KR20170127090A - Apparatus for controling velocity - Google Patents
Apparatus for controling velocity Download PDFInfo
- Publication number
- KR20170127090A KR20170127090A KR1020160056929A KR20160056929A KR20170127090A KR 20170127090 A KR20170127090 A KR 20170127090A KR 1020160056929 A KR1020160056929 A KR 1020160056929A KR 20160056929 A KR20160056929 A KR 20160056929A KR 20170127090 A KR20170127090 A KR 20170127090A
- Authority
- KR
- South Korea
- Prior art keywords
- value
- control unit
- speed
- command value
- unit
- Prior art date
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
BACKGROUND OF THE
Digital control refers to control using a digital computer as a controller. A complicated control algorithm can be easily implemented compared to an analog control, an algorithm can be easily modified or changed, data can be easily processed and recorded, control of a plurality of systems can be concentratedly carried out simultaneously There is an advantage.
However, since the physical quantity (time, position, speed, acceleration, etc.) to be controlled is processed as a unit quantity instead of a continuous value, a delay occurs depending on the resolution and uniting conditions of the data.
Korean Patent Publication No. 1019930016010 discloses a technique for detecting a speed of a digital speed controller.
BACKGROUND OF THE
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise forms disclosed. Other objects, which will be apparent to those skilled in the art, It will be possible.
The speed control device of the present invention includes a driving unit; A speed control unit for receiving a speed command value and calculating a first current command value; A digital control unit receiving the first current command value and calculating a driving input signal of the driving unit; And a time delay suppression unit for suppressing a time delay occurring between the speed control unit and the digital control unit to improve acceleration.
The speed control device of the present invention can directly receive the reflection of the speed information measured by the motor into the digital logic, thereby eliminating the jamming of the digital controller to obtain the acceleration characteristic.
The time delay suppression unit of the present invention can suppress the time by inputting the reflection of the speed measurement value or the acceleration measurement value measured by the driving unit into the speed control unit as digital information.
The speed control unit of the present invention can control the speed control unit and the digital control unit to simultaneously receive the speed measurement value and to perform the feedback control in order to eliminate the jitter caused by using the CPU and the digital control logic together and to increase the acceleration characteristic .
1 is a block diagram showing a speed control apparatus as a comparative example.
2 is a block diagram showing the speed control device of the present invention.
3 is a block diagram showing an embodiment of the speed control device of the present invention.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and convenience. In addition, terms defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user, the operator. Definitions of these terms should be based on the content of this specification.
Digital control refers to control using a digital computer as a controller. A complicated control algorithm can be easily implemented compared to an analog control, an algorithm can be easily modified or changed, data can be easily processed and recorded, control of a plurality of systems can be concentratedly carried out simultaneously There is an advantage.
The speed control device may include a speed controller for calculating a speed command as a current command and a current controller for calculating a voltage command for inputting a current command to the
1, the speed control apparatus of the comparative example may be constituted by a digital
The speed control device of the present invention can directly receive the reflection of the speed information measured by the motor into the digital logic, thereby eliminating the jamming of the digital controller to obtain the acceleration characteristic. The velocity information may be a velocity measurement value (Vel) or an acceleration measurement value.
A
The speed control apparatus of the present invention may include a time delay suppression unit for suppressing a time delay occurring between the
The
The time delay suppression unit can suppress the time by inputting the reflection of the velocity measurement value Vel measured in the
The velocity measurement value Vel or the acceleration measurement value may be measured through a sensor provided in the
The
The
The speed measurement value Vel may mean the driving speed of the motor measured by the
The speed command value Vel * may mean a target driving speed at which the motor of the
The first current command value I1 * is an output value of the
The
The
The speed command value Vel * input to the
The
That is, the
The first current command value I1 * can be removed from the signal through the
The
The
The digital control speed measurement value Vel may be proportional controlled by applying a second gain value in the
That is, the
Therefore, the
In the
The second current command value I * can be removed from the signal through the
Accordingly, the
The second current command value I * may be calculated by summing the first current command value I1 * output from the
The current command value I may be input to the
The
Consequently, in the speed control apparatus of the present invention, the speed command value Vel * is input only to the
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, the true scope of the present invention should be determined by the following claims.
10 ... filter 100 ... speed control unit
110 ...
112 ...
114 ... second summing
210 ...
221 ...
230 ... third summing
400 ... Driving unit V * ... Voltage command value
I ... Drive current I * ... Current command value
I1 * ... first current command value I2 * ... second current command value
Vel ... Speed measurement value Vel * ... Speed command value
Claims (9)
A speed control unit for receiving a speed command value and calculating a first current command value;
A digital control unit receiving the first current command value and calculating a driving input signal of the driving unit;
And a time delay suppression unit for suppressing a time delay occurring between the speed control unit and the digital control unit to improve acceleration.
Wherein the time-
Wherein the speed control unit and the digital control unit simultaneously input an acceleration measurement value that measures a speed measurement value or a driving acceleration that measures the driving speed of the driving unit.
Wherein the speed control unit includes a first gain unit for multiplying the speed command value by a first gain value,
Wherein the digital control unit includes a proportional control unit for multiplying the speed measurement value by a second gain value,
Wherein the absolute value of the first gain value and the absolute value of the second gain value are the same value.
The speed control unit includes:
A first summing unit for calculating a difference between a speed measurement value of the driving unit and the speed command value as a speed error value;
A first gain section for multiplying the speed command value by a first gain value;
An integral controller for integrating the velocity error value;
And a second summing unit for summing the calculated values of the first gain unit and the adaptive control unit to calculate the first current command value.
The digital control unit includes:
A sign switching unit for multiplying a speed measurement value of the driving unit by "-1 &
A second gain unit for multiplying an output value of the sign switching unit by a second gain value to calculate a second current command value;
A third summing unit for summing the first current command value and the second current command value to calculate a current command value,
And a current control unit that receives the current command value and calculates the drive input signal.
Wherein the digital control unit receives the first current command value as an output value of the speed control unit and the speed measurement value of the driving unit and outputs the driving input signal as an output value,
Wherein the driving input signal is used as an input signal of the driving unit.
A value obtained by performing proportional control calculation on the basis of the velocity measurement value of the driving unit is referred to as a second current command value and a value obtained by calculating the first current command value and the second current command value is referred to as a current command value,
A current control unit for receiving the current command value and outputting a voltage command value,
And the current control unit is provided on the downstream side of the digital control unit.
A value obtained by performing proportional control calculation on the basis of the velocity measurement value of the driving unit is referred to as a second current command value and a value obtained by calculating the first current command value and the second current command value is referred to as a current command value,
A current control unit for receiving the current command value and outputting a voltage command value,
And a servo amplifier receiving the voltage command value and outputting a driving current input to the driving unit,
Wherein the current control unit feeds back the driving current.
The speed command value is input only to the speed control unit,
Wherein the acceleration measurement value measuring the driving speed of the driving unit or the driving acceleration measured simultaneously is input to the speed control unit and the digital control unit at the same time,
Wherein only the output value of the digital control unit is input to the driving unit.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020160056929A KR101891276B1 (en) | 2016-05-10 | 2016-05-10 | Apparatus for controling velocity |
PCT/KR2017/004813 WO2017196070A1 (en) | 2016-05-10 | 2017-05-10 | Speed control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020160056929A KR101891276B1 (en) | 2016-05-10 | 2016-05-10 | Apparatus for controling velocity |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20170127090A true KR20170127090A (en) | 2017-11-21 |
KR101891276B1 KR101891276B1 (en) | 2018-10-01 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020160056929A KR101891276B1 (en) | 2016-05-10 | 2016-05-10 | Apparatus for controling velocity |
Country Status (2)
Country | Link |
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KR (1) | KR101891276B1 (en) |
WO (1) | WO2017196070A1 (en) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2702499B2 (en) * | 1988-04-20 | 1998-01-21 | ファナック株式会社 | Servo motor control method |
JP2861394B2 (en) * | 1990-12-20 | 1999-02-24 | 松下電器産業株式会社 | Servo motor control device |
JPH0923700A (en) * | 1995-06-30 | 1997-01-21 | Fanuc Ltd | Servo motor current control |
JP2003199388A (en) * | 2001-12-27 | 2003-07-11 | Sharp Corp | Motor driver |
JP5771940B2 (en) * | 2010-10-15 | 2015-09-02 | 株式会社明電舎 | Speed control device |
-
2016
- 2016-05-10 KR KR1020160056929A patent/KR101891276B1/en active IP Right Grant
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2017
- 2017-05-10 WO PCT/KR2017/004813 patent/WO2017196070A1/en active Application Filing
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Publication number | Publication date |
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WO2017196070A1 (en) | 2017-11-16 |
KR101891276B1 (en) | 2018-10-01 |
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