JPS60179809A - Feedback circuit of servo system - Google Patents
Feedback circuit of servo systemInfo
- Publication number
- JPS60179809A JPS60179809A JP3421684A JP3421684A JPS60179809A JP S60179809 A JPS60179809 A JP S60179809A JP 3421684 A JP3421684 A JP 3421684A JP 3421684 A JP3421684 A JP 3421684A JP S60179809 A JPS60179809 A JP S60179809A
- Authority
- JP
- Japan
- Prior art keywords
- output
- signal
- operational amplifier
- encoder
- circuit
- 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
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
- G05B19/19—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 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—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 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
-
- 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
- G05B2219/33261—Conversion of detected pulses to voltage, frequency to voltage convertor
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は速度サーボ系のフィードバック回路に係り、特
にインクリメンタルエンコーダを用いて速度信号を帰還
するサーボ系のフィードバック回路に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a feedback circuit for a speed servo system, and particularly to a feedback circuit for a servo system that uses an incremental encoder to feed back a speed signal.
ロボットの駆動系などのように、急激な速度変化に対す
る高速応答性や位置決め精度が要求されるサーボ系では
第１図のように速度サーボと位置サーボが２重になった
サーボ回路を組む。このためには、モータ１に機械的に
結合され、速度および位置を検出する検出器が必要にな
る。従来は速度検出手段として直流電圧信号を発生する
タコジェネレータ２を用い、位置検出手段としてポテン
ショメータ３を使っていた。しかし、どちらもアナログ
信号であるためノイズや電圧変動の影響を受けやすい。In a servo system that requires high-speed response to rapid speed changes and positioning accuracy, such as a robot drive system, a servo circuit with a dual speed servo and position servo is constructed as shown in Figure 1. This requires a detector mechanically coupled to the motor 1 to detect speed and position. Conventionally, a tacho generator 2 that generates a DC voltage signal has been used as a speed detection means, and a potentiometer 3 has been used as a position detection means. However, since both are analog signals, they are susceptible to noise and voltage fluctuations.
このため、最近はディジタル信号を発生するエンコーダ
が用いられる傾向にある。For this reason, there has recently been a trend toward the use of encoders that generate digital signals.
第２図は従来のエンコーダを用いたサーボ系の一例を示
すもので、フィードバック信号の検出器はインクメンタ
ルエンコーダ４のみであり、このエンコーダ４から発生
するディジタル信号を周波数・電圧変換回路５を用いて
アナログの電圧信号−にして速度フィードバック信号と
し、また、同じディジタル信号を積算回路６を用いて積
算し、これをディジタル・アナログ変換回路７を用いて
アナログの位置情報に変換し、位置フィードバックをか
ける。この方式ではフィードバック信号検出手段がエン
コーダ１つで良いという利点がある。FIG. 2 shows an example of a servo system using a conventional encoder. The feedback signal detector is only an incremental encoder 4, and the digital signal generated from this encoder 4 is converted using a frequency/voltage conversion circuit 5. Then, the same digital signal is integrated using the integrating circuit 6, and this is converted to analog position information using the digital-to-analog converting circuit 7 to provide the position feedback. put on. This method has the advantage that a single encoder is sufficient as the feedback signal detection means.
しかし、従来の周波数・電圧変換回路はエンコーダの回
転方向の判別や、それに従う出方信号電圧の極性反転の
回路が複雑であった。However, the conventional frequency/voltage conversion circuit has a complicated circuit for determining the rotational direction of the encoder and for reversing the polarity of the output signal voltage accordingly.
本発明の目的は素子の数が少なく、簡単で確実なサーボ
系のフィードバック回路を提供するにある。An object of the present invention is to provide a simple and reliable servo system feedback circuit with a small number of elements.
本発明は上記の目的を達成するために、速度フィードバ
ックを有するサーボ系において、アナログスイッチとオ
ペアンプを組み合せて、エンコーダの回転方向に応じて
オペアンプの入力を切り換えて、エンコーダの信号をア
ナログの電圧信号に変換するものである。In order to achieve the above object, the present invention combines an analog switch and an operational amplifier in a servo system having speed feedback, switches the input of the operational amplifier according to the rotational direction of the encoder, and converts the encoder signal into an analog voltage signal. It is converted into .
以下本発明の実施例を図面を用いて説明する。 Embodiments of the present invention will be described below with reference to the drawings.
本発明の詳細な説明に先立って、本発明の詳細な説明す
ると、インクリメンタルエンコーダの出力は第３図及び
第４図に示すような、Ａ相及びＢ相の二つのパルス信号
であり、エンコーダのシャフトの回転角に応じてパルス
を発生する。Ａ相とＢ相とは９０°位相がずれており、
ある方向にエンコーダのシャフトを回したとき第３図の
ようにＡ相が進んでいたとすると、逆回転したときは第
４図に示すようにＢ相が進み側となる。Prior to a detailed explanation of the present invention, the present invention will be explained in detail. The output of the incremental encoder is two pulse signals of A phase and B phase as shown in FIGS. 3 and 4. Generates pulses according to the rotation angle of the shaft. Phase A and phase B are 90° out of phase,
Assuming that when the encoder shaft is rotated in a certain direction, phase A is advancing as shown in FIG. 3, when it is rotated in the opposite direction, phase B is advancing as shown in FIG. 4.
エンコーダの回転方向を検出するには例えばＢ相のパル
ス電圧の下るときのタイミングでＡ相を見たとき、Ａ相
のパルスが常に１かＯかにより検出すれば良い。第３図
では点線で示したタイミングでのＡ相のパルスは常に０
であり、第４図では常に１である。この判定方法は後で
述べるように、フリップフロップ回路で検出できる。To detect the rotational direction of the encoder, for example, when looking at the A phase at the timing when the B phase pulse voltage falls, it is sufficient to detect whether the A phase pulse is always 1 or O. In Figure 3, the A-phase pulse at the timing indicated by the dotted line is always 0.
and is always 1 in FIG. As described later, this determination method can be detected using a flip-flop circuit.
次に、Ａ相からＢ相のパルスを周波数・電圧（Ｅ／Ｖ）
変換素子に入力すれば、周波数に応じた電圧出力が得ら
れるが、この周波数・電圧変換素子は単一極性の出力と
か出せないため、この出力電圧の極性を先に述べた回転
方向判定の結果に応じて切り換えなければならない。こ
の方策として、本発明はアナログスイッチとオペアンプ
を組み合せ、エンコーダの回転方向に応じてオペアンプ
の入力を切り換えるものとしたものである。Next, the pulses from phase A to phase B are determined by frequency and voltage (E/V).
If input to the conversion element, a voltage output corresponding to the frequency can be obtained, but since this frequency/voltage conversion element cannot output a single polarity, the polarity of this output voltage is determined by the rotation direction judgment described earlier. must be switched accordingly. As a measure against this, the present invention combines an analog switch and an operational amplifier, and switches the input of the operational amplifier according to the direction of rotation of the encoder.
次に本発明のフィードバック回路の一実施例を第５図に
よって説明する。エンコーダのＡ相の信号はバッファ８
で受けた後、Ｊ−にフリップフロップ９のＪに入力する
とともに、インバータ１゜を介して反転した信号をＫに
入力する。Ｂ相の信号はバッファ８で受けた後、Ｊ−に
フリップフロップ９のクロックに入力する。前述したよ
うに、Ｂ相のパルス信号でフリップフロップ９の出力Ｑ
及び会が変化するとき、エンコーダの回転方向に応じて
Ｊ、にの値は常に１．０か０．１となるので、Ｑ及びｄ
の値は回転方向が同一である間は変化せず、回転方向が
変ると変化する。すなわち、Ｑ及びＱは回転方向に対応
した信号を発生する。Next, one embodiment of the feedback circuit of the present invention will be described with reference to FIG. The A-phase signal of the encoder is sent to buffer 8.
After receiving the signal at J-, the signal is input to J of the flip-flop 9, and the inverted signal is input to K via the inverter 1°. After the B-phase signal is received by the buffer 8, it is input to the clock of the flip-flop 9 at J-. As mentioned above, the output Q of the flip-flop 9 is
When Q and d change, the value of J is always 1.0 or 0.1 depending on the direction of rotation of the encoder, so Q and d
The value of does not change while the rotation direction is the same, but changes when the rotation direction changes. That is, Q and Q generate signals corresponding to the direction of rotation.
フリップフロップ９のＫに入力するパルス信号は周波数
・電圧変換素子１１に入力し、周波数に応じた電圧出力
が出る。この電圧信号はアナログスイッチ１２を介して
オペアンプ１３に入力する。The pulse signal input to K of the flip-flop 9 is input to the frequency/voltage conversion element 11, and a voltage output according to the frequency is output. This voltage signal is input to the operational amplifier 13 via the analog switch 12.
アナログスイッチは４接点あり、そのうち２接点に電圧
信号が入り、他の２接点は接地されている。An analog switch has four contacts, two of which receive voltage signals, and the other two contacts are grounded.
アナログスイッチ１２の出力側は電圧信号が入力されて
いる接点と接地されている接点を一つずつ結合して２組
つくり、抵抗１４を介してそれぞれ正入力端子及び負入
力端子に接続されている。また、オペアンプ１３の負入
力端子と出力端子とは抵抗１４で結合され、正入力端子
は抵抗１４を介して接地されている。On the output side of the analog switch 12, two sets are formed by combining one contact to which a voltage signal is input and one contact to be grounded, and are connected to a positive input terminal and a negative input terminal, respectively, via a resistor 14. . Further, the negative input terminal and output terminal of the operational amplifier 13 are coupled through a resistor 14, and the positive input terminal is grounded via the resistor 14.
Ｑが１のとき、前記の電圧信号はオペアンプ１３の正入
力端子に入力し、負入力端子は抵抗１４を介して接地さ
れるので、出力信号は前記の電圧信号に応じた正の電圧
信号が得られる。When Q is 1, the above voltage signal is input to the positive input terminal of the operational amplifier 13, and the negative input terminal is grounded via the resistor 14, so the output signal is a positive voltage signal corresponding to the above voltage signal. can get.
Ｑが０のとき、前記の電圧信号はオペアンプ１３り負入
力端子に入力し、正入力端子は抵抗１４を介して接地さ
れるので、出力信号は前記の電圧信号に応じた負の電圧
信号が得られる。When Q is 0, the above voltage signal is input to the negative input terminal of the operational amplifier 13, and the positive input terminal is grounded via the resistor 14, so the output signal is a negative voltage signal corresponding to the above voltage signal. can get.
以上の説明により、オペアンプ１３の出力信号はエンコ
ーダの回転方向に対応する極性と、回転速度に比例する
電圧値の信号として得られる。As explained above, the output signal of the operational amplifier 13 is obtained as a signal having a polarity corresponding to the rotational direction of the encoder and a voltage value proportional to the rotational speed.
本発明によれば、簡単な回路でエンコーダのパルス信号
を電圧信号に変換し帰還することができ、回路の簡素化
ができる効果がある。According to the present invention, an encoder pulse signal can be converted into a voltage signal and fed back using a simple circuit, and the circuit can be simplified.
第１図は従来のサーボ系の一例を示す説明図、第２図は
従来のサーボ系の他の例を示す説明図、第３図は本発明
の回転方向判別法を示す説明図、第４図は本発明の回転
方向判別法を示す説明図、第５図は本発明のフィードバ
ック回路の一実施例を示す回路図である。
８・・・バッファ、９・・・Ｊ−にフリップフロップ、
１０・・・インバータ、１１・・・周波数・電圧変換回
路。
葛 １ ｎ
第 Ｚ 図
第 ３ 図FIG. 1 is an explanatory diagram showing an example of a conventional servo system, FIG. 2 is an explanatory diagram showing another example of a conventional servo system, FIG. 3 is an explanatory diagram showing the rotational direction determination method of the present invention, and FIG. FIG. 5 is an explanatory diagram showing the rotational direction determination method of the present invention, and FIG. 5 is a circuit diagram showing an embodiment of the feedback circuit of the present invention. 8...Buffer, 9...Flip-flop on J-,
10... Inverter, 11... Frequency/voltage conversion circuit. Kudzu 1 n Figure Z Figure 3
Claims (1)
度検出器としてインクリメント型エンコーダを用い、該
エンコーダの９０″位相差のある二つのパルス信号出力
のうち一方を分岐してこれをインバータを介して反転し
、分岐前の信号と前記反転した信号をＪ−にフリップフ
ロップのＪ及びに入力端子にそれぞれ入力し、あるいは
逆にＫ及びＪ入力端子にそれぞれ入力し、さらに残され
た前記パルス信号出力を前記フリップフロップのクロッ
クまたはトリガ入力端子に入力し、前記フシツブフロッ
プの正出力Ｑ及び反出力Ｑを用いてアナログスイッチの
四つの接点回路のうち二つずつを開閉し、前記口つの接
点回路のうち前記正圧力Ｑおよび反出力６により開閉さ
れるそれぞれ一つの接点回路に前記エンコーダのパルス
信号出力または該パルス信号出力の反転出力を周波数・
電圧変換素子に入力して得られたアナログ電圧出力を接
続し、前記アナログスイッタの残された二つの接点回路
入力端子は接地し、出力端子のうち前記アナログ電圧出
力の接続された接点回路出力と前記接地された接点回路
出力を連結し、該結合部を抵抗を介してオペアンプの正
または負の入力端子に接続し、前記アナログスイッチの
残された二つの接地回路出力を連結してオペアンプの残
された入力端子に抵抗を介して入力し、前記オペアンプ
の負に入力端子と出力端子は抵抗を介して結合し、正の
入力端子は抵抗を介して接地し、オペアンプの出力をサ
ーボ回路の指令信号にフィードバックすることを特徴と
するサーボ系のフィードバック回路。1. In a servo system with speed feedback, an incremental encoder is used as the speed detector, and one of the encoder's two pulse signal outputs with a 90'' phase difference is branched and inverted via an inverter. The pre-branch signal and the inverted signal are inputted to the J and J input terminals of the flip-flop, or conversely, inputted to the K and J input terminals, respectively, and the remaining pulse signal output is inputted to the flip-flop. input to the clock or trigger input terminal of the double flop, open and close two of the four contact circuits of the analog switch using the positive output Q and reverse output Q of the double flop, and apply the positive pressure of the two contact circuits. The pulse signal output of the encoder or the inverted output of the pulse signal output is connected to one contact circuit, which is opened and closed by the Q and inverse outputs 6, respectively.
The analog voltage output obtained by inputting it to the voltage conversion element is connected, the remaining two contact circuit input terminals of the analog switch are grounded, and the contact circuit output to which the analog voltage output is connected among the output terminals is connected. and the grounded contact circuit output, connect the coupling part to the positive or negative input terminal of the operational amplifier via a resistor, and connect the remaining two grounded circuit outputs of the analog switch to connect the operational amplifier's output. The remaining input terminal is input through a resistor, the negative input terminal and output terminal of the operational amplifier are connected through a resistor, the positive input terminal is grounded through a resistor, and the output of the operational amplifier is connected to the servo circuit. A servo system feedback circuit characterized by feeding back to a command signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3421684A JPS60179809A (en) | 1984-02-27 | 1984-02-27 | Feedback circuit of servo system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3421684A JPS60179809A (en) | 1984-02-27 | 1984-02-27 | Feedback circuit of servo system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60179809A true JPS60179809A (en) | 1985-09-13 |
Family
ID=12407953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3421684A Pending JPS60179809A (en) | 1984-02-27 | 1984-02-27 | Feedback circuit of servo system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60179809A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62229309A (en) * | 1986-03-28 | 1987-10-08 | Shimadzu Corp | Controller for motor-driven material tester |
-
1984
- 1984-02-27 JP JP3421684A patent/JPS60179809A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62229309A (en) * | 1986-03-28 | 1987-10-08 | Shimadzu Corp | Controller for motor-driven material tester |
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