JPS62264313A - Servo amplifying system - Google Patents

Abstract

PURPOSE:To automatically shift a servo motor at a high speed and with high stability by storing the optimum response characteristics in a memory in response to the shift distance of the servo motor. CONSTITUTION:A servo amplifying system contains a subtractor 1 which detects an error signal DELTAV between an input signal V1 and an output signal V2 showing the shift distance of a servo motor 4, a servo amplifier 5, an A/D converter 6, a memory part 7 which stores previously the response characteristics in response to the shift distance of the motor 4, a D/A converter 8, and a gain controller 9. In such constitution, the output voltage is read out of the response characteristics stored in the part 7 by the error signal DELTAV received from the subtractor 1. Then the output voltage is converted into analog signals by a D/A converter 8 then outputted to the controller 9 in the form of the correction signal. Such a correction signal is used to control the amplifier 5, therefore the motor 4 is shifted at a high speed and with high stability.

Description

[Detailed Description of the Invention] [Summary] This is a servo amplification method that detects an error signal between an input signal representing the moving position of a servo motor and an output signal of the servo motor, and stores the error signal in advance in a memory section. The optimal response characteristic is selected and output to the gain controller, and the gain controller controls the gain of the servo amplifier with the optimal response characteristic to drive the servo motor. This makes it possible to drive a servo motor with optimal response characteristics.

[Industrial application field]

The present invention relates to a servo amplification method, and particularly to a servo amplification method that is complicated and improved so that many response characteristics can be automatically obtained.

A servo motor that drives a camera or the like of an infrared device is required to accurately and quickly follow the camera to a target position, and a servo motor drive system for this purpose has been required.

[Conventional technology]

FIG. 3 shows a block diagram of a conventional servo amplification system.

The conventional servo amplification method includes a subtracter l that subtracts the input signal and the output signal of the servo motor 4 to detect an error signal;
The first amplifier 3-1 to the n-th amplifier 3-n each have different response characteristics (gain characteristics 1 frequency characteristics), and the first amplifier 3 corresponds to the error signal output from the subtracter l. - a switch 2 for manually selecting the first to nth amplifiers 3-n; and a switch 2 for manually selecting the first to nth amplifiers 3-1 to nth amplifiers 53-n;
The servo motor 4 is driven by an output signal from the servo motor 4.

The subtracter 1 subtracts the input signal and the output signal of the servo motor 4, detects the error signal, and outputs it to the switch 2.

For example, as shown in FIG. 4, the first to nth amplifiers have response characteristics (gain 1 frequency characteristics) for driving the servo motor to different positions (indicated by A and B) quickly and stably.
, and artificially switches switch 2 in response to the error signal.
Select the amplifier by switching.

That is, in FIG. 4, when moving the servo motor 4 from position A to position B, since the moving distance between A and B is long, if the first amplifier 3-1 with a low gain is used, the driving time t is
It costs 1. Therefore, the switch 2 is connected to the n-th amplifier 3-n having a high gain characteristic, and is driven in a short time t2 with a fast response characteristic.

Further, the higher the gain of the amplifier, the more damping phenomenon occurs at the moving position, which has the disadvantage that stable position setting cannot be obtained, and the optimum response characteristic is selected depending on the moving distance.

In this way, the amplifier with the optimal response characteristic is selected in accordance with the moving distance of the servo motor, and the servo motor is moved quickly and stably.

[Problem that the invention seeks to solve]

In the above servo amplification method, in order to move the servo motor quickly and stably, it is necessary to provide amplifiers with various response characteristics corresponding to the moving distance. There is a problem that it is difficult to set circuit constants.

The present invention was created in view of these points, and an object of the present invention is to provide a servo amplification method that can automatically obtain optimal response characteristics corresponding to the moving distance of a servo motor with a simple configuration.

[Means for solving problems]

A subtracter detects an error signal between the input signal and the output signal of the servo motor, a memory section stores in advance various response characteristics corresponding to the moving distance of the servo motor, and The configuration includes a gain controller that controls the gain of the servo amplifier based on a correction signal extracted from the response characteristics of the servo amplifier.

[Effect]

The subtracter detects an error signal between an input signal representing a moving distance of the servo motor and an output signal of the servo motor, and outputs the error signal to the memory section. The memory section extracts a correction signal corresponding to the input error signal from various pre-stored response characteristics and outputs it to the gain controller, and controls the gain of the servo amplifier via the gain controller to control the servo motor. Drive and move with optimal response characteristics.

〔Example〕

FIG. 1 is a block diagram of a servo amplification system according to an embodiment of the present invention, and FIG. 2 is a storage response characteristic diagram of an embodiment.

In FIG. 1, the servo amplification method of one embodiment includes a subtractor l for detecting an error signal ΔV between an input signal (1) representing the moving distance of the servo motor 5 and an output signal (2) of the servo motor 4; A servo amplifier 5 that amplifies the error signal ΔV of the subtracter 1, an A/D converter 6 that converts the output error signal Δ■ of the subtracter 1 into a digital signal, and a response characteristic corresponding to the moving distance of the servo motor 5 is determined in advance. The gain of the servo amplifier 5 is controlled by the output analog signal of the D/A converter 8. It is composed of a gain controller 9.

The memory unit 7 includes, for example, as shown in an example diagram in FIG.
A response characteristic having an output voltage that logarithmically increases corresponding to the error signal Δ■ (the moving distance of the servo motor) is stored.

The output voltage is read from the response characteristic stored in the memory section 7 using the error signal Δ■ output from the subtracter l,
After converting it into an analog signal by the D/A converter 8, it is output to the gain controller 9 as a correction signal.

The gain controller 9 controls the gain of the servo amplifier 5 using a correction signal, amplifies the error signal ΔV input to the amplifier 5 according to the response characteristics, and moves the servo motor 4 at high speed and stably.

〔Effect of the invention〕

As explained above, according to the present invention, the optimum response characteristics corresponding to the moving distance of the servo motor are stored in the memory, so that the servo motor can be automatically moved at high speed and stably. It becomes possible.

[Brief explanation of drawings]

Fig. 1 is a block diagram of a servo amplification system according to an embodiment of the present invention, Fig. 2 is an example of storage response characteristics of an embodiment, Fig. 3 is a block diagram of a conventional servo amplification system, and Fig. 4 is a block diagram of a servo amplification system according to an embodiment of the present invention. FIG. 3 is an example diagram of response characteristics. In the figure, 1 is a subtracter, 2 is a switch, 3-1 to 3-
n is the first to nth amplifiers, 4 is a servo motor, 5 is a servo amplifier, 6 is an A/D converter, 7 is a memory section, and 8 is a D/D converter.
A converter, 9 is a gain controller, - on the left side of the leaf 6, on the other hand, the filter is 1, [Origin] Dinner 51 Yu) → Ton E's Ike JnΣ] Fig. 2 Do 3-1 Gorge Su - Bo in the mouth of the right Det...Fl Fig. 3 7; Figure 4

Claims (1)

[Claims] In a servo amplification method in which an input signal level is adjusted by a servo amplifier (5) and a drive voltage having a specified response characteristic is applied to a servo motor (4), the input signal level is adjusted in advance by a servo motor (4) corresponding to the moving distance of the servo motor. A memory section (7) stores a response characteristic that has been adjusted, and a correction signal of the response characteristic stored in the memory section is read out based on an error signal between the input signal and the output signal of the servo motor. A servo amplification system characterized by having a configuration including a gain controller (9) for controlling the gain of an amplifier.