JPH02280687A - Speed controller for dc motor - Google Patents

Speed controller for dc motor

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Publication number
JPH02280687A
JPH02280687A JP1100927A JP10092789A JPH02280687A JP H02280687 A JPH02280687 A JP H02280687A JP 1100927 A JP1100927 A JP 1100927A JP 10092789 A JP10092789 A JP 10092789A JP H02280687 A JPH02280687 A JP H02280687A
Authority
JP
Japan
Prior art keywords
speed
motor
roll
actual
feedback
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.)
Pending
Application number
JP1100927A
Other languages
Japanese (ja)
Inventor
Masaru Toyoda
勝 豊田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP1100927A priority Critical patent/JPH02280687A/en
Publication of JPH02280687A publication Critical patent/JPH02280687A/en
Pending legal-status Critical Current

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  • Control Of Direct Current Motors (AREA)

Abstract

PURPOSE:To improve the stability of speed control by detecting the actual speed of a load and utilizing the detected speed as a speed feedback signal. CONSTITUTION:When the ratio of the GD<2> of a DC motor 3 to the GD<2> of a roll 5 is 1:60, for example, the speed response of the feedback of the speed of the DC motor 3 is changed by 1:60 by the affection of the backlash of gears and the overshoot of the actual speed N of the motor is generated with respect to a speed reference N*, however, the feedback of the speed of the roll 5, which is not changed suddenly since the GD<2> of the roll 5 is large, and, therefore, the overshoot is hardly generated whereby the hunting phenomena of a control system may be restrained.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は直流電動機の速度制御装置に関する。[Detailed description of the invention] [Industrial application field] The present invention relates to a speed control device for a DC motor.

（従来の技術） 第２図は、例えば、電気工学ハンドブック（昭和６３年
２月２８日発行のＰ２Ｓ５）に示されたサイリスタレオ
ナード装置の回路構成を示したものである。図において
、１は入力変圧器、２はサリスク式電力変換器の主回路
、３は直流電動機、４はパルス発振器、５は直流発電機
３により駆動されるロール、６は界磁入力変圧器、７は
界磁制御器の主回路、８は直流電動機３の界磁巻線、９
はパルス発振器４の出力から直流電動機３の実速度Ｎを
検出する速度センサ、ｌＯは速度基準Ｎ０を設定する速
度基準設定器、１１は実速度Ｎと速度基準Ｎ１との偏差
から電機子電流基準１ａ”を作成する誤差増幅器、１３
は直流電動機３の電機子電流１ａを検出するための変流
器、１４は電流センサ、１５と電機子電流１ａと電機子
電流基準Ｉａ”の偏差を演算する誤差増幅器、１６はゲ
トバルス発生器、１７は界磁電流基準Ｉｆ１を設定する
界磁基準設定器、１８は界磁電流Ｉｆを検出するための
変流器、１９は電流センサ、２０は界磁電流Ｉｆと界磁
電流基準Ｉｆ”との偏差を演算する誤差増幅器、２１は
ゲートパルス発生器である。２２は直流電動機の速度制
御装置部、２３は直流電動機の駆動装置部を示している
。(Prior Art) FIG. 2 shows the circuit configuration of a thyristor Leonard device shown in, for example, the Electrical Engineering Handbook (P2S5, published February 28, 1988). In the figure, 1 is the input transformer, 2 is the main circuit of the Salisk type power converter, 3 is the DC motor, 4 is the pulse oscillator, 5 is the roll driven by the DC generator 3, 6 is the field input transformer, 7 is the main circuit of the field controller, 8 is the field winding of the DC motor 3, 9
1 is a speed sensor that detects the actual speed N of the DC motor 3 from the output of the pulse oscillator 4, 1O is a speed reference setting device that sets the speed reference N0, and 11 is an armature current reference based on the deviation between the actual speed N and the speed reference N1. 1a” error amplifier, 13
1 is a current transformer for detecting the armature current 1a of the DC motor 3; 14 is a current sensor; 15 is an error amplifier that calculates the deviation between the armature current 1a and the armature current reference Ia''; 16 is a Getvals generator; 17 is a field reference setting device for setting the field current reference If1, 18 is a current transformer for detecting the field current If, 19 is a current sensor, and 20 is a field current If and a field current reference If". 21 is a gate pulse generator. Reference numeral 22 indicates a speed control unit for the DC motor, and reference numeral 23 indicates a drive unit for the DC motor.

この構成における速度制御は、速度基準Ｎ０と実速度Ｎ
との偏差を誤差増幅器１１で増幅して電機子電流基準１
ａ”を作成し、この電機子電流基準１ａ”と電機子電流
Ｔａの差がなくなるように直流電動機の電機子電圧を制
御して行っており、誤差増幅器１１の増幅率は直流電動
機３のＣＤ”とロール５のＣＤ”に基づき所定の速度応
答が得るられるように設定する。Speed control in this configuration consists of a speed reference N0 and an actual speed N0.
The error amplifier 11 amplifies the deviation from the armature current reference 1.
a" is created, and the armature voltage of the DC motor is controlled so that there is no difference between this armature current reference 1a" and the armature current Ta, and the amplification factor of the error amplifier 11 is the CD of the DC motor 3. Settings are made so that a predetermined speed response can be obtained based on "and the CD of roll 5".

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

この従来の構成では、直流電動機３の回転速度を速度帰
還して速度制御を行っており、誤差増幅器１１の増幅率
が一定であるるから、直流電動機３と負荷であるロール
５の間にある連結機構のギヤバックラッシュにより、Ｇ
Ｄ”が変化した場合（直流電動機３のＣＤ”→直流電動
機３のＧＤ”十ロール５のＣＤ”）、ロール５のＧＤｚ
が大きい場合には、速度応答が変化し、これが外乱とな
り、ハンチング現象が生じて速度制御系の安定性が損な
われることがある。In this conventional configuration, speed control is performed by feeding back the rotational speed of the DC motor 3, and since the amplification factor of the error amplifier 11 is constant, the Due to the gear backlash of the coupling mechanism, G
When D" changes (CD of DC motor 3 → GD of DC motor 3 "CD of 10 rolls 5"), GDz of roll 5
If this is large, the speed response changes and this becomes a disturbance, which may cause a hunting phenomenon and impair the stability of the speed control system.

この発明は上記問題を解消するためになされたもので、
ＧＤ”の変化による制御の安定性の阻害を防止すること
ができる直流電動機の速度制御装置を提供するこをと目
的とする。This invention was made to solve the above problem.
An object of the present invention is to provide a speed control device for a DC motor that can prevent inhibition of control stability due to changes in GD.

〔課題を解決するための手段］ この発明は上記目的を達成すため、負荷の実速度を検出
して、これを速度帰還信号とするようにしたものである
。[Means for Solving the Problems] In order to achieve the above object, the present invention detects the actual speed of the load and uses this as a speed feedback signal.

〔作用〕[Effect]

この発明では、直流電動機の負荷の実速度を速度帰還す
るから、特に、負荷のＣＤ”が大きい場合には、急激な
速度変化がないので、速度帰還の変化が少なく、制御系
のハンチング現象は抑制される。In this invention, since the actual speed of the load of the DC motor is fed back, there is no sudden speed change, especially when the load CD is large, so there is little change in speed feedback, and the hunting phenomenon in the control system is eliminated. suppressed.

〔実施例〕〔Example〕

以下、この発明の１実施例を図面を参照して説明する。 Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

第１図におてい、２４はロール５の速度ＮＲを検出する
速度センサであって、その出力が速度帰還信号として、
誤差増幅器１１に与えられる。他の構成は第２図の構成
と同じである。In FIG. 1, 24 is a speed sensor that detects the speed NR of the roll 5, and its output is a speed feedback signal.
It is applied to the error amplifier 11. The other configurations are the same as those shown in FIG.

例えば、直流電動機３のＣＤ”とロール５のＧＤｚとの
比が１：６０である場合、第２図の直流電動機３の速度
を速度帰還する場合には、ギヤーバックランシュの影響
で、速度応答は１：６０に変化し、実速度Ｎが速度基準
Ｎ１に対してオバシュートするが、本実施例では、ＧＤ
”が大きくて速度の急激な変化が無いロール５の速度を
速度帰還するので、上記オーバシュートは起こり難く、
制御系のハンチング現象は抑制される。For example, when the ratio of CD'' of the DC motor 3 to GDz of the roll 5 is 1:60, when the speed of the DC motor 3 shown in Fig. 2 is fed back, the speed response will be changes to 1:60, and the actual speed N overshoots with respect to the speed reference N1, but in this example, GD
” is large and the speed of roll 5 without sudden changes in speed is returned to the speed, so the above-mentioned overshoot is unlikely to occur.
Hunting phenomenon in the control system is suppressed.

〔発明の効果〕〔Effect of the invention〕

この発明は以上説明した通り、直流電動機の負荷の速度
を速度帰還して直流電動機の速度制御を行うから、負荷
のＣＤ”が直流電動機のＧＤ”に比して大きい場合にも
、速度帰還の急変が防止されるので、従来に比し、制御
の安定性を向上することができる。As explained above, this invention controls the speed of the DC motor by feedbacking the speed of the load of the DC motor, so even when the CD of the load is larger than the GD of the DC motor, the speed feedback is Since sudden changes are prevented, the stability of control can be improved compared to the conventional method.

【図面の簡単な説明】[Brief explanation of drawings]

第１図はこの発明の実施例を示すブロック図、第２図は
従来のサイリスクレオナード装置を示すブロック図であ
る。 図において、２−・−電力変換器、３−直流電動機、５
−負荷であるロール、１０・・−速度基準設定器、１１
．１５−・−誤差増幅器、１６−ゲードパルス発生器、
２４−・−速度検出器。 なお、図中、同一符号は同一または相当部分を示す。FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a block diagram showing a conventional Siris Leonard device. In the figure, 2 - power converter, 3 - DC motor, 5
- Roll as load, 10... - Speed reference setter, 11
．． 15--error amplifier, 16-gated pulse generator,
24--Speed detector. In addition, in the figures, the same reference numerals indicate the same or corresponding parts.

Claims (1)

【特許請求の範囲】[Claims] 　速度帰還信号と速度基準との偏差から電機子電流基準
を作成し、この電機子電流基準と実電機子電流との偏差
が無くなるように電機子電圧をを制御する直流電動機の
速度制御装置において、上記速度帰還信号として、直流
電動機に連結機構を介して連結された負荷の実速度を検
出して、これを上記速度帰還信号とすることを特徴とす
る直流電動機の速度制御装置。In a speed control device for a DC motor, an armature current reference is created from the deviation between a speed feedback signal and a speed reference, and the armature voltage is controlled so that the deviation between the armature current reference and the actual armature current is eliminated. A speed control device for a DC motor, characterized in that the actual speed of a load connected to the DC motor via a coupling mechanism is detected and used as the speed feedback signal.
JP1100927A 1989-04-19 1989-04-19 Speed controller for dc motor Pending JPH02280687A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1100927A JPH02280687A (en) 1989-04-19 1989-04-19 Speed controller for dc motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1100927A JPH02280687A (en) 1989-04-19 1989-04-19 Speed controller for dc motor

Publications (1)

Publication Number Publication Date
JPH02280687A true JPH02280687A (en) 1990-11-16

Family

ID=14286987

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1100927A Pending JPH02280687A (en) 1989-04-19 1989-04-19 Speed controller for dc motor

Country Status (1)

Country Link
JP (1) JPH02280687A (en)

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