JPS6040912A - Fault monitoring circuit of servo system measuring instrument - Google Patents
Fault monitoring circuit of servo system measuring instrumentInfo
- Publication number
- JPS6040912A JPS6040912A JP14874783A JP14874783A JPS6040912A JP S6040912 A JPS6040912 A JP S6040912A JP 14874783 A JP14874783 A JP 14874783A JP 14874783 A JP14874783 A JP 14874783A JP S6040912 A JPS6040912 A JP S6040912A
- Authority
- JP
- Japan
- Prior art keywords
- fault
- monitoring
- forcer
- signal
- output
- 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.)
- Granted
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
- G05B19/406—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 monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
Description
【発明の詳細な説明】
(技術分野)
本発明は、帰還制御によるヌルメソード計測器いわゆる
サーボ形計測器(以下サーボ計測器という)の常時障害
監視回路に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Technical Field) The present invention relates to a constant fault monitoring circuit for a null method measuring instrument, a so-called servo-type measuring instrument (hereinafter referred to as a servo measuring instrument), using feedback control.
(従来技術)
第1図は従来の、サーボ形計測器の一部である振動加速
度計に適用した常時監視方法の一例を説明するだめの障
害監視回路のブロック図である。(Prior Art) FIG. 1 is a block diagram of a fault monitoring circuit for explaining an example of a conventional constant monitoring method applied to a vibration accelerometer that is a part of a servo-type measuring instrument.
同図において、1−aは振子、l−bは振子l−aの運
動を電気信号として検出する検出器、1−cはサーボア
ンプ2の出力を受けて振子1−aに加速度を帰還するフ
メーサあるいはトルカと呼ばれている(以下フォーサと
いう)被帰還素子、1−dは発振器3よシ常時監視用の
信号を受けて振子1−aに加速度を加え続けるための監
視用フォーサである。発振器3よりの常時監視用の信号
は通常、系か測定対象とする周波数領域と重複しない周
波数例えば高周波が用いられている。□また、上記の振
子1−a、検出器1−b、被帰還素子1−C1監視用フ
ォーサは機械構造的に一体化されたもので換振部1とし
て構成されている。In the figure, 1-a is a pendulum, 1-b is a detector that detects the motion of pendulum 1-a as an electrical signal, and 1-c receives the output of servo amplifier 2 and returns acceleration to pendulum 1-a. A feedback element 1-d called a fumesa or torquer (hereinafter referred to as a forcer) is a monitoring forcer that receives a constant monitoring signal from the oscillator 3 and continues to apply acceleration to the pendulum 1-a. The constant monitoring signal from the oscillator 3 usually uses a frequency, for example, a high frequency, that does not overlap with the frequency range to be measured in the system. □Furthermore, the pendulum 1-a, the detector 1-b, and the forcer for monitoring the feedback element 1-C1 are mechanically integrated into one unit and are configured as an excitation unit 1.
サーボアンプ2の出力抵抗RL部には、図のように振動
加速度2と、監視用フォーサ1−dによる振勅願速度α
′が重畳された出力が得られ、この出力を低域フィルタ
4あるいは高域フィルタ5で分離し、出力と監視信号を
とシだしている。このため、換振部1の内部に障害が発
生した場合は一般に障害信号が検出されなくなってしま
う。As shown in the figure, the output resistance RL section of the servo amplifier 2 has the vibration acceleration 2 and the vibration command speed α by the monitoring forcer 1-d.
' is obtained, and this output is separated by a low-pass filter 4 or a high-pass filter 5, and an output and a monitoring signal are output. For this reason, if a fault occurs inside the converter 1, the fault signal will generally not be detected.
このような従来のサーボ計測器の常時監視方法では、監
視用のフォーサ1−dを必要とすることがら換振部1の
構造を複雑化し、それ自体が故障の要因となっていた。In such a conventional constant monitoring method of a servo measuring instrument, the forcer 1-d for monitoring is required, which complicates the structure of the vibrating section 1, which itself becomes a cause of failure.
また、前述の如く出力と障害監視信号を分離する必要が
ある等の欠点があった。Further, as mentioned above, there is a drawback that it is necessary to separate the output and the fault monitoring signal.
(発明の目的)
本発明は、これらの欠点を解決するため、帰還制御によ
るサーボ形計測器において、その帰還制御用増幅器、い
わゆるサーボアンプに監視信号入力端子と、被帰環素子
に並列に接続される定電圧ダイオード対を設け、障害発
生によシ帰還ループが切断された時、正常動作時との系
の利得差を検出し、障害発生が検知できるように回路構
成したことにより、監視用フォーサを省略したサーボ形
計測器の障害監視回路を提供することを目的とする。(Object of the Invention) In order to solve these drawbacks, the present invention provides a feedback control amplifier, a so-called servo amplifier, with a monitoring signal input terminal connected in parallel to a returned element in a servo-type measuring instrument using feedback control. The circuit is configured so that when the feedback loop is disconnected due to a failure, the gain difference in the system from that during normal operation can be detected, and the occurrence of a failure can be detected. It is an object of the present invention to provide a fault monitoring circuit for a servo-type measuring instrument that does not include a forcer.
以下本発明の実施例を図にしたがって詳細に説明する。Embodiments of the present invention will be described in detail below with reference to the drawings.
(発明の構成)
本発明の構成は、振子と、該振子の運動を電気信号とし
て検出する検出器と、サーボアンプの出力を受けて前記
振子に加速度を帰還する被帰還素子(フォーサ)とから
なる換振部と、前記帰還制御用サーボアンプとから構成
される帰還制御によるサーボ形の計測機器において、前
記帰還制御用サーボアンプに監視信号の出力を導入させ
る入力端子と、前記被帰還素子に並列に接続される定電
圧ダイオード対とを設け、障害発生による帰還ループの
切断時、正常動作時との系の利得差を検出する回路構成
としたことを特徴とするサーボ系計測器の障害監視回路
である。(Configuration of the Invention) The configuration of the present invention includes a pendulum, a detector that detects the movement of the pendulum as an electrical signal, and a feedback element (forcer) that receives the output of a servo amplifier and returns acceleration to the pendulum. In a servo-type measuring device using feedback control, which is composed of a transducer section and a servo amplifier for feedback control, an input terminal for introducing an output of a monitoring signal into the servo amplifier for feedback control, and an input terminal for introducing an output of a monitoring signal to the servo amplifier for feedback control, and Fault monitoring of a servo system measuring instrument, characterized by having a circuit configuration that includes a pair of constant voltage diodes connected in parallel and detects the gain difference of the system when the feedback loop is broken due to the occurrence of a fault and when the system is operating normally. It is a circuit.
(実施例)
第2図は本発明の詳細な説明するためのザー日?形計測
器の振動加速度計に適用した障害監視回路のブロック図
である。(Example) Figure 2 is a detailed explanation of the present invention. FIG. 2 is a block diagram of a fault monitoring circuit applied to a vibration accelerometer of a shape measuring instrument.
同図においてA 11は第1図と同等の構成要素である
振子1−a1検出器1−bX被帰還素子1−Cで構成さ
れた換振部である。In the same figure, A11 is a resonating section composed of a pendulum 1-a1, a detector 1-b, and a feedback element 1-C, which are the same components as in FIG.
2−aは監視信号入力端子、2−b、2−cは被帰還素
子(フォーサ)1−cに並列に接続された定電圧ダイオ
ード対であり、これらと出力抵抗丸部とからサーボアン
プ12を構成している。2-a is a monitoring signal input terminal, 2-b and 2-c are a constant voltage diode pair connected in parallel to the feedback element (forcer) 1-c, and the servo amplifier 12 is connected from these and the output resistor round part. It consists of
本発明の回路は、従来の回路(第1図)の測定系と異な
り、被帰還素子(フォーサ)1−Cを図のようにサーボ
アンプ12の負帰還系の一部に、負帰抵抗R8と直列に
接続されている。このような回路に発振器3よ勺の監視
用の信号の出力を、入力端子2−aを介して入力すると
換振部1ノ内になんらの障害もなければ、
で示されるeが出力端子2に得られる。The circuit of the present invention differs from the measurement system of the conventional circuit (FIG. 1) in that the feedback element (forcer) 1-C is part of the negative feedback system of the servo amplifier 12 as shown in the figure, and the negative feedback resistor R8 connected in series with. When the output of a monitoring signal from the oscillator 3 is inputted to such a circuit through the input terminal 2-a, if there is no fault in the converter 1, the signal e shown by is output from the output terminal 2-a. can be obtained.
ただし、eは発振器出力電圧(監視信号)、AIは監視
信号に対するサーがアンプ利得、Pは振子の加速度に対
する伝達関数、Sは検出器感度、A。However, e is the oscillator output voltage (monitoring signal), AI is the amplifier gain for the monitoring signal, P is the transfer function for the pendulum acceleration, S is the detector sensitivity, and A.
は検出器信号に対するサーボアンプ利得、RL は帰還
信号検出用抵抗、Roはサーボアンプ負帰還抵抗、Ff
は被帰還素子(フォーサ)の電気加速度変換定数である
。is the servo amplifier gain for the detector signal, RL is the feedback signal detection resistor, Ro is the servo amplifier negative feedback resistor, Ff
is the electric acceleration conversion constant of the feedback element (forcer).
一方、入力加速度αに対する出力eαは、である。On the other hand, the output eα with respect to the input acceleration α is.
仮にA1=Aoとすれば(1)式と(2)式の比rはr
=e/eα=e/αps ・・印(3)である。If A1=Ao, the ratio r between equations (1) and (2) is r
=e/eα=e/αps...mark (3).
常時監視用信号電圧eは、観測しようとする最小加速度
値αminに対し、γがl/10程度になるように入力
しておく。The constant monitoring signal voltage e is input so that γ is about 1/10 of the minimum acceleration value αmin to be observed.
換振部1内に障害が生じ、帰還ループが構成されなくな
った場合、監視信号eによる出力e′ は、e’ =
eAl = eAo ++・・・(4)となる。If a failure occurs in the converter 1 and the feedback loop is no longer configured, the output e' due to the monitoring signal e will be e' =
eAl = eAo ++ (4).
この時e′とe の比r′は となる。At this time, the ratio r' of e' and e is becomes.
一般にサーボ開側系では
として、その帰還効果を利用するのであるからγ′は極
めて大きい値をとる。すなわち、正常時と障害時を明ら
かに判別できるもの:chv、そのレベルは、通常観測
時に、検出しない信号レベルから、検出限界を大きく越
えるレベルに変化する。被帰還素子(フォーサ)1−C
に断線が生じた場合は、定電圧ダイオード2−b、2−
c に電流が流れるようになるが、被帰還素子(フォー
サ)1−Cによる効果はなく、出力に同様の障害信号が
得られる。Generally, in a servo open-side system, since the feedback effect is utilized, γ' takes an extremely large value. That is, the level of chv that can clearly distinguish between a normal state and a fault state changes from a signal level that is not detected during normal observation to a level that greatly exceeds the detection limit. Feedback element (forcer) 1-C
If a disconnection occurs in the voltage regulator diodes 2-b, 2-
Although current begins to flow through c, the feedback element (forcer) 1-C has no effect, and a similar fault signal is obtained at the output.
この時のy点および2点の波形はeを正弦波とすれば第
3図の如くである。ダイオードのツェナ電圧adは、発
振器出力電圧(監視信号)とサーがアンプの最大出力e
mを考慮し適切に選は−れる。付随効果として本回路構
成では、定常動作時被帰還素子(フォーサ)1−Cを流
れる単位入力特電流は、被帰還素子(フォーサ)1−C
の内部抵抗変化等に関係なく常に一定に保たれる。The waveforms at point y and two points at this time are as shown in FIG. 3, assuming that e is a sine wave. The zener voltage ad of the diode is the oscillator output voltage (monitoring signal) and the amplifier maximum output e.
An appropriate selection can be made taking m into consideration. As an incidental effect, in this circuit configuration, the unit input special current flowing through the feedback element (forcer) 1-C during steady operation is
It is always kept constant regardless of internal resistance changes, etc.
(発明の効果)
以上説明したように、本発明によれば帰還制御用サーボ
アンプに監視信号の出力を導入させる入力端子と、被帰
還素子(フォーサ)に並列に接続される定電圧ダイオー
ド対とを設けることにより、従来用いられていた監視用
フォーサを取除くことができ、出力と障害信号を分離す
る必要がなくなるから監視系の構成を単純化できる利点
がある。(Effects of the Invention) As described above, according to the present invention, the input terminal for introducing the output of the monitoring signal into the servo amplifier for feedback control, and the constant voltage diode pair connected in parallel to the feedback element (forcer). By providing this, it is possible to remove the conventionally used monitoring forcer, and there is no need to separate the output and fault signals, which has the advantage of simplifying the configuration of the monitoring system.
すなわち、従来方式では、正常動作時は障害検出信号が
大きいのに対し本方式では障害時に障害検出信号が大き
い点に特長があり、障害検出が論理的に逆転している。That is, in the conventional method, the fault detection signal is large during normal operation, whereas in the present method, the fault detection signal is large during a fault, and the fault detection is logically reversed.
従って、本発明は説明例のごとき加速計のみならず、サ
ーボ系を構成する計測機器に広く利用できるものであシ
、機器の障害を早期に発見するための効果は大きい。Therefore, the present invention can be widely used not only for accelerometers such as those described in the example, but also for measuring instruments constituting servo systems, and is highly effective in detecting equipment failures at an early stage.
第1図は従来のサーボ形計測器の障害監視回路のブロッ
ク図、第2図は本発明のサーが形計測器の障害監視回路
のブロック図、第3図は第2図の説明用障害時波形図で
ある。
1−a・・・振子、1−b・・検出器、1−c・・・被
帰還素子、2−a・・・入力端子、;l−b、2−c・
・・定電圧ダイオード対、Ro・・・負帰還抵抗、RL
・出力抵抗、F・・・加速度変換定数、2・・・出力端
子、α・・入力加速度、10・・・換振部、12・・・
サーボアンプ。
特許出願人 沖電気工業株式会社
第3図
Y点
2点
手続補正書(峠)
特許庁長官 殿
1 事件の表示
昭和58年 特 許 願第148747号4、代理人
住 所(〒105) 東京都港区虎ノ門1丁目7i12
号5、補正の対象 明細書中「発明の詳細な説明」の欄
6、補正の内容 明細書第2頁第20行目に「振動加速
度2」とあおるのを「振動加速度α」と補正する。Fig. 1 is a block diagram of a fault monitoring circuit of a conventional servo type measuring instrument, Fig. 2 is a block diagram of a fault monitoring circuit of a servo type measuring instrument of the present invention, and Fig. 3 is a block diagram of a fault monitoring circuit of a servo type measuring instrument of the present invention. FIG. 1-a... Pendulum, 1-b... Detector, 1-c... Feedback element, 2-a... Input terminal; l-b, 2-c...
... Constant voltage diode pair, Ro... Negative feedback resistor, RL
・Output resistance, F...acceleration conversion constant, 2...output terminal, α...input acceleration, 10...transducer, 12...
servo amplifier. Patent applicant Oki Electric Industry Co., Ltd. Figure 3 Y point 2 point procedural amendment (pass) Commissioner of the Patent Office 1 Indication of the case 1982 Patent application No. 148747 4 Address of agent (105) Tokyo 1-7i12 Toranomon, Minato-ku
No. 5, Subject of amendment Column 6 of "Detailed Description of the Invention" in the specification, Contents of amendment: "Vibration acceleration 2" in line 20 of page 2 of the specification is corrected to "vibration acceleration α" .
Claims (1)
と、サーがアンプの出力を受けて前記振子に加速度を帰
還する被帰還素子(フォーサ)とから橙る換振部と、前
記帰還制御用サーボアンプとから構成される帰還制御に
よるサーボ形の計測器において、 前記帰還制御用サーボアンプに監視信号の出力を導入さ
せる入力端子と、前記被帰還素子に並列に接続される定
電圧ダイオード対とを設け、障害発生による帰還ループ
の切断時、正常動作時との系の利得差を検出する回路構
成としたことを特徴とするサーボ形計測器の障害監視回
路。[Claims] A pendulum, a detector that detects the movement of the pendulum as an electrical signal, and a feedback element (forcer) that receives the output of an amplifier and returns acceleration to the pendulum. and a servo amplifier for feedback control, an input terminal for introducing the output of a monitoring signal into the servo amplifier for feedback control is connected in parallel to the feedback element. 1. A fault monitoring circuit for a servo type measuring instrument, characterized in that the circuit is configured to include a pair of constant voltage diodes, and to detect a difference in gain of the system when the feedback loop is broken due to a fault, and when the system is in normal operation.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14874783A JPS6040912A (en) | 1983-08-16 | 1983-08-16 | Fault monitoring circuit of servo system measuring instrument |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14874783A JPS6040912A (en) | 1983-08-16 | 1983-08-16 | Fault monitoring circuit of servo system measuring instrument |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6040912A true JPS6040912A (en) | 1985-03-04 |
JPH037271B2 JPH037271B2 (en) | 1991-02-01 |
Family
ID=15459715
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP14874783A Granted JPS6040912A (en) | 1983-08-16 | 1983-08-16 | Fault monitoring circuit of servo system measuring instrument |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6040912A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012137307A (en) * | 2010-12-24 | 2012-07-19 | Toyota Motor Corp | Servo type static capacitance sensor device |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS55156809A (en) * | 1979-05-28 | 1980-12-06 | Oki Electric Ind Co Ltd | Converting element |
-
1983
- 1983-08-16 JP JP14874783A patent/JPS6040912A/en active Granted
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS55156809A (en) * | 1979-05-28 | 1980-12-06 | Oki Electric Ind Co Ltd | Converting element |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012137307A (en) * | 2010-12-24 | 2012-07-19 | Toyota Motor Corp | Servo type static capacitance sensor device |
Also Published As
Publication number | Publication date |
---|---|
JPH037271B2 (en) | 1991-02-01 |
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