JPS6070984A - Control circuit of dc motor - Google Patents
Control circuit of dc motorInfo
- Publication number
- JPS6070984A JPS6070984A JP58178004A JP17800483A JPS6070984A JP S6070984 A JPS6070984 A JP S6070984A JP 58178004 A JP58178004 A JP 58178004A JP 17800483 A JP17800483 A JP 17800483A JP S6070984 A JPS6070984 A JP S6070984A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- target
- tacho
- period
- pulse
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
- H02P7/2913—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
Description
【発明の詳細な説明】 発明の対象 15 本発明はタコメータをもつ直流モータの制御。[Detailed description of the invention] Subject of invention 15 The present invention is for controlling a DC motor with a tachometer.
回路に関する。Regarding circuits.
従来技術 従来のスイッチングアンプを使用した、直流。Conventional technology Direct current using a conventional switching amplifier.
モータの制御回路のパワーアンプの入力パルス2.。Input pulse of power amplifier of motor control circuit 2. .
信号は、ディジタルアナログコンバータ(DA’C)で
論理信号をアナログ信号に変換し、変換。The signal is converted by converting the logic signal into an analog signal using a digital analog converter (DA'C).
されたアナログ信号より十分高い周波数の鋸歯。sawtooth at a frequency sufficiently higher than that of the analog signal.
状波とアナログ信号を比較し、ハイレベルと口゛−レレ
ベの時間によってパルス幅制御されてぃ5る。The pulse width is controlled by comparing the waveform with the analog signal and the time between high level and low level.
この従来方法の欠点は、ロジック信号をアナ・ログ信号
に変換する手順が必要な為、回路構成・が複雑となる点
であった。The disadvantage of this conventional method is that it requires a step to convert a logic signal into an analog signal, making the circuit configuration complicated.
発明の目的 10
本発明の目的は、スイッチングアンプを使用・した安価
な直流モータの制御回路を提供するこ4とにある。OBJECTS OF THE INVENTION 10 An object of the present invention is to provide an inexpensive DC motor control circuit using a switching amplifier.
発明の要旨
本発明においては、パワーアンプの入カパル15ス信号
は、マイクロプロセッサを使用したパル。SUMMARY OF THE INVENTION In the present invention, the input signal of the power amplifier is pulsed using a microprocessor.
ス幅計算部でディジタル処理を行い、DAC回。Digital processing is performed in the width calculation section, and the DAC is processed.
路の省略を行った。又、目標角速度をPRσM。The road was omitted. Also, the target angular velocity is PRσM.
に記録し、遂次データとして使用する方法及び、モータ
角速度データのディジタル処理も含め’ 20全て前記
マイクロプロセッサでディジタル処理を実施した。All digital processing was performed using the microprocessor described above, including the method of recording the motor angular velocity data and using it as sequential data, and the digital processing of the motor angular velocity data.
発明の実施例
本発明はモータを所望の角度だけ回転せしめ゛るよう制
御する回路にあり、以下、本発明の一5実施例を第1図
から第8図により説明する。ま。Embodiments of the Invention The present invention resides in a circuit for controlling a motor to rotate by a desired angle.Fifteen embodiments of the present invention will be explained below with reference to FIGS. 1 to 8. Ma.
ず第1図において、モータ回転角信号aは目標迄の回転
角をタコパルスのカウント値で与える。First, in FIG. 1, the motor rotation angle signal a gives the rotation angle up to the target as a count value of tacho pulses.
ディジタル信号である。初期値はカウンタ7に・セット
されモータの回転によってタコパルスが10出力される
毎に1ずつ減算または加算される。It is a digital signal. The initial value is set in the counter 7, and is subtracted or added by 1 every time 10 tacho pulses are output as the motor rotates.
モータ4の回転方向により初期値は正、負の符。The initial value has a positive or negative sign depending on the rotation direction of the motor 4.
号が付され、これはパルス幅計算部2に与えら。This is given to the pulse width calculation section 2.
れる。目標タコ周期設定部1はモータ回転角速度を示す
ところのタコパルス周期を予め設定す15る為のデコー
ド回路で、第2図に示す如<10ビ。It will be done. The target tacho cycle setting section 1 is a decoding circuit for presetting the tacho pulse cycle which indicates the motor rotational angular velocity, and is a decoding circuit for presetting the tacho pulse cycle which indicates the motor rotational angular velocity.
ット入力で4ビツト出力のFROM2個で構成。Consists of two FROMs with bit input and 4-bit output.
され、モータ回転角信号aは、目標迄の回転角に応じた
最適モータ角速度を与えるところの目。The motor rotation angle signal a is used to give the optimum motor angular velocity according to the rotation angle up to the target.
標タコ周期すになる。これは、カウンタ7の値、。The target tachometer cycle becomes smooth. This is the value of counter 7.
の大きいうちはモータ4の回転を速く、即ち、。The motor 4 rotates faster as long as .
タコ周期を小さくシ、目標に近づくとモータの゛回転を
遅くする、即ち、タコ周期を大きくするという制御を行
なうものである。Control is performed by decreasing the tacho period and slowing down the rotation of the motor as it approaches the target, that is, increasing the tacho period.
次に第1図のスイッチングパワーアンプ3は5第3図に
示す如くトランジスタQ1〜Q4とダイオ・−ドD1〜
D4で構成され、モータの回転方向に従って、Q2もし
くはQ4の一方が常時6Nとなるよう入力信号q2.q
4が与えられ、パルス幅制御さ・れた信号ql 、qa
がQlもしくはQ3をONにする。1゜第1図のパルス
幅信号Cは第4図のq1〜q4信。Next, the switching power amplifier 3 of FIG. 1 has transistors Q1 to Q4 and diodes D1 to 5 as shown in FIG.
The input signal q2. q
4 are given, pulse width controlled signals ql, qa
turns on Ql or Q3. 1° The pulse width signal C in FIG. 1 is the signal q1 to q4 in FIG.
号であり、q” +q’が1組となり、又、q21q3
が1組となっている。q4がオンのときqlがオンと。number, q" + q' is one set, and q21q3
There is one set. When q4 is on, ql is on.
なるとvCCからQlを通り、モータを通りQ4を通。Then, from vCC, it passes through Ql, passes through the motor, and passes through Q4.
ってグランドに至る電流が流れ、q2がオンのと、。A current flows to ground, and q2 is on.
きqaがオンとなるとVccからQ3、モータ、Q2を
通ってグランドに至る電流が流れる。これらの。When qa is turned on, a current flows from Vcc through Q3, the motor, and Q2 to ground. these.
電流の方向は互いに逆である。第4図の信号の。The directions of the currents are opposite to each other. of the signal in Figure 4.
場合、第3図のQ4は常時ONで、Qlは一定時間。In this case, Q4 in Figure 3 is always ON, and Ql is for a certain period of time.
ずつONとなりモータを一定方向に駆動する信、。A signal that turns ON and drives the motor in a fixed direction.
3 ・
号となる。この信号はモータ駆動信号dであり、従って
モータは、パルス幅信号Cの時間幅に比例した駆動電圧
で回転する。3. No. 3. This signal is the motor drive signal d, and therefore the motor rotates with a drive voltage proportional to the time width of the pulse width signal C.
第1図でモータが回転するとモータタコパルスeが出力
され、パルス幅計算部2の入力信号5となる。このパル
ス幅計算部2はマイクロプロ・ダラム制御となっており
、第5図に示す如くモ・−タタコ周期検出部8と出力信
号処理部9から・構成される。タコパルスeはデー−テ
ィサイクル50q6即ち、ハイの期間とローの期間が等
しいlOものとする。信号すは半周期の長さをディジタ
・指表示したものである。When the motor rotates in FIG. 1, a motor tacho pulse e is output, which becomes the input signal 5 of the pulse width calculation section 2. The pulse width calculation section 2 is microproduced and controlled by a microprocessor, and is composed of a motor-tacho period detection section 8 and an output signal processing section 9, as shown in FIG. It is assumed that the tacho pulse e has a data cycle of 50q6, that is, 1O in which the high period and the low period are equal. The signal is a digital representation of the length of a half cycle.
モータタコ周期検出部8はモータタコパルス。The motor tacho period detection section 8 is a motor tacho pulse.
eの周期を検出する機能を持ち、タコパルスの。It has a function to detect the period of e, and has the function of detecting the period of tacho pulse.
ハイ及び、ローの時間をカウント値としてレジ1゜スタ
に記憶している。The high and low times are stored in a register 1 as a count value.
第6図1こそのフローチャートを示す。即ち、。FIG. 6 shows the flowchart of 1. That is,.
タコパルスがハイレベルのときその期間のカラ。Kara during that period when the taco pulse is at a high level.
ント値、ローレベルのときその期間のカウント値をRF
iGlに作りRE G 1’に移す。第6図の9.。When the count value is low level, the count value for that period is RF
Create it in iGl and move it to RE G1'. 9 in Figure 6. .
・ 4 ・
REGI及びRF3 G 1’はマイクロプログラムで
。・ 4 ・ REGI and RF3 G 1' are microprograms.
管理これる任意の異なるレジスタである。次に。You can manage any different registers. next.
出力信号処理部9のモータの加速時、及び減速。Acceleration and deceleration of the motor of the output signal processing unit 9.
時の処理について説明する。The time processing will be explained.
第7図は減速度の制御を示す。なお減速か加5速かは設
定された回転量の半ばを過ぎたか或い。FIG. 7 shows control of deceleration. Note that whether the speed is deceleration or acceleration is 5th speed, the rotation amount has passed halfway through the set rotation amount.
はまだかによって決められる。モータ4からモ。It is determined by the amount of time. From motor 4.
−夕4の回転方向を示す信号を受けとって、逆。-Receive a signal indicating the rotation direction of Y4 and reverse.
回転に電流を流すようなq!またはq4の一方を選・択
する。次に、REG4に一定値(1000)を10設定
する。目標値RE G 2’と実測値REG 1’を・
比較し、実測の方が遅いときはq1〜q4を0と・して
一定時間電流を流さない。速いときは速度。q like passing current through rotation! Or select one of q4. Next, a constant value (1000) of 10 is set in REG4. Target value REG 2' and actual value REG 1'.
For comparison, if the actual measurement is slower, q1 to q4 are set to 0 and no current is passed for a certain period of time. When it's fast, it's speed.
差をめ、それに比例した時間だけ逆電流を流。Calculate the difference and apply a reverse current for a period of time proportional to the difference.
し、モータ4にブレーキをかける。 15第8図は加速
度の処理である。カウンタ7に。and applies the brake to motor 4. 15 FIG. 8 shows acceleration processing. On counter 7.
設定された符号から回転方向を知り、加速する。The direction of rotation is known from the set sign and the machine accelerates.
方向のq2またはq4の一方を選択してハイレベル。High level by selecting either direction q2 or q4.
とする。前回と同様に速度をチェックし、実測。shall be. Check the speed like last time and measure it.
が速いときq1〜q4を0として一定時間電流を、。When is fast, q1 to q4 are set to 0, and the current for a certain period of time.
流さない。遅いときはその差に比例した時間加速する方
向に電流を流す。Don't flush. If it is slow, the current flows in a direction that accelerates the time proportional to the difference.
以−Eの処理をくり返す。Repeat the process from -E.
本実施例によれば、ディジタルアナログ変換。According to this embodiment, digital to analog conversion.
回路は不要となり、全てディジタル信号処理が5可能と
なり、回路構成の簡素化が可能となる効果がある。No circuit is required, all digital signal processing is possible, and the circuit configuration can be simplified.
発明の効果
本発明によれば、全てディジタル信号処理ができるので
、回路構成が簡略化でき、マイクロ1【]プログラム処
理によってハード量の低減もでき、価格を低減できる効
果がある。Effects of the Invention According to the present invention, since all digital signal processing can be performed, the circuit configuration can be simplified, and the amount of hardware can be reduced by micro1[] program processing, which has the effect of reducing costs.
第1図はモータ制御概略ブロック図、第2図。
は目標タコ周期設定部の詳細図、第3図はスイ1゜ツチ
ングパワーアンプ構成図、第4図はパルス9幅信号Cの
詳細例を示す図、第5図はパルス幅計鼻部構成図、第6
図はモータタコ周期検出部。
フローチャート、第7図、第8図は出力信号処。
環部フローチャート。
1・・・・・・目標タコ周期設定部
2・・・・・・パルス幅計算部
3・・・・・・スイッチングパワーアンプ4・・・・・
・タコ付モータ
6・・・・・・P ROM 5
8・・・・・・モータタコ周期検出部
9・・・・・・出力信号処理部
0
5
=ゴ1″ イ ffi
才2図
・ 8 ・
才 3 図
一才4 図
オ 6 図
才 7 図
実際回転
一″J7泗ン一
82=1 1−e−1
f?:Ecr4−10θO
た N上
2−尺Ea t=
い搏H0
滲I〜
N−−
9t=イ
3=f
F?ECr3− t = rEQ3
[相]FIG. 1 is a schematic block diagram of motor control, and FIG. 2 is a schematic block diagram of motor control. 3 is a detailed diagram of the target tacho cycle setting section, FIG. 3 is a configuration diagram of the switching power amplifier, FIG. 4 is a diagram showing a detailed example of the pulse 9 width signal C, and FIG. 5 is the configuration of the nose section of the pulse width meter. Figure, 6th
The figure shows the motor tacho cycle detection section. The flowcharts in FIGS. 7 and 8 are output signal processing. Circumferential flowchart. 1...Target tacho cycle setting section 2...Pulse width calculation section 3...Switching power amplifier 4...
・Motor with tacho 6...P ROM 5 8...Motor tach cycle detection section 9...Output signal processing section 0 5 = Go 1'' I ffi 2 Figure 8 ・3 Figure 1 4 Figure O 6 Figure 7 Figure Actual rotation 1''J7 182=1 1-e-1 f? :Ecr4-10θO Ta N upper 2-shaku Ea t= 搏H0 搲I~ N-- 9t=I3=f F? ECr3- t = rEQ3 [phase]
Claims (1)
つ直流モータの制御回路であって、モ5−夕の目標角速
度をディジタル信号で与える目・標タコ周期設定部と、
前記タコパルスから実際・のタコ周期をディジタル信号
に変換して検出す・る検出回路と、前記目標タコ周期設
定部と検出。 回路の出力を比較し、その比較結果に従って、1c]そ
れぞれの出力の差に応じた時間だけ前記直流。 モータを駆動する回路とを備えたことを特徴と。 する直流モータの制御回路。[Scope of Claim] A control circuit for a DC motor having a tachometer that outputs a tacho pulse at every fixed rotation angle, comprising a target/target tacho cycle setting section that gives a target angular velocity of the motor as a digital signal; ,
A detection circuit that converts the actual tacho period from the tacho pulse into a digital signal and detects it, and the target tacho period setting section. The outputs of the circuits are compared, and according to the comparison result, 1c] the DC current is applied for a time corresponding to the difference between the respective outputs. It is characterized by being equipped with a circuit that drives the motor. DC motor control circuit.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58178004A JPS6070984A (en) | 1983-09-28 | 1983-09-28 | Control circuit of dc motor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58178004A JPS6070984A (en) | 1983-09-28 | 1983-09-28 | Control circuit of dc motor |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6070984A true JPS6070984A (en) | 1985-04-22 |
Family
ID=16040866
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP58178004A Pending JPS6070984A (en) | 1983-09-28 | 1983-09-28 | Control circuit of dc motor |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6070984A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01222682A (en) * | 1988-02-29 | 1989-09-05 | Nitto Seiko Co Ltd | Method of controlling speed of dc motor |
-
1983
- 1983-09-28 JP JP58178004A patent/JPS6070984A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01222682A (en) * | 1988-02-29 | 1989-09-05 | Nitto Seiko Co Ltd | Method of controlling speed of dc motor |
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