JPS6242475B2 - - Google Patents
Info
- Publication number
- JPS6242475B2 JPS6242475B2 JP56016951A JP1695181A JPS6242475B2 JP S6242475 B2 JPS6242475 B2 JP S6242475B2 JP 56016951 A JP56016951 A JP 56016951A JP 1695181 A JP1695181 A JP 1695181A JP S6242475 B2 JPS6242475 B2 JP S6242475B2
- Authority
- JP
- Japan
- Prior art keywords
- motor
- output
- gear
- current
- speed
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
- 230000001747 exhibiting effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 13
- 230000010354 integration Effects 0.000 description 5
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Feedback Control In General (AREA)
- Control Of Velocity Or Acceleration (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Direct Current Motors (AREA)
Description
【発明の詳細な説明】
この発明は、軸とギヤを介して直結された負荷
を駆動する電動機の速度制御装置に関するもので
あり、更に詳しくは、ギヤのバツクラツシユに起
因して生じる速度調節動作のハンチングの抑制に
関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a speed control device for an electric motor that drives a load that is directly connected to a shaft through a gear, and more specifically, to a speed control device for a motor that drives a load that is directly connected to a shaft through a gear. This relates to suppression of hunting.
第１図は、軸とギヤを介して直結された負荷を
駆動する電動機の従来の速度制御系の構成を示す
概念図である。 FIG. 1 is a conceptual diagram showing the configuration of a conventional speed control system for an electric motor that drives a load that is directly connected to a shaft through a gear.
同図において、１は速度調節器、２は電流調節
器、３はサイリスタ変換器、４は電流検出器、５
は直流電動機、６はタコジエネレータ、７と９は
それぞれ軸、８はギヤ、１０は負荷を示す。すな
わち直流電動機５は、該電動機の軸７（ねじりば
ねの記号で示したのは、弾性体の軸だからであ
る）が負荷１０と軸９とギヤ８により結合されて
おり、従つてギヤ８を介して負荷１０を駆動す
る。電動機５はサイリスタ変換器３を介して図示
せざる電源から給電される。速度調節器１は、電
動機５の回転速度の指令値ｎM *（＊印は指令値
を示す）と電動機５の軸に取付けたタコジエネレ
ータ６から出力される回転速度の実際値ｎMとの
差を入力されて電流指令値ｉa *を出力してい
る。そして電流調節器２は、電流検出器４を介し
て検出された電動機５における電流実際値ｉaと
速度調節器１から出力される電流指令値ｉa *と
の差を入力されて制御出力をサイリスタ変換器３
に送り、該変換器の点弧角を制御するなどして電
動機５に供給される電流を制御している。 In the figure, 1 is a speed regulator, 2 is a current regulator, 3 is a thyristor converter, 4 is a current detector, and 5 is a current regulator.
is a DC motor, 6 is a tachometer generator, 7 and 9 are respective shafts, 8 is a gear, and 10 is a load. That is, in the DC motor 5, a shaft 7 (the shaft 7 of the motor is indicated by a torsion spring symbol because it is an elastic shaft) is connected to a load 10, a shaft 9, and a gear 8. The load 10 is driven through the motor. The electric motor 5 is supplied with power via the thyristor converter 3 from a power source (not shown). The speed regulator 1 calculates the difference between the command value n M * (* indicates the command value) of the rotation speed of the electric motor 5 and the actual value n M of the rotation speed output from the tachogenerator 6 attached to the shaft of the electric motor 5. is input and the current command value i a * is output. The current regulator 2 receives the difference between the actual current value i a in the motor 5 detected via the current detector 4 and the current command value i a * output from the speed regulator 1 and outputs a control output. Thyristor converter 3
The current supplied to the electric motor 5 is controlled by, for example, controlling the firing angle of the converter.
このような直流電動機の速度制御装置は、ギヤ
８のバツクラツシユ（逆転時に生じる遊び、ガ
タ）に起因して速度および電流の調節動作にハン
チングを生じることがある。以下、この点を詳し
く説明する。 In such a speed control device for a DC motor, hunting may occur in speed and current adjustment operations due to backlash (play or backlash that occurs during reverse rotation) of the gear 8. This point will be explained in detail below.
第２図はこの発明の一実施例を示すブロツク線
図であるが、その中で点線内のブロツク線図Ｋ
は、第１図における電動機５とその軸７、該軸７
と負荷１０の軸９を結合するギヤ８、ギヤ８を介
して電動機５により駆動される負荷１０から成る
駆動系（制御対象）のブロツク線図である。 FIG. 2 is a block diagram showing one embodiment of the present invention, in which the block diagram K within the dotted line is
are the electric motor 5 and its shaft 7 in FIG. 1, and the shaft 7
1 is a block diagram of a drive system (controlled object) consisting of a gear 8 coupling a shaft 9 of a load 10 with a load 10 driven by an electric motor 5 via the gear 8. FIG.
このブロツク線図Ｋにおいて、１３は電動機を
示すブロツク（積分器）であり、その中に伝達関
数が記載されているが、Ｓはラプラス演算子、Ｔ
Mは電動機の慣性モーメントＪMに対応する積分器
１３の積分時間、１４は積分要素であつてギヤ８
の（かみ合つている歯の）位置を表わす信号を出
力する。１５はギヤ８のバツクラツシユを表わす
ブロツクで不感帯要素、１６はギヤを表わすブロ
ツクで積分器、ＴGはギヤの慣性モーメントに対
応する積分器１６の積分時間、１７は軸７，９を
表わすブロツクで積分器、ＴSは軸のねじりバネ
定数または剛性率に対応する積分器１７の積分時
間、１８は負荷を表わすブロツクで積分器、ＴL
は負荷の慣性モーメントＪLに対応する積分器１
８の積分時間、である。またτMは電動機トル
ク、ｎMは電動機回転速度、τS1は軸７の軸トル
ク、τS2は軸９の軸トルク、ｎGはギヤ８の回転
数、τLは負荷トルク、ｎLは負荷回転速度、φは
磁束、を示す。 In this block diagram K, 13 is a block (integrator) representing an electric motor, and a transfer function is written therein, S is a Laplace operator, and T
M is the integration time of the integrator 13 corresponding to the moment of inertia J M of the electric motor, 14 is the integral element and the gear 8
Outputs a signal representing the position of (the teeth that are engaged). 15 is a block representing the backlash of the gear 8 and is a dead band element; 16 is a block representing the gear and an integrator; T G is the integration time of the integrator 16 corresponding to the moment of inertia of the gear; 17 is a block representing the axes 7 and 9. The integrator, T S is the integration time of the integrator 17 corresponding to the torsional spring constant or rigidity of the shaft, 18 is the block representing the load, and the integrator, T L
is the integrator 1 corresponding to the moment of inertia J L of the load
The integration time is 8. Also, τ M is the motor torque, n M is the motor rotation speed, τ S1 is the shaft torque of the shaft 7, τ S2 is the shaft torque of the shaft 9, n G is the rotation speed of the gear 8, τ L is the load torque, and n L is the Load rotation speed, φ indicates magnetic flux.
ブロツク線図Ｋに示されるように、ギヤ８のバ
ツクラツシユ特性は積分要素１４と不感帯要素１
５で表わすことができ、該要素１５において不感
帯を除く領域での入力に対する出力を表わす直線
の傾斜は、軸の弾性を表わすものとなる。このバ
ツクラツシユ特性のため、トルクの大きさによ
り、（電動機→軸→ギヤ→軸→負荷）からなる制
御対象の特性が変わり、トルクの小さい範囲では
ｎＭ／τＭ＝１／ＳＴＭ、大きい範囲では、簡単のため
軸を剛
性体とすると、ｎＭ／τＭ＝１／Ｓ（ＴＭ＋ＴＧ＋ＴＬ
となるた
め、速度調節器のゲインを固定しておくとハンチ
ングを生じるという欠点があつた。 As shown in block diagram K, the backlash characteristic of gear 8 is determined by integral element 14 and dead zone element 1.
5, and the slope of the straight line representing the output relative to the input in the region excluding the dead zone in the element 15 represents the elasticity of the axis. Due to this backlash characteristic, the characteristics of the controlled object consisting of (motor → shaft → gear → shaft → load) change depending on the magnitude of torque, and in a small torque range n M /τ M = 1/ST M , and in a large torque range For simplicity, let us assume that the shaft is a rigid body, then n M /τ M = 1/S (T M + T G + T L
Therefore, if the gain of the speed regulator was fixed, hunting would occur.
この発明は、上述の如き従来の速度制御装置に
おける欠点を除去するためになされたものであ
り、従つてこの発明の目的は、電動機の軸と負荷
の軸がギヤを介して結合されている場合の該電動
機の速度制御装置において、ギヤのバツクラツシ
ユに起因する調節動作のハンチングが生じないよ
うにした電動機の速度制御装置を提供することに
ある。 This invention was made in order to eliminate the drawbacks of the conventional speed control device as described above, and therefore, the purpose of this invention is to solve the problem when the shaft of an electric motor and the shaft of a load are coupled through a gear. An object of the present invention is to provide a speed control device for an electric motor in which hunting in adjustment operation due to gear backlash does not occur.
この発明の構成の要点は、従来の速度制御装置
において、バツクラツシユの大きさにより決まる
或る限られた入力範囲では電動機の慣性モーメン
トにより定まる第１の勾配の入出力特性を示し、
前記限られた入力範囲を超えた他の入力範囲で
は、電動機と負荷の両慣性モーメントにより定ま
る第２の勾配の入出力特性を示す非線形要素を、
速度調節器の出力側に設け、該要素を介して電流
指令値を出力するようにした点にある。 The gist of the configuration of the present invention is that, in a conventional speed control device, in a certain limited input range determined by the magnitude of the backlash, the input/output characteristic of the first slope determined by the moment of inertia of the electric motor is shown;
In other input ranges beyond the limited input range, a nonlinear element indicating the input/output characteristics of the second slope determined by the moments of inertia of both the motor and the load,
The present invention is provided on the output side of the speed regulator, and the current command value is output through the element.
次に図を参照してこの発明の一実施例を説明す
る。 Next, an embodiment of the present invention will be described with reference to the drawings.
第２図はこの発明の一実施例を示すブロツク線
図である。同図において、点線で囲んで示すブロ
ツク線図Ｋについては先きに説明した。それ以外
のところで、１１は速度調節器（PI動作付き）を
表わすブロツクであり、その伝達関数Ｋp１＋ＳＴＩ／
ＳＴＩ
において、Ｋpは比例ゲイン、ＴIは積分時間であ
る。また１２は、第１図において電流調節器２と
サイリスタ変換器３と電流検出器４と電流実際値
ｉaと指令値ｉa *の差を求める演算器とから成る
電流制御系を表わすブロツクであり、その伝達関
数１／１＋ＳＴｉにおいてＴiは時定数である。１９は
こ
の発明により設けられた非線形要素である。 FIG. 2 is a block diagram showing one embodiment of the present invention. In the figure, the block diagram K shown surrounded by dotted lines has been described above. Elsewhere, 11 is a block representing a speed regulator (with PI operation), whose transfer function K p 1+ST I /
In ST I , K p is the proportional gain and T I is the integration time. 12 is a block representing a current control system consisting of a current regulator 2, a thyristor converter 3, a current detector 4, and an arithmetic unit that calculates the difference between the actual current value i a and the command value i a * . In the transfer function 1/1+ST i , T i is a time constant. 19 is a nonlinear element provided according to the present invention.
第３図は、第２図における非線形要素１９の特
性の一例を示す特性図である。同図において、入
力量が０±ΔＩの範囲が非線形範囲で、それを超
す範囲が線形範囲である。 FIG. 3 is a characteristic diagram showing an example of the characteristics of the nonlinear element 19 in FIG. In the figure, the range where the input amount is 0±ΔI is the nonlinear range, and the range beyond that is the linear range.
第２図に戻り、非線形要素１９を接続したかか
る構成にすると、該要素の線形範囲（すなわちギ
ヤのバツクラツシユの範囲を超えた外側）で速度
制御系の最適調整を行なつたとき、トルクの小さ
い範囲で速度制御系のループゲインが上がるのを
抑えることができ、従つてトルクの全範囲で安定
な制御を行なうようにすることができ、従来生じ
ることのあつたハンチングを防止することができ
る。 Returning to FIG. 2, with such a configuration in which the nonlinear element 19 is connected, when the speed control system is optimally adjusted in the linear range of the element (i.e., outside the gear bump range), the torque is small. It is possible to suppress an increase in the loop gain of the speed control system within the range, and therefore it is possible to perform stable control over the entire torque range, and it is possible to prevent hunting, which conventionally occurs.
この非線形要素の回路例を第４図に示す。すな
わち、互いに逆極性に配置された２個のダイオー
ドと抵抗器との並列接続体により非線形要素は構
成することができる。 A circuit example of this nonlinear element is shown in FIG. That is, the nonlinear element can be configured by a parallel connection of two diodes and a resistor arranged with opposite polarities.
以上説明したとおりであるから、この発明によ
れば、速度調節器の出力側に、簡単な構成の非線
形要素を挿入したことにより、ギヤのバツクラツ
シユに基づく電動機速度、電動機への給電々流の
持続振動（ハンチング）を抑制することができ安
定な速度制御装置を実現できるという利点があ
る。しかも非線形要素は、少数の電気部品で構成
できるので安価であるという特長もある。 As explained above, according to the present invention, by inserting a non-linear element with a simple configuration on the output side of the speed regulator, the motor speed based on the gear breakdown and the continuation of the power supply current to the motor can be adjusted. This has the advantage that vibration (hunting) can be suppressed and a stable speed control device can be realized. Moreover, the nonlinear element has the advantage of being inexpensive because it can be constructed with a small number of electrical components.
この発明は、これまでに説明した速度制御系の
ほか、位置制御系にも適用できる。 The present invention can be applied not only to the speed control system described above but also to a position control system.
第１図は軸とギヤを介して直結された負荷を駆
動する電動機の従来の速度制御系の構成を示す概
念図、第２図はこの発明の一実施例を示すブロツ
ク線図、第３図は第２図における非線形要素の特
性図、第４図は同非線形要素の回路例を示す回路
図、である。
符号説明、１……速度調節器、２……電流調節
器、３……サイリスタ変換器、４……電流検出
器、５……直流電動機、６……タコジエネレー
タ、７，９……軸、８……ギヤ、１０……負荷、
１１……速度調節器を表わすブロツク、１２……
電流制御系を表わすブロツク、１３……電動機を
表わすブロツク、１４……積分要素を表わすブロ
ツク、１５……バツクラツシユを表わすブロツ
ク、１６……ギヤを表わすブロツク、１７……軸
を表わすブロツク、１８……負荷を表わすブロツ
ク、１９……非線形要素を表わすブロツク。
Fig. 1 is a conceptual diagram showing the configuration of a conventional speed control system for an electric motor that drives a load directly connected to a shaft and a gear, Fig. 2 is a block diagram showing an embodiment of the present invention, and Fig. 3 is a characteristic diagram of the nonlinear element in FIG. 2, and FIG. 4 is a circuit diagram showing a circuit example of the nonlinear element. Description of symbols, 1...Speed regulator, 2...Current regulator, 3...Thyristor converter, 4...Current detector, 5...DC motor, 6...Tachogenerator, 7, 9...Axis, 8 ...Gear, 10...Load,
11...Block representing a speed regulator, 12...
Block representing a current control system, 13...Block representing an electric motor, 14...Block representing an integral element, 15...Block representing a backlash, 16...Block representing a gear, 17...Block representing an axis, 18... ...Block representing load, 19...Block representing nonlinear element.
Claims (1)
た負荷を駆動する電動機の回転速度の指令値と実
際値の差を入力されて電流指令値を出力する速度
調節器と、電動機に供給される電流実際値と速度
調節器から出力される電流指令値との差を入力さ
れて電動機供給電流の制御出力を生じる電流調節
器とを有して成る電動機の速度制御装置におい
て、 前記バツクラツシユの大きさにより決まる或る
限られた入力範囲では電動機の慣性モーメントに
より定まる第１の勾配の入出力特性を示し、前記
限られた入力範囲を超えた他の入力範囲では、電
動機と負荷の両慣性モーメントにより定まる第２
の勾配の入出力特性を示す非線形要素を、前記速
度調節器の出力側に設け、該要素を介して電流指
令値を出力することにより、前記ギヤのバツクラ
ツシユに起因する調節動作のハンチングの抑制を
図ることを特徴とする電動機の速度制御装置。[Claims] 1. A speed regulator that receives a difference between a command value and an actual value of the rotational speed of an electric motor that drives a load coupled through a gear with backlash and outputs a current command value; A speed control device for a motor, comprising: a current regulator that receives a difference between an actual value of the supplied current and a current command value output from the speed regulator and generates a control output of the motor supply current; In a certain limited input range determined by the magnitude of the motor, the input/output characteristic exhibits the first slope determined by the moment of inertia of the motor, and in other input ranges beyond the limited input range, both the motor and the load The second determined by the moment of inertia
A nonlinear element exhibiting input/output characteristics of the gradient of is provided on the output side of the speed regulator, and a current command value is output through the element, thereby suppressing hunting in the adjustment operation caused by backlash of the gear. A speed control device for an electric motor, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56016951A JPS57132790A (en) | 1981-02-09 | 1981-02-09 | Speed controlling device for motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56016951A JPS57132790A (en) | 1981-02-09 | 1981-02-09 | Speed controlling device for motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57132790A JPS57132790A (en) | 1982-08-17 |
| JPS6242475B2 true JPS6242475B2 (en) | 1987-09-08 |
Family
ID=11930426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56016951A Granted JPS57132790A (en) | 1981-02-09 | 1981-02-09 | Speed controlling device for motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57132790A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6447330U (en) * | 1987-09-14 | 1989-03-23 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54161016A (en) * | 1978-06-09 | 1979-12-20 | Mitsubishi Electric Corp | Thyristor leonard circuit |
-
1981
- 1981-02-09 JP JP56016951A patent/JPS57132790A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54161016A (en) * | 1978-06-09 | 1979-12-20 | Mitsubishi Electric Corp | Thyristor leonard circuit |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6447330U (en) * | 1987-09-14 | 1989-03-23 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57132790A (en) | 1982-08-17 |
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