JPS6159510A - Positioning controller - Google Patents

Positioning controller

Info

Publication number
JPS6159510A
JPS6159510A JP18132684A JP18132684A JPS6159510A JP S6159510 A JPS6159510 A JP S6159510A JP 18132684 A JP18132684 A JP 18132684A JP 18132684 A JP18132684 A JP 18132684A JP S6159510 A JPS6159510 A JP S6159510A
Authority
JP
Japan
Prior art keywords
oscillator
counter
deviation counter
pulse
converter
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
JP18132684A
Other languages
Japanese (ja)
Inventor
Hiroyasu Kitayama
北山　博保
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.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co 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 Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP18132684A priority Critical patent/JPS6159510A/en
Publication of JPS6159510A publication Critical patent/JPS6159510A/en
Pending legal-status Critical Current

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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41123—Correction inertia of servo
    • 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
    • G05B2219/41243—Prevent, detect overflow of counter
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43139—VCO variable frequency oscillator or two oscilators with different frequency

Abstract

PURPOSE:To attain control always optimum to prevention of generation of an overflow of a deviation counter even for a positioning control system whose load is changed largely by controlling a pulse rate of an oscillator depending on the content of the deviation counter. CONSTITUTION:A pulse train is inputted to one end of a deviation counter 9 from an oscillator 8 and a feedback pulse of a rotary encoder 14 directly coupled to a DC servo motor 12 is inputted to the other input and a difference in pulse number is inputted to a D/A converter 10. Then a signal outputted from the converter 10 drives the motor 12 via an amplifier 11. In this case, an output of the counter 9 is fed back to the oscillator 8 via an oscillator control circuit 15 to control the pulse rate of the oscillator 8. Then even in the positioning control system where the load is changed largely, the motor is driven with an optimum acceleration/deceleration profile in response to the load at all times and optimum control such as prevention of generation of overflow of the counter 9 is applied at all times.

Description

【発明の詳細な説明】 産業上の利用分野 本発明はＤＣサーボモータによる位置決め制御に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to positioning control using a DC servo motor.

従来例の構成とその問題点 第１図は従来の位置決め制御の構成図であシ、１の発振
器のパルス列と７のエンコーターからのフィードバック
パルスは２の偏差カウンタで差分を取り、Ｄ／Ａコンバ
ーター３でアナログ電圧に変換される。そしてその出力
は増幅器４で増幅されＤＣサーボモーター５を駆動する
。６はタコジェネレーターでダンピング用であり増幅器
４ヘフイードバツクされる。制御系の動作としては発振
器１のパルス列がカウンタ２に入力されるとカウンタ量
が増加するためＤ／Ａコンバーター３によりアナログの
速度指令が増幅器４に加えられＤＣサーボモーター６は
回転スる。一方、エンコーダー７はＤＣザーボモーター
に直結されているため回転量に応じてパルスを発生しカ
ウンタ２の内容を減算していく。最終的には発振器１か
ら出力されたパルス数トエンコーダ−７からのパル、ｚ
、数１ｒ’Ｊ’しくなるまでＤＣサーボモーターは回転
し位置決めを完了する。ところで負荷の慣性とか摩擦等
が常に一定の場合はカウンタ２に与えるパルス列のプロ
フィール、すなわち発掘器１の出力周波数の時間妬対す
る立上りカーブおよび立下りカーブは適当な値を設定し
ておけば偏差カウンタ２の内容が大幅に増加する事は無
い。つまり指令に対するＤＣサーボモーターの追従遅れ
はほとんど無視できる。ところが位置決め装置の用途に
よってはモーター慣性負荷が変化したり、また摩擦負荷
も大幅に変わったりする場合がある。つまり慣性摩擦負
荷が増加すると偏差カウンタ量が大幅に増加したシ、ま
た負荷が小さくなると制御系としてはパワーに余有を持
った状態で加減速することになるため、システムの利用
率も悪くなる以上のように負荷の変化する位置決め制御
系では前記発掘器のパルスレート立上りおよび立下りが
一定のままでは最適な制御ができないという欠点を有し
ていた。Configuration of the conventional example and its problems Figure 1 is a configuration diagram of the conventional positioning control.The pulse train of the oscillator 1 and the feedback pulse from the encoder 7 are differenced by the deviation counter 2, and then the difference is taken by the D/A converter. 3, it is converted to an analog voltage. The output thereof is amplified by an amplifier 4 and drives a DC servo motor 5. Reference numeral 6 is a tacho generator for damping, which is fed back to amplifier 4. As for the operation of the control system, when the pulse train of the oscillator 1 is input to the counter 2, the counter value increases, so an analog speed command is applied to the amplifier 4 by the D/A converter 3, and the DC servo motor 6 rotates. On the other hand, since the encoder 7 is directly connected to the DC servo motor, it generates pulses according to the amount of rotation and subtracts the contents of the counter 2. Finally, the number of pulses output from the oscillator 1 and the pulses from the encoder 7, z
, several r'J', the DC servo motor rotates until the positioning is completed. By the way, if the inertia, friction, etc. of the load are always constant, the profile of the pulse train applied to the counter 2, that is, the rise and fall curves of the output frequency of the excavator 1 relative to time, can be set to appropriate values and the deviation counter can be used. There will be no significant increase in the content of 2. In other words, the delay in following the command by the DC servo motor can be almost ignored. However, depending on the use of the positioning device, the motor inertia load may change, and the friction load may also change significantly. In other words, when the inertial friction load increases, the deviation counter value increases significantly, and when the load decreases, the control system must accelerate and decelerate while having power to spare, resulting in poor system utilization. As described above, the positioning control system in which the load changes has the drawback that optimal control cannot be achieved if the pulse rate rise and fall of the excavator remain constant.

発明の目的 本発明は上記欠点に鑑み負荷の大幅に変化する位置決め
制御においてもモータパワーを常に最大限に引き出し、
かつ偏差カウンタのオーバーフロー等が発生しない制御
系を提供するものである。Purpose of the Invention In view of the above drawbacks, the present invention provides a method to always maximize motor power even in positioning control where the load changes significantly.
Moreover, the present invention provides a control system in which overflow of the deviation counter does not occur.

発明の構成 本発明の装置は偏差カウンタに与える発振器かラノバル
スレートを偏差カウンタの内容（で応じて制御するよう
構成され、負荷の大幅な変化においても最適な位置決め
制御を行なうことが可能である０ 実施例の説明 以下本発明の一実施例について図面を参照しながら説明
する。第２図は本発明における位置決め制御系のブロッ
ク図であり、８は発振器で偏差カウンタ９の一端にパル
ス列を入力する。また偏差カウンタの他端にはＤＣサー
ボモーター１２に直結されたロータリーエンコーダー１
４のフィードバックパルスが入力され、両方のパルス数
の差分がＤ／Ａコンバーター１０へ入力される。Ｄ／Ａ
コンバーター１０でアナログに変換された信号は増幅器
１１で増幅されＤＣサーボモーター１２を駆動する。タ
コジェネレーター１３は増幅器１１にダンピング信号と
して入力される。また偏差カウンタ出力９は発振器制御
回路１５に入力され、その出力は発振器８を制御する。Structure of the Invention The device of the present invention is configured to control the oscillator or Lanovarus rate applied to the deviation counter according to the contents of the deviation counter, and is capable of performing optimal positioning control even when the load changes significantly. 0 Description of Embodiment An embodiment of the present invention will be described below with reference to the drawings. Fig. 2 is a block diagram of a positioning control system in the present invention, and 8 is an oscillator which inputs a pulse train to one end of the deviation counter 9. Also, at the other end of the deviation counter is a rotary encoder 1 directly connected to a DC servo motor 12.
4 feedback pulses are input, and the difference between the numbers of both pulses is input to the D/A converter 10. D/A
The signal converted into analog by the converter 10 is amplified by the amplifier 11 and drives the DC servo motor 12. The tacho generator 13 is input to the amplifier 11 as a damping signal. The deviation counter output 9 is also input to an oscillator control circuit 15, and its output controls the oscillator 8.

制御系の動作としては、発振器８よシカクンタ９ヘパル
ス列が与えられるとカウンタ内容がＤ／Ａコンバーター
、１０でＤ／Ａ変換され増幅器１１で増幅されてサーボ
モーター１２は回転する。サーボモーターが回転すると
、それに直結されたエンコーダー１４よりカウンタ９ヘ
フイードバツクパルスが入力され、カウンタ内容を減算
していく。つまり制御系のゲインが高いと偏差カウンタ
にはほとんどパルスが溜ることなく発振器パルスに追従
してＤＣサーボモーターは回転する。そして発振器の指
令パルスが止まり、カウンタの溜シパルスが零になると
サーボモーターは停止する。As for the operation of the control system, when a pulse train is applied to the oscillator 8 and the sensor 9, the contents of the counter are D/A converted by the D/A converter 10, amplified by the amplifier 11, and the servo motor 12 is rotated. When the servo motor rotates, a feedback pulse is input from the encoder 14 directly connected to the servo motor to the counter 9, and the contents of the counter are subtracted. In other words, when the gain of the control system is high, the DC servo motor rotates following the oscillator pulses with almost no pulses accumulated in the deviation counter. Then, when the command pulse of the oscillator stops and the accumulated pulse of the counter becomes zero, the servo motor stops.

以上が通常の位置決め制御である。負荷の慣性摩擦等が
一定の場合は前記発掘器のパルスレートの立上り、立下
りカーブは一定に設定しておけば良いが負荷が変化する
と従来例で説明したように不都合が生ずる。つまり慣性
、摩擦が大きくなると、モーター加速度に余有が無くな
り、偏差カウンタ内容が大きくなシすぎたり、またはオ
ーバーフィードバックしているところに特徴がある。つ
まり負荷が大きくなり加減速時の偏差カウンタの内容が
ある程度以上になると１５の発振器制御回路によって８
の発振器を制御し発振器のパルスレートを下げモータの
追従遅れを小さくして偏差カウンタ溜りパルスを小さく
する。また負荷が小さい場合は溜りパルスが非常に小さ
くなるため、溜りパルスが所定の値になるように前記発
振器のパルスレートを上げて、位置決め時間の短縮化を
図るように構成されており負荷に応じて常に最適な加減
速度プロフィールで運転でき偏差カウンタのオーバーフ
ロー等も発生することがない。The above is normal positioning control. If the inertial friction of the load is constant, the rise and fall curves of the pulse rate of the excavator may be set constant, but if the load changes, problems will occur as explained in the conventional example. In other words, when inertia and friction increase, there is no margin for motor acceleration, and the deviation counter content becomes too large, or there is overfeedback. In other words, when the load increases and the content of the deviation counter during acceleration/deceleration exceeds a certain level, the oscillator control circuit 15
control the oscillator of the oscillator to lower the pulse rate of the oscillator and reduce the follow-up delay of the motor to reduce the deviation counter accumulated pulses. In addition, when the load is small, the droop pulse becomes very small, so the pulse rate of the oscillator is increased so that the droop pulse reaches a predetermined value, and the positioning time is shortened. The system can always operate with the optimum acceleration/deceleration profile, and deviation counter overflows will not occur.

発明の効果 以上のように本発明では、偏差カウンタの内容によって
発振器のパルスレーＩｆ制御するマイナーループをもっ
ているため、負荷の大きく変化する位置決め制御系でも
常に最適な制御を行なうことができ、その実用的効果は
犬である。Effects of the Invention As described above, the present invention has a minor loop that controls the pulse ray If of the oscillator based on the contents of the deviation counter, so it is possible to always perform optimal control even in a positioning control system where the load changes greatly, and its practical use is greatly improved. The effect is a dog.

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

第１図は従来の位置決め制御系のブロック図、第２図は
本発明における一実施例の制御系ブロック図である。 ８・・・・・発振器、９・・・・・・偏差カウンタ、１
０・・・・・・Ｄ／Ａ変換器、１１・・・・・増幅器、
１２・・・・・・サーボモータ、１４・・・・・・ロタ
リーエンコーダー、１５・・・・・・発振器制御回路。 代理人の氏名　弁理士　中　尾　敏　男　ほか１名第１
［Ａ 第　２　図FIG. 1 is a block diagram of a conventional positioning control system, and FIG. 2 is a block diagram of a control system according to an embodiment of the present invention. 8... Oscillator, 9... Deviation counter, 1
0...D/A converter, 11...Amplifier,
12... Servo motor, 14... Rotary encoder, 15... Oscillator control circuit. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
[A Figure 2

Claims (1)

【特許請求の範囲】[Claims] 発振器のパルス列と、ＤＣサーボモータに直結されたロ
ータリーエンコーダーからのフィードバックパルス列と
、その両方を入力して差分を取る偏差カウンタと、前記
偏差カウンタの出力をＤ／Ａ変換するＤ／Ａコンバータ
ーとＤ／Ａコンバーター出力を増幅するドライバーと、
ドライバー出力で駆動されるＤＣサーボモータとで構成
され、前記偏差カウンタの出力を前記発振器にネガテー
プフィードバックすることにより、偏差カウンタの内容
が常に一定値以下になるように前記発振器パルス列の周
波数を制御することを特徴とする位置決め制御装置。A pulse train from an oscillator, a feedback pulse train from a rotary encoder directly connected to a DC servo motor, a deviation counter that receives the difference between the two, and a D/A converter that converts the output of the deviation counter into a D/A converter. A driver that amplifies the /A converter output,
and a DC servo motor driven by driver output, and controls the frequency of the oscillator pulse train so that the content of the deviation counter is always below a certain value by feeding back the output of the deviation counter to the oscillator using negative tape. A positioning control device characterized by:
JP18132684A 1984-08-30 1984-08-30 Positioning controller Pending JPS6159510A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP18132684A JPS6159510A (en) 1984-08-30 1984-08-30 Positioning controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP18132684A JPS6159510A (en) 1984-08-30 1984-08-30 Positioning controller

Publications (1)

Publication Number Publication Date
JPS6159510A true JPS6159510A (en) 1986-03-27

Family

ID=16098731

Family Applications (1)

Application Number Title Priority Date Filing Date
JP18132684A Pending JPS6159510A (en) 1984-08-30 1984-08-30 Positioning controller

Country Status (1)

Country Link
JP (1) JPS6159510A (en)

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