御装置親局１および第１の
チーター伝送装置子局２、第２のデーター伝送装置子局
３Ｖこよシ第１のプロセスコントローラー４と第１のリ
モート入出力制御装置５は結合される。第１のプロセス
コントローラー４は、プラントの主幹制御機能を司と９
、第１のリモート入出力制御装置５を介して、第１のレ
オナード制御装置６に対して：ｉｆ度基準基準える。第
１のレオナード制御装置６は第１の直流電動機７の速度
制御駆動を行なうが第１のレゾルバ−８の位置変化ｆ８
号△θを第１の信号変換器９にて一定時間の△ｔによシ
サンプリングすることによ５Ｎ−△θ／△ｔという回転
速度帰還を第１のレオナード制御装置６に与えることが
できる。以上の閉ループにて第１の直流電＠後７は速度
制御駆動をされる。In the figure, a data transmission control device master station 1, a first cheater transmission device slave station 2, a second data transmission device slave station 3V, a first process controller 4, and a first remote input/output control device 5 are connected. be done. The first process controller 4 controls the main control function of the plant.
, via the first remote input/output control device 5 to the first Leonard control device 6: if degree reference reference. The first Leonard control device 6 controls the speed of the first DC motor 7 and changes the position f8 of the first resolver 8.
By sampling the signal △θ at a fixed time △t in the first signal converter 9, a rotation speed feedback of 5N-△θ/△t can be given to the first Leonard control device 6. . In the above-described closed loop, the first DC current is driven by speed control.

一方、第１の直流電動機７にて駆動される機械のＡＰＣ
制御のための位置検出信号は第１のレゾルバ−８の位置
変化信号△θに対応したパルス数Ｐ−整数Ｘ（ｋ・Δθ
）を第１の信号変換器より第１のパルスバッファー４１
０を介して第１のリモート入出力制御装置５、及び第２
のデーター伝送装置子局３、第１のデーター伝送装置子
局２を通し”Ｃ第１のプロセスコ／トローラ−４へ帰還
される。On the other hand, the APC of the machine driven by the first DC motor 7
The position detection signal for control is the number of pulses P minus the integer X(k・Δθ) corresponding to the position change signal Δθ of the first resolver 8.
) from the first signal converter to the first pulse buffer 41
0 via the first remote input/output control device 5, and the second
is fed back to the first process controller/controller 4 through the data transmission device slave station 3 and the first data transmission device slave station 2.

通常、図に示す如く、第１のリモート入出力制御装置を
介して帛１のレオナード制御装置６のみならず、第２の
レオナード制御装置１１ちるいはこれ以上のし；−す−
ド制御装置が接続される。第１のレオナード制御装置６
での第１の直流電動機７の速度制御のときの速度検出及
び位置検出と同様　　゛ＶＣＶ２Ｏ３オナード制御装置
１１にて第２の直流電ａｈ機１２の速度制御を行ない、
第２のレゾルバ−１３の信号△θ′をもとに第２の信号
変換器１４にょシ、第２のレオナード制御装置１１への
速度帰還信号Ｎ′および第２のパルスバッファー器１５
を介して第１のリモート入出力制御装置５及び第２のデ
ーター伝送装置子局３、第１のデーター伝送装置子局２
を通して第１のプロセスコントローラー４へ位置検出パ
ルス信号が帰還される。Normally, as shown in the figure, not only the Leonard control device 6 of the group 1 but also the second Leonard control device 11 or more are controlled via the first remote input/output control device.
controller is connected. First Leonard control device 6
Similar to the speed detection and position detection when controlling the speed of the first DC motor 7 in ``VCV2O3 onard control device 11 performs speed control of the second DC electric motor 12,
Based on the signal Δθ' of the second resolver 13, the second signal converter 14 outputs a speed feedback signal N' to the second Leonard control device 11 and the second pulse buffer 15.
via the first remote input/output control device 5, the second data transmission device slave station 3, and the first data transmission device slave station 2.
A position detection pulse signal is fed back to the first process controller 4 through.

データー伝送制御装置親局１のデーター伝送ラインには
第３のデーター伝送制御装置子局１６が接続され、第２
のプロセスコントローラー１７　カ他（Ｄプロセス群の
制御用として主幹制御機能を司とシ第４のデーター伝送
装置１８ＶＣ，は、第２のリモート入出力制御装置が接
続され、他のプロセス群の制御を行ない、前記直流電動
機の速度制御、Ａ、ＰＣ制御が同様に制御される。A third data transmission controller slave station 16 is connected to the data transmission line of the data transmission controller master station 1, and a second data transmission controller slave station 16 is connected to the data transmission line of the data transmission controller master station 1.
A fourth data transmission device 18VC is connected to a second remote input/output control device and controls the other process groups. Then, the speed control, A, and PC control of the DC motor are similarly controlled.

上記説明では、プロセスコントローラＩｄ、テータ伝送
ラインを介してレオナード制御装置及びパルスバッファ
ー器に接続されているが、データ伝送ラインを介するこ
とすく、直接プロセスコントローラはレオナード制御装
置及びパルスバッファー器に接続されていてもよいこと
はもちろんである。In the above description, the process controller Id is connected to the Leonard control device and the pulse buffer device via the data transmission line, but the process controller is connected directly to the Leonard control device and the pulse buffer device rather than via the data transmission line. Of course, it is okay to do so.

発明の効果 以上述べたように本発明によれば、直流電動機あるいは
誘導電動機の速に制御及びＡＰＯ制岬を行なうシステム
において速度検出及び位置検出をするセンサーはレゾル
バ−１個として、レオナードの速度帰還信号及びプロセ
スコ／トローラ−への位置帰還信号を取ｐ出すシステム
を提供することができ、従来の速度検出器と位置検出器
を別々’／’Ｃ”ｆ　Ｌ　テぃたシステムに対して、セ
ンサー用機械出力軸、並びに位置検出器を削減しシステ
ム的に簡易化することが可能となる。Effects of the Invention As described above, according to the present invention, in a system that controls the speed of a DC motor or an induction motor and performs APO control, the sensor for detecting speed and position is one resolver, and Leonard's speed feedback is used. A system for extracting signals and position feedback signals to a process controller/troller can be provided, as opposed to a conventional system in which the speed and position detectors are separate. It is possible to simplify the system by reducing the mechanical output shaft for the sensor and the position detector.

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

図面は本発明の位置制御装置のシステム構成図である。 １・・デー、ター伝送制御装置親局 ２・・第１のデーター伝送装置子局 ３・・第２のデーター伝送装置子局 ４・・第１のプロセスコン）ｏ−ラ− ５・・第１のリモート人出方制御装置 ６・・第１のレオナード制御装置 ７・・第１の直流電動機 ８・・・第１のレゾルバ− ９・・・第１の信号変換器 １０・・第１のパルスバッファー器 １１・・第２のレオナード制御装置 １２・・第２の直流電動機 １３・・・第２のレゾルバ− １４・・第２の信号変換器 １５・第２のパルスバッファー器 １６・・Ｍ３のデーター伝送装置子局 The drawing is a system configuration diagram of the position control device of the present invention. 1. Data transmission control device master station 2. First data transmission device slave station 3.Second data transmission device slave station 4. 1st process controller) o-ler 5. First remote people control device 6. First Leonard control device 7. First DC motor 8...first resolver 9...first signal converter 10...first pulse buffer device 11...Second Leonard control device 12...Second DC motor 13...Second resolver 14...Second signal converter 15.Second pulse buffer 16...M3 data transmission device slave station

Claims (1)

【特許請求の範囲】[Claims] 負荷をｇ、動する電動機と、この電動機の出力を制御す
る制御装置と、前記′ｉ！！動機の回転軸の位置変化を
検出するレゾルノくと、このレゾルレノくの位置変化信
号から前記電動機の回転速度を求めその求めた回転速度
を前記制御装置に帰還するとともに前記レゾルバにて検
出した位置変化信号を位置帰還信号としてプロセスコン
トローラに帰還する信号変換器とを具備することを特徴
とする位置制御装置。An electric motor that moves a load, a control device that controls the output of this electric motor, and the 'i! ! A resolver detects a change in the position of the rotary shaft of the motor, and from the position change signal of the resolver, the rotational speed of the electric motor is determined, and the determined rotational speed is fed back to the control device, and the position change detected by the resolver is detected. A position control device comprising: a signal converter that returns a signal to a process controller as a position feedback signal.
JP426483A 1983-01-17 1983-01-17 Apparatus for controlling position Pending JPS59129646A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP426483A JPS59129646A (en) 1983-01-17 1983-01-17 Apparatus for controlling position

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP426483A JPS59129646A (en) 1983-01-17 1983-01-17 Apparatus for controlling position

Publications (1)

Publication Number Publication Date
JPS59129646A true JPS59129646A (en) 1984-07-26

Family

ID=11579675

Family Applications (1)

Application Number Title Priority Date Filing Date
JP426483A Pending JPS59129646A (en) 1983-01-17 1983-01-17 Apparatus for controlling position

Country Status (1)

Country Link
JP (1) JPS59129646A (en)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54131973A (en) * 1978-04-03 1979-10-13 Nippon Telegr & Teleph Corp <Ntt> Rotating speed detecting method using multipole resolver

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54131973A (en) * 1978-04-03 1979-10-13 Nippon Telegr & Teleph Corp <Ntt> Rotating speed detecting method using multipole resolver

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