JPS62293994A - Motor drive control apparatus - Google Patents

Abstract

PURPOSE:To actuate a driven section accurately, by fitting an acceleration detecting means to the driven section. CONSTITUTION:An acceleration detecting means 14 is composed of a piezoelectric element or a semiconductor acceleration pickup, etc. fixed to a driven section. By this acceleration detecting means the acceleration of the driven section is detected. By comparing this detected data with the acceleration data in a memory means 15, a motor 12 is controlled through a control means 17 so that the actual acceleration data to be detected can gradually approach to the acceleration data in the memory means 15. Thus the movement of the driven section is made accurate even if the driven section is driven from the motor through intermediate transmitting media such as a pulley, wire, etc.

Description

3. Detailed Description of the Invention Field of Industrial Application The present invention relates to a motor drive control device that controls the drive of a motor used as a drive source for various devices.

Conventional technology Conventionally, a rotation angle detection device such as a potentiometer or encoder is attached to the rotor shaft of a motor, and the rotation of the motor is controlled by data output from this rotation angle detection device that indicates the actual rotation angle of the motor. It is being said.

Hereinafter, a motor using a stepping motor will be explained in detail with reference to FIG.

FIG. 3 is a block diagram showing the configuration of a conventional motor drive control device. In the figure, 1 is a motor excitation means, 2 is a motor such as a stepping motor, and 3 is a driven part driven by the motor 2. For example, this applies to a carriage in a printer. 4 is a rotation angle detection means such as an encoder fixed to the rotating shaft of the motor 2, and 5 is a rotation v when stepping the stepping motor 2 by a certain number of steps:
A storage means 6 stores the data of the elapsed time from the beginning and the displacement amount (rotation angle) in relation to each other, and 6 stores the actual rotation angle outputted from the rotation angle detection means 4 and the data in the storage means 5. The comparison control means outputs excitation data to the motor excitation means 1 so that the two data match when the two data are compared. Further, as mentioned above, the elapsed time from the start of rotation and the rotation angle at that time are stored in the storage means 5 in relation to each other, and specifically, the relationship shown in FIG. 4 is stored. Based on the elapsed time and rotation amount shown, time jl+j2. j3... and the rotation amounts θl, θ2, corresponding to the times. The data of θ3... are stored in association with each other.

The operation of the conventional motor drive control device configured as described above is as follows. When the command "rotate by angle θ" is input, the comparison control means 6 first reads data representing the relationship between the elapsed time and rotation amount when rotating by angle θ from the storage means, and also reads the data representing the relationship between the amount of rotation and the elapsed time when rotating the motor by the angle θ, Sends excitation data to rotate the motor. After that, the comparison control means 6 detects the actual rotation angle based on the output data from the rotation angle detection device fixed to the rotation shaft of the motor, and compares it with the data read out from the storage means.
For example, when the actual rotation angle is smaller than the rotation angle indicated by the read data, excitation data is output to the motor excitation means 1 to instruct it to increase the voltage applied to the motor. By performing this series of operations, feedback is performed so that the actual rotation angle data converges to the data read from the storage device.

Problems to be Solved by the Invention However, in the conventional motor drive control device described above, since the rotation angle detection device is fixed to the rotation shaft of the motor, the rotation angle of the motor cannot be determined by the data read from the storage means. Even if they match, it cannot be determined whether the driven part driven by the motor is actually moving accurately. In the case of transmission through parts, transmission errors may occur due to slippage between the pulley and the wire, and in that case, even if the motor is rotating accurately, the driven part may Some carriages end up not moving as desired.

Means for Solving the Problems Therefore, the present invention is configured to control the drive of the motor by an output from an acceleration detection means attached to a driven part and detecting acceleration when the driven part is displaced. .

The amount of displacement of the actuated driven part is directly fed back to the drive part of the motor.

Embodiment A motor drive control device according to an embodiment of the present invention will be described below.

FIG. 1 is a block diagram showing the configuration of a motor drive control device according to an embodiment, and in the figure, 11 is a motor excitation means;
12 is a motor such as a stepping motor, 13 is motor 1
2, and corresponds to a carriage in a printer. Reference numeral 14 denotes an acceleration detection means which is made of a piezoelectric element or a semiconductor acceleration pickup fixed to the driven part, and 15 stores in advance elapsed time data from the start of rotation and acceleration data when the driven part is displaced in relation to each other. A storage means 16 stores the acceleration data output from the acceleration detection means 14 and the storage means 1.
Comparison means 17 compares the acceleration data in the storage means 11 with the acceleration data in the storage means 17 so that the actual acceleration of the driven part matches the acceleration data in the storage means based on the comparison result by the comparison means 16. It is a control means that sends excitation data to the magnet.

The operation of the motor drive control device of this embodiment configured as described above will be explained below.

Figure 2 shows the relationship between acceleration and time when the driven part accelerates for a predetermined time (until time t6) and then moves at a constant velocity, and jl+j2+j3, t 41 t 5
1 t s and the acceleration at, a2 .
a3. a41 a51 , :16 are stored in the storage means 15 in relation to each other.

Next, the operation of the motor drive control device of this embodiment configured as described above will be explained.

First, when the amount of displacement of the driven part is inputted by a command device or the like (not shown), the control section sends excitation data to the motor excitation means 11 to drive the motor 12 . Then, when a driven part such as a carriage driven by the rotation of the motor 12 starts to displace, the actual acceleration of the driven part is detected by the acceleration detection means attached to the driven part. be done. In addition, in the case where a piezoelectric element is used as the acceleration detection means 14, the magnitude of acceleration is expressed as the level of voltage output from the piezoelectric element, and in the case where a semiconductor acceleration pickup is used, It appears as a change in resistance value.

Next, the acceleration data detected by the acceleration detection means 14 is compared with the acceleration data read from the storage means 15 by the comparison means 16, and when the detected acceleration data is larger than the acceleration data read from the storage means 15, the control means 17 sends excitation data to the motor excitation means 11 so as to reduce the actually detected acceleration. Note that the acceleration is controlled, for example, by controlling the voltage applied to the motor 12.

The feedback operation as described above is jl+t2...
- By repeating the process sequentially every time ts (see FIG. 2) comes, the actual acceleration when the driven part 13 is displaced is asymptotically approached to the acceleration data in the storage means 15.

As described above, according to this embodiment, the acceleration of the driven part is detected, the detected data is compared with the acceleration data in the storage means 15, and the actual detected acceleration data is the acceleration data in the storage means 15. By asymptotically approaching the data, the movement of the driven part can be made accurate even if the driven part is driven by a motor via an intermediate transmission medium such as a pulley or wire.

In addition, since the acceleration detection means is attached to the driven part, for example, instead of detecting the acceleration of the driven part (measuring the speed or displacement amount and providing feedback to the motor)
Compared to those that perform J control, it has the following effects.

That is, in order to measure speed or displacement, a relative relationship between a driven part such as a carriage and a stationary part such as a chassis is required. For example, a magnetic scale is fixed to the chassis, On the other hand, a magnetic sensor is fixed to the driven part, which reduces the degree of freedom in designing various devices, whereas a piezoelectric element or a piezoelectric element is fixed to the driven part as in this example. For devices that use acceleration detection means such as semiconductor acceleration pickups, changes in acceleration of the driven part alone are detected as changes in voltage or resistance, so the relative relationship with stationary parts such as the chassis is detected. is no longer necessary,
This provides a greater degree of freedom in design.

Effects of the Invention As has become clear from the above explanation, the motor drive control device of the present invention allows the driven part to operate accurately, and furthermore, the arrangement of the motor drive control device can be made easier when designing various devices. The degree of freedom of design lost due to the construction is also small, which is extremely effective in practice.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the configuration of a motor drive control device according to an embodiment of the present invention, and Fig. 2 shows the relationship between acceleration and time when the driven part performs uniformly accelerated movement after a predetermined period of accelerated movement. FIG. 3 is a block diagram showing the configuration of a conventional motor drive control device, and FIG. 4 is a characteristic diagram showing the relationship between the elapsed time after motor startup and the amount of rotation of the motor rotation shaft. . 11...Motor excitation means 12...Motor 1
3... Driven part 14... Acceleration detection means 15... Storage means 16... Comparison means 17... Name of control means agent Patent attorney Toshio Nakao Haga 1st person Figure 1/4 13 72II Figure 2 Figure 3 Figure 4 3 Electric cell

Claims (1)

[Claims] (1) a motor, an excitation means connected to the motor,
an acceleration detection means that is connected to the motor via an intermediate transmission medium and is attached to a driven part that is displaced by the driving force of the motor, and that detects acceleration when the driven part is displaced; A storage means in which acceleration data for quantitative displacement is stored in advance; a comparison means for comparing the acceleration data detected by the acceleration detection means with the acceleration data stored in the storage means; and this comparison means. a control means for controlling the motor excitation means so that the actual acceleration data coincides with the acceleration data in the storage means based on the output from the storage means.