JPS60170494A - Controller for capacitor-run type induction motor - Google Patents

Abstract

PURPOSE:To stop and hold a driven member at the desired target position by providing a detector which outputs a detection signal in response to the rotating speed of a motor and a stopping and holding mechanism for restricting the rotation. CONSTITUTION:An electronic controller 20 compares speed data from a memory 21 with the actually moving speed of a movable element calculated on the basis of the input period of a detection signal, and PID-calculates the drive pulse width in response to the PID constant (where P is a proportional constant, I is an integrating constant, and D is a differentiating constant) determined on the basis of the speed difference, thereby controlling the conducting angle of bidirectional switching elements 4, 5. Then, when the counted value of a position counter and the set value of a distance counter coincide, a stopping and holding mechanism 8 is operated to stop and hold the member at the target position.

Description

[Detailed Description of the Invention] Technical Field This invention relates to a capacitor traveling type interaction motor il
i! Regarding a control device.

BACKGROUND ART Conventionally, capacitor running type interaction motors have been generally used in order to reduce the cost of drive devices for driving driven members. The two types of drive mechanisms are poor stopping position accuracy at the desired target position. For this reason, the present applicant uses a condenser running type interaction motor as an I drive source in the previously filed 1-capacitor running type interaction motor control device, and also uses speed data according to the running pattern of the driven member. The firing time of the 3-pole bidirectional switching element is digitally controlled by PID operation by comparison with the actual moving speed of the driven member calculated from the input horn period of the detection signal. We have proposed a control device that controls the driven member to stop at a desired target position by unloading the electric power supply, but in this Wi control device, the driven member is free when the driven member stops at the desired target position. This has the disadvantage that positional displacement occurs due to the action of an external force on the driven member. This drawback can be solved to some extent by installing 4 or more worms as irreversible inserts between the interaction motor and the driven member, but if the deceleration speed of 43Nm is restricted, the deceleration mechanism It was a fact that the driven member was stopped and held at a predetermined target f device due to the error.

OBJECT OF THE INVENTION The object of the present invention is to improve the 1-container running type induction 11ilji unloading device which was previously developed by the present applicant, and which uses a simple configuration to move a driven member at a desired target position. An object of the present invention is to provide a capacitor running type ink control device capable of stopping and holding the ink.

heaven and earth example The present embodiment will be described below with reference to the drawings.

1 and 2, one ends of a main coil 2 and an auxiliary coil 3 in an interaction motor 1 are commonly connected to one end of an alternating current power supply AC.

Further, the other ends of the n11 main coil 2 and the auxiliary coil 3 are connected to the first electrodes of the first and second three-pole bidirectional switching elements 4 and 5, respectively, and a capacitor 6 is connected in parallel. These first and second three-pole bidirectional switching elements 4
- The other electrodes of 5 are respectively connected to the other end of the alternating current power supply AC.

-3~ A tacho generator 7 as an alternator is attached to the rotation +1i1h of the non-output fill in the interaction motor 1 (c not shown). This tacho generator 7 outputs a detection signal consisting of a voltage and a period according to the rotational speed of the rotating shaft. Further, a stop 1-holding machine WJ8 is attached to the rotating shaft. This stop holding machine wJ8
The head is composed of a disk fixed to a rotating shaft, a butt for pinching the disk, and an electric solenoid (both not shown) for pinching the head. On the other hand, the output f#1 of the rotating shaft No. 1111 is supplied to the running body (as a driven member) via a weaving speed device as necessary.
III (both not shown) are drivingly connected.

The sine wave detection signal output from the tachometer generator 7 is passed through a low-pass filter 9 and an amplifier circuit 10.
The signal is input to the waveform shaping circuit 11 via.

The low-pass filter 9 of No. 1111 distinguishes between low voltage and low-period detection signals outputted during low-speed rotation of the rotary shaft and external noise, and only detects the detection signals necessary for f-bar 6 control and speed control, which will be described later. is being taken out. Waveform shaping=4- The device 11 shapes the manually input detection signal into a rectangular wave and outputs the rectangular wave to the electronic control device 20.

This electronic control device 20 is mainly composed of a microprocessor, a ROM 21 and a RAM 22 as storage members,
Control operations for the interaction motor I, which will be described later, are executed according to a predetermined program.

The 1111 ROM 21 stores in advance speed data corresponding to the traveling pattern of the traveling body (acceleration constant running region, constant speed traveling region, deceleration traveling region) corresponding to the traveling position of the traveling body. Further, the distance counter 22a indicates the traveling origin position H of the traveling body.
Distance data from a to the target position is stored.

Further, the register 22b stores position data regarding a slow town start position C at which the traveling object is switched from constant speed traveling to decelerated traveling on the near side of the target position. Furthermore,
The pointer 22c is sequentially incremented by a detection signal input as the traveling object moves, and stores the actual traveling distance of the traveling object.

When the induction motor 1 is driven to rotate, the electronic control unit 20 starts running due to the human power period of the detection signal output from the tacho generator 7 in response to the rotation of the rotating shaft.
Calculate the actual moving speed of the body. Also electron 1li11 al
l device 20 enters pointer 22C's count f, t,
Then, the speed data of the fixed object recorded in tLf in the ROM 21 is accessed, and this speed lW data is compared with the calculated actual moving speed. Then, the electronic tli control device 20 selects the first or second 3 PID constants (P is a proportional constant, ■ is an integral constant, and D is a differential 7 number) determined based on the elongation data and the actual movement speed. The Hals width of the drive signal, which determines the flow angle of the polar bidirectional switching elements 4 and 5, is calculated by PID using statistic control. In addition, 'Shigeko i1i! The t>n device 20 outputs to the drive circuit 23 a rotational direction instruction signal that is proportional to the moving direction of the traveling body.

++ ij Relais, the dynamic circuit 23 is the electrofusion frequency detection device 30
Detects the zero cross position of the AC power source AC and rotates the gate mino A1 according to the drive signal calculated by P]DiA with the i+I rotation direction instruction signal.
Alternatively, the voltage is applied to the second three-pole bidirectional switching element 3/40 gate and allowed to flow. As a result, the main coil 2 and the auxiliary coil 3 are supplied with an alternating current power AC having a predetermined flow angle calculated by PID, and the interaction motor 1 is rotationally driven according to the acceleration traveling region and constant speed traveling region of the traveling body. let

Then, when the click of the pointer 22c) m matches the setting (fFi) stored in the register 22b, the electronic control unit 2
0 switches to the slow town table 21a in which speed data related to the deceleration travel region is recorded, and accesses speed data corresponding to the actual travel distance of the vehicle. and m1
Similar to the above operation, the electronic control unit 20 compares the actual moving speed of the traveling object calculated based on the human power cycle of the detection signal with the accessed speed data, and calculates the speed according to the PID constant determined based on the respective speeds. Although the PID was calculated by digital control, it outputs a drive signal for the corner of the curve. Since the speed data after the start of slow town is set lower than the actual moving speed of the traveling body, if the result of the PID calculation exceeds a negative predetermined f1B, a half-wave voltage is supplied to the opposite phase to perform lif+ motion. As a result, the electronic control device 20 transmits the electric power supplied to the main coil 2 and the auxiliary coil 3 to the desired position (t7) while decelerating the traveling body. If the signal is not input for a predetermined period of time, the vehicle stops +1 and 4.
f1].

On the other hand, if the count (+tr) of the pointer 22c and the distance data calculated by the distance (set by the counter 22a) match, the electronic control unit 20 outputs a drive signal to the solenoid drive circuit 24 to operate the electromagnetic solenoid. As a result, the stop F holding mechanism 8 is operated to stop and hold the traveling body at the target position. The operating state of the electromagnetic solenoid is maintained until a column signal is input from the detector after a predetermined operation is performed by an actuating device (not shown) mounted on the traveling body.

Therefore, in this embodiment, R is adjusted in advance according to the traveling pattern of the traveling object.
The speed data stored in the OM 21 is compared with the moving speed calculated according to the input period of the detection signal from the tacho generator 7, and the helix width of the drive signal is calculated by PID using digital control according to each speed. By changing the amount of electric power supplied to the interaction motor 1 by J, it is possible to control the traveling body to stop at a desired 8-11 position. In addition, there were 11 units running at the same target fib, and 4 units were stopped, and 4 units were stopped.
By actuating M8, the yF body is stopped and held at the target position.

Incidentally, in the non-embodiment, the detection device was constructed by a tachosenerator, but in the non-invention, it may be implemented by constructing it by a one-phase photodetection device or a magnetic detection device.

Further, in the cases other than the non-implementation 1, the detection signal from the tachosensor inverter is shaped into a rectangular wave, but in the case of the non-invention, this detected signal may be A/D converted.

As described in the detailed description of the invention, the invention is characterized in that - an interaction motor is provided with a main coil and an auxiliary coil that are connected in common, and on the other hand, a capacitor is connected in parallel; First and second three-pole bidirectional switching elements that supply AC IM power, a detection device that outputs a detection signal according to the rotation a degree of the interaction motor, and a stop holding mechanism that regulates rotation of the rotation shaft. , a memory that stores the speed data of the rotation speed of the interaction motor, and distance data of the traveling origin position of the driven member connected to the rotating shaft. A distance 8II counter to be detected, a position counter that stores the actual traveling distance of the driven member, and a distance counter that is incremented according to the six points of the detection signal +Ti], a position counter that stores the actual traveling distance of the driven member, and a distance counter that is The actual movement '-a degree of the driving member is compared with the speed data accessed from the memory according to the count (+'lj) of the position counter, and the first or second third A control device that calculates the flow angle of the polar bidirectional opening/closing element by digital '+ti control using PID, and operates the f device counter count t1h, etc.1)jI record distance - to stop and hold the driven member at the target position. This is a capacitor 5L row type interaction motor device that can stop and hold a driven member at a desired target position with a simple configuration comprising:

[Brief Description of the Drawings] Figure N4J1 is an electronic block diagram of the interaction motor control device, and Figure 2 is a tire crumb showing the running state. In the figure, 1 is the interaction motor, 2 is the main coil, 3 is the auxiliary coil, 4 is the first Q) 3-pole bidirectional switching element, and 5 is the second
3-pole bidirectional switching element, 6 is a capacitor, 7 is a tachometer inverter as a detection device, 8 is a stop holding mechanism, 20 is an electronic control device, 21 is a ROM as a memory, 22a is a distance counter, 22C is a position 16 Counter, AC is AC/II
t is the source, b is the position of 1]. ! f! 5! IF ／It lfijin Taichik Co., Ltd. Koshiki Company Star Seiki

Claims (1)

[Claims] 1. An interaction motor equipped with a main coil and an auxiliary coil whose 5 ends are commonly connected and a capacitor is connected in parallel to the other end, and an interaction motor with the 1111 main coil and the auxiliary coil. first and second three-pole bidirectional switching elements that supply M power; a detection device that outputs a detection signal according to the rotational speed of the interaction motor; and a stop holding mechanism that regulates rotation of the rotation shaft; Adjust the speed data according to the rotation pattern of the interaction motor.
ff memory; a distance counter that stores distance data from the traveling origin position of the driven member drivingly connected to the rotating shaft to the destination position;
A position counter that stores the traveling distance of the driven member, and a position counter that is accessed from the memory in response to the actual moving speed of the driven member calculated according to the input cycle of the detection signal n11 and the count of the position counter. Compare with the speed data,
A control device that calculates the flow angle of the first or second three-pole bidirectional switching element by digital control based on the speed f, and stops and holds the position angle drive member at the target position. A capacitor running type induction motor control device.