JPS6152483B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a gain adjustment device for a servo system drive device that can automatically modify the gain in a control loop of a servo control operation unit that controls the motion of a movable body.

FIG. 1 shows a conventional servo drive system equipped with automatic feedback gain adjustment means in a control loop. This device has already been proposed by the applicant in Japanese Patent Laid-Open No. 123165/1983.
This servo system drive device includes a servo control operation section 1,
A model calculation circuit 2 that simulates the ideal response of the servo control operation unit 1 and a model calculation circuit 2 that simulates the ideal response of the servo control operation unit 1 and a model calculation circuit 2 that simulate the ideal response of the servo control operation unit 1 and the model A gain control signal generation circuit 3 that generates a command signal for gain adjustment of the servo control operating section 1 based on the state quantity from the arithmetic circuit 2, and a signal that can further use the signal generated by the gain control signal generation circuit 3 for gain adjustment. It is provided with integrators 4a and 4b for making the following. By adding the signals obtained by integration by the integrators 4a and 4b to, for example, multipliers 5a and 5b for adjusting the feedback gain,
The feedback gain of the servo control operating section 1 is adjusted to change the control characteristics. As a result, the state quantity of the servo control operation unit 1 matches the state quantity of the model calculation circuit 2, so that the servo control operation unit 1 can be brought into an optimal state adapted to changes in the environment and input.

FIG. 2 shows a conventional servo system drive device equipped with a servo amplifier gain automatic adjustment means in a control loop, and the same reference numerals as in FIG. 1 indicate the same or corresponding parts. This servo drive device converts the signal from the gain control signal generation circuit 3 into a signal that can be used for gain adjustment.
By integrating the signal using an integrator 4 and adding this signal to a multiplier 5 for adjusting the servo amplifier gain of the control loop, the servo amplifier gain of the servo control operating section 1 is adjusted and the control characteristics are changed.

However, in the servo drive device shown in FIGS. 1 and 2, the gain value in the control loop of the servo control operation section 1 can be adjusted to the optimal value. There are practical difficulties in maintaining this condition. For this reason, it was necessary to constantly operate the automatic gain adjustment means and to continue inputting test signals.

The present invention has been made based on the above-mentioned matters, and an object of the present invention is to provide a gain adjustment device for a servo system drive device that can fix a gain value adjusted to an optimum value.

A feature of the present invention is that the difference between the state quantity of the servo control operating unit that controls the operation of the movable body and the state quantity of the model calculation circuit that simulates the ideal response of the servo control operating unit is detected by the gain control signal. The gain control signal is input to the generation circuit, the gain control signal is determined by this gain control signal generation circuit, and this signal is passed through an integrator to the gain adjustment section in the control loop of the servo control operation section, and the gain of this gain adjustment section is automatically adjusted. In the servo system drive device, a switch for cutting off the connection between the gain adjustment section and the control loop of the servo control operation section, a means for displaying the gain value of the gain adjustment section, and a switch connected in parallel with the gain adjustment section. and gain manual setting means connected to the.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A case where the present invention is applied to a vibration testing machine, which is an example of a servo system drive device, will be described below with reference to the drawings.

FIG. 3 shows the configuration of a first embodiment of the apparatus of the present invention, and in the figure, the same reference numerals as in FIG. 1 indicate the same or corresponding parts. In the following example, 1 indicates a vibration tester that constitutes a servo control operation section, and 2 indicates a model calculation circuit that simulates an ideal response of the vibration tester 1. The gain control signal generation circuit 3 generates state quantities corresponding to the displacement, velocity, acceleration, etc. of the vibration test 1 after the vibration test simulated by the model calculation circuit 2, and state quantities such as the displacement, velocity, acceleration, etc. of the actual vibration tester 1. From the deviation signal between
Command signals Cv and Cα are generated to automatically adjust the speed and acceleration feedback gains of the vibration testing machine 1. 4a and 4b are gain control signals
Integrators 5a and 5b are integrators 4a and 4b for making Cv and Cα signals that can be used for gain adjustment.
This is a multiplier that adjusts the feedback gain using the signal obtained by integrating. 6a, 6b
7 is a potentiometer for manually setting the velocity feedback gain value and the acceleration feedback gain value of the vibration tester 1, respectively;
a, 7b are display means for displaying gain adjustment signals from the integrators 4a, 4b; 8a, 8b are ride devices 5a, 5 for automatic adjustment of feedback gain;
This is a switch that also cuts off the connection between b and the control loop of the vibration tester 1.

Next, the operation of the first embodiment of the present invention described above will be explained. The initial value of the feedback gain between the speed and acceleration of the vibration testing machine 1 is estimated in advance, and this value is set by the potentiometers 6a and 6b for manual setting of the feedback gain. When an arbitrary input signal is applied to the vibration tester 1 and the model calculation circuit 2 in this state, the vibration tester 1 operates based on the initial values set in the potentiometers 6a and 6b. After that, when the state quantities are generated from the vibration tester 1 and the model calculation circuit 2, the gain control signal generation circuit 3 generates a signal based on the deviation signal of each state quantity between the vibration tester 1 and the model calculation circuit 2. , generate gain control signals Cv and Cα for adjusting the feedback gain between the speed and acceleration of the vibration testing machine 1. After that, the integrators 4a and 4b output the gain control signal
A signal corresponding to an increase or decrease in feedback gain is generated by integrating Cv and Cα. This signal is applied to multipliers 5a and 5b which adjust the velocity and acceleration feedback gains. As a result, the multipliers 5a and 5b divide the feedback gain of the vibration tester 1 into the feedback gain of the vibration tester 1 and the model calculation circuit 2.
Since the deviation signal of the state quantity is corrected to be small, the control characteristics of the vibration testing machine 1 can be adapted to the control characteristics of the model calculation circuit 2. In this state, the feedback amounts of velocity and acceleration are those set by potentiometers 6a and 6b for manual feedback gain setting, and those automatically adjusted by multipliers 5a and 5b for automatic feedback gain adjustment. It is in harmony with Therefore, the feedback amount corresponding to this sum is set using the feedback gain manual setting potentiometer 6a,
If only 6b is set, the amount of feedback automatically adjusted by the multipliers 5a and 5b for automatically adjusting the feedback gain can be made zero. Here, a multiplier 5a for automatic feedback gain adjustment,
Potentiometers 6a, 6 for manual setting of feedback gain so that the automatic adjustment amount of 5b becomes zero.
When setting b, the output signals of the integrators 4a and 4b that integrate the gain control signals Cv and Cα are displayed on the display means 7a and 7b.
The manual setting potentiometers 6a and 6b may be set so that the displayed values of a and 7b are zero.
When this setting is completed, the feedback gain manual setting potentiometer 6a,
The feedback gain set by 6b is
The optimum feedback gain is achieved, and the control characteristics of the vibration testing machine 1 become adapted to the control characteristics of the model calculation circuit 2. Next, if the multipliers 5a and 5b, which are gain adjustment units, are electrically disconnected from the vibration tester 1 using switches 8a and 8b, the feedback gain can be adjusted using the manual adjustment potentiometers 6a and 5b.
6b, the vibration tester 1 can be completely fixed to the optimum value and have stable and responsive control characteristics, and the influence of drift caused by the integrators 4a and 4b can be eliminated.

FIG. 4 shows a second embodiment of the apparatus of the present invention, and in this figure, the same reference numerals as in FIG. 2 indicate the same or corresponding parts. In this embodiment, the servo amplifier gain value in the control loop of the servo control operating section 1 is fixed. That is, the gain control signal generation circuit 3 generates state quantities corresponding to the displacement, velocity, acceleration, etc. of the vibration testing machine 1 simulated by the model calculation circuit 2, and states such as the actual displacement, velocity, acceleration, etc. of the vibration testing machine 1. A command signal C that automatically adjusts the servo amplifier gain of the vibration testing machine 1 based on the deviation signal between the
occurs. 4 is an integrator for making the gain control signal C a signal that can be used for gain adjustment, and 5 is a multiplier for adjusting the servo amplifier gain of the control loop using the signal from the integrator 4. 6 is a potentiometer for manually setting the value of the servo amplifier gain of the vibration testing machine 1, 7 is a display means for displaying the gain adjustment signal from the integrator 4, and 8 is for automatic adjustment of the servo amplifier gain. This is a switch that cuts off the connection between the multiplier 5 and the vibration testing machine 1.

Next, the operation of the second embodiment of the present invention described above will be explained.

The initial value of the servo amplifier gain of the vibration testing machine 1 is estimated in advance, and this value is set by the potentiometer 6 for manual setting of the servo amplifier gain. In this state, when an arbitrary input signal is applied to the vibration tester 1 and the model calculation circuit 2, the vibration tester 1 operates based on the initial value set in the potentiometer 6. After that, when the state quantities are generated from the vibration tester 1 and the model calculation circuit 2, the gain control signal generation circuit 3 generates a signal based on the deviation signal of each state quantity between the vibration tester 1 and the model calculation circuit 2. , generates a gain control signal C for adjusting the servo amplifier gain of the vibration testing machine 1. Thereafter, the integrator 4 integrates the gain control signal C to generate a signal corresponding to an increase or decrease in the servo amplifier gain. This signal is applied to a multiplier 5 for adjusting the servo amplifier gain. As a result, the multiplier 5 corrects the servo amplifier gain of the vibration tester 1 so that the deviation signal between the vibration tester 1 and the model calculation circuit 2 becomes smaller, so that the control characteristics of the vibration tester 1 are adjusted to the model calculation circuit 2. can be adapted to the control characteristics of Next, the display means 7 displays an integrator 4 corresponding to an increase or decrease in the servo amplifier gain.
Since the output signal of is displayed, if you adjust the potentiometer 6 for manual setting of servo amplifier gain so that the displayed value becomes zero, as a result, the potentiometer 6 for manual setting of servo amplifier gain The set servo amplifier gain becomes the optimal gain. As a result, the control characteristics of the vibration testing machine 1 become adapted to the control characteristics of the model calculation circuit 2. Next, when the multiplier 5, which is the servo amplifier gain adjustment section, is electrically disconnected from the vibration tester 1 using the switch 8, the servo amplifier gain is completely fixed at the optimum value using the manual setting potentiometer 6. Ru. As a result, the vibration tester 1 can have stable and responsive control characteristics, and the influence of drift caused by the integrator 4 can be eliminated.

As detailed above, the present invention displays the gain adjustment signal applied to the gain adjustment section of the servo drive device on the display means, and manually sets the gain using the potentiometer so that the displayed value becomes zero. Since the gain adjustment section is later isolated from the control loop, the gain adjusted to the optimum value can be fixed. As a result, the servo control operating section can be made to have stable and responsive control characteristics.

[Brief explanation of the drawing]

1 and 2 are block diagrams showing the configuration of a servo drive device equipped with a conventional automatic gain adjustment stage, and FIG. 3 is a block diagram of a servo drive device equipped with a first embodiment of the device of the present invention. FIG. 4 is a block diagram showing the structure of a servo system drive device equipped with a second embodiment of the device of the present invention. 1... Vibration tester, 2... Model calculation circuit, 3
... Gain control signal generation circuit, 4, 4
a, 4b... Integrator, 5, 5a, 5b... Multiplier, 6, 6a, 6b... Potentiometer, 7,
7a, 7b... Display means, 8, 8a, 8b... Switch.

Claims (1)

[Claims of Claims] 1. A gain control signal generation circuit calculates the deviation between the state quantity of the servo control operation unit that controls the operation of the movable body and the state quantity of a model calculation circuit that simulates the ideal response of the servo control operation unit. This gain control signal generation circuit obtains a gain control signal, and this signal is passed through an integrator to the gain adjustment section in the control loop of the servo control operation section, and the gain of this gain adjustment section is automatically adjusted. In the servo system drive device, a switch for cutting off the connection between the gain adjustment section and the control loop of the servo control operation section, a means for displaying a gain value of the gain adjustment section, and a switch connected in parallel to the gain adjustment section. 1. A gain adjustment device for a servo system drive device, comprising: gain manual setting means. 2. A gain device for a servo system drive device according to claim 1, wherein the gain adjustment section adjusts a feedback gain value. 3. A gain adjustment device for a servo system drive device according to claim 1, wherein the gain adjustment section adjusts a servo amplifier gain value.