JPS6310442B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a command signal control circuit for a servo system that drives, for example, a radar antenna.

Conventionally, when manually controlling a servo system that controls the position of an antenna, rate control using a joystick or the like is common.

In that case, when operating the servo system at a constant speed,
A method of integrating the joystick signal and driving the servo system with its output, so-called rate aid control, is employed, and the integration is performed by, for example, a computer.

FIG. 1 is a conceptual diagram of the operation. In the case of manual control in FIG. 1, the output of joystick 1 is digitized by A/D converter 2 and sent to computer 12. The digitized signal is integrated by an integrator 3 in the computer 12 and simultaneously added to the integration result by an adder 4. The addition result is integrated once again by the integrator 5, passes through the signal switch 7, and is sent to the servo system (not shown) as position command signals 2 and 9. Furthermore, when switching from manual control to follow-up mode, a servo system whose position is controlled by following a command signal generally suffers from a follow-up delay (speed error). A boost compensation method is one of the methods for reducing this follow-up delay. Boost compensation is a method of supplying the speed component of the command signal to the servo system to compensate for the follow-up delay. To obtain this boost signal, analog servo systems generally use a tachometer generator, while digital systems use a computer to perform differential processing to extract the speed component of the command signal and send it to the servo system. In FIG. 1, position command signals 1 and 11 are as follows:
It is differentiated by a differentiator 6 in the computer 12 and sent to the D/A converter 8. A signal converted into an analog signal (for example, DC voltage, etc.) by the D/A converter 8 is sent as a boost signal 10 to a servo system (not shown).

Since the conventional method is configured as above,
This is not a big problem in large systems that already have a built-in computer, but in small-scale systems, especially systems without a computer, integration for rate aid control and differentiation for boost signal generation are extremely difficult. Ta. This invention was made to solve the above two problems in small-scale servo systems, and is intended to be easily realized using extremely simple hardware.

FIG. 2 is a block diagram showing one embodiment of the present invention, and each mode will be explained in detail below in order.
First, the case of manual mode 1 rate control will be explained. The output of the joystick 1 (for example, DC voltage) is output from the mode switch 14 at 14b,
through the 14c terminal to the integrator 3, and 14d, 14f
It passes through the terminal and is applied to the 4b terminal of the adder 4. The mode switch 14 is composed of, for example, a relay, etc.
The integrator 3 and the adder 4 are composed of, for example, operational amplifiers.

The mode switch 15 is constituted by, for example, a relay, and when the terminals 15b and 15c are connected, it is in the manual mode (first rate control). For that reason,
During rate control, the terminal 4a of the adder 4 is grounded, so that only the joystick signal mentioned above is applied to the adder 4, and after being appropriately amplified, its output is sent to the voltage controlled oscillator 16. The voltage controlled oscillator 16 has an oscillation frequency proportional to the magnitude of the input voltage. That is,
The oscillation frequency of the voltage controlled oscillator 16 is proportional to the output of the joystick 1. Oscillator 1
The output of 6 is applied to a presettable reversible counter 17 to start counting.

As a result, the count value of the reversible counter 17 becomes a value obtained by integrating the joystick voltage, and rate control can be realized by sending this value as command signals 2 and 9 to a servo system (not shown).

Next, the case of manual mode (2nd rate aid control) will be explained.

The output of the joystick 1 is the mode switch 14.
through terminals 14b and 14c of integrator 3 and 14
It passes through the d and 14f terminals and is applied to the 4b terminal of the adder 4.

Mode switch 1 during rate aid control
Terminals 15a and 15c of No. 5 are connected.

Therefore, in the adder 4, the output of the joystick 1 and the output of the integrator 3 are added. The output of the adder 4 controls the voltage controlled oscillator 16 and the presettable reversible counter 17 as described above. As a result, the count value of the reversible counter 17 becomes a value obtained by integrating the output of the joystick 1 twice, and rate aid control is performed by sending this value as command signals 2 and 9 to the servo system (not shown in the figure). realizable.

The preset data 18 of the presettable reversible counter 17 is a servo system position signal.
This is used to set the initial value for rate control and rate aid control.

Next, boost signal generation will be explained. Position command signals 1 and 11 are applied to the 13b terminal of the subtracter 13. On the other hand, position command signals 2 and 9, which are outputs of a presettable reversible counter 17 to be described later, are fed back and applied to a terminal 13a of the subtracter 13.

The difference between the position command signals 1 and 11 and the position command signals 2 and 9 is obtained as the output of the subtracter 13, and is sent to the D/A converter 8. The output of the D/A converter 8 is applied to the integrator 3 through terminals 14a and 14c of the mode switch 14. When a boost signal is generated, the 14a, 14c terminals of the mode switch 14 and 14
The e and 14f terminals are connected. Therefore, joystick 1 has no effect. Integrator 3
The output passes through terminals 15a and 15c of mode switch 15 and is applied to terminal 4a of adder 4. The 4b terminal of the adder 4 is connected to the 14f, 1 of the mode switch 14.
Since the output terminal 4e is connected to ground, only the output of the integrator 3 is applied to the adder 4, and after being appropriately amplified, it is sent to the voltage controlled oscillator 16. The output of the voltage controlled oscillator 16 is applied to a presettable reversible counter 17, which starts counting, and the counted value is fed back to the 13a terminal of the subtracter 13. When the counting of the reversible counter 17 progresses and its count value becomes equal to the position command signals 1 and 11, the output of the subtracter 13 becomes zero, and this feedback loop becomes in an equilibrium state.

Now, the coefficient of integrator 3 is K ₁ and the voltage controlled oscillator 1 is
If the coefficient of 6 is K ₂ , then the position command signal 1・11
The transfer function from to the boost signal 10 is S/K ₂ /(1+S ² /K ₁ K ₂ ), where S is the differential operator. If K ₁ K ₂ is selected to be sufficiently large, the above equation can be approximated to S/K ₂ in a range where the frequency of position command signals 1 and 11 is small enough to be handled by a general servo system.

This is a result of differentiating the position command signals 1 and 11, which are input signals, and the velocity component can be extracted. In this case, the position command signals sent to the servo system are position command signals 1 and 11 shown in FIG.
Either position command signal 2 or 9 may be used.

It should be noted that the presettable reversible counter 17 functions only as a simple reversible counter when the boost signal is generated.

Although one embodiment has been described above for the case where the position command signal is parallel digital data, the present invention can also be implemented when the position command signal is analog, such as DC voltage, by changing the components of each part. .

As described above, this invention can be constructed with extremely simple hardware, and also has the function of performing rate control, rate aid control, and boost signal generation for the servo system by switching the inputs of each component. It has the advantage of being applicable to small-scale servo system control circuits.

[Brief explanation of the drawing]

FIG. 1 is a conceptual diagram of the operation of a conventional control system, and FIG. 2 is a block diagram showing an embodiment of the present invention. 1 is a joystick, 2 is an A/D converter, 3 is an integrator, 4 is an adder, 5 is an integrator, 6 is a differentiator, 7 is a signal switch, 8 is a D/A converter, 9 is a position command signal 2 , 10 is the boost signal,
11 is a position command signal 1, 12 is a calculator, 13 is a subtracter, 14 is a mode switch, 15 is a mode switch, 16 is a voltage controlled oscillator (VCO), 17 is a presettable reversible counter, and 18 is preset data. be. In the drawings, the same or corresponding parts are designated by the same reference numerals.

Claims (1)

[Claims] 1. An integrator that receives a joystick signal or error signal as input, a voltage-controlled oscillator that is activated by the output of this integrator, a presettable reversible counter that is activated by the output of the voltage-controlled oscillator, and an output of the reversible counter that is connected to the command signal side. It has a subtracter that returns and takes the difference from the command signal, and has a function to send command signals for rate control and rate aid control to the servo system, and by switching the circuit, extracts the speed component of the position command signal from sources other than the joystick. A servo control circuit characterized by having a function of supplying a boost signal to a servo system.