JPS60219978A - Induction motor control system - Google Patents

Abstract

PURPOSE:To enhance the positioning accuracy by stopping and holding a driven unit at a target position when the actually moved distance of a pointer and a set distance stored in a register coincide to each other. CONSTITUTION:An electronic controller 20 outputs a rotating direction instruction signal on the basis of a distance overrun from a target position, and flows a half-wave current to the second bidirectional switching element 5 to recover a driven unit. As the unit is recovered, the controller 20 sequentially decrements a pointer 23, and interrupts the supply of an AC current AC for an induction motor 1 when the counted value of the pointer 23 and the set distance data stored in the register 22 coincide, and drives a solenoid drive circuit 31 to interpose a brake disc from both sides. Thus, the unit is held at the stopped state at the target position.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Problem The present invention relates to a capacitor running type interaction motor control force type.

Prior Art The present applicant has developed an actual moving speed of the driven object calculated based on the moving speed according to the traveling pattern of the driven object previously stored in the memory and the six-point period of the detection signal output from the detection device. A condenser traveling type interaction that digitally controls the flow angle of the AC IM power supplied to the interaction motor from the PID performer 0 according to its speed, and controls the driven body to stop at a desired target position. A motor control device was proposed. However, in the above device, the driven body is in a free state at the target position, and if external horns or vibrations act on the driven body at the target position, the driven body is likely to deviate, resulting in poor positioning accuracy. It had a very bad problem.

OBJECTS OF THE INVENTION In view of the drawbacks of the above-mentioned traffic, an object of the present invention is to provide an interaction motor control system that reliably maintains a stopped state of a driven body at a target position using simple means and provides high positioning accuracy. It's about doing.

Example Hereinafter, embodiments will be described according to the drawings.

In FIGS. 1 to 3, one ends of the main coil 2 and the auxiliary coil 3 of the interaction motor 1 are commonly connected to one terminal of the AC electric contamination circle. In addition, the capacity ends of the +i'+1 main coil 2 and 'auxiliary coil 3 are connected to the first and second bidirectional switching elements 4 and 5, such as TRIAC (trade name).
A capacitor 6 is connected in parallel to one electrode of each of the two electrodes.

The other electrodes of the first and second bidirectional switching elements 4 and 5 are commonly connected to the other terminal of the AC type aAC.

As shown in FIG. 2, a rotary encoder lO as a detection device is installed on one of the rotating shafts <Q[ of the induction motor 1. This rotary encoder lO is fixed to a rotating shaft, and has a rotating disk 11 formed with a large number of slits lla at appropriate pitches Q in the rotational direction on the outer periphery side, and is arranged opposite to the slits lla, and is arranged opposite to the slits lla. Three pairs of light emitting elements 12a to 12C and a light receiving element 1 are arranged at every third pitch of the pitch.
It is composed of 3a to 13C. This rotary encoder 10 rotates the light emitting element 1 as the rotary shaft rotates.
Based on the light emitted from 2a to 12C and passed through the slit 11a, the electronic control device fi20 sends electrical signals KSI to KS3 from the light receiving elements 13a to 13c in an order according to the rotation direction of the rotation shaft and with a period according to the rotation speed. Output to. That is, for example, when the rotating shaft is rotationally driven in the clockwise direction, the light receiving elements 13a to 13c receive the electric signals KS1 to KS3 in the order of KS1→KS2→KS3, and conversely, when the rotating shaft is rotationally driven in the counterclockwise direction. At this time, the light receiving elements 13a to 13
c is the electric signal KSI-KS3 KSL-+KS3→KS
The horns appear in the order of 2. As a result, electricity No. 44 KSI~K
The rotation direction of the rotating shaft is detected based on the phase difference in S3. Further, the rotary encoder 10 outputs a high-cycle electric signal (KS3 to the Δ KSI) when the rotation shaft is at a high speed, and outputs a low-cycle electric signal KSI to KS3 when the rotation shaft is at a low speed. A driven body as a driven body is connected to the other force end side of the rotating shaft 1 via an appropriate speed reduction mechanism (1''I, neither shown) as required.

+i1j The rotary shaft rotary shaft moving disk is fixed, and the braking members are arranged opposite to each other with this moving disk interposed therebetween. This braking member is operated by an electromagnetic solenoid, etc.
ii) Press the braking disk to maintain the stopped state of the rotating shaft.

The electronic control device 20 described in 19J is mainly composed of a microprocessor and a storage member (ROM-RAM), and drives and controls the driven body according to a predetermined program to be described later. The ROM 21, which constitutes a part of the storage member, stores in advance speed data corresponding to the driving pattern of the driven object, that is, an acceleration driving area, a constant speed driving area, and a decelerating driving area. Incidentally, the area in the ROM 21 in which speed data related to the deceleration driving region is written is called a slowdown table. Further, a rewritable distance register 22, which constitutes a part of the storage member, stores set distance data from the traveling origin of the driven body to a desired destination position.

In addition, the pointer 23 is the 147th electric signal KS inputted.
It is sequentially incremented or decremented to 1 by KS3, and stores the actual traveling distance of the driven body. Further, the first register 24 stores position data regarding a slowdown start position a for switching the driving pattern of the driven body from constant speed driving to decelerated driving. Also, the second register 25 has written therein slow feed position data. This slow-speed feed 1' position data is position data for moving the driven body at a slow speed by half-wave circulation of the first or second bidirectional switching elements 4 and 5.

Then, the electronic 1fili control device 20 receives electrical signals KSI to K.
The actual moving speed of the driven body is calculated based on the human power cycle of S3, and the pointer 23 is sequentially incremented according to the input of the electric signals KSI to KS3 to store the actual moving distance of the driven body. Further, the electronic market controller 20 compares the actual moving speed of the driven object calculated by the above operation with the speed data accessed from the ROM 21 according to the actual moving distance of the driven object. Then, the electronic control device 2o generates phase angle control data that determines the flow angle of the first bidirectional switching element 4 using PID constants (P is a proportional constant, I is an integral constant, and D is a differential constant) according to each speed. PID calculation is performed by controlling the digital 11ii4'. Then, the electronic control device 20 sets the flow angle counter 26 based on this phase angle control data, and then sets the AC power frequency detected by the power frequency detection device 30, and also sets the cellocross nf (
When the flow angle counter 26 is decremented from mJ (where n is an arbitrary integer) and its moe becomes O, the drive circuit 27 sends a timing signal consisting of a pulse width up to the next zero cross t(n+1)/f). Output to. This drive circuit 27 connects nIJ to the gate of the first bidirectional switching element 4.
A gate current is applied for a time corresponding to the timing signal and allowed to flow. As a result, the main coil 2 and the auxiliary coil 3 are supplied with electric power according to the flow angle of the first bidirectional switching element 4, causing the driven body to travel.

At this time, if the PID calculation result exceeds a predetermined number of positive values, the control device 20 increases the flow angle of the first bidirectional switching element 4 to supply a large amount of power to the interaction motor 1. The driven body is accelerated by supplying the following information. On the other hand, if the PID calculation result is within a predetermined number of positive values, the electronic control device 20 reduces the flow angle of the first bidirectional switching element 4 and supplies small electric power to the interaction motor 1 to be driven. Move your body at a constant speed.

Then, as the driven body travels at a constant speed, the electronic control unit 20 receives the electrical signal in the same manner as in the operation described in +iiij, except that the driven body reaches the slow town start position a stored in the first register 24. The actual moving speed of the driven body calculated according to the input cycle is compared with the speed data accessed from the RCIM 21. 11) Immediately after the start of slow town, the speed data written in the slow town table as 1 and 0 is set to a lower speed than the actual moving speed of the driven object, so the electronic control unit 20 uses the result of the above PID calculation. If the value exceeds a predetermined negative number, a half wave 114 is passed through the second bidirectional switching element 5 specified by the rotation direction instruction signal to perform a braking operation in order to carry out reverse phase excitation.

As a result, the interaction motor 1 is decelerated and braked.

After the actual moving speed of the driven object has suddenly decreased due to the above operation, when the driven object reaches the slow feed position C written in the second register 25 before the target position, the electronic control unit 20 The phase angle ttit is controlled so that the first bidirectional switching element 4 allows half-wave flow. As a result, the main coil 2
Since a half-wave voltage is supplied to the auxiliary coil 3, the driven body is fed at a slow speed with a small rotational torque. When the actual travel distance stored in the pointer 23 matches the installation distance recorded in the ROM 21, the electronic control device 20 outputs an AC current 1fiAC to the interaction motor 1.
The driven body is stopped at the target position by interrupting the supply of water.

In addition, for the electronic 11 IJI JA position, the electrical signals KSI to KS3 are
If the force is not applied for a certain period of time, the driven body is determined to have stopped.

After the stop operation is interrupted, the electronic control device 20
outputs an excitation signal to the solenoid drive circuit 31 to drive the electromagnetic solenoid. This causes the drive disk to
Since it is pinched by the i11 moving member, the struck moving object is maintained in its stopped state at this 1'' heavy color 1δb.

First, referring to FIG. 4, a case will be described in which the driven object is at the target position and overruns.

Electronic ih! The I control device 20 calculates the overrun distance of the driven object based on the data of the pointer 23 and the +r# register 22. Then, the electronic +It control device 20 outputs a rotation direction indicating signal based on the overrun distance from the eye weight color <b, and also causes the second bidirectional switching element 5 to flow in a half wave, similar to the multiple link operation. Make the driven body move back. Then, as the driven body moves back, the electronic control unit 2o sequentially decrements the pointer 23,
When the count value of 3 matches the set distance data stored in the distance register 22, the supply of AC power AC to the interaction motor 1 is interrupted to stop the driven body at the target position. and electronic side 1i111A
The stand 20 operates as described above and outputs the A111m signal to the solenoid drive circuit 31 to actuate the electromagnetic solenoid, thereby compressing the 1lill moving disk.

As a result, the driven body is kept at the target position and stopped completely.

Therefore, in the non-embodiment, the driven body stops at the target position.
When the vehicle is controlled, the braking mechanism can be activated to maintain the stopped state. Also, if the driven object overruns or short-stops from the target position, it is recorded in the distance register and pointer. The position of the driven body can be corrected based on the actual moving distance.

Although this embodiment uses a three-phase photointerrupter type detection device, the present invention can also be implemented with a magnetic detection type, resolver type, or near scale type detection device consisting of at least two phases. .

DETAILED DESCRIPTION OF THE INVENTION As described above, the present invention includes first and second bidirectional switching elements that supply AC IS to a main coil and an auxiliary coil in which capacitors are connected in parallel, and a shield that is drivingly connected to a rotating shaft. Kl The flow angle of v41 or the second bidirectional switching element is calculated by PID by digital control, and when the actual moving distance of the driven body reaches the slow feed start position, the previous memory 1 or the second bidirectional switching element is operated. Ji
:i + In the interaction motor control device, l
! ! If the actual moving distance of the driven object stored in the IIid pointer and the set distance stored in the first register do not match, the first or second bidirectional switching element O11 is activated based on the difference between the two. +i
i) When the actual moving distance of the pointer matches the set distance stored in the register, the method comprises a stop position holding step of activating the 111 moving device to stop and hold the driven body at the target position. This is an interaction motor 1lib control system that can reliably maintain the stopped state of the driven body at one position and achieve high positioning accuracy by using a simple means.

[Brief explanation of drawings]

Fig. 1 is an electronic block diagram showing an outline of the present invention, Fig. 2 is an explanatory diagram showing an outline of the detection device, and Fig. 3 is a running diagram!
FIG. 4 is an explanatory diagram showing the position correction operation. In the figure, 2 is the main coil, 3 is the auxiliary coil, 4 is the first bidirectional switching element, 5 is the second bidirectional switching element, 6 is the capacitor, 23 is the pointer, 24 is the first register, b is the target position, and AC is the alternating current power source. Patent Applicant: Taichic Co., Ltd. Agent Patent Attorney: Ken Imaki - ] 1

Claims (1)

[Claims] 1. First and second bidirectional switching elements that supply AC fAf power to a main coil and an auxiliary coil to which capacitors are connected in parallel, and a driven body that is drivingly connected to a rotating shaft. Move II
! ! 1ri using a detection device that detects the degree and movement direction, the actual movement speed of the driven body calculated based on the human power period of the dij detection signal, and the speed data stored in the memory.
J first or second bidirectionality 11) The flow angle of the J closed element is calculated by PID by digital control, and when the actual moving distance of the driven body reaches the slow feed start position, the above 9t
41 or a control device that feeds the driven body at a very low speed by passing a half wave through the second bidirectional switching element. If the moving distance and the set distance stored in the first register do not match, the driven object is slowed down by passing half a wave through the first or second bidirectional switching element described in 01j based on the difference between the two. A position correction process in which the driven body is moved and stopped at the target position, and when the actual moving distance of the pointer described in 01j matches the set distance stored in the register, the braking device is activated to stop the driven body at the target position. An induction motor control force type characterized by comprising a step of holding a stop position.