KR970063889A - Output controller of position controller - Google Patents

Output controller of position controller Download PDF

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Publication number
KR970063889A
KR970063889A KR1019960004526A KR19960004526A KR970063889A KR 970063889 A KR970063889 A KR 970063889A KR 1019960004526 A KR1019960004526 A KR 1019960004526A KR 19960004526 A KR19960004526 A KR 19960004526A KR 970063889 A KR970063889 A KR 970063889A
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KR
South Korea
Prior art keywords
output
pulse
value
controller
analog voltage
Prior art date
Application number
KR1019960004526A
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Korean (ko)
Other versions
KR100295290B1 (en
Inventor
김준식
Original Assignee
이종수
Lg 산전 주식회사
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Application filed by 이종수, Lg 산전 주식회사 filed Critical 이종수
Priority to KR1019960004526A priority Critical patent/KR100295290B1/en
Publication of KR970063889A publication Critical patent/KR970063889A/en
Application granted granted Critical
Publication of KR100295290B1 publication Critical patent/KR100295290B1/en

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Classifications

    • 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
    • G05B19/25—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 continuous-path control
    • G05B19/251—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 continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
    • 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
    • G05B2219/41029—Adjust gain as function of position error and 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41164—How to compensate, for example by injecting compensation signal in comparator of normal loop

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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)

Abstract

본 발명은 위치 제어기의 출력 제어 장치에 관한 것으로, 종래에는 펄스 출력의 경우 오픈-루프 콘트롤(open-loop control)방식이어서 구조는 간단하지만 에러 보상 능력이 없으며, 아날로그 전압 출력의 경우 세미-크로스-루프 콘트롤(semi-closed control)방식이어서 실제 기계 엔코더의 신호를 궤환받아 에러를 보상할 수 있으나 구조가 복잡한 문제점이 있다. 이러한 종래의 문제점을 개선하기 위하여 본 발명은 지령값 연산기와 펄스 발생기를 동시에 부가함에 의해 출력 타입에 따라 펄스 출력 타입에 따라 펄스 또는 아날로그 전압을 전동기 구동 회로에 출력함으로써 펄스 출력 타입에서의 실제 기계 오차를 보정할 수 있도록 창안한 것으로, 본 발명은 현재 위치에서의 지령값과 실제 기계 위치에 다른 보정값을 구하여 오차 보정을 수행함에 따라 펄스 또는 아날로그 전압을 출력함으로 위치 제어의 성능을 향상시킬 수 있다.The present invention relates to an output control apparatus for a position controller, and in the related art, an open-loop control method for a pulse output is simple in structure but has no error compensation capability. In the case of an analog voltage output, Since it is a semi-closed control system, the error can be compensated by receiving the feedback signal of the actual mechanical encoder, but the structure is complicated. In order to solve such a conventional problem, according to the present invention, a command value calculator and a pulse generator are simultaneously added to output a pulse or an analog voltage to the motor drive circuit according to the pulse output type according to the output type, The present invention can improve the performance of the position control by outputting a pulse or an analog voltage by performing error correction by obtaining a correction value different from the command value at the current position and the actual machine position .

Description

위치 제어기의 출력 제어 장치Output controller of position controller

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is a trivial issue, I did not include the contents of the text.

제1도는 종래의 펄스 출력 장치의 구성도.1 is a configuration diagram of a conventional pulse output device.

제2도는 종래의 아날로그 전압 출력 장치의 구성도.FIG. 2 is a block diagram of a conventional analog voltage output device. FIG.

제3도는 본 발명의 출력 제어 장치의 구성도.FIG. 3 is a configuration diagram of an output control device of the present invention; FIG.

Claims (2)

서보 콘트롤러(201)의 출력단을 구동부(202)에 접속하여 그 구동부(202)에 의해 제어되는 유도 전동기(203)의 위치를 엔코더(204)에서 감지하여 상기 서보 콘트롤러(201)에 궤환시키도록 구성한 위치 제어기에 있어서, 상기 콘트롤러(201)는 위치 지령을 연산하여 위치 데이타값을 산출하는 지령값 연산기(211)와, 이 지령값 연산기(211)의 출력값과 엔코더(204)의 출력값을 비교하여 에러 보정을 위한 차값으로 산출하는 비교기(212)와, 이 비교기(212)의 출력을 위치 루프 이득(Kp)으로 보상하는 증폭기(213)와, 이 증폭기(213)의 출력을 아날로그 변환하는 디지탈/아날로그 변환기(214)와, 상기 비교기(212)의 출력을 입력으로 하여 위치 지령 펄스를 발생시키는 펄스 발생기(215)로 구성된 것을 특징으로 하는 위치 제어기의 출력 제어 장치.The output terminal of the servo controller 201 is connected to the driving unit 202 and the position of the induction motor 203 controlled by the driving unit 202 is detected by the encoder 204 and fed back to the servo controller 201 The position controller includes a command value calculator 211 for calculating a position command and calculating a position data value and an output value of the encoder 204 by comparing the output value of the command value calculator 211 with an output value of the encoder 204, An amplifier 213 for compensating the output of the comparator 212 by a position loop gain Kp and a digital / analog converter 214 for analog-converting the output of the amplifier 213 A converter 214 and a pulse generator 215 for generating a position command pulse by taking an output of the comparator 212 as an input. 제1항에 있어서, 비교기(212)는 펄스 출력 타입의 경우 현 샘플링에서 출력되어야 할 값과(현재 위치-기계 위치)의 편차를 비교하여 정수값인 에러 보정값을 펄스 발생기(215)에 출력하도록 구성한 것을 특징으로 하는 위치 제어기의 출력 제어 장치.2. The pulse generator according to claim 1, wherein the comparator (212) compares the deviation between the value (current position - machine position) and the value to be output at the current sampling in the case of the pulse output type and outputs an error correction value, And outputs the position control signal to the position controller. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: It is disclosed by the contents of the first application.
KR1019960004526A 1996-02-24 1996-02-24 Output control apparatus for position controller KR100295290B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019960004526A KR100295290B1 (en) 1996-02-24 1996-02-24 Output control apparatus for position controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019960004526A KR100295290B1 (en) 1996-02-24 1996-02-24 Output control apparatus for position controller

Publications (2)

Publication Number Publication Date
KR970063889A true KR970063889A (en) 1997-09-12
KR100295290B1 KR100295290B1 (en) 2001-09-17

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030060190A (en) * 2002-01-07 2003-07-16 삼성전자주식회사 Control method for servo-motor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030060190A (en) * 2002-01-07 2003-07-16 삼성전자주식회사 Control method for servo-motor

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KR100295290B1 (en) 2001-09-17

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