JPS6151211A - Periodical control system of motor - Google Patents
Periodical control system of motorInfo
- Publication number
- JPS6151211A JPS6151211A JP59171498A JP17149884A JPS6151211A JP S6151211 A JPS6151211 A JP S6151211A JP 59171498 A JP59171498 A JP 59171498A JP 17149884 A JP17149884 A JP 17149884A JP S6151211 A JPS6151211 A JP S6151211A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- proportional constant
- deviation data
- outputted
- constant
- 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
- G05B19/23—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 for point-to-point control
- G05B19/231—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 for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
-
- 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
- G05B2219/37—Measurements
- G05B2219/37525—Mean, average values, statistical derived values
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41177—Repetitive control, adaptive, previous error during actual positioning
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
【発明の詳細な説明】 〔技術分野〕 本発明は電動機の周期運転制御方式に関する。[Detailed description of the invention] 〔Technical field〕 The present invention relates to a periodic operation control method for an electric motor.
第２図は電動機制御装置の従来例を示すブロック図で、
ＲＯＭ ｌ （ＲＡＭでもよい）に格納されている一
周期分の設定位置データを減算器２で、パルスジェネレ
ータ７のパルスをパルスカウンタ８でカウンタした電動
機５の現在位置のデータから減算し、比例定数乗算器３
でこの減算結果に比例定数Ｋｐを乗してこれをＤ／Ａ変
換器４によってアナログ指令に変換し駆動回路５により
電動機６を運転する。Figure 2 is a block diagram showing a conventional example of a motor control device.
The set position data for one period stored in the ROM l (RAM may be used) is subtracted by the subtracter 2 from the data of the current position of the motor 5, which is obtained by counting the pulses of the pulse generator 7 by the pulse counter 8, and the proportional constant is calculated. Multiplier 3
This subtraction result is multiplied by a proportionality constant Kp, which is converted into an analog command by the D/A converter 4, and the motor 6 is operated by the drive circuit 5.
ところで、この比例定数ＫＰは従来、 ＲＯＭに固定さ
れたり、ボリュームで手動で調整するようになっており
、前者の場合には負荷変動等に応じて比例定数Ｋｐを変
更することができず、後者の場合には調整が面倒である
という欠点があった（特開昭５８−７４２２８）。By the way, this proportionality constant KP has conventionally been fixed in ROM or manually adjusted with a volume, and in the former case, it is not possible to change the proportionality constant KP according to load fluctuations, etc. In this case, there was a drawback that adjustment was troublesome (Japanese Patent Laid-Open No. 58-74228).
本発明の目的は、負荷変動等に応じて、比例定数が最適
値に変更されて電動機を最適に制御することができる電
動機の周期運転制御方式を選択することにある。An object of the present invention is to select a periodic operation control method for an electric motor that can optimally control the electric motor by changing the proportionality constant to an optimal value in response to load fluctuations and the like.
本発明の電動機の周期運転制御方式は、電動機指令出力
の比例定数を、繰返し動作の少なくとも１つ前の位置決
め偏差データをもとに補正することを特徴とする。The periodic operation control method for an electric motor according to the present invention is characterized in that the proportionality constant of the electric motor command output is corrected based on positioning deviation data at least one time before a repetitive operation.
本発明の実施例を図面を参照しながら説明する。 Embodiments of the present invention will be described with reference to the drawings.
第１図は本発明の電動機の周期運転制御方式を適用した
電動機制御装置の一実施例を示すブロック図である。本
実施例は第２図の従来の電動機制御装置に、減算器２か
ら出力される偏差データがＲＯＭ ｌの位置データ読出
番地に対応した番地に記憶される ＲＡ旧０と、ＲＡ旧
０に記憶されている１周期分の偏差データは変動を伴っ
ているので、これを平均化（総加平均あるいは移動平均
）処理し、これにより比例定数乗算器３内の比例定数Ｋ
ｐｔｌ−補正する平均化演算器１１を設けたものである
。FIG. 1 is a block diagram showing an embodiment of a motor control device to which a periodic operation control method for a motor according to the present invention is applied. In this embodiment, the deviation data output from the subtracter 2 is stored in the conventional motor control device shown in FIG. 2 in RA old 0 and RA old 0. Since the deviation data for one cycle is accompanied by fluctuations, it is averaged (total average or moving average), and thereby the proportionality constant K in the proportionality constant multiplier 3 is
An averaging calculator 11 for ptl-correction is provided.
次に、本実施例の動作を説明する。減算器２から出力さ
れた偏差データは１周期分、 ＲＡＭｌ０に記憶される
と平均化演算器１１に出力されて平均化処理され、これ
により比例定数乗算器３内の比例定数Ｋｐが補正され、
この補正された比例定数Ｋｐと減算器２から出力される
現周期の偏差データが乗ｔ） されて以後
、前述したような処理を経て電動機６が制御される。い
ま、電動機６の負荷が大きくなったものとすると、電動
機６の回転数が下がり、パルスカウンタ９のカウント値
が減る。これによって、減算器２から出力される偏差デ
ータも大きくなり、これがＲＡＭｌ０に記憶される６そ
して１周期終了時にＲＡＭｌ０のデータが取出されて平
均化演算器１１で平均され比例定数乗算器３内の比例定
数Ｋｐに加算される。したがって、比例定数Ｋｐが増加
し電動機６の回転数が上がる。Next, the operation of this embodiment will be explained. The deviation data outputted from the subtracter 2 is stored in the RAM 10 for one cycle, and then outputted to the averaging calculator 11 for averaging processing, whereby the proportionality constant Kp in the proportionality constant multiplier 3 is corrected.
The corrected proportionality constant Kp is multiplied by the deviation data of the current cycle output from the subtracter 2 (t), and then the electric motor 6 is controlled through the processing described above. Now, assuming that the load on the electric motor 6 has increased, the rotational speed of the electric motor 6 decreases, and the count value of the pulse counter 9 decreases. As a result, the deviation data output from the subtractor 2 also increases, and this is stored in the RAM 106. At the end of one cycle, the data in the RAM 10 is taken out and averaged by the averaging calculator 11, and then stored in the proportional constant multiplier 3. It is added to the proportionality constant Kp. Therefore, the proportionality constant Kp increases and the rotational speed of the electric motor 6 increases.
本実施例は、比例定数Ｋｐを１つ前の周期の偏差データ
をもとにして補正するようにしたが、２つ以上前の周期
の偏差データをもとにして補正するようにすることもで
きる。In this embodiment, the proportionality constant Kp is corrected based on the deviation data of the previous cycle, but it may also be corrected based on the deviation data of two or more previous cycles. can.
本発明によれば、負荷変動等により電動機の匣転条件を
変えても比例定数ＫＰがそれに応じて最適値になるよう
に自動的に調整されるので、従来のようにそのつど比例
定数Ｋｐを手動で変更することなく電動機が常に最適に
制御される。According to the present invention, even if the rotating conditions of the motor are changed due to load fluctuations, the proportionality constant KP is automatically adjusted to the optimum value accordingly, so that the proportionality constant KP can be adjusted each time, unlike the conventional method. The electric motor is always optimally controlled without manual changes.
第１図は本発明の電動機の周期運転制御方式を適用した
電動機制御装置の一実施例を示すブロック図、第２図は
電動機制御装置の従来例を示すブロック図である。
１：ＲＯＭ ２：減算器
３：比例定数乗算器 ４：Ｄ／Ａ変換器５：駆動回路
６：電動機
７、タコジェネレータ８：パルスジェネレータ９、パル
スカウンタ １０：ＲＡＭ
１１：平均化演算器FIG. 1 is a block diagram showing an embodiment of a motor control device to which a periodic operation control method for a motor according to the present invention is applied, and FIG. 2 is a block diagram showing a conventional example of a motor control device. 1: ROM 2: Subtractor 3: Proportional constant multiplier 4: D/A converter 5: Drive circuit
6: Electric motor 7, tacho generator 8: Pulse generator 9, pulse counter 10: RAM 11: Averaging calculator
Claims (1)
１つ前の位置決め偏差データをもとに補正することを特
徴とする電動機の周期運転制御方式。A periodic operation control method for an electric motor, characterized in that a proportional constant of a motor command output is corrected based on positioning deviation data at least one time before a repetitive operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59171498A JPS6151211A (en) | 1984-08-20 | 1984-08-20 | Periodical control system of motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59171498A JPS6151211A (en) | 1984-08-20 | 1984-08-20 | Periodical control system of motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6151211A true JPS6151211A (en) | 1986-03-13 |
Family
ID=15924211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59171498A Pending JPS6151211A (en) | 1984-08-20 | 1984-08-20 | Periodical control system of motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6151211A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5458179A (en) * | 1977-10-18 | 1979-05-10 | Yaskawa Electric Mfg Co Ltd | Self-correcting type control apparatus |
| JPS54140069A (en) * | 1978-04-24 | 1979-10-30 | Toshiba Corp | Automatic positioning system |
| JPS59101212A (en) * | 1982-11-30 | 1984-06-11 | Toshiba Corp | Controlling method of rolling mill |
-
1984
- 1984-08-20 JP JP59171498A patent/JPS6151211A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5458179A (en) * | 1977-10-18 | 1979-05-10 | Yaskawa Electric Mfg Co Ltd | Self-correcting type control apparatus |
| JPS54140069A (en) * | 1978-04-24 | 1979-10-30 | Toshiba Corp | Automatic positioning system |
| JPS59101212A (en) * | 1982-11-30 | 1984-06-11 | Toshiba Corp | Controlling method of rolling mill |
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