JPS6343080A - Control device for electromagnetic proportional valve - Google Patents
Control device for electromagnetic proportional valveInfo
- Publication number
- JPS6343080A JPS6343080A JP18395186A JP18395186A JPS6343080A JP S6343080 A JPS6343080 A JP S6343080A JP 18395186 A JP18395186 A JP 18395186A JP 18395186 A JP18395186 A JP 18395186A JP S6343080 A JPS6343080 A JP S6343080A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- circuit
- electromagnetic coil
- control
- deviation
- 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
- 230000004044 response Effects 0.000 abstract description 10
- 238000007562 laser obscuration time method Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
- 230000005284 excitation Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明はパルス幅変調方式により制御される電磁比例弁
の応答性を改ａした制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device that improves the responsiveness of an electromagnetic proportional valve controlled by a pulse width modulation method.
（従来の技術）
電磁比例弁の電磁コイルに入力する電流は、制御入力を
パルス幅変調することにより、制御入力に対応したパル
ス幅をもつ所定周期のパルス信号（断続電流）であり、
結果的にパルス幅に対応して弁開度が比例的に制御され
るようになっている。(Prior art) The current input to the electromagnetic coil of the electromagnetic proportional valve is a pulse signal (intermittent current) with a predetermined period having a pulse width corresponding to the control input by pulse width modulating the control input.
As a result, the valve opening degree is controlled in proportion to the pulse width.
ところで、このような電磁比例弁の制御装置では、入力
に対して出力を正確に制御するために、制御入力と電磁
コイルの励磁電流とを比較して、フィードバック制御を
行うのが普通である。By the way, in such a control device for an electromagnetic proportional valve, in order to accurately control the output with respect to the input, it is common to perform feedback control by comparing the control input with the excitation current of the electromagnetic coil.
そしてこの場合制御系を安定に動作させるために、制御
入力に対しである応答遅れをもたせるようにしている。In this case, in order to operate the control system stably, a certain response delay is provided to the control input.
このために、第４図にも示すように、入力信号Ａがａ激
に変化する過渡時には、パルス幅変調により制御され電
磁コイルに通電される実際の電流Ｂの平均値は、入力信
号Ａに対して緩やかに変化していき、ある時間遅れをも
って入力信号Ａに追従する。For this reason, as shown in Fig. 4, during a transient period in which the input signal A changes drastically, the average value of the actual current B controlled by pulse width modulation and energized to the electromagnetic coil is equal to the input signal A. On the other hand, it changes gradually and follows the input signal A with a certain time delay.
この場合、パルス幅変調をしないで入力信号Ａをそのま
ま増幅して駆動電流Ｃをつくる場合に比較しても、遅れ
時間ｔ１はＲ２よりもはるかに大きくなる。In this case, the delay time t1 is much larger than R2 even when compared to the case where the drive current C is created by directly amplifying the input signal A without pulse width modulation.
（発明が解決しようとする問題点）
しかしながら、このような遅れを無くすように、フィー
ドバック制御系の時定数を小さくすると、今度は入力信
号の変化時に過剰応答の問題がでてきて、電磁フィルの
励磁電流はオーバシュートに基づくハンチングを起こし
、電磁比例弁の開度が安定しな（なるという問題を生じ
る。(Problem to be solved by the invention) However, if the time constant of the feedback control system is made small to eliminate such delays, the problem of excessive response will arise when the input signal changes, and the electromagnetic filter will The excitation current causes hunting due to overshoot, causing a problem in which the opening degree of the electromagnetic proportional valve becomes unstable.
本発明はこのような問題を解決するためのもので、フィ
ードバック制御系の安定性を維持しつつ過渡時の応答性
を改善するようにした電磁比例弁の制御装置を提供する
ことを目的とする。The present invention is intended to solve such problems, and an object of the present invention is to provide a control device for an electromagnetic proportional valve that improves responsiveness during transient times while maintaining the stability of a feedback control system. .
（問題点を解決するための手段）
そのために本発明は、制御信号の入力値と電磁コイルの
駆動電流の検出値を加算する制御回路と、この制御回路
の出力に応じたパルス幅をもつ所定周期のパルス波を出
力するパルス幅変調回路と、この出力パルス波に対応し
た電磁コイル駆動電流を出力する駆動回路とを備えた電
磁比例弁の１１制御装置において、前記制御信号の入力
値と電磁コイル駆！ＪＩ電流の検出値との偏差を検出す
る回路と、この偏差値が所定値以上のとき前記電磁コイ
ル駆動電流を増加させる補償信号を出力する補償回路と
を備えるようにした。(Means for Solving the Problems) For this purpose, the present invention provides a control circuit that adds the input value of a control signal and a detected value of the drive current of the electromagnetic coil, and a predetermined pulse width that corresponds to the output of the control circuit. 11. A control device for an electromagnetic proportional valve comprising a pulse width modulation circuit that outputs a periodic pulse wave and a drive circuit that outputs an electromagnetic coil drive current corresponding to the output pulse wave. Coil drive! The present invention includes a circuit that detects a deviation from a detected value of the JI current, and a compensation circuit that outputs a compensation signal that increases the electromagnetic coil drive current when the deviation value is equal to or greater than a predetermined value.
（作用）
このようにすると、制御信号の入力値が急激に増加し、
電磁コイルの駆動電流との間の偏差値が所定値よりも大
浮くなると、補償回路が補償信号を出力する。この補償
信号に基づいて駆動回路の出力電流が増加する・ので、
電磁コイルの駆動電流が応答よく増加し、これにより電
磁比例弁の開度が即座に増大する。(Effect) In this way, the input value of the control signal increases rapidly,
When the deviation value from the drive current of the electromagnetic coil becomes larger than a predetermined value, the compensation circuit outputs a compensation signal. The output current of the drive circuit increases based on this compensation signal, so
The driving current of the electromagnetic coil increases responsively, and the opening degree of the electromagnetic proportional valve increases immediately.
一方、電磁コイルの駆動電流の急増により、制御入力値
との偏差が所定値よりも小さくなると、補償信号の出力
が停止し、通常のフィードバック制御に戻るので、偏差
が少ないときは、つまり制御信号の入力値が急激に変化
しないとさは、入力値に対応して過剰に応答することが
なく、安定した制御が維持される。On the other hand, if the deviation from the control input value becomes smaller than a predetermined value due to a sudden increase in the drive current of the electromagnetic coil, the output of the compensation signal will stop and return to normal feedback control. As long as the input value does not change rapidly, stable control will be maintained without excessively responding in response to the input value.
（実施例） 以下本発明の実施例を図面に基づいて説明する。(Example) Embodiments of the present invention will be described below based on the drawings.
第１図は制御装置のブロック図であり、１は制御信号を
入力するための信号設定器、２は後述する電磁コイル１
０の駆動電流の検出回路９からの出力と、この入力信号
設定器１の出力とを加算して制御信号をつくる制御回路
である。FIG. 1 is a block diagram of the control device, where 1 is a signal setting device for inputting control signals, and 2 is an electromagnetic coil 1, which will be described later.
This is a control circuit that adds the output from the 0 drive current detection circuit 9 and the output of this input signal setter 1 to generate a control signal.
３は制御回路２の出力である制御信号と、所定周波数の
パルス波を出力するパルス発生回路８の出力とを合成し
て制御信号の電圧値に対応したパルス幅をもつパルス信
号を出力するパルス幅変調回路である。７はこのパルス
幅変調回路３の出力に基づいて電磁コイル１０の駆動電
流を出力する電磁コイル駆動回路で、電磁コイル１０は
この駆動電流に応じて励磁され、電磁比例弁の弁開度を
調整する。3 is a pulse that synthesizes the control signal output from the control circuit 2 and the output of the pulse generation circuit 8 that outputs a pulse wave of a predetermined frequency, and outputs a pulse signal having a pulse width corresponding to the voltage value of the control signal. This is a width modulation circuit. 7 is an electromagnetic coil drive circuit that outputs a drive current for the electromagnetic coil 10 based on the output of the pulse width modulation circuit 3, and the electromagnetic coil 10 is excited in accordance with this drive current to adjust the valve opening of the electromagnetic proportional valve. do.
次ぎに４は前記信号設定器１からの入力信号と、前記検
出回路９からフィードバックされる検出信号との偏差に
応じた信号を出力する偏差検出回路であり、この偏差出
力は補償回路５において所定の基準電圧と比較され、基
準値以上のときに補償回路５は前記電磁コイル駆動電流
を所定値だけ増加させるように補償信号を出力する。な
お、この補償信号は電磁コイル駆動回路７に直接的に印
加される他、パルス幅変調回路３の入力側に印加される
ようにしてもよい。Next, 4 is a deviation detection circuit that outputs a signal corresponding to the deviation between the input signal from the signal setting device 1 and the detection signal fed back from the detection circuit 9. When the voltage is higher than the reference voltage, the compensation circuit 5 outputs a compensation signal to increase the electromagnetic coil drive current by a predetermined value. In addition to being applied directly to the electromagnetic coil drive circuit 7, this compensation signal may also be applied to the input side of the pulse width modulation circuit 3.
なお、１１は前記所定の基準電圧を出力する基準電圧設
定器である。Note that 11 is a reference voltage setter that outputs the predetermined reference voltage.
ｔＩＳ３図は偏差検出回路４と補償回路５等の具体的な
構成を示すもので、演算回路ＩＣＩは制御入力信号と電
磁コイル検出信号とにもとづいてＰＷＭ制御信号をつく
り、このとき抵抗Ｒ１とコンデンサＣ１とにより、制御
系が安定動作するように、ＰＷＭ制御信号に所定の遅れ
をもたせる。Figure tIS3 shows the specific configuration of the deviation detection circuit 4, compensation circuit 5, etc. The arithmetic circuit ICI creates a PWM control signal based on the control input signal and the electromagnetic coil detection signal, and at this time, the resistor R1 and the capacitor C1 causes the PWM control signal to have a predetermined delay so that the control system operates stably.
演算回路ＩＣ２はこのＰＷＭ制御信号と所定周波数のパ
ルス波とを合成して、パルス幅変調信号（駆動信号）を
出力する。The arithmetic circuit IC2 synthesizes this PWM control signal and a pulse wave of a predetermined frequency, and outputs a pulse width modulation signal (drive signal).
演算回路ＩＣ３は、抵抗Ｒ２、Ｒ３、Ｒ４、Ｒ５により
差動増幅回路として機能し、前記制御入力信号と電磁コ
イル検出信号との偏差に応じて信号を出力する。そして
この偏差信号を可変抵抗■Ｒ１からの基準電圧信号と比
較して、基準電圧信号以上のときに演算回路ＩＣ４が補
償信号を出力する。The arithmetic circuit IC3 functions as a differential amplifier circuit using resistors R2, R3, R4, and R5, and outputs a signal depending on the deviation between the control input signal and the electromagnetic coil detection signal. This deviation signal is then compared with the reference voltage signal from the variable resistor R1, and when the deviation signal is greater than or equal to the reference voltage signal, the arithmetic circuit IC4 outputs a compensation signal.
ダイオードＤ１、Ｄ２及び抵抗Ｒ６により、演算回路Ｉ
Ｃ２は補償信号とＰＷＭ制御信号との論理和（ＯＲ）を
とり、したがって補償信号が出力されているときは、補
償信号とＰＷＭ制御信号とのうちいずれか大きい方の出
力がその＊本人力し、これに基づいてパルス幅変調され
る。なお、補償信号が入力するときは、駆動信号は連続
通電状態になるように設定されている。Arithmetic circuit I with diodes D1, D2 and resistor R6
C2 takes the logical sum (OR) of the compensation signal and the PWM control signal, so when the compensation signal is being output, the output of the larger one of the compensation signal and the PWM control signal is the output of the *principal output. , pulse width modulation is performed based on this. Note that when the compensation signal is input, the drive signal is set to be in a continuous energization state.
以上のように構成され、次ぎに第２図のタイムチャート
を参照しながら、その作用について説明する。The system is constructed as described above, and its operation will be explained next with reference to the time chart shown in FIG.
信号設定器１からの制御入力信号（イ）が、それまでの
小さな一定値から急激に立ち上がるとすると、これに対
応してパルス＠変調回路３の出力信号（ロ）のパルス幅
も増加していく。If the control input signal (a) from the signal setter 1 suddenly rises from a small constant value, the pulse width of the output signal (b) of the pulse @ modulation circuit 3 will increase accordingly. go.
しかし、パルス＃ｊｌ変調回路３への入力は、制御回路
１２により電磁コイル検出回路て〕からの検出値（ハ）
との差分に対応しである時間遅れをもって変化していく
ため、パルス幅変調回路３の出力信号（ロ）のパルス幅
は急激には増大しない。However, the input to the pulse #jl modulation circuit 3 is the detected value (c) from the electromagnetic coil detection circuit by the control circuit 12.
Since the pulse width of the output signal (b) of the pulse width modulation circuit 3 does not increase rapidly, it changes with a certain time delay corresponding to the difference between the pulse width modulation circuit 3 and the pulse width modulation circuit 3.
ところが、偏差検出回路４により制御入力信号（イ）と
電磁コイル検出信号（ハ）との偏差が検出され、これが
所定基準値以上の間は、補償回路５から補償信号（ニ）
が出力される。このために、電磁コイル駆動回路７の入
力がその分だけ急激に増加し、このようにして、電磁コ
イル１０に対する励磁電流が、結局前記制御入力信号に
対応して応答よく増加することになり、これに伴って電
磁比例弁の開度が変化する。However, the deviation detection circuit 4 detects a deviation between the control input signal (a) and the electromagnetic coil detection signal (c), and while this is greater than or equal to a predetermined reference value, the compensation circuit 5 outputs a compensation signal (d).
is output. For this reason, the input to the electromagnetic coil drive circuit 7 increases rapidly by that amount, and in this way, the excitation current to the electromagnetic coil 10 eventually increases responsively in response to the control input signal. Along with this, the opening degree of the electromagnetic proportional valve changes.
一方このようにして電磁フィル１０の励磁電流が増加し
て入力信号に追従していき、その偏差が補償回路５の基
準値以下になると、補償回路５の出力が消失する。この
時点では通常のフィードバック制御に戻り、動作特性が
安定する。On the other hand, in this way, the excitation current of the electromagnetic filter 10 increases and follows the input signal, and when the deviation becomes less than the reference value of the compensation circuit 5, the output of the compensation circuit 5 disappears. At this point, normal feedback control is resumed and the operating characteristics become stable.
このようにして入力信号が急激に変化するときは、応答
よく電磁比例弁の開度を増加させることができる一方、
入力信号が定常的に変化するときは、通常のフィードバ
ック制御により安定した制御特性が得られる。In this way, when the input signal changes rapidly, the opening degree of the solenoid proportional valve can be increased with good response, while
When the input signal changes steadily, stable control characteristics can be obtained by normal feedback control.
なお、電磁コイル１０の駆動電流は、パルス電流となっ
ているため、検出回路９の出力は電磁コイル１０の自己
インダクタンスにより一次遅れをもって波型に変化する
ようになる。したがって、偏差検出回路４では電磁コイ
ル１０の励磁電流が定常化しても所定の振幅で変動する
ため、制御入力信号との間に常に偏差を生じるが、補償
回路５では定常状態における平均偏差値よりも比較基準
値を大きな値に設定することにより、定常状態において
補償回路５が補償信号を出力することのないようにする
。Note that since the drive current of the electromagnetic coil 10 is a pulse current, the output of the detection circuit 9 changes into a waveform with a first-order lag due to the self-inductance of the electromagnetic coil 10. Therefore, in the deviation detection circuit 4, even if the excitation current of the electromagnetic coil 10 becomes steady, it fluctuates with a predetermined amplitude, so a deviation always occurs between it and the control input signal, but in the compensation circuit 5, the average deviation value in the steady state By setting the comparison reference value to a large value, the compensation circuit 5 is prevented from outputting a compensation signal in a steady state.
（発明の効果）
以上のように本発明によれば、制御信号の入力値が急激
に増加し、電磁コイルの駆動電流との間の偏差値が所定
値よりも大きくなると、その間、補償回路が補償信号を
出力し、駆動回路の出力電流を増加するので、電磁コイ
ルの駆動電流が応答よく増加し、これにより電磁比例弁
の１Ｍ度を応答性よく増大することができる一方、偏差
が少ない定常状態では通常のフィードバック制御により
、入力値に対応して過剰に応答することがなく、安定し
た制御特性が維持される。(Effects of the Invention) As described above, according to the present invention, when the input value of the control signal increases rapidly and the deviation value between it and the drive current of the electromagnetic coil becomes larger than a predetermined value, the compensation circuit is activated during that time. Since a compensation signal is output and the output current of the drive circuit is increased, the drive current of the electromagnetic coil increases with a good response, which makes it possible to increase the 1M degree of the electromagnetic proportional valve with a good response, while maintaining steady state with little deviation. In this state, normal feedback control prevents excessive response to input values and maintains stable control characteristics.
＃ＩＩ１図は本発明の実施例を示すブロック回路図、第
２図は補償回路等の具体的な回路図、第３図は作動特性
を示す波形図、第４図は従来の入力信号に対する駆動信
号の関係をあられす説明図である。
１・・・入力信号設定器、２・・・制御回路、３・・・
パルス幅変調回路、４・・・偏差検出回路、５・・・補
償回路、７・・・電磁コイル駆動回路、９・・・電磁コ
イル電流検出回路、１０・・・電磁コイル。
ご÷二）二゛；
第２図
第３図
１Ｉ
′！′＊二坩７
第４図#II1 Figure is a block circuit diagram showing an embodiment of the present invention, Figure 2 is a specific circuit diagram of a compensation circuit, etc., Figure 3 is a waveform diagram showing operating characteristics, and Figure 4 is a drive for conventional input signals. FIG. 3 is an explanatory diagram showing the relationship between signals. 1... Input signal setting device, 2... Control circuit, 3...
Pulse width modulation circuit, 4... Deviation detection circuit, 5... Compensation circuit, 7... Electromagnetic coil drive circuit, 9... Electromagnetic coil current detection circuit, 10... Electromagnetic coil. 2) 2゛; Figure 2 Figure 3 1I'! '*Niwa 7 Figure 4
Claims (1)
算する制御回路と、この制御回路の出力に応じたパルス
幅をもつ所定周期のパルス波を出力するパルス幅変調回
路と、この出力パルス波に対応した電磁コイル駆動電流
を出力する駆動回路とを備えた電磁比例弁の制御装置に
おいて、前記制御信号の入力値と電磁コイル駆動電流の
検出値との偏差を検出する回路と、この偏差値が所定値
以上のとき前記電磁コイル駆動電流を増加させる補償信
号を出力する補償回路とを備えたことを特徴とする電磁
比例弁の制御装置。A control circuit that adds the input value of the control signal and the detected value of the drive current of the electromagnetic coil, a pulse width modulation circuit that outputs a pulse wave of a predetermined period with a pulse width corresponding to the output of this control circuit, and this output pulse. A control device for an electromagnetic proportional valve comprising: a drive circuit that outputs an electromagnetic coil drive current corresponding to a wave; a circuit that detects a deviation between an input value of the control signal and a detected value of the electromagnetic coil drive current; A control device for an electromagnetic proportional valve, comprising: a compensation circuit that outputs a compensation signal that increases the electromagnetic coil drive current when the value is greater than or equal to a predetermined value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61183951A JPH0792162B2 (en) | 1986-08-05 | 1986-08-05 | Control device for solenoid proportional valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61183951A JPH0792162B2 (en) | 1986-08-05 | 1986-08-05 | Control device for solenoid proportional valve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6343080A true JPS6343080A (en) | 1988-02-24 |
| JPH0792162B2 JPH0792162B2 (en) | 1995-10-09 |
Family
ID=16144671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61183951A Expired - Lifetime JPH0792162B2 (en) | 1986-08-05 | 1986-08-05 | Control device for solenoid proportional valve |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0792162B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0518475A (en) * | 1991-07-12 | 1993-01-26 | Rinnai Corp | Proportional valve driving device |
| US5968102A (en) * | 1996-03-19 | 1999-10-19 | Tokico Ltd. | Suspension control apparatus |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5638606A (en) * | 1979-09-05 | 1981-04-13 | Nippon Soken Inc | Driving method of proportional electromagnetic valve |
-
1986
- 1986-08-05 JP JP61183951A patent/JPH0792162B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5638606A (en) * | 1979-09-05 | 1981-04-13 | Nippon Soken Inc | Driving method of proportional electromagnetic valve |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0518475A (en) * | 1991-07-12 | 1993-01-26 | Rinnai Corp | Proportional valve driving device |
| US5968102A (en) * | 1996-03-19 | 1999-10-19 | Tokico Ltd. | Suspension control apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0792162B2 (en) | 1995-10-09 |
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