KR101385179B1 - Actuator control apparatus - Google Patents

Abstract

The present invention relates to an actuator control apparatus (100) that is configured wherein if a 4~20 mA current control signal mode is selected by a current/voltage control signal mode selection switch (31) according to the supply of a 4~20 mA current control signal of a control unit (30), a current/voltage control signal mode display (91e) displays the 4~20 mA current; if 0~20 mA current control signal mode is selected by the current/voltage control signal mode selection switch (31) according to the supply of a 0~20 mA current control signal of the control unit (30), the current/voltage control signal mode display (91e) displays the 0~20 mA current; if 0~10 V voltage control signal mode is selected by the current/voltage control signal mode selection switch (31) according to the supply of a 0~10 V voltage control signal of the control unit (30), the current/voltage control signal mode display (91e) displays the 0~10 V voltage; if 2~10 V voltage control signal mode is selected by the current/voltage control signal mode selection switch (31) according to the supply of a 2~10 V voltage control signal of the control unit (30), the current/voltage control signal mode display (91e) displays the 2~10 V voltage; and if 0~5 V voltage control signal mode is selected by the current/voltage control signal mode selection switch (31) according to the supply of a 0~5 V voltage control signal of the control unit (30), the current/voltage control signal mode display (91e) displays the 0~5 V voltage, whereby the kind of the control signal selected by the current/voltage control signal mode selection switch (31) can be more conveniently checked.

Description

Actuator control device {ACTUATOR CONTROL APPARATUS}

The present invention relates to an actuator control device, and more particularly, to an actuator control device capable of automatically adjusting the actuator more conveniently and stably.

In general, actuators convert air or fluid (especially semiconductor wafers) by controlling the forward or reverse rotation of motors from the accessories of industrial robots used to convert electrical energy into mechanical energy to grab objects, change directions, or change positions. It is used in various fields, such as valves for controlling the flow of washing).

As an example, an actuator used for controlling a valve for controlling the flow of air or fluid by controlling the forward and reverse rotation of the motor will be described with reference to FIG. 1.

1 is a perspective view including a valve for explaining a state of use of a general actuator.

As shown in FIG. 1, the actuator 1 has a disk D connected to the shaft S of the motor M when a flow rate of hot or cold water is to be supplied through a two-way valve V. It is used to limit the flow rate by appropriately adjusting the rotation angle.

At this time, the rotation angle of the disk (D) for limiting the flow rate is adjusted by the shaft (S) of the motor (M), the operation of this motor (M) is designed to be controlled while interlocking with the actuator (1).

FIG. 2 is a plan view showing the upper cap of the valve in order to explain the actuator servo control system disclosed in US Pat. As shown in Fig. 2, the actuator 10 has the valve V completely opened by the forward and reverse rotation of the disk D (valve V; Full Open (100%)] or completely closed [Valve (V); Full Close (0%)] is provided with a Full Open Limit Switch (11) and a Full Close Limit Switch (12), which operate by presetting a limit point for the forward and reverse rotation of the motor (M). Detects the actual trajectory position of the rotational angle of the shaft S that links the disk D as a detection signal [converts the physical rotation change of the shaft S that links the disk D to a resistance Ω Detection] consists of a structure including a potentiometer (13). 3 is a block diagram showing an actuator servo control system according to the line patent. As shown in FIG. 3, the actuator servo control system 100 according to the prior patent includes a power unit 21 for rectifying and smoothing external AC power to a constant voltage DC power, and control signals 4 to 4. A control unit 30 for providing 20 kHz) and a buffer amplifier 22 for buffering and filtering the control signal of the control unit 30. The power unit 21 includes a transformer and a bridge diode for rectifying the AC 110 / 220V supplied from the outside to a suitable voltage of, for example, DC 24V / 100 kV, and rectifying the rectifier. In addition, it is designed to provide a constant voltage which is always a constant voltage regardless of the fluctuation of the AC voltage supplied from the outside while smoothing the pulse of the AC voltage component included in the DC voltage rectified through the bridge diode as a condenser. The control unit 30 may be designed by a computer, a local controller, a direct digital control (DDC), or the like. The control unit 30 may have 1 to 5 V and 0 to 10 V in addition to the 4 to 20 mA current control signal. 1 to 10V, 2 to 10V voltage control signal can be provided for selection. The buffer amplifier 22 has an input load resistance RL of 250 ohms, and when the control signal of the control unit 30 is provided as 4 to 20 kHz, the buffer amplifier 22 converts to DC 1 to 5 V according to Ohm's law while buffering and filtering. It is configured to provide to the control input terminal of the microcomputer 40. 4 is a perspective view showing a servo control pack (SCP) applied to an actuator servo control system according to the line patent. The actuator servo control system 100 according to the prior patent package is a servo control pack (SCP) manufactured with a special molding process, high reliability for waterproof and vibration resistance and compact size, as shown in FIG. 4. In addition, as shown in FIG. 3, the line patent converts the detection signal of the potentiometer 13 into a constant current (4 to 20 mA) with respect to the actual track position value of the shaft S operated according to the control signal of the control unit 30. A microcomputer 40 which amplifies the control signal of the control unit 30 and the detection signal of the potentiometer 13 amplified by the constant current, amplifies the driving signal, and then compares it with the operation reference value and outputs the final operation signal. , An autosetting switch 70 for instructing the microcomputer 40 to automatically set the 0-100% trajectory of the actuator 10 by a touch of 3 seconds or more, and a final operation signal of the microcomputer 40. Accordingly, the mode selector 50 for setting the direction and the operating range for the forward and reverse rotation of the motor M, and the operation of the motor M as the final operation signal in the microcomputer 40 according to the mode selector 50 are set. And a drive unit 60 for controlling. However, prior patents provide a 4 ㎃ to 20 ㎃ current control signal and a 1 to 5 V, 0 to 10 V, 1 to 10 V, and 2 to 10 V voltage control signals selected from the control unit 30, respectively. The actuator servo control system must not only be incompatible, but also have a problem in that productivity and diversity are remarkably deteriorated according to various environments, that is, the product must be prepared according to all control signals. The applicant of the present application further improves and changes the prior patent, and proposes an invention that can maximize the compatibility and productivity by being actively used in various environments as a single actuator control device regardless of the type of control signal. On the other hand, the present applicant has a patent under the name of proportional control actuator control device (Patent No. 1058084) and is known in the prior art.

An object of the present invention is to provide an actuator control device that can more accurately and quickly determine the operating state of the actuator through the display window.

It is an object of the present invention to select the current control signal mode or the voltage control signal mode when the current / voltage control signal mode selection switch selects the selected current control signal or voltage control signal and the actual trajectory position of the shaft rotational angle when the actuator is driven. The present invention provides an actuator control apparatus that can easily identify the actuator's operation state by easily checking the track ratio as a display window, that is, the current / voltage control signal INPUT display unit and the track rate OUTPUT display unit.

An object of the present invention is to provide an actuator control device that can grasp the operating state of the actuator through the pipeline display unit to feel a sense of reality, as well as to more quickly feel the size of the trajectory ratio through the arrow display unit.

SUMMARY OF THE INVENTION An object of the present invention is to provide an actuator control device that allows a current / voltage control signal mode selection switch to more easily check whether a current control signal mode or a voltage control signal mode is selected through a current / voltage control signal mode display unit. .

An object of the present invention is to provide an actuator control device that can more easily check the type of the control signal selected by the current / voltage control signal mode selection switch.

An object of the present invention is to provide a current control signal mode of 4-20 mA, 0-20 mA current control signal mode or 0-10 V, 2-10 V, 0-5 V, 1-5 V current control signal mode selected by the current / voltage control signal mode selection switch. The actual range can be confirmed through the current / voltage control signal mode display section, and the current / voltage control signal INPUT display section can check the current control signal or voltage control signal as the INPUT value, and the rotation of the shaft by the orbit rate OUTPUT display section. It provides an actuator control device that can control the actuator more conveniently by allowing the user to grasp the overall situation at a glance by real-time recognition of the actual track position value with respect to the angle as the track rate (%). Is in.

SUMMARY OF THE INVENTION An object of the present invention is to provide an actuator control device which can understand a malfunction state of an actuator more quickly by a fail display.

It is an object of the present invention to provide an actuator control device that can understand the reverse mode and the direct mode of the actuator's operation state through the action mode display unit so that the user's understanding can be more quickly transmitted.

SUMMARY OF THE INVENTION An object of the present invention is to provide an actuator control device capable of confirming, as a deadband display unit, whether an operating width (dead band) is Narrow state or Wide state as a sensitivity of a motor of an actuator.

SUMMARY OF THE INVENTION An object of the present invention is to provide an actuator control device that can be displayed by the control body display on the pipeline display to visually grasp the actual operating state of the actuator.

An object of the present invention is to provide an actuator control device that can easily determine whether the microcomputer is associating, the actuator is operating, and furthermore, the actuator is malfunctioning.

In order to achieve the above object,

Limit point for forward and reverse rotation of the motor [valve; Full Open (100%) to Full Close (0%)], an upper limit limit switch and a lower limit switch that operate in advance, and an actuator with a potentiometer that converts the actual track position value of the rotation angle of the shaft into a detection signal and provides it. And a power unit for rectifying and smoothing the external AC power to convert the DC power into a constant voltage, a control unit for providing a control signal, a buffer amplifier for buffering and filtering the control signal of the control unit, and the control unit. Amplifying the detection signal of the potentiometer with respect to the actual orbital position value of the shaft operated according to the control signal of a constant current and amplifying the deviation of the control signal of the control unit from the detection signal of the potentiometer amplified with the constant current with a drive signal. And a microcomputer for controlling to output as a final operation signal by comparing with an operation reference value, and the maximum value of the microcomputer. A mode selector for setting a direction and an operating range for forward and reverse rotation of the motor according to an operation signal, a drive unit for controlling the operation of the motor as a final operation signal in the micom according to the setting of the mode selector, and the micom In the actuator control apparatus comprising a display window for displaying the state of the actuator according to the control of,

The control unit selects one of a current control signal and a voltage control signal and provides it to the buffer amplifier,

A current / voltage control signal mode selection switch for selecting a current control signal mode or a voltage control signal mode to correspond to any one of the current control signal and the voltage control signal selected by the control unit,

The display window is the selected current control signal or voltage when the current / voltage control signal mode selection switch selects the current control signal mode or voltage control signal mode to correspond to any one of the current control signal and voltage control signal selected by the control unit. Rotation of the shaft when the actuator is driven by a current / voltage control signal INPUT display unit for displaying a control signal as an INPUT value and a current control signal or a voltage control signal is selected by the current / voltage control signal mode selection switch. Including the orbital rate OUTPUT display unit displaying the actual orbital position value with respect to the angle as the orbital rate is a basic feature of the technical configuration.

According to the present invention, when the current / voltage control signal mode selection switch selects a current control signal mode or a voltage control signal mode, the selected current control signal or voltage control signal and the actual track position value of the rotation angle of the shaft when the actuator is driven. The track rate can be easily identified as a display window, i.e., the current / voltage control signal INPUT display section and the track rate OUTPUT display section, thereby making it possible to grasp the operating state of the actuator more accurately and conveniently.

The present invention has the effect of grasping the operating state of the actuator through the pipeline display to feel a sense of reality, as well as more quickly feel the size of the track rate through the arrow display.

The present invention has an effect that allows the current / voltage control signal mode selection switch to more easily identify which of the current control signal mode and the voltage control signal mode selected through the current / voltage control signal mode display.

The present invention has the effect that it is easier to check the type of the control signal selected by the current / voltage control signal mode selection switch.

The present invention provides the actual range of 4-20 mA, 0-20 mA current control signal mode or 0-10 V, 2-10 V, 0-5 V, 1-5 V current control signal mode selected by the current / voltage control signal mode selection switch. Can be checked through the current / voltage control signal mode display unit, and the current / voltage control signal INPUT display unit can check the current control signal or voltage control signal as the INPUT value, and the orbit rate It is possible to recognize the actual orbital position value in real time as the track rate (%), so that the user can grasp the overall status at a glance, there is an effect that can control the actuator more conveniently.

The present invention has the effect that the malfunction state of the actuator can be understood more quickly by the fail display.

According to the present invention, the reverse mode and the direct mode can be grasped by the action mode display unit in the operating state of the actuator.

The present invention has an effect of confirming as a deadband display unit whether the operating width (dead band) is Narrow state or Wide state as the sensitivity of the motor of the actuator.

According to the present invention, the control body display unit is displayed on the pipeline display unit to visually grasp the actual operating state of the actuator.

The present invention has an effect that can easily determine whether the microcomputer is associating, the actuator is operating, and further, the actuator is malfunctioning.

1 is a perspective view including a valve for explaining the use state of a general actuator.
FIG. 2 is a plan view showing the upper cap of the valve open to explain the actuator servo control system disclosed in US Pat.
3 is a block diagram showing an actuator servo control system according to the line patent.
4 is a perspective view showing a servo control pack applied to an actuator servo control system according to the line patent.
Figure 5 is a perspective view of the actuator control device according to the present invention.
Figure 6 is a perspective view of the cover removed showing the actuator control apparatus according to the present invention.
7 is a block diagram showing an actuator control device according to the present invention.
8 is a plan view showing a display window applied to the actuator control device according to the present invention.

Preferred embodiments of the actuator control device according to the present invention will be described with reference to the drawings, there may be a plurality of such embodiments, through which the objects, features and advantages of the present invention can be better understood. Will be.

5 is a perspective view showing the actuator control device according to the invention, Figure 6 is a perspective view of the cover showing the actuator control device according to the present invention, Figure 7 is a block diagram showing the actuator control device according to the present invention.

As shown in Figs. 5 and 6, the actuator 10 is a disk [D; 1, or valve V is completely opened (valve V) by the forward and reverse rotation of the ball; Full Open (100%)] or completely closed [Valve (V); Full Close (0%)] is provided with a Full Open Limit Switch (11) and a Full Close Limit Switch (12), which operate by presetting a limit point for the forward and reverse rotation of the motor (M). Detects the actual trajectory position of the rotational angle of the shaft S that links the disk D as a detection signal [converts the physical rotation change of the shaft S that links the disk D to a resistance Ω Detection] consists of a structure including a potentiometer (13).

More specifically, the actuator control device 100 according to the present invention is a power unit (Power Unit) (21) for rectifying and smoothing the external AC power to a constant voltage DC power as shown in Figs. The control unit 30 provides a control signal, the buffer amplifier 22 buffers and filters the control signal of the control unit 30, and a shaft operated according to the control signal of the control unit 30. Amplify the detection signal of the potentiometer 13 with respect to the actual track position value of (S) with a constant current and amplify the deviation from the control signal of the control unit 30 and the detection signal of the potentiometer 13 amplified with the constant current with a drive signal. After that, the microcomputer 40 controls to output the final operation signal in comparison with the operation reference value, and for example, the microcomputer 40 automatically touches the 0 to 100% trajectory of the actuator 10 by a touch of 3 to 10 seconds. To set Command automatic setting switch [70; Although the automatic setting switch 70 is referred to in the present invention, manual setting using the volume terminal is also possible and can be referred to as an equal relationship with each other), and the stationary range of the motor M according to the final operation signal of the microcomputer 40. The mode selector 50 for setting the direction and the operating range for rotation, respectively, and the drive unit 60 for controlling the operation of the motor M as the final operation signal in the microcomputer 40 according to the setting of the mode selector 50. It includes.

The microcomputer 40 amplifies and outputs the detection signal of the potentiometer 13 with respect to the actual track position of the shaft S operated according to the control signal of the control unit 30 with a constant current, and the control signal of the control unit 30 After amplifying the deviation of the detection signal of the potentiometer 13 amplified by the constant current into a drive signal, the drive signal is compared with an operation reference value and output as a final operation signal.

In this case, the amplification of the detection signal of the potentiometer 13 with a constant current means that a constant current is maintained at all times regardless of load fluctuations. Short) or even if the output resistance for monitoring is changed to 25Ω or 250Ω, it means to maintain the current of 4㎃ always so that the output load resistance can be freely selected according to the usage environment.

The drive unit 60 directly controls the operation of the motor M by using the final operation signal of the microcomputer 40 according to the setting of the mode selector 50 to the SSR drive unit (Solid State Relay Drive Unit) 61. To make.

The SSR drive unit 61 is a semiconductor switch element that controls the operation of the motor M in response to the final operation signal of the microcomputer 40, but may be implemented as a general relay. In the present invention, the drive unit 60 is applied as the SSR drive unit 61 because the control is limited and the mechanical contact is used to shorten the life.

When the drive unit 60 is employed as the SSR drive unit 61, the contact life is semi-permanent and the operation response speed is fast, so that precise control is possible, the consumption current is low, the efficiency is high, and the size and weight can be reduced.

According to the present invention, the control unit 30 selects one of the current control signal and the voltage control signal and provides it to the buffer amplifier 22, and thus any of the current control signal and the voltage control signal selected by the control unit 30. A key / current control signal mode selection switch 31 for selecting a current control signal mode or a voltage control signal mode to correspond to one is included as its core configuration.

More specifically, the control unit 30 selects a 4-20 mA, 0-20 mA current control signal or a 0-10V, 2-10V, 0-5V, 1-5V voltage control signal to select the buffer amplifier 22. 4 to 20 ㎃, 0 so that the control signal selected by the control unit 30 can be applied to both the current control signal and the voltage control signal in the current / voltage control signal mode selection switch 31. The current control signal mode or 0 to 10 V, 2 to 10 V, 0 to 5 V, and 1 to 5 V voltage control signal modes can be selected.

Accordingly, regardless of the type of control signal selected by the control unit 30, even a single actuator control device 100 can be used in accordance with each environment and compatible with the user's selection, thereby ensuring diversity and productivity. Will be.

Preferably, the current / voltage control signal mode depends on the selection of the 4-20 mA, 0-20 mA current control signal or the 0-10 V, 2-10 V, 0-5 V, 1-5 V voltage control signal of the control unit 30. The selector switch 31 can select 4 to 20 mA, 0 to 20 mA current control signal mode, 0 to 10 V, 2 to 10 V, 0 to 5 V, and 1 to 5 V voltage control signal modes.

That is, the current / voltage control signal mode selection switch 31 selects the 4-20 mA current control signal mode in accordance with the provision of the selection of the 4-20 mA current control signal of the control unit 30, The 0 to 20 mA current control signal mode is selected in accordance with the provision of the 0 to 20 mA current control signal selection, and the voltage control signal mode of 0 to 10 V is selected according to the selection provision of the 0 to 10 V voltage control signal of the control unit 30. Selects and selects a voltage control signal mode of 2 to 10V in accordance with the selection provision of the 2 to 10V voltage control signal of the control unit 30, and selects 0 in response to the selection provision of the 0 to 5V voltage control signal of the control unit 30. A voltage control signal mode of ˜5V is selected, and a 1-5V voltage control signal mode is selected in accordance with the selection provision of the 1-5V voltage control signal of the control unit 30.

More specifically, the current control signal mode voltage control signal mode can be selected as the switch 1 (S1), the switch 2 (S2) and the switch 3 (S3), and these switches 1 (S1), the switch 2 (S2) and the switch 3 are selected. According to the ON / OFF combination of (S3), Table 1 below (Table 1 below means that the current control signal mode voltage control signal mode can be selected by the combination of switches, and other combinations belong to the same category. In this case, the control signal mode is selected.

Switch1

Switch2
Switch3
Control signal
ON
OFF
OFF
4 to 20 ㎃

ON
OFF
ON
0 to 20 ㎃

OFF
ON
ON
0-10V

OFF
ON
OFF
2-10V

OFF
OFF
ON
0 to 5 V

OFF
OFF
OFF
1 to 5 V

In this way, the control signal mode is 4-20 mA, 0-20 mA current control signal mode, 0-10 V, 2-10 V, 0-5 V, as the ON / OFF combination of the switches 1 (S1) to 3 (S3). It can be selected and utilized as a 1 to 5V voltage control signal mode, so that it can be actively adapted to various environments as a single actuator control device 100.

In addition, the buffer amplifier 22 has an input load resistance RL of 250 Ω, and when the control signal of the control unit 30 is provided as 4 to 20 mV, the buffer amplification part 22 is buffered and filtered to DC 1 to 5 V according to Ohm's law. And convert it to the control input of the microcomputer 40.

Ohm's law

Voltage V = I * R, Current I = V / R, Resistance R = V / I

Preferably, when the control signal of the control unit 30 is a 0-5V or 0-10V voltage control signal, the microcomputer 40 skips when a noise signal of 0.2V or less is included in the control signal.

Since the control signal of the control unit 30 includes various noises and disturbances caused by long-distance transmission, which may cause malfunction of the actuator 10, the buffer amplification unit 22 is provided to buffer and filter them. Can be understood.

When the control signal by the control unit 30 is a 0 to 5V or 0 to 10V voltage control signal, noise signals from the outside may be sensitively introduced, which causes the microcomputer 40 to generate a noise signal of 0.2V or less in the control signal. If included, it is possible to skip (Skip) to prevent malfunction due to the noise signal.

On the other hand, the actuator control device 100 according to the present invention is selected as the current / voltage control signal mode selection switch 31, 4-20 mA or 0-20 mA current control signal or 0-10V, 2-10V, 0- It may include a feedback drive amplifier 41 for outputting and monitoring the feedback signal of 4-20Hz even if the voltage control signal of any one of 5V, 1 to 5V is selected to drive the actuator 10.

In the actuator control device 100, a control signal is often applied to a 4-20 mA current control signal, and most users also easily recognize and understand a 4-20 mA current control signal. As the mode selection switch 31, any control signal such as 4-20 mA, 0-20 mA current control signal mode or 0-10 V, 2-10 V, 0-5 V, 1-5 V voltage control signal mode is selected and inputted. The feedback signal is provided with a feedback drive amplifier 41 so as to output as much as 4 to 20 kHz to maximize the convenience of use.

Subsequently, the actuator control device 100 according to the present invention senses the abnormality of the torque of the motor M, the fault of the upper limit switch 11 and the lower limit switch 12, and the error of the potentiometer 13, respectively. 40 includes a fail detector 92 that sends a fail signal.

The fail detector 92 sends an error to the microcomputer 40 while sensing an abnormal torque of the motor M, an error of the upper limit switch 11 and the lower limit switch 12, and an error of the potentiometer 13. This is to allow the control device 100 to recognize in real time.

At this time, when the microcomputer 40 receives the fail signal of the fail detector 92, the final operation signal for causing the valve V to be fully open (100%), full close (0%), or stop (current state maintained). It is possible to prevent the safety accident [phenomena that are broken by the continuous operation of the actuator 10] in advance.

Preferably, when receiving the first fail signal from the fail detector 92, the microcomputer 40 causes Full Open (100%), Full Close (0%), or Stop (currently maintained) to control the valve (V). When the entire actuator 10 is re-driven to the previous driving state, and the second fail signal is received from the fail detector 92 despite the re-drive of the actuator 10, the valve V is set to Full Open (100%), Generates the final operation signal to full close (0%) or stop (maintain).

At this time, when the first fail signal is generated, the re-drive cycle is 3 sec, the re-drive time is 3 sec, and the re-drive repetition frequency is once, and at least once when a noise signal suddenly enters the control signal according to the surrounding environment. Only if the defect is to be re-trusted to be able to determine the operation stop of the actuator 10 carefully.

On the other hand, the mode selector 50 has a large value (20 ㎃, 20 ㎃, 10 V) when the control signal of the control unit 30 is small (4 ㎃, 0 ㎃, 0 V, 2 V, 0 V, 1 V; indicated in order). , 10V, 5V, 5V; described in order) to rotate the motor M of the actuator 10 to the maximum reverse rotation (valve V); Full forward rotation (valve V) from Full Close (0%); Full Open (100%)] in reverse mode, the control signal of the control unit 30 has a small value (4 작은, 0㎃, 0V, 2V, 0V, 1V; indicated in order) Rotates the motor M of the actuator 10 at maximum forward rotation (valve V) when it is changed to a large value (20 Hz, 20 Hz, 10 V, 10 V, 5 V, 5 V; in turn). Full reverse rotation from Full Open (100%) (valve V); Full Mode (0%)] includes an action mode for setting a direct mode for operating up to and including the actuator 10 when a second fail signal is received from the fail detector 92. Motor (M) of the maximum rotation (valve V); Full mode (Open%)], the motor (M) of the actuator 10 in the maximum reverse rotation (valve V); Full Mode (Full Mode), and Close Mode (Fail Mode) for setting the Stop Mode (Stop Mode) for maintaining the state immediately before the operation of the motor (M) of the actuator (10). .

In addition, the deadband mode for adjusting and setting the operating width (dead band; narrow / wide) to use the operation reference value compared to the driving signal in the microcomputer 40 as the reaction sensitivity of the motor M of the actuator 10. Dead Band Mode).

Action mode is made by switch 4 (S4), fail mode is made by switch 5 (S5) and switch 6 (S6), and deadband mode is made by switch 7 (S7). It is made by the switch 4 (S4), switch 5 (S5), switch 6 (S6) and the switch 7 (S7) according to the ON / OFF combination is designed so that the mode shown in Table 2 can be selected.

[Table 2]

More specifically, the reverse mode of the action mode defines the final operation signal of the microcomputer 40 so that when the control signal is smaller than the detection signal, the rotation direction of the motor M is rotated forward to open the valve V by the deviation thereof. On the contrary, the final operation signal of the microcomputer 40 is defined to reverse the rotation direction of the motor M and close the valve V by the deviation. In the direct mode of the action mode, the control signal is detected. If it is smaller than the signal, the direction of rotation of the motor M is reversed, and the final operation signal of the microcomputer 40 is defined to close the valve V by the deviation. The final operation signal of the microcomputer 40 is defined so that the valve V can be opened by the forward rotation by the deviation thereof.

When the switch 4 (S4) is turned ON to set the reverse mode in the action mode, when the control signal of the control unit 30 is, for example, 4 kV, the motor M of the actuator 10 rotates in the maximum reverse direction and the valve ( The final operation signal of the microcomputer 40 is defined so that V) is switched to the Full Close state (0%), and the motor M of the actuator 10 when the control signal of the control unit 30 is 20 Hz, for example. The maximum forward rotation is to define the final operation signal of the microcomputer 40 so that the valve (V) is switched to the Full Open (100%) state.

On the other hand, when the switch 4 (S4) is turned OFF to set the direct mode among the action modes, when the control signal of the control unit 30 is, for example, 4 kV, the motor M of the actuator 10 rotates at the maximum forward direction and the valve Define the final operation signal of the microcomputer 40 so that (V) is switched to the Full Open (100%) state, and the motor (M) of the actuator 10 when the control signal of the control unit 30 is 20 kW, for example. ) Is the maximum reverse rotation to define the final operating signal of the microcomputer 40 so that the valve (V) is switched to the Full Close (0%) state.

On the other hand, when the switch 5 (S5) is turned ON and the switch 6 (S6) is turned OFF to set the open mode in the fail mode, the motor M of the actuator 10 when the control signal of the control unit 30 is blocked. The maximum forward rotation to define the final operation signal of the microcomputer 40 so that the valve (V) is fully open (100%), switch 5 (S5) is turned OFF and switch 6 (S6) is set to set the stop mode in the fail mode. When OFF is defined, the final operation signal of the microcomputer 40 is defined so that the control signal of the control unit 30 stops immediately before the motor M operation of the actuator 10, and the close mode in the fail mode is defined. If the switch 5 (S5) is set to OFF and the switch 6 (S6) is set to ON, when the control signal of the control unit 30 is interrupted, the motor M of the actuator 10 is rotated to the maximum and the valve V The final operation signal of the microcomputer 40 is defined to be Full Close (0%).

Further, the deadband switch S7 adjusts the operation reference value in the microcomputer 40 compared to the drive signal of the potentiometer 13 as the operating width (dead band) to be utilized as the response sensitivity of the motor M of the actuator 10. When the deadband switch S7 is turned off by setting in advance, a narrow operating width (dead band) is obtained, and the narrow operating width of the deadband switch S7 is reduced even if the driving signal is slightly large. It is possible to obtain a larger result, so that the reaction of the motor M of the actuator 10 may be operated very sensitively, and conversely, when the deadband switch S7 is turned on, a wide operation width (deadness) Even if the size of the drive signal is relatively large, the resultant value is smaller than the wide operating width of the deadband switch S7, so that the response of the motor M of the actuator 10 is very insensitive. Can It is.

As such, the operating width (dead band) by adjusting the deadband switch S7 set as the operation reference value of the microcomputer 40 can be preset by the user arbitrarily according to the use environment, thereby maximizing the efficiency and life of the product. Will be.

On the other hand, the actuator servo control system 100 according to the present invention can set the range of the valve (V) Full Close state and Full Open state differently depending on the use environment, the valve (V) in accordance with the use environment The motor M can be operated under any environment by the lower limit switch 12 and the upper limit switch 11 recognizing the full close and full open states as the operating range (0 to 100%) for the forward and reverse rotation of the motor M. It may further include a feedback adjusting volume 80 to more freely set the operating range of the.

That is, the feedback adjusting volume 80 is adjusted to uniformly provide 4 to 20 mA of constant current (feedback output) in the microcomputer 40 regardless of the type of the control signal of the control unit 30.

8 is a plan view illustrating a display window applied to an actuator control device according to the present invention.

The actuator control device according to the present invention includes a display window (LCD) 91 for displaying the state of the actuator 10 under the control of the microcomputer 40.

As shown in FIG. 8, the display window 91 is configured such that the current / voltage control signal mode selection switch 31 is configured to correspond to any one of the current control signal and the voltage control signal selected by the control unit 30. When the control signal mode is selected, the current / voltage control signal INPUT display section 91a for displaying the selected current control signal or voltage control signal as an INPUT value and the current / voltage control signal mode selection switch 31 When selected or the voltage control signal is selected to drive the actuator 10 includes a track rate OUTPUT display portion (91b) for displaying the actual track position value with respect to the rotation angle of the shaft (S) as the track rate.

When the current / voltage control signal mode selection switch 31 selects the current control signal mode or the voltage control signal mode, the selected current control signal or voltage control signal and the rotation angle of the shaft S when the actuator 10 is driven. The operation of the actuator 10 is more precise and convenient by allowing the user to easily check the orbital rate, which is the actual orbital position value, for the display window 91, that is, the current / voltage control signal INPUT display unit 91a and the orbital rate OUTPUT display unit 91b. You can see the status.

In addition, the display window 91 may include a pipe-shaped pipeline display unit 91c between the current / voltage control signal INPUT display unit 91a and the track rate OUTPUT display unit 91b, and a current in the pipeline display unit 91c. And an arrow display portion 91d which is added to or subtracted from the voltage control signal INPUT display portion 91a from the voltage control signal INPUT display portion 91a to a magnitude proportional to the track ratio, which is the actual track position value with respect to the rotation angle of the shaft S. can do.

Through the pipeline display unit 91c, the operating state of the actuator 10 can be grasped, so that the user can feel a sense of reality, and the size of the track rate can be felt more quickly through the arrow display unit 91d.

Furthermore, the display window 91 selects the current / voltage control signal mode selection switch 31 to select the current control signal mode or the voltage control signal mode so as to correspond to any one of the current control signal and the voltage control signal selected by the control unit 30. And a current / voltage control signal mode display portion 91e for indicating the current control signal mode or the voltage control signal mode.

The current / voltage control signal mode display unit 91e allows the current / voltage control signal mode selection switch 31 to more easily check which one of the current control signal mode and the voltage control signal mode is selected.

More specifically, the current / voltage control signal when the current / voltage control signal mode selection switch 31 selects the 4-20 mA current control signal mode in accordance with the selection provision of the 4-20 mA current control signal of the control unit 30. The mode display section 91e is displayed as 4 to 20 mA, and the current / voltage control signal mode selection switch 31 controls the 0 to 20 mA current according to the selection of the 0 to 20 mA current control signal provided by the control unit 30. When the signal mode is selected, the current / voltage control signal mode display section 91e is displayed as 0 to 20 mA, and the current / voltage control signal mode selection switch 31 selects the 0 to 10 V voltage control signal of the control unit 30. When the voltage control signal mode of 0 to 10 V is selected in accordance with the provision, the current / voltage control signal mode display section 91e is displayed as 0 to 10 V, and the current / voltage control signal mode selection switch 31 is connected to the control unit 30. 2-10V depending on selection of 2-10V voltage control signal When the voltage control signal mode is selected, the current / voltage control signal mode display section 91e displays 2 to 10 V, and the current / voltage control signal mode selection switch 31 is used to control the 0 to 5 V voltage control signal of the control unit 30. When the voltage control signal mode of 0 to 5V is selected in accordance with the selection, the current / voltage control signal mode display portion 91e is displayed as 0 to 5V, and the current / voltage control signal mode selection switch 31 is controlled by the control unit 30. When the 1 to 5 V voltage control signal mode is selected according to the selection of the 1 to 5 V voltage control signal, the current / voltage control signal mode display unit 91e displays as 1 to 5 V to indicate the current / voltage control signal mode selection switch 31. It is possible to more easily check the type of the selected control signal.

In addition, the display window 91 is a current / voltage control signal mode selection switch 31 in which 4 to 20 mA or 0 to 20 mA current control signal is selected or selected from 0 to 10 V, 2 to 10 V, 0 to 5 V, and 1 to 5 V. When any one of the voltage control signal is selected and the actuator 10 is driven, the current / voltage control signal mode display portion 91e, the current / voltage control signal INPUT display portion 91a and the orbit rate OUTPUT display portion 91b are shown in the table below. Each should be displayed as shown in 3.

[Table 3]

Since the actual track position with respect to the rotational angle of the shaft S cannot be visually checked by the user, 4 to 20 kW selected by the current / voltage control signal mode selection switch 31 is reversed as the track rate displayed on the display window 91; The current range of the 0 to 20 mA current control signal mode or the 0 to 10 V, 2 to 10 V, 0 to 5 V, and 1 to 5 V current control signal modes can be confirmed on the current / voltage control signal mode display section 91e. The voltage control signal INPUT display unit 91a displays the input current control signal or the voltage control signal as an INPUT value, respectively, and the track rate OUTPUT display unit 91b displays the actual trajectory of the rotation angle of the shaft S. The position value can be recognized in real time as the trajectory rate (%), so that the user can grasp the overall status at a glance and can use it more conveniently.

In addition, when the fail detector 92 generates a fail signal, the display window 91 may include a fail display unit displaying full open (100%), full close (0%), or stop (current state maintenance) of the valve (V). 91f), wherein the fail display unit 91f displays STOP, CLOSE, and OPEN so that the malfunction state of the actuator 10 can be understood more quickly.

Further, the display window 91 rotates the motor M of the actuator 10 at maximum reverse rotation when the control signal of the control unit 30 changes from a small value to a large value (valve V); Full forward rotation (valve V) from Full Close (0%); Full Open (100%)] in reverse mode, when the control signal of the control unit 30 changes from a small value to a large value, the motor M of the actuator 10 rotates at maximum forward rotation. [Valve V; Full reverse rotation from Full Open (100%) (valve V); Full mode (0%)] includes an action mode display unit 91g for displaying an action mode for setting direct mode to operate.

The action mode display portion 91g displays 100%: CL, 0%: OP in the reverse mode, and 0%: CL, 100%: OP in the direct mode.

The reverse mode and the direct mode of the operating state of the actuator 10 can be grasped by the action mode display unit 91g so that the user's understanding can be delivered more quickly.

In addition, the display window 91 is set by adjusting the operating width (deadband; narrow / wide) to utilize the operation reference value compared to the drive signal in the microcomputer 40 as the reaction sensitivity of the motor M of the actuator 10. And a dead band display unit 91h for displaying a dead band mode.

As the sensitivity of the reaction of the motor M of the actuator 10, it is possible to confirm whether the operating width (dead band) is in the narrow state or the wide state as the deadband display portion 91h.

In addition, the display window 91 is displayed on the pipeline display unit 91c to display CAL when the microcomputer 40 is operating, and to display RUN when the actuator 10 is in operation, and to generate an error in the actuator 10. The control body display unit 91i may be included.

The control body display unit 91i is displayed on the pipeline display unit 91c so that the actual operating state of the actuator 10 can be visually recognized, and further, whether the microcomputer 40 is associated with the actuator 10 or the operating unit 10 is further operated. Furthermore, it is possible to easily determine whether the actuator 10 is malfunctioning.

Referring to the core operation of the actuator control device 100 according to the present invention made of the above configuration as follows.

Operation of the actuator control device according to the present invention is a limit point for the forward and reverse rotation of the motor (M) as a whole (valve (V); Full Open (100%) to Full Close (0%)], the upper limit limit switch 11, the lower limit switch 12, and the actual track position values of the rotation angles of the shaft S as the detection signals are used as detection signals. The actuator 10 having the potentiometer 13 to be converted and provided can be automatically controlled, and the 4-20 mA, 0-20 mA current control signal from the control unit 30 or 0-10 V, 2-10 V, When any one of 0 to 5 V and 1 to 5 V voltage control signals are selected and provided, the current / voltage control signal mode selection switch (1) corresponds to any one of the current control signal and the voltage control signal selected by the control unit 30 accordingly. 31) to select 4 to 20 mA, 0 to 20 mA current control signal mode or 0 to 10 V, 2 to 10 V, 0 to 5 V, or 1 to 5 V voltage control signal mode. DC 1 ~ 5V signal is provided to the control input terminal of the microcomputer 40 The detection signal of the potentiometer 13 with respect to the actual track position value of the shaft S is amplified by the constant current, and the deviation between the control signal of the control unit 30 and the detection signal of the potentiometer 13 amplified by the constant current is used as the drive signal. After amplifying and outputting the final operation signal from the microcomputer 40 in comparison with the operation reference value, the direction and the operating range for the forward and reverse rotation of the motor M in accordance with the final operation signal of the microcomputer 40 in the mode selector 50. Each setting is made, and the operation of the motor M is controlled by the drive unit 60 as the final operation signal in the microcomputer 40 according to the setting of the mode selector 50, and this operation state is displayed as the display window 91. Quick, easy and easy to grasp.

The present invention is to adjust the forward or reverse rotation of the motor from the accessory of the industrial robot used to change the position or change the position or to change the electrical energy to mechanical energy, such as air or fluid (semiconductor cleaning field) It can be used in various fields ranging from valves for controlling the flow of water.

D: Disc M: Motor
S: Shaft V: Valve
10: actuator 11: upper limit limit switch
12: lower limit limit switch 13: potentiometer
21: power unit 30: control unit
31: current / voltage control signal mode selection switch S1: switch 1
S2: Switch 2 S3: Switch 3
40: micom 41: feedback drive amplifier
50: Mode selector S4: Switch 4
S5: Switch 5 S6: Switch 6
S7: Switch 7 60: Drive Unit
61: SSR Drive Unit 70: Auto Setting Switch
80: feedback control volume 91: display window
91a: Current / voltage control signal INPUT display portion 91b: Track rate OUTPUT display portion
91c: pipeline display portion 91d: arrow display portion
91e: Current / voltage control signal mode display section 91f: Fail display section
91g: action mode display section 91h: dead band display section
91i: control body display unit 92: fail detector
100: actuator control device

Claims (15)

Limit point for forward and reverse rotation of motor M (valve V); Full Open (100%) to Full Close (0%)], the upper limit limit switch 11, the lower limit switch 12, and the actual track position values of the rotation angles of the shaft S as the detection signals are used as detection signals. An actuator 10 having a potentiometer 13 for converting and providing a power source, a power unit 21 for rectifying and smoothing an external AC power source and converting it into a DC power source having a constant voltage, and a control unit 30 for providing a control signal. And a buffer amplifier 22 for buffering and filtering the control signal of the control unit 30 and the actual track position value of the shaft S operated according to the control signal of the control unit 30. After amplifying the detection signal of the potentiometer 13 with a constant current, amplifying the deviation of the control signal of the control unit 30 and the detection signal of the potentiometer 13 amplified with the constant current into a drive signal, and comparing the result with an operation reference value. Even if output as operation signal The mode selector 50 for setting the direction and the operating range for the forward and reverse rotation of the motor M, respectively, according to the controlling microcomputer 40, the final operation signal of the microcomputer 40, and the mode selector 50 A drive unit 60 for controlling the operation of the motor M as the final operation signal in the microcomputer 40 according to the setting of the control unit, and displaying the state of the actuator 10 under the control of the microcomputer 40. In the actuator control apparatus 100 including the display window 91,
The control unit 30 selects one of a current control signal and a voltage control signal and provides it to the buffer amplifier 22.
A current / voltage control signal mode selection switch 31 for selecting a current control signal mode or a voltage control signal mode to correspond to any one of the current control signal and the voltage control signal selected by the control unit 30,
The display window 91 is configured such that the current / voltage control signal mode selection switch 31 selects the current control signal mode or the voltage control signal mode so as to correspond to any one of the current control signal and the voltage control signal selected by the control unit 30. If selected, the current control signal is selected by the current / voltage control signal INPUT display unit 91a for displaying the selected current control signal or voltage control signal as an INPUT value, and the current / voltage control signal mode selection switch 31 Actuator control characterized in that it comprises a track rate OUTPUT display portion (91b) for displaying the actual track position value of the rotation angle of the shaft (S) as the track rate when a control signal is selected and the actuator 10 is driven. Device 100. The method according to claim 1,
And the display window (91) comprises a pipe-shaped pipeline display (91c) between the current / voltage control signal INPUT display (91a) and the track rate OUTPUT display (91b). 3. The method of claim 2,
The display window 91 is an actual track position value with respect to the rotational angle of the shaft S so as to face the track rate OUTPUT display portion 91b from the current / voltage control signal INPUT display portion 91a in the pipeline display portion 91c. Actuator control device 100, characterized in that it comprises an arrow indicator (91d) is added to or subtracted in size proportional to the phosphorus trajectory. 4. The method according to any one of claims 1 to 3,
The display window 91 is configured such that the current / voltage control signal mode selection switch 31 selects the current control signal mode or the voltage control signal mode so as to correspond to any one of the current control signal and the voltage control signal selected by the control unit 30. And a current / voltage control signal mode display section (91e) which displays the current control signal mode or the voltage control signal mode when selected. 5. The method of claim 4,
The current / voltage control signal mode when the current / voltage control signal mode selection switch 31 selects the 4 to 20 mA current control signal mode according to the selection provision of the 4 to 20 mA current control signal of the control unit 30; The display portion 91e is displayed as 4 to 20 Hz,
The current / voltage control signal mode when the current / voltage control signal mode selection switch 31 selects the 0 to 20 mA current control signal mode according to the selection provision of the 0 to 20 mA current control signal of the control unit 30; The display portion 91e is displayed as 0 to 20 Hz,
The current / voltage control signal mode display unit when the current / voltage control signal mode selection switch 31 selects a voltage control signal mode of 0 to 10 V according to the selection provision of the 0 to 10 V voltage control signal of the control unit 30. 91e is expressed as 0 to 10V,
The current / voltage control signal mode display unit when the current / voltage control signal mode selection switch 31 selects a voltage control signal mode of 2 to 10 V according to the selection provision of the 2 to 10 V voltage control signal of the control unit 30. 91e is represented by 2-10V,
The current / voltage control signal mode display unit when the current / voltage control signal mode selection switch 31 selects a voltage control signal mode of 0 to 5 V according to the selection provision of the 0 to 5 V voltage control signal of the control unit 30. 91e is represented by 0 to 5V,
The current / voltage control signal mode display unit when the current / voltage control signal mode selection switch 31 selects the 1 to 5 V voltage control signal mode according to the provision of the selection of the 1 to 5 V voltage control signal by the control unit 30 ( 91e) is displayed as 1-5V, the actuator control apparatus 100 characterized by the above-mentioned. 6. The method of claim 5,
The current / voltage control signal mode selection switch 31 includes switch 1 (S1), switch 2 (S2), and switch 3 (S3).
According to the ON / OFF combination of the switch 1 (S1), the switch 2 (S2) and the switch 3 (S3), the actuator control device, characterized in that the current control signal mode or voltage control signal mode as shown in the following table is selected ( 100).

The method according to claim 6,
The display window 91 has a 4-20 mA or 0-20 mA current control signal selected as the current / voltage control signal mode selection switch 31, or 0-10 V, 2-10 V, 0-5 V, 1-5 V. When any one of the voltage control signal is selected and the actuator 10 is driven, the current / voltage control signal mode display portion 91e, the current / voltage control signal INPUT display portion 91a, and the track rate OUTPUT display portion 91b are shown below. Actuator control device, characterized in that to display as shown in the table, respectively.

The method of claim 7, wherein
A failure signal of the upper limit limit switch 11 and the lower limit limit switch 12 and a failure of the potentiometer 13 are sensed, respectively, by a failure of the torque Torque of the motor M, and fail signal to the microcomputer 40. A fail detector (92) for sending a signal;
When the microcomputer receives the fail signal of the fail detector 92, the microcomputer generates a final operation signal for causing the valve V to be fully open (100%), full close (0%), or stop (currently maintained). When the first fail signal is received from the fail detector 92, the actuator (Full Open (100%), Full Close (0%) or Stop (currently maintained) for controlling the valve (V). 10) is re-driven to the previous drive state, and the valve (V) is Full Open (100%) when receiving the second fail signal from the fail detector 92 despite the re-drive of the actuator 10, Generates the final operation signal to full close (0%) or stop (maintain current state)
The display window 91 shows a fail display that displays Full Open (100%), Full Close (0%), or Stop (Stay Current) of the valve V when a fail signal is generated in the fail detector 92. Actuator control apparatus 100, characterized in that it comprises (91f). The method of claim 8,
Actuator control device (100) characterized in that the fail display (91f) is displayed as STOP, CLOSE, OPEN. The method of claim 8,
The display window 91 rotates the motor M of the actuator 10 in the maximum reverse direction when the control signal of the control unit 30 changes from a small value to a large value (valve V); Full forward rotation (valve V) from Full Close (0%); Full Open (100%)] in reverse mode, when the control signal of the control unit 30 changes from a small value to a large value, the motor M of the actuator 10 is maximized. Forward rotation [valve (V); Full reverse rotation from Full Open (100%) (valve V); Actuator control device 100, characterized in that it comprises an action mode display unit (91g) for displaying an action mode for setting the direct mode (Operation Mode) to operate up to Full Close (0%)] . 11. The method of claim 10,
The action mode display unit 91g displays 100%: CL, 0%: OP in the reverse mode, and 0%: CL, 100%: OP in the direct mode. ). 11. The method of claim 10,
The mode selector 50
When the control signal of the control unit 30 is changed from a small value to a large value, the motor M of the actuator 10 is rotated in the maximum direction (valve V); Full forward rotation (valve V) from Full Close (0%); Full Open (100%)] in reverse mode, when the control signal of the control unit 30 changes from a small value to a large value, the motor M of the actuator 10 is maximized. Forward rotation [valve (V); Full reverse rotation from Full Open (100%) (valve V); Full Mode (0%)], the Action Mode (Direct Mode) to set the operation mode (Action Mode), respectively,
When the second fail signal is received from the fail detector 92, the motor M of the actuator 10 is rotated forward (valve V); Full Open (100%)] in Open Mode, and the motor M of the actuator 10 rotates in the maximum reverse direction (valve V); Full Mode (Fail Mode), which sets the Close Mode for Close [0%] and the Stop Mode for maintaining the Motor M of the Actuator 10 immediately before the operation. Actuator control device 100, characterized in that. 13. The method of claim 12,
The display window 91 adjusts an operation width (deadband; narrow / wide) to utilize an operation reference value compared to the driving signal in the microcomputer 40 as a reaction sensitivity of the motor M of the actuator 10. Actuator control device 100, characterized in that it comprises a dead band display unit (91h) for displaying a dead band mode (Dead Band Mode) to set. 14. The method of claim 13,
The action mode is made by switch 4 (S4), the fail mode is made by switch 5 (S5) and switch 6 (S6), and the deadband mode is made by switch 7 ( Made by S7),
Actuator control device 100, characterized in that the mode shown in the following table is selected according to the ON / OFF combination of the switch 4 (S4), switch 5 (S5), switch 6 (S6) and switch 7 (S7) .

The method according to claim 2 or 3,
The display window 91 is displayed on the pipeline display unit 91c to display CAL when the microcomputer 40 is operating, and to display RUN when the actuator 10 is in operation, and to malfunction in the actuator 10. Actuator control device 100, characterized in that it comprises a control body display unit (91i) that displays as an Error when it occurs.

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