KR870000275Y1 - Arrangement for controlling the speed of electric motor - Google Patents

Arrangement for controlling the speed of electric motor Download PDF

Info

Publication number
KR870000275Y1
KR870000275Y1 KR2019860015602U KR860015602U KR870000275Y1 KR 870000275 Y1 KR870000275 Y1 KR 870000275Y1 KR 2019860015602 U KR2019860015602 U KR 2019860015602U KR 860015602 U KR860015602 U KR 860015602U KR 870000275 Y1 KR870000275 Y1 KR 870000275Y1
Authority
KR
South Korea
Prior art keywords
pulse
speed
phase
prom
arrangement
Prior art date
Application number
KR2019860015602U
Other languages
Korean (ko)
Inventor
박배일
Original Assignee
대우중공업주식회사
이경훈
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 대우중공업주식회사, 이경훈 filed Critical 대우중공업주식회사
Priority to KR2019860015602U priority Critical patent/KR870000275Y1/en
Application granted granted Critical
Publication of KR870000275Y1 publication Critical patent/KR870000275Y1/en

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/19Numerical 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/41Servomotor, servo controller till figures
    • G05B2219/41383Observe current, voltage, derive position

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

내용 없음.No content.

Description

서보전동기의 위치 제어용 검출 장치Detection device for position control of servo motor

제1(a)도는 본 고안 장치의 구성도.1 (a) is a block diagram of the device of the present invention.

제1(b)도는 본 고안 장치의 부분 파형도.Figure 1 (b) is a partial waveform diagram of the device of the present invention.

제2(a)도는 종래 장치의 개략 구성도.2 (a) is a schematic block diagram of a conventional apparatus.

제2(b)도는 종래 장치의 부분 파형도.2 (b) is a partial waveform diagram of a conventional apparatus.

본 고안은 서보전동기의 속도 및 위치 제어장치에 관한 것이며, 특히 서보전동기에 펄스 발생기를 장착하여 펄스발생기에서 발생되는 펄스를 계수하기 양호하도록 안출한 것이다.The present invention relates to a speed and position control apparatus of a servomotor, and in particular, a pulse generator is mounted on the servomotor so as to count pulses generated by the pulse generator.

종래에 있어서는 서보전동기에 부착된 펄스 발생기에서 발생되는 90°위상차를 갖는 a 위상의 펄스와 b위상의 펄스의 소인선, 귀선변부에서 수 개의 논리게이트로서 변부 검출을 하여 시계방향으로 지시 펄스(pc)와 반시계 방향지시 펄스(pcc)를 발생시켜 왔으나, 일단 구성된 논리회로는 바꾸기가 어렵고 소인선 변부를 검출하는 것으로 정하여 놓으면 귀선 변부 검출용으로 활용할 수 없어 사용이 제한되는 단점을 갖고 있다.In the related art, the edge of a phase having a 90 ° phase difference and the b phase of a pulse generated by a pulse generator attached to a servomotor, the edge of the phase is detected as several logic gates at the retrace edge, and the direction pulse (pc) is clockwise. ) And counterclockwise direction pulses (pcc) have been generated. However, once the logic circuit is difficult to change and it is determined to detect the edge line, it cannot be used for the detection of the edge line.

또한 논리소자를 이용하여 다수의 기능을 부가하려면 논리소자가 많이 필요하게 되어 설계상 복잡할 뿐아니라 부품 수가 많아지는 만큼 예기치 않은 오차 발생 또는 고장이 발생될 가능성이 높아진다.In addition, in order to add a large number of functions using a logic device, a large number of logic devices are required, and as the number of parts increases, an unexpected error or failure may increase.

따라서 본 고안의 목적은 여러가지의 기능을 가지며 동시에 구성 소자의 수를 최대한 줄여서 신뢰성이 매우 높은 서보 전동기의 위치제어용 검출장치를 제공하려는 것으로서, 첨부된 도면을 참조하면서 본 고안을 상세히 설명하면 다음과 같다.Accordingly, an object of the present invention is to provide a detection device for position control of a servo motor having a high reliability by reducing the number of components at the same time as many as possible, and the present invention will be described in detail with reference to the accompanying drawings. .

우선 제2(a)도, 제2(b)도를 참조하면서 종래 기술을 검토하여 보면, 서보전동기의 펄스 발생기에서 발생된 90°위상차의 "a" 위상펄스와 "b" 위상 펄스를 합성 논리회로(1)에 인가하고 (제2(b)도의 ㄱㄷ파형), 변부검출기(2)(3)에 인가하여 제2(b)도의 "ㄴ", "ㄹ" 파형을 역시 논리회로(1)에 인가하여 그 출력 파형으로서 제2(b)도의 "ㅁ"파형(시계 방향지시 펄스)와 제2(b)도의 "ㅂ"파형(반시계방향 지시 펄스)를 발생한다.First, by examining the prior art with reference to Figs. 2 (a) and 2 (b), the "a" phase pulses and "b" phase pulses of the 90 ° phase difference generated by the pulse generator of the servomotor are synthesized. Applied to the circuit 1 (a-waveform in FIG. 2 (b)) and the edge detectors (2) and (3) so that the "b" and "d" waveforms in FIG. 2 (b) are also applied to the logic circuit (1). Is applied to generate the ". &Quot; waveform (clockwise instruction pulse) in FIG. 2 (b) and the "# " waveform (counterclockwise instruction pulse) in FIG. 2 (b).

여기에서는 위에서 설명 된 바와 같이 펄스파형의 소인선 변부를 계수할 것인가, 아니면 귀선 변부를 계수할 것인가는 논리회로를 다시 설계하기전에는 변경하여 결정할 수 없다.Here, as described above, whether to count the edge of the pulse wave or the retrace of the pulse wave cannot be changed and determined before redesigning the logic circuit.

즉, 호환성이 없는 것이다.In other words, it is incompatible.

제1(a)도, 제1(b)도를 참조하여 본 고안을 보다 상세히 설명하자면, 서보전동기에 설치된 펄스 발생기에서의 90°위상차를 갖는 "a" 위상 펄스와 "b" 위상 펄스를 PROM (10)의 입력단자(A)(A2)에 인가하고 변부 검출기(11)(12)에 인가하여 그 출력을 PROM (10)의 입력단자(A4)(A3)에 인가하되, 입력단자(A4)(A5)에 기준전압 선택 스위치(SW1)(SW2)를 연결하여 된 구성이다.Referring to FIG. 1 (a) and FIG. 1 (b), the present invention will be described in more detail by using a PROM of "a" phase pulse and "b" phase pulse having a 90 ° phase difference in a pulse generator installed in a servomotor. Input terminal (A) of (10) (A2) and the edge detector (11) (12) and the output is applied to the input terminal (A 4 ) (A 3 ) of the PROM (10), but the input terminal (A 4 ) (A 5 ) The reference voltage selection switch (SW 1 ) (SW 2 ) is connected to the configuration.

이와같이 구성된 본원 고안의 작용 효과는 PROM(10)을 프로그램하므로서 장치의 변경 없이 용이하게 기능의 다양성을 부가할 수 있으며, 또한 PROM(10)의 입력단자(A4)(A5)에 스위치(SW1)(SW2)를 통하여 기준 전압을 인가하므로서 펄스의 소인선 변부 또는 귀선 변부에서의 펄스를 이용할 것인가 아닌가를 결정할 수 있는 것이다.The working effect of the present invention configured as described above can easily add a variety of functions without changing the device by programming the PROM (10), and also switch (SW) to the input terminal (A 4 ) (A 5 ) of the PROM (10) 1 ) By applying the reference voltage through (SW 2 ), it is possible to determine whether to use the pulse at the edge line or the retrace edge of the pulse.

또한 제1(a)도에서의 펄스파형은 제1(b)도와 같다.The pulse waveform in FIG. 1 (a) is the same as that in FIG. 1 (b).

이때의 조건은 시계방향 지시펄스인 경우이며, 스위치(SW1)(SW2)의 상태는 다음과 같다.The condition at this time is a case of the clockwise indicating pulse, and the states of the switches SW 1 and SW 2 are as follows.

SW1=SW2=OV : a펄스와 같은 수의 펄스SW 1 = SW 2 = OV: pulses equal to a pulse

SW1=5V, SW2=OV : a펄스의 2배의 펄스SW 1 = 5V, SW 2 = OV: pulse twice a pulse

SW1=OV, SW2=5V : a펄스에 3배의 펄스SW 1 = OV, SW 2 = 5V: Triple pulse on a pulse

SW1+5V, SW2=5V : a펄스의 4배의 펄스SW 1 + 5V, SW 2 = 5V: 4 times pulse of a pulse

응답특성을 높히기 위하여 PROM은 바이폴러형으로 사용할 수도 있다.To improve response, the PROM can also be used bipolar.

이상에서 설명한 바와 같이 본 고안에 의하면, 위치제어 장치의 구성에 있어서 다수개의 논리 소자의 사용을 배제하고 1개의 PROM을 사용하므로서, 간단한 회로 구성으로 목적이 이루어질 뿐 아니라 제어장치의 부피도 작게 되어 특히 로보트와 같은 장치의 구동원으로서 사용되는 서보전동기의 속도 및 위치제어가 극히 적당하게 되고 또한 그 신뢰성도 대폭 향상되는 지대한 작용 효과가 있다.As described above, according to the present invention, by using a single PROM in the configuration of the position control device without using a plurality of logic elements, the purpose of the simple circuit configuration is achieved and the volume of the control device is particularly small. The speed and position control of the servomotor used as the driving source of a device such as a robot is extremely suitable, and the reliability thereof is greatly improved.

Claims (1)

서보전동기에 설치된 펄스 발생기에서의 90°위상차를 갖는 "a" 위상펄스와 "b" 위상펄스를 PROM(10)의 입력단자(A)(A2)에 인가하고 변부 검출기(11)(12)에 인가하여 그 출력을 PROM(10)의 입력단자(A1)(A3)에 인가하되 입력단자(A4)(A5)에 기준전압 선택 스위치(SW1)(SW2)를 연결하여 된 서보전동기의 위치 제어용 검지기.The "a" phase pulse and "b" phase pulse having a 90 ° phase difference in the pulse generator installed in the servomotor are input to the input terminal A of the PROM 10. (A2) and the edge detector (11) (12) and the output is applied to the input terminal (A 1 ) (A 3 ) of the PROM (10), but to the input terminal (A 4 ) (A 5 ) Probe for position control of servomotor connected with reference voltage selector switch (SW 1 ) (SW 2 ).
KR2019860015602U 1984-08-09 1986-10-13 Arrangement for controlling the speed of electric motor KR870000275Y1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR2019860015602U KR870000275Y1 (en) 1984-08-09 1986-10-13 Arrangement for controlling the speed of electric motor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1019840004771A KR860002180A (en) 1984-08-09 1984-08-09 Detection device for position control of servo motor
KR2019860015602U KR870000275Y1 (en) 1984-08-09 1986-10-13 Arrangement for controlling the speed of electric motor

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1019840004771A Division KR860002180A (en) 1984-08-09 1984-08-09 Detection device for position control of servo motor

Publications (1)

Publication Number Publication Date
KR870000275Y1 true KR870000275Y1 (en) 1987-02-11

Family

ID=26627389

Family Applications (2)

Application Number Title Priority Date Filing Date
KR1019840004771A KR860002180A (en) 1984-08-09 1984-08-09 Detection device for position control of servo motor
KR2019860015602U KR870000275Y1 (en) 1984-08-09 1986-10-13 Arrangement for controlling the speed of electric motor

Family Applications Before (1)

Application Number Title Priority Date Filing Date
KR1019840004771A KR860002180A (en) 1984-08-09 1984-08-09 Detection device for position control of servo motor

Country Status (1)

Country Link
KR (2) KR860002180A (en)

Also Published As

Publication number Publication date
KR860002180A (en) 1986-03-26

Similar Documents

Publication Publication Date Title
KR880701998A (en) Electronic DC Motor Switching Circuit
KR870000275Y1 (en) Arrangement for controlling the speed of electric motor
SU845247A1 (en) Device for control of valve-type converter
KR100275684B1 (en) Digital filter
SU1283674A1 (en) Device for checking phase alternating sequence of voltage in three-phase network
SU936166A1 (en) Device for monitoring phase alternation of three-phase network
SU408354A1 (en) DEVICE FOR DETERMINATION OF CHANGE CODE CORNER CONVERTER - CODE
SU1037053A1 (en) Capacitive displacement measuring device
SU448463A1 (en) Asynchronous computer
SU1324070A2 (en) Associative memory
JPS62193580A (en) Control apparatus
SU1575213A1 (en) Device for reading graphic information
KR930000149Y1 (en) Speed measurement circuit for motor
SU573823A1 (en) Dc electronic relay
SU1282333A1 (en) Shaft turn angle-to-digital converter
SU1057962A1 (en) Device for dividing voltage
SU781723A1 (en) Pulse monitoring device
SU472312A1 (en) Device to control the correctness of radio and electrical installation
SU1534724A1 (en) Digital speed governor
SU1001183A1 (en) Device for monitoring and measuring parameters of storage units
SU1073715A1 (en) Device for checking dc electrical machine switching
SU1285435A2 (en) Programmed control device
JPS5932238Y2 (en) Pulse motor rotation axis position detection device
RU2106738C1 (en) Stepping motor control device
SU805189A1 (en) Voltage level monitor

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
REGI Registration of establishment
FPAY Annual fee payment

Payment date: 19930114

Year of fee payment: 9

LAPS Lapse due to unpaid annual fee