JPS61501485A - Pulse automatic control of asynchronous machines especially for processing glass bodies - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] In particular, the present invention relates to a servo arrangement for automatic pulse control of an asynchronous machine for processing glass bodies. Ru. The invention more particularly relates to an axis on a machine operating in particular Cartesian coordinates. Therefore, the purpose is to control moving mobile devices. According to the present invention, high precision and high parts can be controlled at high speeds and prevent mechanical wear that changes the performance of the machine. The drive device can be obtained without any fear of suffering. This device is especially suitable for For example, cross-shaped casings for processing glass bodies, especially for cutting glass or polishing glass edges. High sensitivity r like a numerically controlled tracer with rigidity! Requires L control and extremely short response time. Suitable for use in demanding machines.

In this type of machine, a rotating electric motor is used for moving the carriage. motor In order to convert the rotational motion of There are also screw type, pinion and rack type, and toothed belt type, so it depends on the reduction ratio. Therefore, a device that can increase driving force and movement accuracy is used.

However, the more or less rapid wear that mechanical devices undergo affects their accuracy. Change In addition, if a high speed of the tool reaching 60+++/win or more is required, the corresponding acceleration forces create high mechanical stresses that have a negative impact on accuracy and machine life. .

On the other hand, an automatic III Move the cache from memory containing 70g by acting on the @\R position. Controls the movement of Riji. The self-help control device Controls the power supply of the motor through an amplifier with a final stage, in parallel on the coil, a current amplifier i.e. during the period of interruption of these coils. Efforts have been made to provide inductive voltage limiters by shorting electrically.

In fact, among other drawbacks, these voltages can disturb and damage control and regulation circuits. There is danger. This is especially true due to the effect of the permanently pulsed signal produced by the modulator. subdivides the power supplied into pulses of variable width or time onto a polyphase asynchronous alternating current motor. This is true if you want to obtain the desired performance, especially in the low speed range. This is the most effective method when you want to avoid shock.

The invention is suitable for the movement and regulation of asynchronous motors, especially linear motors. We propose an AC current control circuit using pulse time modulation. The circuit is designed to support these models. These coils are energized in parallel with the coils of the motor during cutting to split the current pulses. contains a rectifier transistor controlled by a modulator by shorting it electrically. Equipped with an induced voltage limiter. The self-induced current therefore circulates in a closed circuit and the motor almost maintains the magnetic field of the data. On the contrary, due to the pulse control effect of the modulator, 5 1. The voltage edges induced by constant changes in the field are significantly reduced.

This control circuit may also function as an amplitude modulation circuit.

To guide the tracer carriage along all axes, this type of adjustment allows $ A linear asynchronous motor is used, and this type of motor It is already used in industry to make straight cuts rather than curve projections. This is because this kind of IIIll is not possible with known adjustments.

A preferred specific example will be described below with reference to the attached drawings. I hope you understand some specific examples and advantageous variations.

Figure 1 is a control circuit diagram. Figure 1-2 shows program-controlled glass cutting! ! Circuit diagram of li machine, - Figure 3 “Block diagram of one control circuit of the controller” It is.

The circuit diagram of FIG. 1 shows, as an example, a triangularly shunted three-phase asynchronous motor.

The desired command value is transmitted across the output stage to the motor coil 3 by the command value generator 1. It is sent to a pulse time modulator 2 which regulates the power supply.

command (the direct generator can have six real-valued inputs and therefore send a correction signal to modulator 2). can be done. Of course, the generator could also follow 70 grams of memory.

This type of control is suitable, for example, as a positioning device for various applications. child Since the well-known control and regulating devices can be used for this purpose, the output stage I will just explain the formation.

For example, at a predetermined tempo of 1k) 12, the variable v452 is used as a power booster. The signal, ie width or time, modulated to discrete values in a well-known manner is A pulse is generated that is a function of the instantaneous value of a predetermined target magnitude. Therefore The problem is the current/power supply three-phase voltage cutoff ratio.

The power amplifier is the final stage of semiconductor, output transistor or thyrisk switch “GT”. In the circuit shown, including a three-phase current motor, the regulation is It is enough to adjust my two phases, so just do it to the contacts, lv and w. stomach. Each is adjusted quadrant by quadrant, and the final stage of the amplifier consists of two sets of transistors. One is designated by p and the other by r depending on the direction of rotation.

Contacts U of the motor coil are therefore permanently energized. Contact ■ is for phase S. The lower part is controlled by 4r and 5r by transistors 4p and 5p. , contact W is sent from the modulator 2 to the power amplifier via transilol p, and further Transistors 4p and 5p are connected through a separator 7p, and transistors 4p and 5p are connected through a separator 17D. This leads to registers 14p and 15p. Therefore, point ■ is supplied with power from phase S, and point W is supplied with power from the bottom of the assembly. It will be done. Transistors 4p and 14p have normal alternating sine curves, and transistor 5 p and 15D handle negative alternations.

■ For the opposite direction of rotation r (backward by ¥1), the signal is transmitted by 6r and the minute w The transistors 4r and 5r are connected to the transistors 4r and 5r through the divider 7r, and the transistors are connected through the separator 17r. It reaches stars 14r and 15r. The contacts are therefore reversed. Tigers are in charge of regular police boxes. Of the transistors 4r and 14r, the transistors 5r and 15r handle negative alternation. Ru.

At a predetermined tempo of 1kHz, the corresponding transistor is blocked or is conducted by modulator 2 at a constant current/interruption ratio rate. It's the one they want The power supply to the coil 3 is controlled or adjusted in the direction of .

From a varistor 8, a resistor whose value is a function of the voltage, as well as a resistor 9 and a capacitor 10 An RC circuit consisting of transistors is used to eliminate potentially damaging voltage points. Auxiliary stages connected in parallel to each of the pairs increase the power! The induced electric current is reduced by the permanent speed control of the 1 This stage is provided to limit pressure points and disturb the rectifying transistor. , a resistor 20, a capacitor 21, a load resistor 22, a coupled rectifier 23, and a rectifier. 24. The pace of this transistor is 25 OU circuits and 25 NON circuits. It is logically connected to the pulse converter [2 via path 26. Separator 27 is connected to this Between Jista 24 and V! , is being turned. This control transistor 24 is connected to eight Phase rectifier transistor → conducts when blocked, i.e. during interruptions between current pulses. to the normal state. Furthermore, due to the self-induction effect of the coils, the motor's magnetic field blocks these Most of the time is preserved. This connection method makes it possible to implement an amplitude adjustment method. be.

By using this control circuit, the strength of the rotor is increased, especially for short-circuit rotor type. The use of asynchronous motors can be planned. Similarly high resistance secondary asynchronous linear motor Since linear motors can also be used, the circuit of the invention is further dependent on linear motors of this type and It is advantageous to equip the system with a tracer device.

Figure 2 shows the drive of the tool when cutting the raw material glass inside the production line. The structure and main parts of the device are schematically shown.

An endless conveyor belt 3 that drives rollers 3Qa from a horizontal conveyor (not shown) The raw material p, which is received by the plane table 30b and whose ends are supported by It is supported on a belt and immobilized using known means (not shown).

Cut I! The i-line is cut using a cutting tool 31 mounted on a cross-shaped carriage 32. It is traced according to the memorized program.

The cruciform carriage is constructed by a combination of 2@1 case 33 and 33'. , one case slides in the coordinate direction indicated by the double arrow Y via a co-rotating pole bearing. and the other case slides on the axis 34' in the coordinate direction indicated by the double arrow X. .

At both ends, the shaft 34 is connected to the work surface according to support rails 36 via further rotating ball bearings. The slider 35, which circulates from one side to the other, is fixed at that position in the mounting direction. ing.

The carriage is moved and fixed in the X direction using a secondary coil that includes two three-phase inductors 37 in the negative It will be carried out by the heavyweights. These inductors are located on the side of each slider 35, respectively. It is attached and has two comb-shaped cores 38 facing each other. iron core Coils are placed in the grooves, and a conductive layer of gold, e.g. copper, is placed between them. A secondary coil consisting of a fixed rail 39 consisting of metal passes through.

For movements according to the A binary pulse generator 4G located along the corresponding path acts as a speed effective It includes a linear potentiometer 41 arranged in parallel with the pulse generator for determining the value. I'm reading.

The structure of the shaft 34', that is, the movement of the carriage 32 in the Y direction, is the same, and the corresponding parts are shown with the same symbol followed by a dash.

The operation of the tracing device will be explained for one axis with reference to FIG. on the other hand The controls for the axes have the same structure.

The movement program corresponding to the desired trace is stored on the magnetic tape 42 and transferred to the cassette. A cut winder 43 directs it into the working memory of the microprocessor 44.

a movement pulse, effectively emitted by the position repeater generator 40.

In other words, square pulses whose phases are shifted by 90° so that forward movement and backward movement can be distinguished are used. Receive the Therefore, the counter 45 receives the analog signal shunted downstream by the difference. - The voltage of the digital converter 47 is equal to the capacitance 50. Resistance 51 and operation increase It is generated from a differential circuit consisting of a transducer 52, but the differential amplifier is generated from a linear potentiometer 41. It represents the change in the sampled voltage over time.

Therefore, one tachometer requires a new mechanical converter between linear and rotational motion. It is possible to obtain the signals necessary for movement control without relying on For example, digital Speed measuring repeaters using repeaters are also used for other types of repeaters. On the downstream side, a frequency/voltage converter is shunted, and the effective moat of the generated voltage is It has the advantage of completely avoiding harmonics. This is especially true when the movement speed is low. It is extremely advantageous.

The automatic tllI controller 1 compares the target value and the real value and, as explained earlier, generates a pulse. The time chamber vA unit 2 is controlled, and the modulator therefore has a width, i.e. During the pulse of the three-phase supply voltage received from this amplifier by the inductor 3I of the near motor Adjust the time.

This controller is phase-cutting in terms of sensitivity, control speed, and dynamic characteristics! T controller Tracing machine with linear motor that has excellent sensitivity and control speed. make it possible to configure.

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Claims (12)

[Claims] 1. Automatic control of a single-phase or multi-phase asynchronous machine by time modulation of pulses, The time modulator is provided by a power amplifier with a transistor or thyristor final stage. The inductive voltage limiter is shunted in parallel with the coil; The limiter is controlled by a modulator 2 which provides conduction during interruption between current pulses. Automatic control characterized in that it includes a rectifying transistor 24. 2. The inductive voltage limiter comprises an RC circuit including a resistor 20 and a capacitor 21, and a series Claim characterized in that it comprises a protection device with a connected load resistor 22. Automatic control as described in scope 1. 3. A regulating circuit operates a power amplifier 4 with a final stage of output transistors. The automatic motor according to any one of claims 1 and 2, characterized in that it includes a four-quadrant regulator. dynamic control. 4. The asynchronous machine is a three-phase current-linear motor, and the limiter is a rectifier bridge. From claim 3, characterized in that the transistor comprises only one transistor receiving power from Automatic control as described in 4. 5. A numerical control device for driving a carriage with position control, in which the motor is a moving program controller. Automatic position and speed repeater powered starting from data memory including RAM These motors are controlled by a microprocessor that controls the The linear asynchronous motors 37 and 39 are adjusted by time modulation of pulses. A device characterized by: 6. The inductor 37 of the linear motor forms part of the drive rotation device for the carriage 32. and that their secondary coils also shape the metal rail 39 according to the direction of interlocking. 6. The device according to claim 5, characterized in that: 7. The Nago conductor has two comb-shaped iron cores 38 facing each other, and these iron cores A metal rail 39 constituting a corresponding secondary coil passes between the 7. The device according to claim 6. 8. A power amplifier includes an RC circuit 20.21 and a load resistor 22 in parallel with the inductor 37. The inductive voltage limiter and the pulse time modulator 2 are connected to the ou circuit 25, the NON circuit 26 and the pulse time modulator 2. and a rectifier transistor 24 controlled via a separation stage 27. 8. The device according to any one of claims 5 to 7. 9. The mobile repeater 40 consists of a digital primary generator including forward and backward identification. The apparatus according to any one of claims 5 to 8, characterized in that: 10. The speed repeater is linear in which the output voltage feeds the electronic differential circuit 50, 51, 52. Any one of claims 5 to 9, characterized in that it is constituted by a potentiometer 41. The device described in Crab. 11. The speed repeater is controlled by a linear pulse generator acting on a frequency-to-voltage converter. 10. A device according to any one of claims 5 to 9, characterized in that it is configured. 12. A carriage 32 for processing glass bodies, in particular for cutting or edge polishing, comprises: According to the direction of the coordinate axes, the movable axes 34 and 34' A support rail pair 36, 36' is provided with an inductor 37, 37', respectively. Claim characterized in that it is mounted in a cross shape via riders 35, 35'. Cartesian coordinate training with automatic control according to any of the ranges 1 to 11 of - Thing machine.