JPS6121511A - Control system of positioning mechanism - Google Patents

Abstract

PURPOSE:To improve the high speed positioning and accuracy by using a signal amplifying a deviation between a position command obtained via a closed loop speed control system and an actual position and a signal added with a speed command so as to use them as operation inputs. CONSTITUTION:A position controller 10d inputs a speed command outputted from a speed pattern generator 11 to a model 16 of a closed loop speed control system 40. An output of the model 16 is inputted to an integration device 12 and a position command thetar is obtained. A position deviation Ed between the command thetar and an actual position theta of a controller system 30 is obtained by a subtractor 13 and the deviations Ed is amplified by an amplifier 14. A signal adding an output of the amplifier 14 and the speed command becomes an operation input Ud of a driver 20. In constituting the position control system, a position displacement such as feeding amount and rotary angle is improved for the response, the vibration is suppressed and the stop position accuracy is improved. That is, high speed positioning and accuracy are improved.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a positioning control device that positions a controlled object by applying an operation input to a drive device that drives the controlled object, and in particular, the present invention relates to a positioning control device that positions the controlled object by applying an operation input to a drive device that drives the controlled object, and particularly when the controlled object is a coil feeder or the like. The present invention relates to a composition method for a position control system that requires high-speed positioning operations.

[Conventional technology]

Conventionally, this type of position control system has been configured.

(a) Method using only feedforward control, (b)
A method using only feed q-puncture control, and (C) a method of simply applying feed forward control to the feed bath control system are known.

FIG. 2 is a block diagram showing the configuration according to method (a), in which a two-position control device 10a receives a speed command Ωr as an operation input Ua input to a drive device (motor drive) 20.
I am giving only here.

The drive device 20 includes a speed feedback element 21 (its gain is kv) for feeding back the actual speed (angular velocity of the motor) Ω of the controlled object 50, and a speed feedback element 21 that feeds back the actual speed (angular velocity of the motor) Ω of the controlled object 50, and a target value of the speed feedback element 21 from the operating human power Ua (Ωr). A subtracter 22 that subtracts the output and an open loop speed control system 23 that inputs the output of the subtracter 22 and outputs a drive signal (motor current) to the controlled object 30'' (the speed control open loop transmission relationship is GV (S ) )including.

In addition, the controlled object 60 is a current speed conversion means 31 (its transfer function is kt/Js) that inputs a drive signal and outputs a speed Ω.
where kt is the torque constant, J is the rotor inertia, and S
is a variable of the Laplace transform) and an integrator 62 (its transfer function is 1/S) that inputs the speed Ω and outputs the position (motor curvature angle) θ.

FIG. 6 is a block diagram showing a configuration according to the method of (b), in which parts having the same functions as those in FIG. 2 are given the same reference numerals. What is different from Figure 2?

The speed command Ω output from the speed pattern generator 11 as the operating human power Ub output from the position control device 1t]b
The deviation Eb between the position command or obtained by integrating r by the integrator 12 and the actual position θ of the controlled object 60 is obtained by the subtractor 13, and the position deviation Eb is calculated by the amplifier 14 (its deviation gain is +). It uses a signal amplified by

FIG. 4 is a block diagram showing a configuration according to method (C), in which parts having the same functions as those in FIG. 6 are given the same reference numerals. What is different from Figure 3?

The feedback signal of the device consisting of the amplifier 14 and the speed command Ωr output from the speed pattern generator 11 are used as operation inputs output from the position control device 10C6.
The adder 15 uses a signal obtained by adding the following.

[Problems that pronunciation attempts to solve]

However, in the method (a), the two-position control device 10a
Even if the speed command Ωr output as the operation input tr'a is planned to displace the controlled object 50 to a predetermined position within a predetermined time, the controlled object 3
There is a drawback that the position accuracy at the time of stopping deteriorates due to unpredictable disturbances added to 0. Also, (b
) method, the closed-loop speed control system 40 (the drive device 2o and the controlled object 30 in the drawing
and a current speed converting means 31.

If the speed control system is restricted by the response characteristics of the closed-loop transfer function 1 or Op('')') and the response of the closed-loop speed control system 4o is slow, it is difficult to configure a position control system with high-speed response. In addition, in method (C), if the response of the closed-loop speed control system 40 is slow, the two-position command θr and the actual position θ of the controlled object 30 will deviate greatly, and as a result, the behavior of the system will be oscillatory. It had some drawbacks.

[Means for solving problems]

The control method for the positioning mechanism according to the present invention uses, as operational inputs, a signal obtained by amplifying the deviation between the position command obtained through a closed-loop speed control system model and an integrator and the actual position of the controlled object, and the speed When configuring a two-position control system by using the signal obtained by adding the command.

It is characterized by being able to improve the coordination of positional displacement amounts such as feed amount and rotation angle, suppressing vibrations, and increasing stopping position accuracy.

〔Example〕

Embodiments of the present invention will be described below with reference to two drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of a position control system according to the present invention. “Position control device according to the present invention”
10d inputs the speed command Ωr outputted from the speed pattern generator 11 to the model 16 (its transfer function is Gp (s)) of the closed loop speed control system 40. The output of the model 16 is input to the integrator 12 to obtain the position command θr. A positional deviation 0d between this position command or and the actual position θ of the controlled object 60 is obtained by a subtracter 16, and this positional deviation Ed is amplified by an amplifier 14. The sum of the output of the amplifier 14 and the speed command Ωr is determined by the adder 15.

The output of this adder 15 becomes the operating force Ud of the drive device 20.

The open loop speed control system 23 of the drive device 20 is as follows.

It is represented by a block diagram as shown in FIG. Here, 1 is a speed control system integral gain, k2 is a speed control system proportional gain, and 3 is a voltage-current conversion gain.

That is, the speed control open loop transfer function GV (S) is:

It is expressed as Therefore, the closed loop transfer function Gp (S) of the closed loop speed control system 4° is as follows.

It is expressed as In this way (2. Closed loop speed control system 40
The closed-loop transfer relationship G, (S) can be obtained by calculation. In this example, model 1 of the closed-loop speed control system
The transfer function G"; (S) of 6 was obtained using an identification method such as the two-frequency response method. The results are as follows.

The actual closed-loop transfer function Gp ('') is.

It was found that it can be approximated as S +a in Gp(S). Therefore, the transfer function center (S) of the model was set as Gp (S) -- 8+a. Here, a is a constant.

Therefore, the model 16 is 5, e.g., as shown in FIG.
It can be constructed using an analog circuit.

Also, if model 16 is realized using a sample value system, then T
as the sample time.

x(k-N)-e aTx(k)-(1-e aT
) u(k) may be calculated sequentially for each sample value. Here, u(k) is the input signal of the model 16 at the instant, and x(k) is the output signal of the model 16 at the instant.

Also, the speed command Ω output from the speed pattern generator 11
r is generated with a plan to displace it to a predetermined position within a predetermined time. this is.

For example, simple positioning of a coil feeder can be realized by generating an acceleration/deceleration pattern as shown in FIG.

Referring again to FIG. 1, one positional deviation Ea is expressed as 7. Therefore, the transfer function Gp(S) of the model 16 and the closed-loop transfer function Gp('') of the actual closed-loop speed control system 4o.
If we can make them equal, we can make 1 position deviation [6] zero. In other words, the transfer function Gp(S) of the two models 16
By increasing the identification accuracy of , the deviation Ed can be reduced.

On the other hand, the position deviations mb(s) and Kc in FIGS. 6 and 4
(S) respectively.

It is expressed as That is, which position deviation Eb(s)
, Pc (s), their behavior depends on the characteristics of the closed-loop transfer function Gp (s) of the closed-loop speed control system 40.

In order to improve the response (coupling, vibration, etc.) of the position control system, compensation such as 9-phase lead and 2-phase lag is required.

In addition, in the present invention, even if a disturbance is applied to the controlled object 3o, feedback control is performed, so that the controlled object 3o
It is also possible to accurately stop the 0 at a predetermined position.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, there is an effect that high-speed positioning can be performed with high precision.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the position control system according to the present invention, FIGS. 2 to 4 are block diagrams showing the configuration of conventional position control systems, and FIG. A block diagram showing the configuration of the open loop speed control system of the drive device,
FIG. 6 is a circuit diagram showing an example in which the model shown in FIG. 1 is configured with an analog circuit, and FIG. 7 is a diagram showing an example of a speed pattern of a speed command output from the speed pattern generator 11. 10a, 10b, 10c, 10d...Position control device, 11...Speed pattern generator, 12...Product 1
Divider, 13... Subtractor, 14... Amplifier, 15...
・Adder, 16...Model of closed loop speed control system, 2
0... Drive device. 21... Speed feedback element, 22... Subtractor. 23...Open loop speed control system, 30...Controlled object. 31...Current speed conversion means, 62...Integrator, 40...
・Closed loop speed control system +kt...Torque constant, J...
Rotor inertia, S...Variable of Laplace transformation. K1...deviation gain + kV...speed feedback gain, k+...speed control system integral gain,
K2... Speed control system proportional gain + K5... Voltage -
Current conversion gain. Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7

Claims (1)

[Claims] 1. In a positioning control device that positions the controlled object by applying an operation input to a drive device that drives the controlled object, a speed planned to displace the controlled object to a predetermined position within a predetermined time. means for generating a command; means for inputting the speed command into a predetermined model of a speed control system including the drive device and the controlled object to obtain a position command; 1. A control system for a positioning mechanism comprising means for obtaining a deviation from the positional deviation, means for amplifying the positional deviation, and means for obtaining the operation input by adding the amplified positional deviation and the speed command.