KR860002287Y1 - Circuit for speed regulation of motor - Google Patents

Circuit for speed regulation of motor Download PDF

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Publication number
KR860002287Y1
KR860002287Y1 KR2019840007148U KR840007148U KR860002287Y1 KR 860002287 Y1 KR860002287 Y1 KR 860002287Y1 KR 2019840007148 U KR2019840007148 U KR 2019840007148U KR 840007148 U KR840007148 U KR 840007148U KR 860002287 Y1 KR860002287 Y1 KR 860002287Y1
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South Korea
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flop
output
flip
terminal
motor
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KR2019840007148U
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Korean (ko)
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KR860002063U (en
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김철교
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삼성전자주식회사
정재은
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Publication of KR860002287Y1 publication Critical patent/KR860002287Y1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/237—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/232 - G05B19/235
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)

Abstract

내용 없음.No content.

Description

모터의 회전방향 감지회로Motor rotation direction detection circuit

제1도는 본 고안의 회로도.1 is a circuit diagram of the present invention.

제2도는 본 고안의 타임챠트이다.2 is a time chart of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 모터엔코더 2 : X-OR게이트1: Motor encoder 2: X-OR gate

3,4 : D형 플립플롭 5,6 : 낸드게이트3,4: D-type flip-flop 5,6: NAND gate

7,8 : D형 플립플롭 Q1∼Q8: 각 소자(1-8)의 출력단7,8: D flip-flop Q 1 to Q 8 : Output terminal of each device (1-8)

CLR : 크리어단 PR : 프리셋단CLR: Cree Stage PR: Preset Stage

CLK : 클럭단CLK: Clock Stage

본 고안은 로보트나 수치제어 기기등과 같은것의 구동원이 되는 모터의 위치나 속도를 제어함에 있어 모터의 회전방향을 감지할 수 있도록 하는 전자회로에 관한 것이다.The present invention relates to an electronic circuit that can detect the rotational direction of the motor in controlling the position or speed of the motor as a driving source of a robot or a numerical control device.

종래부터 사용되어 오고있는 모터에 있어서는 그 회전방향 감지회로가 다수개의 게이트와 플립플롭 등으로 구성됨에 있어서 이것이 원가상승 요인으로 작용하였기 때문에 시간이 이러한 폐단을 제거하여 원가를 절감시키고자 하는 부단한 노력이 경주되고 있다.In the motor which has been used conventionally, since the rotation direction sensing circuit is composed of a plurality of gates and flip-flops, this acts as a cost increase factor. It's racing.

이에 본 고안은 상기한 문제를 해결하기 위하여 고안한 것으로서, 보다 작은 부품을 사용하고서도 모터의 회전방향을 감지할 수 있도록 된 모터에서 회전방향을 감지할 수 있는 회로를 제공함에 그 목적이 있다.Accordingly, the present invention has been made to solve the above problems, and an object thereof is to provide a circuit capable of detecting a rotational direction in a motor that can detect a rotational direction of the motor even using a smaller component.

본 고안은 모터엔코더(1)의 출력일단(Q1)에는 X-OR게이트(2)의 한 입력단과 D형플립플롭(3)의 클럭단이, 출력일단(Q2)에는 X-OR게이트(2)의 다른 입력단과 D형플립플롭(3)(4)의 클럭단이 연결되고, 플립플롭(3)(4)의 각 출력단(Q5)(Q6)에는 각각 낸드게이트(5)(6)의 한 입력단이 연결되는 한편, 클럭단에 X-OR게이트(2)의 출력단(Q3)이 연결된 D형플립플롭(7)의 출력단(Q)에도 낸드게이트(5)(6)의 출력단(Q7)(Q8)에는 D형플립플롭(8)의 크리어단(CLR)과 프리셋단(PR)이 각각 연결되고, 각 D형플립플롭(3)(4)(7)에는 저항(R1∼R3)과 콘덴서(C1∼C3)가 연결된 구조로 되어있다.The present invention has one input terminal of the X-OR gate 2 and a clock terminal of the D-type flip-flop 3 at the output end Q 1 of the motor encoder 1 , and an X-OR gate at the output end Q 2 . The other input terminal of (2) and the clock terminal of the D-type flip-flop (3) (4) are connected, and each of the output terminals (Q 5 ) (Q 6 ) of the flip-flop (3) (4) respectively has a NAND gate (5). NAND gates 5 and 6 are also connected to the output terminal Q of the D-type flip-flop 7 having one input terminal (6) connected thereto, and an output terminal Q 3 of the X-OR gate 2 connected to the clock terminal. The output stage (Q 7 ) (Q 8 ) of the C-type flop flop (8) is connected to the cree end (CLR) and the preset stage (PR), respectively, each D-type flip-flop (3) (4) (7) The resistors R 1 to R 3 and the capacitors C 1 to C 3 are connected.

미설명부호는 D형플립플롭(8)의 반전출력단, VCC는 동작전압, D는 D형플립플롭의 입력단을 나타낸다.Unexplained code Denotes an inverted output stage of the D flip-flop 8, VCC denotes an operating voltage, and D denotes an input terminal of the D flip-flop.

제1도는 본 고안의 회로도를 나타낸 것으로서, D형플립플롭(3)(4)(7) 출력단(Q4∼Q6)에 연결된 저항(R1∼R3)과 콘덴서 (C1∼C3)는 각 D형플립플롭(3)(4)(7)의 듀티사이클이 모터의 최고속도에 해당하는 모터엔코더(1)의 출력(Q1)이나 출력(Q2)의 최소 듀티사이클보다 작게 설정하기 위해 설치한 것이다.First turning as shown the circuit diagram of the subject innovation, a resistor connected to the D-type flip-flop (3) (4) (7) output (Q 4 ~Q 6) (R 1 ~R 3) and a capacitor (C 1 ~C 3 Is the duty cycle of each D-type flip-flop (3) (4) (7) smaller than the minimum duty cycle of output (Q 1 ) or output (Q 2 ) of motor encoder (1) corresponding to the maximum speed of the motor. It was installed to set up.

여기서 모터가 시계방향으로 회전할때인, 즉 모터엔코더(1)의 출력단(Q1)의 위상이 출력단(Q2)의 위상보다 90°뒤지는 경우에는 각 출력단(Q1)(Q2)의 파형은 제2(a)도에 도시한 파형 Q1,Q2와 같게 된다.In the case where the motor is in a clockwise direction once jeonhalttae, i.e. the phase of the output terminal (Q 1) of a motor encoder (1) 90 ° lags the phase of the output terminal (Q 2), the waveform of each output terminal (Q 1) (Q 2) Is equal to the waveforms Q 1 and Q 2 shown in FIG. 2 (a).

그러나 이와같은 Q1과 Q2의 화형을 갖는 신호는 X-OR 게이트(2)의 입력단과 D형플립플롭(3)(4)의 입력단으로 각각 입력되어져 제2(a)도 가운데 Q3,Q4,Q5와 같은 파형으로 출력된 다음에 출력단(Q3)의 신호가 입력되는 D형플립플롭(7)의 출력단(Q6)에서는 (a)의 Q6와 같은 파형의 신호가 출력되어 낸드게이트(5)(6)의 입력일단으로 입력되고, 각각의 D형플립플롭(3)(4)에서 출력되는 신호는 각 낸드게이트(5)(6)의 다른 입력단으로 입력된다.However, these Q 1 and a signal having a stake in the Q 2 is been respectively input to the X-OR input of the gate (2) input terminal and D-type flip-flop (3) (4) of claim 2 (a) also of Q 3, At the output terminal Q 6 of the D-type flip-flop 7, which is output as a waveform such as Q 4 , Q 5 and then the signal of the output terminal Q 3 is input, a signal having the same waveform as Q 6 of (a) is output. The signal is input to one end of the NAND gates 5 and 6, and the signal output from each of the D-type flip flops 3 and 4 is input to the other input end of each of the NAND gates 5 and 6. As shown in FIG.

이때 낸드게이트(5)에서는 상기한 D형플립플롭(3)의 출력 제2(a)도의 Q4와 D형플립플롭(7)의 출력 Q6에 의해서 항상 하이레벨의 신호가 출력되어 D형플립플롭(8)의 크리어단(CLR)으로 입력되고, 낸드게이트(6)에서는 D형플립플롭(4)의 출력 Q5와 D형플립플롭(7)의 출력 Q6에 의해서 제2(a)도의 Q8과 같은 펄스신호가 발생되므로 D형플립플롭(8)에서는 제2(a)도의 Q9과 같은 항상 로우레벌을 갖는 파형의 신호가 출력되게 된다.At this time, the NAND gate 5 always outputs a high level signal by Q 4 of the output second (a) of the D-type flip-flop 3 and output Q 6 of the D-type flip-flop 7. is input to the Cree stage (CLR) of flip-flop 8, a NAND gate 6 in the D-type flip-flop (4) of claim 2 (a by the output Q 6 of the outputs Q 5 and the D-type flip-flop (7) of Since a pulse signal such as Q 8 of the () diagram is generated, the D-type flip-flop 8 always outputs a signal having a low level such as Q 9 of the second (a) diagram.

그러나 이와는 반대로 모터가 시계 반대방향으로 회전할때인 즉 모터엔코더(1)의 출력단(Q1)의 위상이 출력단(Q2)의 위상보다 90°앞서는 경우에는 각 출력단(Q1)(Q2)의 파형은 제2(b)도에 도시한 파형 Q1,Q2와 같게 된다.However, on the contrary, when the motor rotates counterclockwise, that is, when the phase of the output terminal Q 1 of the motor encoder 1 is 90 ° ahead of the phase of the output terminal Q 2 , each output terminal Q 1 (Q 2 ). The waveform of is equal to the waveforms Q 1 and Q 2 shown in FIG. 2 (b).

또한 이와같은 Q1과 Q2의 파형을 갖는신호는 X-OR 게이트(2)의 입력단과 D형플립플롭(3)(4)의 입력단으로 각각 입력되어 제2(b)도 가운데 Q3,Q4,Q5와 같은 파형으로 출력된 다음 출력(Q3)의 신호가 입력되는 D형플립플롭(7)의 출력단(Q6)으로부터 (2│2)의 Q6)와 같은 파형의 신호가 출력되어 낸드게이트(5)(6)의 입력일단으로 입력되는 한편, 각각의 D형플립플롭(3)(4)에서 출력되는 신호는 각 낸드게이트(5)(6)의 다른 입력단으로 입력되게 된다.In addition, this signal having a waveform with the same Q 1 and Q 2 are each input to X-OR input of the gate (2) input terminal and D-type flip-flop (3) (4) of claim 2 (b) is also of Q 3, A signal of the same waveform as Q 6 of (2│2) from the output terminal Q 6 of the D-type flip-flop 7 into which the signal of the output Q 3 is inputted after the waveform of Q 4 , Q 5 is input. Is output and input to the input end of the NAND gates 5 and 6, while the signal output from each D-type flip-flop 3 and 4 is input to the other input terminal of each NAND gate 5 and 6. Will be.

이때 낸드게이트(5)에서는 상기한 D형플립플롭(3)의 출력인 제2(b)도의 Q4와 D형플립플롭(7)의 출력인(b)의 Q6에 의해서 제2(b)도의 Q7의 신호가 출력되어 D형플립플롭(8)의 크리어단(CLR)으로 입력되고, 낸드게이트(6)에서는 D형플립플롭(4)의 출력 Q5과 D형플립플롭(7)의 출력 Q6에 의해서 항상 하이레벨의 신호를 갖는 Q8과 같은 펄스신호가 발생되므로 D형플립플롭(8)에서는 제2(b)도의 Q9과 같은 항상 하이레벨의 파형이 출력된다.At this time, the NAND gate 5 is formed by Q 4 of FIG. 2 (b) which is the output of the D-type flip flop 3 and Q 6 of (b) which is the output of the D-type flip flop 7. ) degrees, the signal is output from the Q 7 is inputted to the Cree stage (CLR) of the D flip-flop 8, a NAND gate 6, the output Q 5 and D-type flip-flop (7 of the D flip-flop (4) Since a pulse signal such as Q 8 which always has a high level signal is generated by the output Q 6 of), the D-type flip-flop 8 always outputs a high level waveform such as Q 9 of FIG. 2 (b).

따라서 D형플립플롭(8)의 출력상태에 따라 모터의 회전방향을 감지할 수 있게 되는 것이다.Therefore, it is possible to detect the rotation direction of the motor according to the output state of the D-type flip-flop (8).

상기한 바와같이 본 고안은 적은수의 부품으로 구성한 감지회로로서 모터의 회전방향을 감지할 수 있는 장점이 있다.As described above, the present invention has an advantage of detecting the rotational direction of the motor as a sensing circuit composed of a small number of components.

Claims (1)

모터엔코더(1)의 출력일단(Q1)에는 X-OR 게이트(2)의 입력단과 D형플립플롭(3)의 클럭단이 연결되는 한편 출력일단(Q2)에는 X-OR게이트(2)의 입력단과 D형플립플롭(4)의 클럭단이 연결되고, 플립플롭(3)(4)의 각 출력단(Q4)(Q5)에는 각각 낸드게이트(5)(6)의 입력단이 연결되는 한편 클럭단에 X-OR게이트(2)의 출력단(Q3)이 연결된 D형플립플롭(7)의 출력단(Q6)에도 낸 드게이트(5)(6)의 입력단이 연결되며, 낸드게이트(5)(6)의 출력단(Q7)(Q8)에는 D형플립플롭(8)의 크리어단(CLR)과 프리셋단(PR)이 각각 연결되고, 각 D형플립플롭(3)(4)(7)에는 저항(R1∼R3)과 콘덴서(C1∼C3)가 연결되어 있는 모터의 회전방향 감지회로.The output terminal Q 1 of the motor encoder 1 is connected to the input terminal of the X-OR gate 2 and the clock terminal of the D flip-flop 3, while the output terminal Q 2 is connected to the X-OR gate 2. ) And the clock terminal of the D-type flip-flop (4) are connected, and each of the output terminals (Q 4 ) (Q 5 ) of the flip-flop (3) (4) has an input terminal of the NAND gates (5) and (6), respectively. The input terminal of the NAND gates 5 and 6 is also connected to the output terminal Q 6 of the D-type flip-flop 7 having the clock terminal connected to the output terminal Q 3 of the X-OR gate 2. The output stages Q 7 and Q 8 of the NAND gates 5 and 6 are connected to a cree stage CLR and a preset stage PR of the D flip-flop 8, respectively, and each D flip-flop 3 (4) (7) is a rotational direction sensing circuit of a motor to which resistors (R 1 to R 3 ) and capacitors (C 1 to C 3 ) are connected.
KR2019840007148U 1984-07-25 1984-07-25 Circuit for speed regulation of motor KR860002287Y1 (en)

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KR2019840007148U KR860002287Y1 (en) 1984-07-25 1984-07-25 Circuit for speed regulation of motor

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Application Number Priority Date Filing Date Title
KR2019840007148U KR860002287Y1 (en) 1984-07-25 1984-07-25 Circuit for speed regulation of motor

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KR860002063U KR860002063U (en) 1986-03-15
KR860002287Y1 true KR860002287Y1 (en) 1986-09-15

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