JPS59139881A - Pulse synchronizer for controlling motor - Google Patents

Abstract

PURPOSE:To prevent the erroneous counting by synchronizing the four signals of command pulse signals of A-phase signal, B-phase signal, normal rotation command pulse signal and reverse command pulse signal of a pulse generator with the four signals displaced in the phases. CONSTITUTION:An input pulse from a normal command input terminal 1 is synchronized by a rise detector 3 with phi1 synchronizing signal 5. An input pulse from the reverse command input terminal 2 is synchronized with phi3 synchronizing signal by a rise detector 4. A rise detector 17 outputs a signal synchronized with phi4 synchronizing signal 8 to an AND circuit 19, and a fall detector 18 outputs a signal synchronized with phi2 synchronizing signal 6 to an AND circuit 20. Since the phi1-phi4 synchronizing signals are displaced in the phases, the signals are not inputted to the counter 11 simultaneously or in superposed manner, and are not erroneously counted.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a ξ pulse synchronization circuit for motor control that is resistant to noise and eliminates runt when controlling a motor's stall position using an up/down counter.

Conventionally, if you make both the feedback and command widths of the encoder very narrow,
The motor position was controlled based on the assumption that inputs to the up and down counters would not be input at the same time, but this method can no longer be ignored in terms of probability as the synchronization of inputs and counters becomes shorter. It had the following drawback. As a result, erroneous counting occurred and the motor position could not be controlled correctly.

The present invention has been made to solve the above-mentioned drawbacks, and one embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a block circuit diagram of a stop position control circuit using a motor control/drive synchronization circuit as an embodiment of the present invention. Figure 2 shows a circuit that generates four signals with different phases used in the stop position control circuit shown in Figure 1.
] with T-FF circuit 22 and AND circuit Z (by φ1
A synchronization signal 5, a φ2 synchronization (2) signal 6, a φS synchronization compensation signal, and a φ4 synchronization signal 8 are obtained. FIG. 3 is a timing diagram of the synchronization signal obtained from the circuit shown in FIG. FIG. 4 is a rising edge detection circuit diagram (see FIG. 1) in the Zorock diagram of FIG. 1, FIG. 5 is a timing diagram of the rising edge detection circuit, and FIG. 6 is a falling edge detection circuit in the block diagram of FIG. 1B (see FIG. 1), FIG. 7 is a timing diagram of the fall detection circuit 18 of FIG. 6, and FIG. 8 is an operation timing diagram of the entire circuit diagram.

For example, when a .
P+-down) UF4-fK of counter 11.

enter. The data counted by this instant/down counter 11 is transferred to the D/A (digital-to-analog) converter circuit 1.
2 becomes an analog voltage, which becomes the command voltage for the drive circuit 13 of the motor 14, and the motor 14 rotates in the CW force direction mechanically connected to the tacho generator 15E pulse generator] The signal is fed back to the drive circuit 13, speed control is applied, and the pulse generator 16 A phase signal (16
-A) is input to the rising edge detection circuit 17 and the falling edge detection circuit 1st. The rising edge detection circuit 17 outputs a signal synchronized with the φ4 synchronizing signal 8 to the AND circuit 19, and the falling edge detection circuit 1
8 outputs a signal synchronized with the φ2 synchronization signal 6 to the AND circuit. At this time, when the KB phase signal from the other terminal of the two AND circuits (19, 20) is input, the signal from the rising edge detection circuit 17 will change to the UP-down counter 1 if it is in the CCW inversion direction depending on the rotation direction of the A pulse generator 16.
If it is in the CW force direction, the signal from the fall detection circuit is input to the UP-down counter 1 terminal. That is, the rising detection circuit 17 and the falling detection circuit 18
and an AND circuit (19, 20) constitute a direction discrimination circuit. In this example, the dow in the CW force direction is
When a signal is input to the n terminal, the motor 14 rotates by the commanded rotation angle by subtracting the same number as the command and rotation number, and the contents of the UP-down counter 11 become 0.
(0), the motor 14 will stop. The above operation will be explained using the timing diagram shown in Fig. 8.
For example, in the case of the CW force direction, the pulse 5' is output as the output 3' of the rise detection circuit at the first φ1 synchronization signal after the CW force direction command pulse 1' rises. This results in a synchronized CW force direction command. Based on this command, the motor 14 and the iR pulse generator 16 rotate, and the A-phase signal 'rus'(16'-A) and the B-phase signal 'e' pulse (16') are rotated.
-B) is generated, and the first φ4 synchronization signal ZOLS 8' after the rise of the A-phase signal RLS (16'-A) is 4
If the LBa signal 'rus (16' -B) is active, it becomes a synchronized CW force direction feedback signal 19'. Also, similarly A@wound signal zorus (16
If the first φ2 synchronizing signal No. 6' after the fall of '-A) is at a high level, if the t, n phase i No. v pulse (16'-B) is at high level, after synchronization This results in feedback and arm lasing in the CCW direction.

As is clear from the above description of the operation, the present invention performs direction discrimination and synchronization at the same time, so the circuit can be easily configured. Since the human phase signal/Zorus (16'-A) and the B-phase signal/Zorus (16'-n) are each synchronized with a signal with a phase difference of (5), each signal may be sent at the same time or overlapping. Since there is no input to the counter, there is no miscounting. That is, highly reliable motor control that does not cause rotational angle errors can be performed.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a stop position control circuit using a motor control/zoles synchronization circuit as an embodiment of the present invention.
Figure 2 shows a circuit that generates the four signals with different phases used in the stop position control circuit of Figure 1, and Figure 3 shows the φ1 synchronization signal 5, φ2 sync signal 6, and φ5 generated by the circuit in Figure 2. Timing diagram of synchronization signal 7 and φ4 synchronization signal 8, Fig. 4 is the first
The rising edge detection circuit (17, 3, 4
), Figure 5 is a timing diagram of the rising edge detection circuit in Figure 4, Figure 6 is a circuit diagram of the falling edge detection circuit 18 in the block diagram of Figure 1, and Figure 7 is a timing diagram of the falling edge detection circuit in Figure 6. FIG. 8 is a timing diagram of the detection circuit. FIG. 8 is an operation timing diagram of the entire circuit. (6) 1...CW force direction command input terminal, 2...CCW direction command terminal, 3...rise detection circuit, 4...rise detection circuit, 5...φ1 synchronization signal, 6... ...φ2 synchronization signal, 7...φ3 synchronization signal, 8...φ4 synchronization signal, 9
...OR circuit, 1 (1-OR circuit, 11...UP-
dowrI counter, 12-D/A conversion circuit, 13...
・Drive circuit, 14...Motor, 15...Tach)
・A phase signal from Norsgenerator, 1fi-B...
・B phase signal from the Norsgenerator, 17...Rise detection circuit, 18...Fall detection circuit, 19...A
ND circuit, distribution...AND circuit, 21...reference oscillation circuit, ρ...T-FF circuit, field...AND circuit,
...D latch circuit, 5...inverting circuit, or...AND
Circuit, 1'...CW force direction command nosolus, 2'...
CCW direction command/e/I/s, 3'... CW force direction command after synchronization/Ni Lus, 4'... CCW direction command/ξ Lus after synchronization, 5 ′...φ1 synchronization signal/zorus, 6′...φ2 synchronization signal/zorus, 7′
... φ3 synchronous signal, 9th, 8'...φ4 synchronous signal, 16'-A...A phase signal, 16'
-B...B111-WjtJ! Rus, 1g'...C
W force direction encoder ξ, forehead'... Encoder ξ in the CCW direction. ψ ψ t^ (m-11'l is also W ”CD

Claims (1)

[Claims] In the TA position control using the up/down counter of a motor using a Norusu generator, in order to prevent the command Nose ξ and the Nose ξ from the encoder from overlapping and being input to the deviation counter, By synchronizing each of the four signals: , B phase signal, forward rotation direction command/Zorus signal, and reverse direction command/Morse signal with four phase-shifted signals, erroneous counting is prevented and direction discrimination is also possible at the same time. A tR pulse synchronization circuit for motor control, characterized in that: