KR870000275Y1 - Arrangement for controlling the speed of electric motor - Google Patents
Arrangement for controlling the speed of electric motor Download PDFInfo
- 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
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- pulse
- speed
- phase
- prom
- arrangement
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- 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
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- 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
- G05B2219/41383—Observe current, voltage, derive position
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- 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
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)
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) |
-
1984
- 1984-08-09 KR KR1019840004771A patent/KR860002180A/en not_active Application Discontinuation
-
1986
- 1986-10-13 KR KR2019860015602U patent/KR870000275Y1/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| KR860002180A (en) | 1986-03-26 |
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