JPS6158491A - Acceleration/deceleration controller of dc motor - Google Patents

Acceleration/deceleration controller of dc motor

Info

Publication number
JPS6158491A
JPS6158491A JP59178342A JP17834284A JPS6158491A JP S6158491 A JPS6158491 A JP S6158491A JP 59178342 A JP59178342 A JP 59178342A JP 17834284 A JP17834284 A JP 17834284A JP S6158491 A JPS6158491 A JP S6158491A
Authority
JP
Japan
Prior art keywords
voltage
motor
amplifier
outputs
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.)
Pending
Application number
JP59178342A
Other languages
Japanese (ja)
Inventor
Tsutomu Saitou
斎藤　▲つとむ▼
Ken Fujii
憲 藤井
Yoshimitsu Sase
佐瀬　善光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP59178342A priority Critical patent/JPS6158491A/en
Publication of JPS6158491A publication Critical patent/JPS6158491A/en
Pending legal-status Critical Current

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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration

Abstract

PURPOSE:To rapidly accelerate or decelerate without using a tachometer generator by superposing a voltage of the amplitude proportional to a load torque and the prescribed acceleration/deceleration current, and a voltage proportional to the induced voltage of a DC motor, and applying it to the motor. CONSTITUTION:When a switch 3 is shifted to 3-2 side, a flip-flop 2 is set, and its output 2-1 becomes H. Simultaneously, a one-shot multivibrator 5 outputs a pulse voltage. On the one hand, an integrator 6 outputs a voltage which linearly increases for a period of the pulse voltage continuing time and then becomes constant. When the switch 3 is shifted to 3-1 side, the flip-flop 2 is reset, and its output 2-2 becomes H. Simultaneously, a one-shot multivibrator 7 outputs a pulse voltage through a polarity inverting amplifier 8. On the other hand, the integrator 6 outputs a voltage which linearly decreases during the pulse output continuing time and then becomes constant.

Description

【発明の詳細な説明】 〔発明の利用分野〕 本発明は、直流電動機の加減速制御装置に係り、特に小
容量の直流サーボ電動機を急速に加減速するのに好適な
制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an acceleration/deceleration control device for a DC motor, and particularly to a control device suitable for rapidly accelerating/decelerating a small-capacity DC servo motor.

〔発明の背景〕[Background of the invention]

直流電動機を急速に加減速制御する制御装置においては
、従来、直流電動機の速度を検出する速度計発電機を結
合し、その発生電圧を直流電動機駆動用増幅器の入力に
負帰還することによシ、速度制御ループを構成している
。Conventionally, a control device that rapidly accelerates and decelerates a DC motor is connected to a speedometer generator that detects the speed of the DC motor, and the generated voltage is negatively fed back to the input of an amplifier for driving the DC motor. , which constitutes a speed control loop.

この速度計発電機帰還を用いる方法は、加減速時間を短
くシ、速度変動を小さくする効果がある一方、高価とな
シ、占有スペースが大きくなる欠点がある。Although this method using speedometer generator feedback has the effect of shortening acceleration/deceleration time and reducing speed fluctuations, it has the drawbacks of being expensive and occupying a large space.

〔発明の目的〕[Purpose of the invention]

本発明は、速度計発電機を用いることなく、高速な加減
速ができ、直流電動機の能力を最大限に利用する直線的
な加減速が可能で、安価な上に占有スペースの小さい直
流電動機の制御装置を提供することを目的とする。The present invention enables high-speed acceleration/deceleration without using a speedometer generator, linear acceleration/deceleration that maximizes the capability of a DC motor, is inexpensive, and occupies a small space. The purpose is to provide a control device.

〔発明の概要〕[Summary of the invention]

本発明は、直流電動機を駆動する増幅器の入力に、 （１）負荷トルクに比例する大きさの電圧（２）所要加
減速電流に比例する大きさの電圧（３）直流電動機の誘
起電圧に比例する電圧の三つを、予め計算し重畳して加
え、直流電動機を所望の時間に、直線的に加減速するも
のである。The present invention provides for the input of an amplifier that drives a DC motor to include (1) a voltage proportional to the load torque, (2) a voltage proportional to the required acceleration/deceleration current, and (3) a voltage proportional to the induced voltage of the DC motor. Three voltages are calculated in advance, superimposed, and applied to linearly accelerate or decelerate the DC motor at a desired time.

〔発明の実施例〕[Embodiments of the invention]

第１図は本発明の一実施例を示す図、第２図はそのタイ
ムチャートである。FIG. 1 is a diagram showing an embodiment of the present invention, and FIG. 2 is a time chart thereof.

第１図において、１はリセットスイッチ、２は運転−停
止用７リツグ７０ツブ、３は運転−停止用スイッチ、４
は直流電動機駆動用増幅器、５と７はワンショットマル
チバイブレーク、６は積分器、８は極性反転用演算増幅
器、９は直流電動機である。In Fig. 1, 1 is a reset switch, 2 is a run-stop switch with 7 rigs, 3 is a run-stop switch, and 4 is a run-stop switch.
is an amplifier for driving a DC motor, 5 and 7 are one-shot multi-by-breaks, 6 is an integrator, 8 is an operational amplifier for polarity inversion, and 9 is a DC motor.

このように構成した本発明の実施例において、リセット
スイッチ１は、運転に先立ち、制御装置の初期化を行う
ものである。これを予め１−１側から１−２側に倒し再
び１−１側に戻して、フリップフロップ２をリセットさ
れた初期状態にしておくものとする。In the embodiment of the present invention configured as described above, the reset switch 1 is used to initialize the control device prior to operation. It is assumed that this is previously turned from the 1-1 side to the 1-2 side and returned to the 1-1 side again to bring the flip-flop 2 into a reset initial state.

時刻ｊ＝Ｑに、スイッチ３を３−１側から３−２側に倒
すと、クリップ７０ツブ２はセットされた状態になり、
その出力２−１はＬＯＷからＨｉｇｈの電圧になる。こ
の電圧は直ちに増幅器４の入力端子４−１に加えられる
。また、ワンショットマルチバイブレーク５を通って、
同じ＜４−２及び積分器６０入力端子６−１に加えられ
る。When the switch 3 is turned from the 3-1 side to the 3-2 side at time j=Q, the clip 70 knob 2 becomes set,
The output 2-1 changes from LOW to HIGH voltage. This voltage is immediately applied to the input terminal 4-1 of the amplifier 4. Also, through one-shot multi-bye break 5,
The same <4-2 and applied to the integrator 60 input terminal 6-1.

フリップフロップ２の出力２−１がＨｉｇｈになると、
ワンショットマルチバイブレーク５は、予め設定された
時間だけ継続するノくルス状の電圧を発生し、これを増
幅器４０入力端子４−２及び積分器６の入力端子６−１
に加える。When the output 2-1 of flip-flop 2 becomes High,
The one-shot multi-by-break 5 generates a pulse-like voltage that lasts for a preset time, and supplies this to the input terminal 4-2 of the amplifier 40 and the input terminal 6-1 of the integrator 6.
Add to.

積分器６の出力電圧は、フンショットマルチノ（イブレ
ータ５の出力パルスの継続時間の期間は直線的に増加し
、以後一定になる。これが増幅器４の入力端子４−３に
加えられる。The output voltage of the integrator 6 is applied to the input terminal 4-3 of the amplifier 4, which increases linearly during the duration of the output pulse of the ibrator 5 and remains constant thereafter.

時刻ｔ＝Ｔに、スイッチ３を３−１側に戻すと　　□７
リツプフロツブ２はリセット状態になり、その出力はＨ
ｉ　ｇ　ｈからＬＯＷになる。増幅器４０入力端子４−
１に加えられていた電圧はＯになる。When switch 3 is returned to the 3-1 side at time t=T, □7
Lip flop 2 is in the reset state and its output is H
It becomes LOW from i g h. Amplifier 40 input terminal 4-
The voltage applied to 1 becomes 0.

クリップ７０ツグのもう一方の出力２−２はＬＯＷから
Ｈｉ　ｇ　ｈにな）、ワンショットマルチノくイブレー
タ７と極性反転増幅器８を通って、増幅器４の入力端子
４−４及び積分器６０入力端子６−２に加えられる。The other output 2-2 of the clip 70 goes from LOW to HIGH), passes through the one-shot multi-noise ibrator 7 and the polarity inverting amplifier 8, and is connected to the input terminal 4-4 of the amplifier 4 and the input terminal of the integrator 60. Added to 6-2.

フリップフロップ２の出力２−２がＨｉｇｈになると、
ワンショットマルチバイブレータ７は、予め設定された
時間だけ継続するパルス状□の電圧を発生し、これを増
幅器４の入力端子４−４及び積分器６の入力端子６−２
に加える。When the output 2-2 of flip-flop 2 becomes High,
The one-shot multivibrator 7 generates a pulse-like voltage that lasts for a preset time, and supplies this to the input terminal 4-4 of the amplifier 4 and the input terminal 6-2 of the integrator 6.
Add to.

積分器６の出力電圧は、ワンショットマルチバイブレー
タ６の出力パルスの継続時間の期間は直線的に減少し、
以後一定になる。これが、増幅器４０入力端子４−３に
加えられる。The output voltage of the integrator 6 decreases linearly during the duration of the output pulse of the one-shot multivibrator 6;
It becomes constant after that. This is applied to amplifier 40 input terminal 4-3.

増幅器４は、その人力４−１〜４−４に加えられる信号
を合成して直流電動機９を駆動する。The amplifier 4 combines the signals applied to the human power 4-1 to 4-4 and drives the DC motor 9.

以上をまとめてそのタイムチャートを第２図に示す。A time chart of the above is shown in Fig. 2.

第２図（ａ）はスイッチ３の状態を示し、時刻ｔ＝０に
３−１側から３−２側に倒れ、運転の指令を与え、時刻
ｔ：ＴＫ、逆に３−１側に戻り停止の指令を与えること
を示している。同図（ｂ）は、増幅器４の入力端子４−
１に与えられる電圧を示し、時刻ｔ＝０からＴｔで５”
Ｔ７”−の入力電圧を与える。この電圧は増幅器４でに
１倍に増幅されて−Ｒ＋ｔ”上＝几ａＩｂ　　となシ、
負荷トルクを駆動に？ するのに必要な電圧を直流電動機９に与える。ただし、 Ｒ１：直流電動機の電機子抵抗 ＫＴ：同上トルク係数 τム：負荷トルク、 ＩＬ：負荷トルクを駆動するのに必要な電動機電流でＩ
Ｌ”二と に丁 に、：増幅器の増幅率 同図（Ｃ）　、　（ｄ）は、増幅器４の入力端子４−２
゜４−４に与えられる電圧で、それぞれ ８“１１°＠　　　ＲａＩｄｅａ　　に設定する。これ
らの入に、　　　　　　Ｋ。Figure 2 (a) shows the state of the switch 3, which at time t=0 falls from the 3-1 side to the 3-2 side, gives a driving command, and returns to the 3-1 side at time t:TK. Indicates that a command to stop is given. The same figure (b) shows the input terminal 4- of the amplifier 4.
1, and 5'' from time t=0 to Tt.
Give the input voltage of T7''-.This voltage is amplified by a factor of 1 in the amplifier 4, and becomes -R+t''=几aIb.
Drive the load torque? The voltage necessary to do this is applied to the DC motor 9. However, R1: Armature resistance of the DC motor KT: Torque coefficient τ as above: Load torque, IL: Motor current required to drive the load torque, I
L"2nd: Amplification factor of the amplifier (C) and (d) are the input terminal 4-2 of the amplifier 4.
8" 11°@RaIdea, respectively, with the voltage applied to 4-4. Into these inputs, K.

力電圧は増幅されてＲＡＩａ＃！またはＲａＩｄｅａと
な９、直流電動機９に加減速電流を供給する。ただし、 Ｊ　：負荷の慣性能率 Ｎｏ　：電動機の運転速度、毎分回転数ｔ　１６゜ｒ　
ｔｄｅａ　　：加、減速時間同図（ｅ）は、増幅器４の
入力端子４−３に与えられる電圧である。ワンショット
マルチバイブレータ５の出力パルスによって、直線的に
増加しる。これは増幅されてＮ、ＫＥ　　となり、回転
数Ｎ０のときの直流電動機９の誘起電圧とバランスする
。また、ワンショットマルチバイブレータ６の出力パル
スによって、直線的に減少しＯに達すると以後Ｏを保つ
ように設定する。The power voltage is amplified and RAIa#! Alternatively, RaIdea 9 supplies acceleration/deceleration current to the DC motor 9. However, J: Load inertia factor No.: Operating speed of electric motor, number of revolutions per minute t 16゜r
tdea: Acceleration and deceleration time (e) in the figure is the voltage applied to the input terminal 4-3 of the amplifier 4. It increases linearly by the output pulse of the one-shot multivibrator 5. This is amplified and becomes N, KE, which is balanced with the induced voltage of the DC motor 9 when the rotation speed is N0. Further, the output pulse of the one-shot multivibrator 6 is set so that the output pulse decreases linearly and reaches O, and then maintains O from then on.

同図（ｆ）は、以上の入力電圧を合成した電圧であり、
これが増幅されて直流電動機９に与えられると、直流電
動機９は、同図（ｇ）のように、所望の時間に直線的に
加減速される。(f) in the same figure is a voltage that is a combination of the above input voltages,
When this is amplified and applied to the DC motor 9, the DC motor 9 is linearly accelerated or decelerated at a desired time as shown in FIG.

〔発明の効果〕〔Effect of the invention〕

本発明によれば、速度計発電機を使用することなく、高
速の加減速を、直線的に、所望の時間に行うことができ
るので、安価な上に占有スペースが小さく、直流電動機
の能力を最大限まで引き出せる制御装置が得られる効果
がある。According to the present invention, high-speed acceleration and deceleration can be performed linearly and at a desired time without using a speedometer generator, so it is inexpensive, occupies a small space, and increases the capacity of a DC motor. This has the effect of providing a control device that can be used to its maximum potential.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の一実施例を示す回路−１第２図は第１
図増幅器の各入力端子に加えられる電圧とそれによって
得られる電動機速度とのタイムチャートである。 １・・・リセットスイッチ、２・・・運転−停止用フリ
ップ７０ツブ、３・・・運転−停止用スイッチ、４・・
・直流電動機駆動用増幅器、５・・・ワンショットマル
チバイブレータ、６・・・積分器、７・・・１ワンシヨ
ツトマルチバイブレータ、８・・・極性反転用演算増幅
器、９・・・直流電動機。Figure 1 is a circuit showing one embodiment of the present invention. Figure 2 is a circuit showing an embodiment of the present invention.
3 is a time chart of the voltage applied to each input terminal of the amplifier and the motor speed obtained thereby; FIG. 1... Reset switch, 2... Flip 70 knob for running-stopping, 3... Switch for running-stopping, 4...
- Amplifier for driving a DC motor, 5... One shot multivibrator, 6... Integrator, 7... One shot multivibrator, 8... Operational amplifier for polarity reversal, 9... DC motor.

Claims (1)

【特許請求の範囲】[Claims] １、直流電動機とそれを駆動するための増幅器とからな
る直流サーボ電動機において、負荷トルクに比例する大
きさの電圧を発生する手段と、所要加減速電流に比例す
る大きさの電圧を発生する手段と、直流電動機の誘起電
圧に比例する電圧を発生する手段とを設け、これら３手
段からの電圧を前記増幅器に重畳して印加し、直流電動
機を所望の時間に直線的に加減速することを特徴とする
直流電動機の加減速制御装置。1. In a DC servo motor consisting of a DC motor and an amplifier for driving it, means for generating a voltage proportional to the load torque and means for generating a voltage proportional to the required acceleration/deceleration current. and a means for generating a voltage proportional to the induced voltage of the DC motor, and the voltages from these three means are applied to the amplifier in a superimposed manner to linearly accelerate or decelerate the DC motor at a desired time. Features: Acceleration/deceleration control device for DC motors.
JP59178342A 1984-08-29 1984-08-29 Acceleration/deceleration controller of dc motor Pending JPS6158491A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59178342A JPS6158491A (en) 1984-08-29 1984-08-29 Acceleration/deceleration controller of dc motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59178342A JPS6158491A (en) 1984-08-29 1984-08-29 Acceleration/deceleration controller of dc motor

Publications (1)

Publication Number Publication Date
JPS6158491A true JPS6158491A (en) 1986-03-25

Family

ID=16046813

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59178342A Pending JPS6158491A (en) 1984-08-29 1984-08-29 Acceleration/deceleration controller of dc motor

Country Status (1)

Country Link
JP (1) JPS6158491A (en)

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