JPH0246885A - Servomotor controller - Google Patents

Abstract

PURPOSE:To reduce the operation quantity of a stick lever in a receiving device by increasing the increase rate of the duty ratio of the driving voltage of a servomotor by dividing and shortening the pulse cycle of a steering signal inputted into the servomotor to one-integer. CONSTITUTION:Since an OR gate G outputs the logic sum of a steering signal and the output of a flip-flop F/F, the output signal S2 of the OR gate G has a pulse cycle in half of that of the steering signal S1. Therefore, the steering signal having the cycle which is reduced to the half by a cycle change part 21 is inputted into a comparison part CMP. While, the output of the cycle change part 21 is inputted also into a mono multi oscillator MM, and also the cycle of the pulse which is outputted from the mono multi oscillator MM and has the width corresponding to the revolution quantity at present of a motor M becomes half. In a comparison part CMP, all the pulse of the output signal of the cycle change part is compared with the pulse of the output signal of the mono multi oscillator MM, and the pulse width per time of the output signal of the comparison part CMP becomes twice the conventional receiver which is not provided with the cycle change part 21.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a servo motor control device for driving and controlling a servo motor that operates an operating member in a controlled device remotely controlled by radio control.

(b) Prior Art A radio-controlled controlled device is equipped with a receiving section that receives a control signal transmitted from a transmitter and a servo motor that operates an operating member. This servo motor is driven according to the control signal received by the receiver. Generally, the control signal is a pulse wave with a period T, as shown in FIG. 7, and the pulse width determines the duty ratio of the drive voltage applied to the motor and the rotation amount of the motor.
For example, as shown in FIG. 6, the control signal received by the receiver R is compared with the output signal of the monomulti oscillator MM in the comparator CM P. Motor M for monomulti oscillator MM
A coaxial volume VR is provided, and the monomulti oscillator MM outputs a signal with a pulse width corresponding to the output value of the volume VR. The drive unit DR drives the motor M based on the output signal from the comparator CMP whose pulse width is the difference tb between the pulse width L1 of the steering signal and the pulse width ta of the output signal of the monomulti oscillator MM.

Therefore, the drive unit DR drives the motor M based on the difference between the pulse width corresponding to the current rotation amount of the motor M and the pulse width of the control signal, and stops the drive when the two match. That is, the drive unit drives the motor M until the amount of rotation of the motor M reaches a value corresponding to the pulse width of the control signal, and the motor M stops at a position corresponding to the pulse width of the control signal.

A controlled device is also equipped with a plurality of servo motors depending on the number of operating members, and model airplanes in particular are equipped with a large number of servo motors. Since a control signal is serially transmitted from the transmitter to all of these many servo motors, in a normal model machine, the pulse width tl (t2) varies from 1 to 1 depending on the amount of operation of the stick lever of the transmitter. 5±Q, 5ms
The pulse period T of the control signal for one servo motor is approximately 20 to 24 m5.

(C1 Problem to be Solved by the Invention) However, the rotational torque of the motor is proportional to the duty ratio of the drive voltage applied to the motor, and when this duty ratio is small, sufficient rotational torque cannot be obtained. When slightly moving the operating member in the control device, the stick lever in the transmitter is operated by a minute amount, and the amount of change in the pulse width of the control signal is small. However, the duty ratio of the drive voltage applied to the motor is also small, making it impossible to obtain sufficient starting torque and delaying the operation of the operating member.As a result, the operator tends to operate the stick lever too much. , as a result control 1lf
There was a problem that fl was too large.

The purpose of this invention is to shorten the pulse period of the control signal input to the servo motor by dividing it into an integer, thereby increasing the driving voltage of the servo motor in proportion to the pulse width of the control signal per unit time. By increasing the rate of increase in the duty ratio of the servo motor, even when the amount of operation of the stick lever on the transmitter is small and the amount of change in the pulse width of the control signal is small, sufficient rotational torque can be obtained in the servo motor. An object of the present invention is to provide a servo motor control device that can quickly operate to a predetermined position.

(Means for Solving Problem d1) The servo motor control device of the present invention has a servo motor control device that includes a receiver that receives a control signal of a constant period, and a servo motor that is driven in accordance with the control signal received by the receiver. The present invention is characterized in that a cycle changing means is provided to reduce the cycle of the control signal to an integer fraction.

(81 Effect) In this invention, the pulse period of the steering signal is divided into an integer and input to the servo motor.

In a servo motor, the duty ratio of the motor drive voltage increases or decreases at a predetermined slope with respect to the amount of change in the pulse width of the control signal, and the slope, that is, the rate of change of the duty ratio with respect to the change m of the pulse width is equal to the change in the pulse width of the control signal. It increases or decreases in proportion to the frequency. Therefore, if the pulse period of the control signal received by the receiver is divided by an integer and input to the servo motor, the rate of change in the duty ratio of the motor drive voltage will be an integer multiple, and the rotational torque at the time of motor startup will increase. do.

[fl Embodiment FIG. 1 is a diagram showing the configuration of a radio control receiver equipped with a servo motor, which is an embodiment of the present invention.

The receiver is composed of a receiving section R1 period changing section 21, a comparing section CMP, a driving section DR, and a mono-multi oscillator MM. In the figure, receiving section R1 comparing section CMP, driving section DR
The mono-multi oscillation circuit MM is the same as the conventional example shown in FIG. 6, and the explanation thereof will be omitted. The difference between the conventional example and this embodiment is that the output of the receiving section R is input to the comparator CMP via the period changing section 21. Further, the output of the period changing section 21 is also input to the monomulti oscillator MM. The mono-multi oscillator MM outputs a signal with a pulse width corresponding to the current amount of rotation of the motor M in synchronization with the cycle of the output signal of the cycle changer 21. Therefore, all the pulses of the period changing section 21 inputted to the comparison means are transmitted to the monomulti oscillator M.
The pulses of the output signal of M are compared.

FIG. 2 is a diagram showing the configuration of the cycle changing means that constitutes the servo motor control device of the present invention. Further, FIG. 3 is a diagram showing signals of each part constituting the period changing section.

The period changing section 21 is composed of counters C1 and C2 and a flip-flop F/F.

The counter C1 measures a half of the period of the control signal S1, and the counter C2 measures the pulse width of the control signal S1 by counting the number of clocks. For example, when the pulse period of the control signal S1 is 20 m5, the counter C1 measures 10 ms. The output of the overflow terminal of the counter C1 is input to the up/down terminal of the counter C2 and the cent terminal of the flip-flop F/F. Further, the output of the 0 terminal of the counter C2 is input to the reset terminal of the flip-flop F/F. The output of the flip-flop F/F is input to the OR gate G together with the operation'#1 signal S1.

When the control signal S1 rises, the counters C1 and C2 are activated. When the counter C1 measures a time of T/2, the overflow terminal of the counter C1 becomes H1'', the counter C2 starts counting down, and the flip-flop F/F is set.After this, the contents of the counter C2 are When it becomes "0", the O terminal becomes "Hi" and the flip-flop F/F is reset.As a result, the Q terminal of the flip-flop F/F becomes Pulse width t of signal Sl
1), a pulse with a pulse width t1 is reproduced.The OR gate G outputs the logical sum of the control signal and the output of the flip-flop F/F.
The output signal S2 of the gate G has a pulse period that is 1/2 that of the control No. 13 S1. Therefore, as shown in FIG. 4, the comparator CMP receives a control signal whose period has been reduced to 1/2 by the period changing section 21.

On the other hand, the output of the period changing section 21 is also input to the monomulti oscillator MM, and the motor M output from the monomulti oscillator MM
The period of the pulse whose width corresponds to the current amount of rotation is also 1/2. In the comparator CMP, all the pulses of the output signal of the period changing section are compared with the pulses of the output signal of the monomulti oscillator MM, and the pulse width per unit time of the output signal of the comparing section CMP is determined by the pulse width of the output signal of the period changing section 21. This is twice as much as a conventional receiver without. As a result, as shown in FIG. 5, the duty ratio of the drive voltage of the motor M changes to the state shown by the dashed line in the figure with respect to the amount of change in the input signal. This is twice the change rate when the control signal with the period T shown by the solid line in the figure is inputted to the motor M as it is, and the pulse is pulsed in the range until the duty ratio of the drive voltage reaches 100%. The duty ratio with respect to the amount of change in width can be increased, and sufficient starting torque can be obtained even in a range where the amount of rotation of the motor is minute.

In addition, in this example, the period changing section is built into the receiver, but
This may be integrated into each servo motor, or period changing sections for the number of channels may be integrated and connected between the receiver and the servo motor. Also,
The division of the period is not limited to 1/2.

(A) Effects of the Invention According to this invention, the cycle of the control signal input to the servo motor is reduced to an integer fraction, the amount of change in the duty ratio of the motor drive voltage with respect to the amount of change in the leaf longitudinal signal is increased, and the servo motor and Without changing the configuration of the receiving section, it is possible to prevent delays in the operation of the operating member due to increased rotational torque when starting the motor.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the configuration of a receiver equipped with a servo motor control device according to an embodiment of the present invention, FIG. 2 is a diagram showing the configuration of the same servo motor control device, and FIG. 3 is a diagram showing the configuration of the same servo motor control device. FIG. 4 is a waveform diagram of a signal input from the servo motor control device to the servo motor, and FIG. 5 is a diagram showing the relationship with the amount of change shown in FIG. FIG. 6 is a diagram showing the configuration of a conventional servo motor control device. FIG. 7 is a waveform diagram of a control signal input to a conventional servo motor. 21-receiving section, 22-2 4-cycle changing section, 1-receiver, M1-Mn-servo motor.

Claims (1)

[Claims] (1) Period changing means for reducing the period of the control signal to an integer fraction, between a receiving section that receives a control signal of a constant period and a servo motor that is driven according to the control signal received by the receiving section. A servo motor control device equipped with.