KR0124337Y1 - A digital synchro converter generating position commands for constant speed - Google Patents

Abstract

The present invention relates to a digital-sink converting apparatus for converting a position-related data such as a current position and an angular velocity from a system controller 1 into a synchro signal, and inputting a current position, an angular velocity, and a clock to a predetermined continuous constant speed. A command generator 10 for generating a drive command; and a digital-sync converter 20 for converting a constant speed drive command data into a synchro signal and converting the angular velocity to the current position command output by the system controller 1; Accurate servo drive is possible by continuously adding the counted value to the divided value to generate the corrected position command, thereby improving the accuracy of the control system.

Description

Digital-synchro converter for constant speed drive position command

1 is a digital-synchro converting device for a constant speed drive position command according to the present invention.

2 is a conventional digital-sink converter.

3 is a schematic diagram showing the configuration of a general control type synchro.

* Explanation of symbols for main parts of the drawings

1: System control unit 2: Digital-synchro converter

3: SYNCRO 10: Command generator

11: first latch 12: second latch

13: divider 14: counter

15: Dispensing and Counter 16: Rom (EPROM)

17: adder 20: digital-sink conversion unit

42: control transmitter 44: control transformer

46: amplifier 48: servo

The present invention relates to a control device for driving a servo by using a SYNCRO POSITION COMMAND. In particular, the present invention increases the hardware by one bit using the current position information and the angular velocity information in order to make an accurate constant speed position command. Or a digital-sync converter for generating a continuous position command by reducing.

In general, SYNCRO is a sensor capable of converting angular displacement into an electrical signal for remote data transmission, and can be broadly classified into a torque sync type and a control sync type. It is paired to transmit the angular displacement of the transmitter to the receiver as a torque, and the control sync type converts the angular displacement of the transmitter into the deviation signal from the control transformer of the receiver to be the signal of the amplifier and configures the servo system with the servo motor. Compared to the type, a large load can be transmitted with high accuracy. In this way, the synchro is a kind of analog rotation angle sensor, consisting of three-phase windings, and a resolver consisting of two-phase windings performs a function similar to that of a synchro.

As shown in FIG. 3, the general control synchro receives an angular voltage of the control transmitter 42 and the control transmitter 42, which generate a command voltage signal for the angular displacement by inputting an excitation power supply signal. The control transformer 44 generates a voltage proportional to the voltage, the amplifier 46 amplifies the output of the control transformer 44, and the servo system 48 driven according to the amplified deviation voltage. Position control is possible.

In addition, as control by digital processing such as a computer is rapidly developed in recent years, a synchro is also used in a digital direct control (DDC) system, and a synchro-digital (S / D) converter for converting a synchro signal into digital for this purpose. Digital-to-sink (D / S) converters, which convert digital and digital signals into synchro signals, are modularized and integrated circuits, making them readily available on the market.

As described above, in a servo drive apparatus using a synchro applied to digital processing, in the related art, only a position command is calculated by software by the system controller 1 as shown in FIG. 2, and then the digital-synchro (D / S) converter 20 In case of driving speed is high, because discontinuous position command is output by the execution period (time) of the program because it is converted to synchro signal and output to synchro (3), many positions are needed when S / D conversion of this command again. There was a problem involving an error.

In order to solve the above problems, the present invention provides a digital-sink converting apparatus for constant speed drive position commands that can generate continuous position commands by increasing or decreasing by one bit using current position data and angular velocity data. Its purpose is to.

Digital-synchro converting apparatus of the present invention for achieving the above object, the command generation unit for generating a predetermined continuous constant speed drive command by inputting the current position, the angular velocity and the clock; And a digital-sync converter for inputting the digital command to convert into a synchro signal.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing a digital-sink converting device for a constant speed drive position command according to the present invention, and inputs a current position θ _i , an angular velocity ω _i , and a clock CLK from the system controller 1. A command generation unit 10 for generating a predetermined continuous constant speed drive command; and a digital-sync conversion unit 20 for inputting the digital command to convert the digital command into a synchro signal.

The command generation unit 10 may include a first latch 11 for inputting current position (θ _i ) data, a second latch 12 for inputting angular velocity (ω _i ) data, and an output of the second latch. Input the signal and the clock CLK to divide the frequency divider 13 at 1 / angular velocity ω _i , the counter 14 which incrementally counts the output of the frequency divider 13, and the clock CLK. EPIROM (16) for storing the frequency division and the counter 15 for counting and incrementing the count, the simulation values for the random noise, and outputting them according to the output of the frequency division and the counter 15; And an adder 17 which adds the current position data, the output of the counter 14 and the output of the ROM 16.

In the command generation unit 10 according to the present invention, when a predetermined address is input from the system control unit 1, the first latch 11 is chip-selected to latch the current position θ _i , and the second latch. (12) latches the angular velocity (ω _i ) data and resets the frequency divider 13 and the counter 14. The divider 13 inputs angular velocity data from the second latch 12 and inputs a clock CLK from the outside. The counter 14 counts in the direction of increasing according to the output of the frequency divider 13, the frequency divider and the counter 15 inputs the clock CLK of 8 MHz, divides, and counts in the direction of increase. The ROM (EPROM) 16 divides the random noise simulation values stored in advance so that the response characteristics and noise filter test of the digital servo controller (or analog servo controller) can be performed by simulating the noise carried on the actual synchro position command. The output is selected according to the output of the counter 15.

The adder 17 adds the output of the first latch 11, the output of the counter 14, and the output of the ROM 16 to generate a continuous position command. The digital-sync converter 20 inputs the output of the adder 17, converts it into a synchro signal, which is an analog signal, and outputs the synchro signal SYNCRO.

As described above, the present invention is applied to a field using SYNCRO, and the position corrected continuously by adding the counted value and the random noise simulation value to the current position command outputted from the system controller is added. By generating a command, accurate servo driving is possible, thereby improving the accuracy of the control system.

Claims (2)

In the digital-sink converting apparatus for inputting position-related data such as current position and angular velocity from the system controller 1 and converting it into a synchro signal, the current position θ _i , the angular velocity ω _i and the clock CLK A command generator 10 for inputting and generating a predetermined continuous speed drive command; and a digital-sync converter 20 for inputting the constant speed drive command and converting it into a synchro signal, wherein the command generator 10 Is a divider 13 for dividing the angular velocity (ω _i ) data, a counter 14 for counting according to the output of the divider 13, a divider for inputting and dividing and counting clock CLK data, and A ROM (16) for outputting a counter noise and a random noise simulation value stored in advance according to the output of the frequency division and the counter (15); And an adder (17) for outputting the constant speed drive position command by adding the current position (θ _i ) data, the output of the counter 14 and the output of the ROM 16, and outputting the constant speed drive position command. -Synchro inverter. 2. The system of claim 1, wherein the command generator (10) comprises: a first latch (11) for latching the current position (θ _i ) data from the system controller (1) and providing it to the adder (17); And a second latch (12) for latching angular velocity (ω _i ) data from the system controller (1) and providing the divided frequency to the divider (13). .