JPS60170493A - Controller for capacitor-run type induction motor - Google Patents

Abstract

PURPOSE:To reduce the cost of a drive system and to enhance the positioning accuracy at a target position by digitally controlling the conducting angle of 3-pole bidirectional switching element in response to the speed of a driven member. CONSTITUTION:A filter 8 for passing only a detection signal by discriminating an incoming noise and a detection signal are discriminated when a rotational shaft is rotated at a low speed, and a memory 21 in which speed data in response to the moving pattern of a driven member driven and coupled with the shaft is stored are provided. An electronic controller 20 compares the actually moving speed of a movable element calculated on the basis of the speed data and the input period of the detection signal, and PID-calculates the drive pulse width in response to the PID constant (where P is a proportional constant, I is an integrating constant, and D is a differentiating constant) determined on the basis of the speed difference. The conducting angles of 3-pole bidirectional switching elements 4, 5 are controlled by the signal.

Description

DETAILED DESCRIPTION OF THE INVENTION TECHNICAL FIELD The present invention relates to a capacitor running type induction motor control device.

BACKGROUND ART In order to reduce the cost of a drive device that drives a driven member to travel a predetermined distance, a capacitor travel type interaction motor is generally used as a drive source. The two types of drive devices are integrally equipped with a clutch mechanism and a brake mechanism in order to control the driven member to stop at a desired target position, and detect when the driven member is located in front of the target position 1a. The clutch mechanism and the brake machine 41^ were operated based on the detection signal from the device to stop the driven member at the target position. However, although the induction motor alone is low in cost, the clutch mechanism and brake mechanism are required, making the entire device expensive. In addition, the above-mentioned outside control system is beyond the scope of sequence control. It was not possible to control the stop.

In view of the above-mentioned drawbacks of the conventional art, the object of the present invention is to provide a simple ↓j
In addition to reducing the cost of the drive system by # + configuration, capacitor travel type induction motor control with high positioning accuracy in heavy positions -! The aim is to provide A-placement.

Example Hereinafter, embodiments will be described according to the drawings.

In FIG. 1, one end of a ten coil 2 and an auxiliary coil 3 of an interaction motor 1 are connected in common and also connected to one end of an alternating current power supply AC. Further, the other ends of the main coil 2 and the auxiliary coil 3 are connected to one electrode of the first and second triacs 4 and 5, respectively, and a phase advance capacitor 6 is connected in parallel. And the non-output f111 of the rotating shaft in [induction motor]
1 is equipped with a tacho generator 7 as an alternator. In addition, the full output of the rotating shaft is controlled by a running body (not shown) as a driven member, and if necessary, an appropriate deceleration a! The drive is connected via the stem. Concerning the rotational drive of the interaction motor 1, 1) The detection signal 111 outputted from the tacho generator 7 described in II corresponds to the rotational speed of the rotating shaft "01 rotation speed, R11 running? U body's actual running speed IW". It consists of voltage and period, and is output to the waveform shaping circuit 1o via the low-pass filter 8 and the amplifier circuit 9.1)1
1. The low-pass filter 8 detects the low voltage and low cycle output from the tachometer generator 7 when the rotating shaft rotates at low speed.
By passing only No. 6 and distinguishing it from external noise, the S/N ratio is improved to -1. Further, the njx waveform shaping circuit 10 shapes the manually inputted detection ia into a rectangular wave and outputs it to the electronic control unit M20.

This electronic control device 2o is composed of a microprocessor and a ROM 21 and a RAM 22 as storage members, and executes control operations of the interaction controller 1 according to a predetermined program program. 3- Then, the distance counter 22a in RA and M22 stores distance data of the number of 111 detected signals corresponding to the set distance from the travel origin of the revised traveling body to the desired destination position I. Further, the pointer 22b is incremented by the IIti order according to the human horn of mI detection frJ, and stores the actual distance traveled by the vehicle. Furthermore, register 22C
As will be described later, position data regarding a slow town start position at which the traveling object is switched from a constant speed driving area to a deceleration driving area is stored. The ROM 21 includes an acceleration driving area,
Speed data corresponding to the travel patterns in the constant speed travel region and the deceleration travel region are written in advance in correspondence to each movement position of the traveling object. Then, the electronic control device 20 calculates the actual moving speed of the traveling body based on the human power cycle of the detection signal that is sequentially inputted according to the rotational drive of the interaction motor 1.
Compare the speed data corresponding to the actual traveling distance of the traveling object accessed from OM21, and determine the PID constant according to the motor speed (P is a proportional constant, ■ is an integral constant, and D is a differential constant) = 4 - controls the pulse width of the drive signal that determines the flow angle of the first and second triacs 4 and 5 through PID calculation controlled by the digital 1ltl. Note that the electronic control device 20 outputs a rotation direction instruction signal to the drive circuit 23 according to the moving direction of the traveling body.

This drive circuit 23 generates a gate current based on the digitally controlled phase angle from the cello cross detected by the power supply frequency detection device 3o. A voltage is applied to the gate to make the first or second triacs 4 and 5 conductive at a phase angle corresponding to the phase angle data. As a result, power is supplied to the main coil 2 and the auxiliary coil 3 according to the flow angle of the first or second triac 4, 5, and the traveling body is sequentially accelerated, then maintained at a constant speed, and then decelerated. After that, control the stop 1liJ to the desired target position. In addition,...I RO
M21 is replaced as appropriate depending on the traveling distance and traveling pattern of the traveling body.

Run φζ according to Figures 2 and 3 (A) and (B)? i
Explain the stopping motion of the body. For convenience of explanation, the area of 1 bar of speed data written in the ROM 21 in accordance with the M-track running area will be referred to as a slow town table.

The pointer 22b counts 1 as the traveling body moves at a constant speed.
When the traveling object reaches the slow town start position due to a match between the mountain and the setting f111 of the register 22c, the electronic control unit 20 accesses the speed data regarding the deceleration traveling area from the slow town table according to the count m of the pointer 22b. do. Then, the electronic control unit 20 compares this speed data with the actual moving speed of the traveling object calculated based on the input cycle of the detection signal, and determines the PID constant based on the speed difference, similarly to the n+1 operation. By applying PID calculation, the pulse width of drive No. 18 can be calculated by digital
i control. Since the speed data in the deceleration travel region after the start of slow town is set to a lower speed than the actual moving speed of the traveling object, the electronic control unit 20 applies the f-bar to the main coil 2 and the auxiliary coil 3 based on the speed difference. Reduce the amount of electricity supplied. In addition, if the result of PID mi calculation exceeds a predetermined negative value, half-wave power is supplied to reverse phase flll,
For a predetermined period of time, the braking operation control device 20 using direct current restriction
If no detection signal is input, it is determined that the traveling object has stopped.

On the other hand, as shown by the solid line and the dashed-dotted line in FIG.
calculates the stage data C of the distance counter 22a. Then, the electronic control device 20 is corrected. As a result, during the next run of the traveling body, the electronic control unit 20 controls the slow town start position to be stopped at r±C as shown by the solid line and the dashed-dotted line in FIG. 3(B).

Therefore, in this embodiment, low-pass filter 8 is installed = 7
= By doing so, it is possible to distinguish between the low voltage, low frequency detection signal outputted from the tacho generator 7 when the interaction motor l rotates at low speed, and the external noise.
It is possible to reduce the travel distance error and travel speed error of the traveling body due to train noise.

Also, the detection f of the analog output from the tacho generator 7
6 to the actual movement speed calculated by No. l-3 and ROM2]
fJl is supplied to the induction motor 1 by determining the flow angles of the first and second triacs 4 and 5 by PID calculation using digital control based on the speed data and the speed data corresponding to the etfl running pattern. Control the electric power and stop the moving object with high positional accuracy11r14
01 can be done. Furthermore, since the speed data is stored in ROM according to the mileage and driving pattern, each RO
By replacing M21, it is possible to control six drive units.

In this embodiment, the detection device was constructed with a tacho generator, but the present invention is also applicable to a single-phase photodetection device or a magnetic detection device.
It can also be implemented by configuring the A position.

Further, in this embodiment, the detection signal from the tacho generator is configured to have a waveform of 1j waveform, but the present invention has the effect that it can be implemented even if the detection signal is A/D converted. As described above, the present invention includes an induction motor in which a capacitor is connected in parallel to the main coil and the auxiliary coil, and both the first and second three poles that supply AC power to the main coil and the auxiliary coil. A directional switching element, a detection device that outputs a detection signal consisting of a voltage or period according to the rotation speed of the rotating shaft, and a detection device that distinguishes between external noise and the detection signal when the rotating shaft rotates at low speed, and passes only detection No. 18. a memory storing speed data corresponding to a running pattern of a driven member drivingly connected to a rotating shaft;
Compare the actual traveling speed of the driven member calculated based on the force cycle of No. 18 and the speed data corresponding to the actual traveling distance of the driven member, and according to the respective speed...1.3 poles A simple controller equipped with a control device that calculates the flow angle of the bidirectional switching element using digital 1tilJ control (PID), which reduces the cost of the drive system while also ensuring high positional accuracy and capacitor travel at the target position. This is a type interaction motor control device.

[Brief explanation of the drawing]

Figure 1 is an electronic block diagram of the interaction motor control device, Figure 2 is a diagram showing the deceleration running state, and Figure 3 is a diagram showing the deceleration running state.
Figure (A) is an explanatory diagram showing a positional deviation state of the driven part (a) at the target position, and Figure (B) is an explanatory diagram showing a correction state of the slow town start position. In the figure, 1 is an interaction motor, 2 is a main coil, 3 is an auxiliary coil, 4 is a triac as a first three-pole bidirectional switching element, and 5 is a trihook as a second three-pole bidirectional firing switching element. , 6 is a capacitor, 7 is a tacho generator as a detection device, 8 is a low-pass filter as a filter, 20 is a control device, 21 is a ROM as a memory, A
C is an AC power source. #! F Permit 1 Head Taichi Co., Ltd. Star Seiki Co., Ltd. Agent Patent Attorney Ken Ito - 3rd Ur7 Figure 2 (A) number; da a $ slow 1 lovd'a careful dissection

Claims (1)

[Claims] 1. An interaction motor in which a capacitor is connected in parallel to a main coil and an auxiliary coil, and a first motor that supplies alternating current power to the main coil and the auxiliary coil.
and a second three-pole bidirectional switching element, a detection device that outputs a detection signal consisting of a voltage or period according to the rotation speed of the rotating shaft, and a detection device that discriminates between external noise and the detection signal when the rotating shaft rotates at a low speed. A filter that allows only the detection signal to pass through, a memory that stores speed data that corresponds to the running pattern of the driven member that is drive-coupled to the rotating shaft, and a speed that is calculated based on the input period of the detection signal m1. Compare the actual traveling speed of the driven member with speed data corresponding to the actual traveling distance of the driven member,
1. A capacitor running type interaction motor control device, comprising: a control device that performs PID calculation of the flow angle of the three-pole bidirectional switching element (ii) according to the respective speeds by digital control.