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KR970000194Y1 - Gain control system for servo motor - Google Patents

Gain control system for servo motor Download PDF

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Publication number
KR970000194Y1
KR970000194Y1 KR2019940022325U KR19940022325U KR970000194Y1 KR 970000194 Y1 KR970000194 Y1 KR 970000194Y1 KR 2019940022325 U KR2019940022325 U KR 2019940022325U KR 19940022325 U KR19940022325 U KR 19940022325U KR 970000194 Y1 KR970000194 Y1 KR 970000194Y1
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South Korea
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servo motor
driver
command
gain
servomotor
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KR960008948U (en
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김성운
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대우전자 주식회사
배순훈
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/34—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power
    • G05D13/46—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power using regulating devices with proportional band and integral action, i.e. PI regulating devices
    • 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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

내용 없음.No content.

Description

서보모터 드라이버 이득조정 시스템Servo Motor Driver Gain Adjustment System

제1도는 본 고안의 구성 블럭도.1 is a block diagram of the present invention.

제2도는 종래의 구성 블럭도.2 is a conventional block diagram.

제3도는 (a)도는 사용자의 제어명령 설정 곡선도.3 is a diagram illustrating a control command setting curve of a user.

(b)도는 서보모터 구동특성 곡선도.(b) is a curve diagram of a servo motor driving characteristic.

(c)도는 서보모터 응답지연 곡선도.(c) is the servo motor response delay curve.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 제어명령부 20 : 서보 모터 드라이버10: control command unit 20: servo motor driver

21 : PI(PROPOTIONAL INTEGRATE)제어기 22 : 서보모터구동부21: PI (PROPOTIONAL INTEGRATE) controller 22: Servo motor drive unit

30 : 서보모터 40 : 부하30: servo motor 40: load

50 : 이득조정부 51 : 스쿠르드라이버50: gain adjusting unit 51: screw driver

52 : 스텝모터 53 : 스텝모터구동부52: step motor 53: step motor drive unit

60 : 컴퓨터60: computer

본 고안은 칩부품 자동장착기에 사용되는 서보모터의 이득(GAIN)값을 조정하기 위한 것으로 특히 부하의 변동에 따른 서보모터의 구동특성을 컴퓨터로 관측하여 최적의 PI이득값을 컴퓨터의 제어에 의해 자동으로 조정하기 위한 서보모터 드라이버 이득조정 시스템에 관한 것이다.The present invention is to adjust the gain (GAIN) value of the servomotor used in the chip parts automatic mounting device. Especially, the optimum PI gain value is controlled by the computer by observing the driving characteristics of the servomotor according to the load variation. A servo motor driver gain adjustment system for automatic adjustment.

종래에는 칩부품자동장착기에 사용되는 서보모터의 이득값을 조정하기 위하여 제2도에서와 같이 사용자가 제어명령부(10)를 통해 임의의 제어명령을 하달하였을 경우 서보모터(30)의 구동특성을 오실로스코우프등으로 관측하면서 실시되어야 했다.Conventionally, in order to adjust a gain value of a servomotor used in an automatic chip component mounting device, as shown in FIG. 2, when a user receives an arbitrary control command through the control command unit 10, the driving characteristics of the servomotor 30 are used. It should be carried out while observing with an oscilloscope.

따라서 사용자의 제어명령 하달과 서보모터(30)의 구동관계를 설명하면, 사용자는 제어명령부(10)를 통해 제어 명령을 하달한데 있어 개방루프(OPEN-LOOP)방식의 제어를 하고 있고 서보모터 드라이버(20)와 서보모터는 폐루프(CLOSED)방식의 제어를 하고 있어 서보모터(30)의 변화상태는 서보모터 드라이버(20)에 귀환(FEED-BACK)되어 서버모터(30) 구동상태변화에 적절히 대응할수 있도록 되어있으나 사용자는 서보모터(30)의 구동상태 변화에 대해 아무런 응답도 받을수 없도록 되어있다.Therefore, when the control relationship between the user's control command and the servo motor 30 is described, the user is controlling the open-loop (OPEN-LOOP) method to control the command through the control command unit 10 and the servo motor. The driver 20 and the servomotor are controlled by the closed loop (CLOSED) method, and the change state of the servomotor 30 is fed back to the servomotor driver 20 to change the driving state of the server motor 30. Although it can be properly responded to the user is not able to receive any response to the change in the drive state of the servomotor (30).

또한 서보모터드라이버(20)의 PI제어기(21) 이득값은 사용자의 제어명령에 의해 결정되어야 하는 값으로 이득이 결정되지 않을 경우에는 전체 시스템이 매우 불량한 특성을 나타나게 되므로 적정한 이득값의 세팅이 요구되었으나 서보모터드라이버(20)의 출력을 작업자가 계측기(예:OSC)로 관측되면서 수작업에 의해 PI제어기(21)의 볼륨을 조정해주게 되어 있으므로 부적합하게 세팅된 PI제어기(21)의 이득값은 조정장비의 진동이나 늦은 응답으로 나타나는데 이는 칩부품자동 장착기의 신뢰성과 고속화에 악 영향을 끼쳤던 것이다.In addition, the gain value of the PI controller 21 of the servomotor driver 20 is a value that should be determined by a user's control command. If the gain is not determined, the entire system exhibits very poor characteristics. However, since the operator observes the output of the servo motor driver 20 with a measuring instrument (eg, OSC), the volume of the PI controller 21 is adjusted by hand, so that the gain value of the PI controller 21 which is inappropriately set is adjusted. Vibration or slow response of the equipment was shown, which adversely affected the reliability and speed of the chip parts automounter.

본 고안에서는 칩부품자동장착기의 부하변동에 따른 서보모터의 구동특성을 관측하여 최적의 PI제어기 이득값을 컴퓨터제어에 의해 이득 조정부를 자동 제어하여 조정값을 모터드라이버의 PI제어기에 인가하여 기계적인 진동 감소 및 고속화를 이루어 장비의 수명연장 및 신뢰성을 향상시킴에 그 목적이 있다.The present invention observes the driving characteristics of the servomotor according to the load variation of the chip parts automounter, and automatically adjusts the gain control part by computer control to the optimum PI controller gain value, and applies the adjustment value to the PI controller of the motor driver. The purpose is to improve the life and reliability of equipment by reducing vibration and speeding up.

이를 첨부도면에 의해 설명한다.This will be described with reference to the accompanying drawings.

서보모터(30)의 회전속도 및 시간 명령을 사용자가 하달하는 제어명령부(10)를 사용자의 제어명령에 따라 목표값(서보모터의 회전속도)을 신속정확하게 추종할수 있도록하는 PI제어기(21)와 서보모터를 구동하는 서보모터 구동부(22)로된 서보모터드라이버(20)를 통해 부하(40)를 움직이는 서보모터(30)에 연결하고, 서보모터(30)의 엔코더 신호를 받아 인터럽트(INT)신호로서 회전속도 운전특성을 체크(관측)하고 사용자의 지령(속도명령)과 실제의 서보모터의 운전속도 특성을 비교하여 조정명령을 내리는 컴퓨터(60)를 스템모터(52)의 구동에 의해 스쿠르드라이버(51)로 서보모터(30)의 이동값을 변환하여 조정하는 이득조정부(50)를 통해 서보모터드라이버(20)의 PI제어기(21)의 이득조정단자에 연결되게 구성한다.PI controller 21 for allowing the user to control the rotational speed and time command of the servo motor 30 to quickly and accurately follow a target value (rotational speed of the servo motor) according to the user's control command. And the load 40 is connected to the moving servomotor 30 through the servomotor driver 20 including the servomotor driver 22 driving the servomotor, and receives the encoder signal of the servomotor 30 to interrupt (INT). By operating the stem motor 52, the computer 60 which checks (observes) the rotational speed operation characteristics as a signal and compares the user's command (speed command) with the actual operation speed characteristics of the servo motor and issues an adjustment command. It is configured to be connected to the gain adjusting terminal of the PI controller 21 of the servo motor driver 20 through a gain adjusting unit 50 which converts and adjusts the movement value of the servo motor 30 by the screw driver 51.

이하 본 고안에 작용 및 효과를 설명한다.Hereinafter will be described the action and effect in the present invention.

서보모터(30)에서 발생하는 엔코더신호나 서보모터드라이버(20)를 거쳐 출력되는 엔코더신호들은 칩부품자동장착기에 탑재됨 컴퓨터(60)의 인터럽트(INT)요구신호로 쓰여지며 컴퓨터(60)에서는 상기 신호들을 프로그램 제어에 의해 처리하여 서보모터(30)의 회전속도 응답 특성을 관찰한다.The encoder signal generated from the servo motor 30 or the encoder signal output through the servo motor driver 20 is mounted in the chip component automatic mounting machine. The signal is written as an interrupt (INT) request signal of the computer 60. The signals are processed by program control to observe the rotational speed response characteristics of the servomotor 30.

따라서 컴퓨터(60)에 관측된 데이타는 사용자가 제어명령부(10)에 제어명령을 하달한 것과 비교되어 서보모터(30)에서 관측된 데이타와 제어명령부(10)에서 하달된 제어명령의 차가 최소가될때 시스템 구동이 최적의 상태가 되므로 컴퓨터(60)에서는 서보모터(30)운전시마다 구동특성을 파악하면서 이득조정부(53)의 스텝모터 구동부(53)에 의해 스텝모터(52)를 구동하여 스쿠루드라이버(51)로서 서보모터 드라이버(20)의 PI제어기(21)이득값을 자동으로 조정한다.Therefore, the data observed in the computer 60 is compared with the user giving the control command to the control command unit 10, so that the difference between the data observed in the servo motor 30 and the control command received from the control command unit 10 is different. When the system drive is at an optimum state when the minimum value is reached, the computer 60 drives the step motor 52 by the step motor drive unit 53 of the gain adjusting unit 53 while grasping the driving characteristics every time the servo motor 30 is operated. As the screw driver 51, the PI controller 21 gain value of the servomotor driver 20 is automatically adjusted.

즉 사용자가 제어명령부(10)에 제3도의 (a)도에 도시된 곡선도와 같이 제어명령을 하달하였을시에 서보모터(30)의 엔코더 신호를 이용한 인터럽트(INT)처리를 거쳐 컴퓨터(60)에서 관측되는 서보모터의 구동특성은 제3도의 (b)도와 같이 나타나거나, (c)도와 같은 응답지연 곡선도가 나타난다.That is, when the user gives the control command to the control command unit 10 as shown in the curve of FIG. 3A, the computer 60 receives an interrupt (INT) process using the encoder signal of the servomotor 30. The driving characteristics of the servo motor observed in Fig. 3) are shown in Fig. 3 (b) or the response delay curve shown in Fig. 3 (c).

따라서 컴퓨터(60)는 상기한 곡선도에 의거하여 조정값을 계산하는데, 이것은 사용자의 제어명령에 얼마나 잘 따랐는가를 나타내는 평가함수(J)이다.Therefore, the computer 60 calculates an adjustment value based on the above-described curve, which is an evaluation function J indicating how well the user's control command is followed.

J =∫│e(t)│dt e(t) = vi(t) - vo(t)J = ∫│e (t) │dt e (t) = v i (t)-v o (t)

상기 값은 서보모터(30)구동시마다 컴퓨터(60)에서 엔코더신호에 의해 인터럽트(INT)신호로서 입력받아 계산되어지며, 평가지수(J)값이 최소가 되게끔 이득조정부(50)의 스텝모터구동부(53)를 통해 스텝모터(52)구동명령을 내려 상기 스텁모터(52)가 회전하여 스쿠르드라이버(51)로서 서보모터드라이버(20)의 PI제어기(21)의 이득을 조정하게 된다.The value is calculated by inputting the interrupt signal as an INT signal by the encoder signal from the computer 60 every time the servo motor 30 is driven, and the step motor of the gain adjusting unit 50 so that the evaluation index J value is minimized. The stub motor 52 is rotated by giving the step motor 52 a driving command through the driver 53 to adjust the gain of the PI controller 21 of the servo motor driver 20 as the screw driver 51.

상술한 바와같이 본 고안은 서보모터 드라이버의 PI제어기 이득값을 컴퓨터 제어에 의해 이득조정부로서 조정하므로 제3도의 (b)도와 같은 오버쇼트(OVER SHOO T)와 언더쇼트(UNDER SHOOT)값을 최소로 줄여 장비의 기계적 진동을 줄이고 (c)도의 곡선도와 같은 응답지연을 없애므로서 장비의 고속화를 이루어 수명연장 및 신뢰성을 향상시킬수 있다.As described above, the present invention adjusts the PI controller gain value of the servo motor driver as the gain adjusting unit by computer control, so the over shot and under shot values as shown in FIG. 3 (b) are minimized. By reducing the mechanical vibration of the equipment and eliminating the response delay such as the curve of (c), it is possible to speed up the equipment and improve its lifespan and reliability.

Claims (1)

서보모터(30)의 회전속도 및 시간 명령을 사용자가 하달하는 제어명령부(10)를 사용자의 제어명령에 따라 목표값(서보모터의 회전속도)을 신속정확하게 추종할수 있도록 하는 PI제어기(21)와 서보모터를 구동하는 서보모터구동부(22)로 된 서보모터드라이버(20)를 통해 부하(40)를 움직이는 서보모터(30)에 연결한 통상의 칩부품자동장착기 서보모터드라이버 이득조정시스템에 있어서, 엔코더 신호를 받아 인터럽트(INT)신호로서 서보모터(30)의 회전속도 운전특성을 체크(관측)하고, 사용자의 지령(속도명령)과 실제의 서보모터의 운전속도 특성을 비교하여 조정명령을 내리는 컴퓨터(60)를 스텝모터(52)의 구동에 의해 스크루드라이버(51)로 서보모터(30)의 이득값을 변환하여 조정하는 이득조정부(50)를 통해 서보모터드라이버(20)의 PI제어기(21)에 연결되게 구성한 것을 특징으로하는 서보모터드라이버 이득조정시스템.PI controller 21 which enables the control command unit 10 which receives the rotational speed and time command of the servomotor 30 to follow the target value (rotational speed of the servomotor) quickly and accurately according to the user's control command. In the conventional chip parts automatic mounting device servo motor driver gain adjustment system connected to the servo motor 30 moving the load 40 through the servo motor driver 20 of the servo motor driver 22 for driving the servo motor. Receives the encoder signal and checks (observes) the rotation speed operation characteristic of the servo motor 30 as an interrupt (INT) signal, and compares the user's command (speed command) with the actual operation speed characteristic of the servo motor to execute an adjustment command. PI controller of the servo motor driver 20 through the gain adjusting unit 50 which converts and lowers the computer 60 by adjusting the gain value of the servo motor 30 with the screw driver 51 by driving the step motor 52. Configured to connect to 21 Gain adjustment servo motor driver system of claim.
KR2019940022325U 1994-08-31 1994-08-31 Gain control system for servo motor Expired - Fee Related KR970000194Y1 (en)

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KR2019940022325U KR970000194Y1 (en) 1994-08-31 1994-08-31 Gain control system for servo motor

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KR2019940022325U KR970000194Y1 (en) 1994-08-31 1994-08-31 Gain control system for servo motor

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KR970000194Y1 true KR970000194Y1 (en) 1997-01-09

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