JPS63249484A - Speed signal detection circuit for electromagnetic driver - Google Patents
Speed signal detection circuit for electromagnetic driverInfo
- Publication number
- JPS63249484A JPS63249484A JP62082663A JP8266387A JPS63249484A JP S63249484 A JPS63249484 A JP S63249484A JP 62082663 A JP62082663 A JP 62082663A JP 8266387 A JP8266387 A JP 8266387A JP S63249484 A JPS63249484 A JP S63249484A
- Authority
- JP
- Japan
- Prior art keywords
- drive
- coil
- speed signal
- resistor
- circuit
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims description 49
- 239000003990 capacitor Substances 0.000 claims abstract description 19
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000004020 conductor Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
Landscapes
- Control Of Electric Motors In General (AREA)
- Control Of Linear Motors (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明はボイスコイル型モーター、円筒サーボモーター
等の電磁駆動装置の速度信号検出回路に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a speed signal detection circuit for an electromagnetic drive device such as a voice coil type motor or a cylindrical servo motor.
（従来の技術）
従来、電磁駆動装置の速度信号検出回路としては速度検
出コイルを用いない第４図に示すようなものがある。図
中りは１コイルタイプのボイスコイル型モーター、円筒
サーボモーター等の電磁駆動装置における駆動コイル、
Ｒは駆動電流検出抵抗、Ｒ□は駆動出力検出抵抗、Ｃ□
は駆動出力検出コンデンサー、１１は駆動出力回路、１
２は演算回路である。(Prior Art) Conventionally, as a speed signal detection circuit for an electromagnetic drive device, there is a circuit as shown in FIG. 4 that does not use a speed detection coil. The diagram shows the drive coils in electromagnetic drive devices such as single-coil type voice coil motors and cylindrical servo motors.
R is drive current detection resistor, R□ is drive output detection resistor, C□
is a drive output detection capacitor, 11 is a drive output circuit, 1
2 is an arithmetic circuit.
ここで複素変数をＳ、駆動コイル乙の抵抗成分の伝達関
数をＧ （ｓ）□、抵抗Ｒ工およびコンデンサー〇□の
直列回路におけるコンデンサー〇〇の伝達関数をＧ （
Ｓ）２としてＬ／Ｒ＝ＣＩＲ０＝Ｔなる条件を満足する
ように設定すれば
となり、Ｇ （ｓ）、＝ Ｇ （ｓ）２となって駆動電
流と逆起電圧をコンデンサー〇〇と抵抗Ｒ１によって分
離することができ、？Ｉ！磁駆動駆動装置止状態では駆
動電流検出抵抗Ｒの両端電圧を インダクタンｅＱ
・
スＬによる逆起電圧をｅＬ、駆動出力検出抵抗Ｒ□の両
端電圧をｅ８１、駆動出力検出コンデンサーの両端電圧
をｅＣ工とすると、
ｅＬ ： ｅＱｌｌ ｅＲ３ｅＣ１になる。一方速
度信号は電磁駆動装置の磁気回路内の導体、すなわち駆
動コイルに発生していることになる。いま電磁駆動装置
（駆動コイル）の速度に比例した速度信号電圧ｅ工を抵
抗Ｒに生じさせる速度比例電流をＩＲ１駆動出力回路２
１の出力インピーダンスおよび出力電圧をｒｉおよびｅ
ｉ、駆動コイルの直流抵抗をｒｌ、電磁駆動装置の磁気
回路の磁束密度をＢ、駆動コイルの有効長をＱ、駆動コ
イルの速度を■とすると、ｅ、＝Ｂｆｌｙとなり、電磁
駆動装置の駆動状態ではインピーダンスｒｉが極めて小
さいとすれば駆動電流検出抵抗Ｒの両端電圧はｅ□が加
算されてｅｌ、ｌ＋ｅよ＝ｅ′２になる。Here, the complex variable is S, the transfer function of the resistance component of drive coil B is G (s) □, and the transfer function of capacitor 〇〇 in the series circuit of resistor R and capacitor 〇□ is G (
S)2, if it is set to satisfy the condition L/R=CIR0=T, then G (s), = G (s)2, and the drive current and back electromotive force are changed by capacitor 〇〇 and resistor R1. Can be separated by? I! When the magnetic drive drive device is stopped, the voltage across the drive current detection resistor R is the voltage across the inductor eQ.
- Let eL be the back electromotive force caused by S, e81 be the voltage across the drive output detection resistor R□, and eC be the voltage across the drive output detection capacitor, then eL: eQll eR3eC1. On the other hand, the speed signal is generated in the conductor in the magnetic circuit of the electromagnetic drive device, that is, in the drive coil. IR1 drive output circuit 2 generates a speed proportional current that causes a speed signal voltage e proportional to the speed of the electromagnetic drive device (drive coil) to be generated in the resistor R.
The output impedance and output voltage of 1 are ri and e
If i, the DC resistance of the drive coil is rl, the magnetic flux density of the magnetic circuit of the electromagnetic drive is B, the effective length of the drive coil is Q, and the speed of the drive coil is ■, then e, = Bfly, and the drive of the electromagnetic drive is In this state, if the impedance ri is extremely small, the voltage across the drive current detection resistor R is el, l+e=e'2 by adding e□.
従って演算回路１２によってｅ’ｐ −８６１の演算を
すればｅ工が得られる。Therefore, if the arithmetic circuit 12 calculates e'p -861, e'p can be obtained.
（発明が解決しようとする問題点）
しかしこの電磁駆動装置の速度信号検出回路では駆動コ
イルＬのインピーダンスが理想的なインダクタンスでは
無く、駆動コイルＬが通常ヨークを囲んで配置されてい
るので、過電流等の効果により駆動コイルＬのインダク
タンスが正確に一次の特性を示さず駆動出力抵抗Ｒ□お
よびｌ駆動出力検出コンデンサーＣ１からなる位相補償
回路との位相的な一致が正確に得られない。(Problem to be Solved by the Invention) However, in the speed signal detection circuit of this electromagnetic drive device, the impedance of the drive coil L is not an ideal inductance, and the drive coil L is usually arranged surrounding the yoke, so there is no overload. Due to the effects of current and the like, the inductance of the drive coil L does not accurately exhibit first-order characteristics, making it impossible to accurately match the phase with the phase compensation circuit consisting of the drive output resistor R□ and the drive output detection capacitor C1.
（問題点を解決するための手段）
本発明は電磁駆動装置の駆動コイルと直列に駆動電流検
出抵抗を接続するとともに、上記駆動コイルと駆動電流
検出抵抗とに並列になるようにそれぞれ異なるカットオ
フ周波数を持つ駆動出力検出抵抗と駆動出力検出コンデ
ンサーを直列に接続した複数のフィルター回路を接続す
る。(Means for solving the problem) The present invention connects a drive current detection resistor in series with the drive coil of an electromagnetic drive device, and connects the drive coil and drive current detection resistor in parallel with each other with different cutoffs. Connect multiple filter circuits in which drive output detection resistors with frequency and drive output detection capacitors are connected in series.
（作 用）
本発明では上記駆動電流検出抵抗の両端電圧と駆動出力
検出コンデンサーの両端電圧を比較演算して上記駆動コ
イルの速度信号を検出する。(Function) In the present invention, the speed signal of the drive coil is detected by comparing and calculating the voltage across the drive current detection resistor and the drive output detection capacitor.
（実施例） 第１図は本発明の一実施例を示す。(Example) FIG. 1 shows an embodiment of the invention.
図中りは駆動出力回路１３により１１動されるボイスコ
イル型モーターの駆動駆動コイル、Ｒは駆動コイルと直
列に接続された駆動電流検出抵抗、１４□〜１４ｎは異
なるカットオフ周波数を持つ複数のフィルター回路、１
５は演算回路、Ｒ２゜〜Ｒ２４は抵抗である。フィルタ
ー回路１４１〜１４ｎは駆動コイル−Ｌと駆動出力検出
抵抗Ｒとに並列になるようにそれぞれ駆動出力検出抵抗
Ｒ１□〜Ｒ１，ｔと駆動出力コンデンサーＣ□１〜Ｃ１
１を直列に接続したものである。駆動出力回路１３は駆
動コイルＬを駆動電流検出抵抗Ｒを介して駆動して移動
させ、また駆動出力回路１３の出力がフィルター回路１
４１〜１４ｎに加えられる。そして演算回路１５はフィ
ルター１４□〜１４ｎにおける駆動出力コンデンサーＣ
１□〜Ｃｘａの両端電圧の加算およびこれらと駆動電流
検出抵抗Ｒの両端電圧との減算を行なうことにより偏向
コイルＬの速度信号を検出する。In the figure, the drive coil of the voice coil motor is driven by the drive output circuit 13, R is the drive current detection resistor connected in series with the drive coil, and 14□ to 14n are the drive coils with different cutoff frequencies. filter circuit, 1
5 is an arithmetic circuit, and R2° to R24 are resistors. The filter circuits 141 to 14n include drive output detection resistors R1□ to R1,t and drive output capacitors C□1 to C1, respectively, in parallel with the drive coil -L and the drive output detection resistor R.
1 are connected in series. The drive output circuit 13 drives and moves the drive coil L via the drive current detection resistor R, and the output of the drive output circuit 13 is connected to the filter circuit 1.
41-14n. The arithmetic circuit 15 is connected to the drive output capacitor C in the filters 14□ to 14n.
The speed signal of the deflection coil L is detected by adding the voltages across 1□ to Cxa and subtracting them from the voltage across the drive current detection resistor R.
ボイスコイル型モーターの駆動コイルＬのインピーダン
ス特性を測定すると、第３図に示すように渦電流損等の
影響によって周波数が高くなるに従ってインダクタンス
が小さくなる。この影響により駆動コイルＬの電圧と電
流の関係は９０″′遅れ位相とならない。そこでこの実
施例では駆動コイルＬのインピーダンス変化に対応した
位相補償を行なうために複数の異なったカットオフ周波
数を持つ一次ＲＣ回路（Ｒ工、Ｃ１□、Ｒ１□Ｃ工２．
・・・Ｒ１−７Ｃ１，）を並列接続して構成したフィル
ター１４１〜１４ｎにより広帯域に位相補償を行なう。When the impedance characteristics of the drive coil L of the voice coil type motor are measured, as shown in FIG. 3, the inductance decreases as the frequency increases due to the effects of eddy current loss and the like. Due to this influence, the relationship between the voltage and current of the drive coil L does not have a phase lag of 90''.Therefore, in this embodiment, in order to perform phase compensation corresponding to changes in the impedance of the drive coil L, a plurality of different cutoff frequencies are used. Primary RC circuit (R work, C1□, R1□C work 2.
... R1-7C1,) are connected in parallel to perform phase compensation in a wide band.
従って駆動コイルのインピーダンス特性に位相補償特性
を細かく合わせることができてより広帯域に位相補償を
行なうことができ、ボイスコイル型モーターにおいて演
算回路１５からの速度信号により速度サーボをかける場
合にサーボ特性を向上させることができる。Therefore, it is possible to finely match the phase compensation characteristics to the impedance characteristics of the drive coil, making it possible to perform phase compensation over a wider range. can be improved.
第２図は本発明の他の実施例を示す。FIG. 2 shows another embodiment of the invention.
図中、Ａ工およびＲ，、Ｒ，は駆動出力回路を構成する
演算増幅器および抵抗、Ｒａ、ＲｂとＣａ。In the figure, A and R represent an operational amplifier and resistors, Ra, Rb, and Ca, which constitute the drive output circuit.
ｃｂは駆動コイルＬと駆動電流検出抵抗Ｒとに並列にな
るように接続されたそれぞれ異なるカットオフ周波数を
持つ２つのフィルター回路を構成する直列に接続された
駆動出力検出抵抗と駆動出力検出コンデンサー、Ｒ４は
駆動出力検出抵抗Ｒａ。cb is a drive output detection resistor and a drive output detection capacitor connected in series, which constitute two filter circuits each having a different cutoff frequency and are connected in parallel to the drive coil L and the drive current detection resistor R; R4 is a drive output detection resistor Ra.
Ｒｂと駆動出力検出コンデンサーＣａ、Ｃｂとの各接続
点の間に接続されたバランス抵抗、Ａ２はインピーダン
ス変換器、Ａ、は差動増幅器、Ｒ５−Ｒ８は抵抗である
。バランス抵抗Ｒ４は駆動出力検出抵抗Ｒａ、Ｒｂに対
して数１０倍の大きさのものを用いる。A balance resistor is connected between each connection point between Rb and drive output detection capacitors Ca and Cb, A2 is an impedance converter, A is a differential amplifier, and R5-R8 are resistors. The balance resistor R4 is several ten times larger than the drive output detection resistors Ra and Rb.
この実施例では、フィルター回路における駆動出力検出
コンデンサーＣａ、Ｃｂの各両端電圧がバランス抵抗Ｒ
４によりバランスをとって取り出され、インピーダンス
変換器Ａ２を介して差動増幅器Ａ、にて駆動電流検出抵
抗Ｒの両端電圧が減算されることにより駆動コイルＬの
速度信号が検出される。In this embodiment, the voltage across each of drive output detection capacitors Ca and Cb in the filter circuit is equal to the balance resistor R.
The speed signal of the drive coil L is detected by subtracting the voltage across the drive current detection resistor R at the differential amplifier A via the impedance converter A2.
なお本発明はボイスコイル型モーターに限らずブリッジ
制御モーター等の電磁駆動装置においてもその速度信号
検出回路に上記実施例と同様に実施することができる。Note that the present invention is not limited to voice coil type motors, but can also be implemented in the speed signal detection circuit of electromagnetic drive devices such as bridge control motors in the same manner as in the above embodiments.
（発明の効果）
以上のように本発明によれば駆動コイルと駆動電流検出
抵抗とに並列になるようにそれぞれ異なるカットオフ周
波数を持つ駆動出力検出抵抗と駆動出力検出コンデンサ
ーを直列に接続した複数のフィルター回路を接続し、駆
動電流検出抵抗の両端電圧と駆動出力検出コンデンサー
の両端電圧を比較演算して駆動コイルの速度信号を検出
するので、駆動コイルのインピーダンス特性にフィルタ
ー回路の位相補償特性を細かく合わせて広帯域に位相補
償を行なうことができる。(Effects of the Invention) As described above, according to the present invention, a plurality of drive output detection resistors and drive output detection capacitors each having a different cutoff frequency are connected in series so as to be parallel to the drive coil and the drive current detection resistor. Since the speed signal of the drive coil is detected by comparing and calculating the voltage across the drive current detection resistor and the voltage across the drive output detection capacitor, the phase compensation characteristic of the filter circuit is applied to the impedance characteristic of the drive coil. It is possible to finely adjust the phase compensation over a wide band.
第１図および第２図は本発明の各実施例を示す回路図、
第３図はボイスコイル型モーターの１駆動コイルのイン
ピーダンス特性を示す特性曲線図、第４図は従来の電磁
駆動装置の速度信号検出回路を示す回路図である。
Ｌ・・・駆動コイル、Ｒ・・・駆動電流検出抵抗、Ｒ工
、〜Ｒ１，Ｒａ、Ｒｂ・・・駆動出力検出抵抗、Ｃ８１
〜Ｇ、、Ｃａ、Ｃｂ・・・駆動出力検出コンデンサー
〇
％ イ ト司
馬２ 図
周波数1 and 2 are circuit diagrams showing each embodiment of the present invention,
FIG. 3 is a characteristic curve diagram showing the impedance characteristics of one drive coil of a voice coil type motor, and FIG. 4 is a circuit diagram showing a speed signal detection circuit of a conventional electromagnetic drive device. L... Drive coil, R... Drive current detection resistor, R engineering, ~R1, Ra, Rb... Drive output detection resistor, C81
~G, , Ca, Cb... Drive output detection capacitor
〇% I Toshima 2 Figure frequency
Claims (1)
接続するとともに、上記駆動コイルと駆動電流検出抵抗
とに並列になるようにそれぞれ異なるカットオフ周波数
を持つ駆動出力検出抵抗と駆動出力検出コンデンサーを
直列に接続した複数のフィルター回路を接続し、上記駆
動電流検出抵抗の両端電圧と上記駆動出力検出コンデン
サーの両端電圧を比較演算して上記駆動コイルの速度信
号を検出するようにした電磁駆動装置の速度信号検出回
路。A drive current detection resistor is connected in series with the drive coil of the electromagnetic drive device, and a drive output detection resistor and a drive output detection capacitor each having a different cutoff frequency are connected in parallel to the drive coil and the drive current detection resistor. An electromagnetic drive device in which a plurality of filter circuits connected in series are connected, and a speed signal of the drive coil is detected by comparing and calculating the voltage across the drive current detection resistor and the voltage across the drive output detection capacitor. Speed signal detection circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62082663A JP2594939B2 (en) | 1987-04-03 | 1987-04-03 | Speed signal detection circuit of electromagnetic drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62082663A JP2594939B2 (en) | 1987-04-03 | 1987-04-03 | Speed signal detection circuit of electromagnetic drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63249484A true JPS63249484A (en) | 1988-10-17 |
| JP2594939B2 JP2594939B2 (en) | 1997-03-26 |
Family
ID=13780674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62082663A Expired - Lifetime JP2594939B2 (en) | 1987-04-03 | 1987-04-03 | Speed signal detection circuit of electromagnetic drive |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2594939B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02202391A (en) * | 1989-01-31 | 1990-08-10 | Fujitsu Ltd | Servo circuit for disc mechanism |
-
1987
- 1987-04-03 JP JP62082663A patent/JP2594939B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02202391A (en) * | 1989-01-31 | 1990-08-10 | Fujitsu Ltd | Servo circuit for disc mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2594939B2 (en) | 1997-03-26 |
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