JPS6054020A - Controller of movable object - Google Patents

Abstract

PURPOSE:To make it possible that a control object converges to a target quickly and smoothly even if the moment of inertia is changed, by taking always information of the moment of inertia of the control object to a gain setter. CONSTITUTION:A gain setter 3 raises the gain for increase of the moment of inertia and reduces it for reduction of the moment of inertia to set an optimum gain in accordance with information on the moment of inertia from a control object 5, and the angular cross frequency of a speed loop consisting of a speed error operator 2, the setter 3, a driving part 4, the object 5, and a speed signal 9 is always kept constant even if the moment of inertia of the object 5 is changed, and the output of the operator 2 is so amplified that the object 5 is converged to the target value quickly and smoothly, and the signal is transmitted to the driving part 4. Since a position error operator 1 continues to operate a speed input signal 7 until the difference between a position signal 8 of the object 5 and a position input signal 6 is eliminated, the object 5 is operated to the desired target value.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention is directed to controlling a movable body whose moment of inertia changes so that it can quickly and smoothly follow a certain target regardless of the change in moment of inertia. This invention relates to a control device for a movable body.

[Prior art]

FIG. 1 shows a configuration diagram of a conventional servo mechanism control device. (1) is a position error calculator.

+21 is the speed error calculator, (3) is the gain setting device, (4
) is a drive unit, (5) is a controlled object, (6) is a position input signal, (7) is a speed input signal, (8) is a position signal, and (9) is a speed signal.

Conventionally, when directing the controlled object (5) to a certain target value 1
The position input signal (6) is input to the 1-position error calculator (11).The position error calculator (II) compares and calculates the position signal (8) of the controlled object (5) and the 1-position input signal (6). The difference is used as the speed input signal (7) and the speed error calculator (
2). The speed error calculator (2) compares and calculates the speed signal (9) of the controlled object (5) with the speed input signal (71), and transmits the difference to the gain setter (31). In (3), the output of the speed error calculator (2) is amplified with an appropriate gain and the signal is transmitted to the drive unit (4).The drive unit (4) receives the signal and amplifies the signal. , drives the controlled object (5).Position error calculator (12)
until there is no difference between the position signal (8) of the controlled object (5) and the 1-position input signal (6).

Since the speed input signal (7) continues to be calculated, the controlled object (
5) will move to the desired target value.

In the conventional control device described above, the moment of inertia of the controlled object (5) is fixed at a certain value, and the gain setting device (3) is used so that the controlled object (5) quickly and smoothly converges to the target value. The gain is determined.

The response of the controlled object (5) in this case is shown in FIG. 2A.

By the way, in this conventional device, when the moment of inertia changes, the gain of the gain setting device (3) is determined using an intermediate value or a frequently used value, so in reality, , when the moment of inertia changes, the response of the controlled object (5) will differ from that shown in FIG. 2A.

For example, if the actual moment of inertia decreases compared to the moment of inertia when the gain of the gain setter (3) is determined,
The controlled object (5) exceeds the target value one or more times (this phenomenon is called overshoot).

After that, it converges and stops. This situation is shown in Figure 2 A. Furthermore, if the moment of inertia increases, it will take longer to converge to the target value. This situation is shown in Figure 2. However, even if the moment of inertia increases or decreases, there is a drawback that the controlled object (5) does not converge quickly and smoothly to the target value.
SUMMARY OF THE INVENTION This invention aims to eliminate the drawbacks of the prior art.

The control object (5) is added to the gain setting device (3).
To provide a control device for a movable body that allows a controlled object to quickly and smoothly converge to a target even if the moment of inertia changes by always taking in moment of inertia information.

[Example of Haimei]

FIG. 8 shows an example of the configuration of a servo system when the present invention is implemented. In the figure, (11 is a position error calculator, (2) is a speed error calculator, and (3) is a gain setting device.

(4) is the drive unit, (5) is the controlled object, (6) is the position input signal, (7) is the speed input signal, (8) is the position signal, (9
) is the speed signal, and 6.1 is the moment of inertia information of the controlled object (5).

Now, when directing the controlled object (5) to a certain target value, the 9 position input signals (6) are input to the 1 position error calculator (11).The position error calculator (1) receives the position signal of the controlled object (5). (8) and the 1-position input signal (6) are compared, and the difference is proportionally calculated to transmit the speed input signal (71) to the speed error calculator (2).The speed error calculator (
In 2), the speed signal (9) of the controlled object (5) and the speed input signal (7) are compared and calculated, and the difference is transmitted to the gain setter (3). The gain setter (3) increases the gain when the moment of inertia is increasing, and increases the gain when the moment of inertia decreases, according to the moment of inertia information a1 from the controlled object (5). Even if the moment of inertia of the controlled object (5) changes, the speed error calculator (2j, gain setter (3), drive unit (4), and controlled object ( 5) and the speed signal (9), and the speed error calculator (2) is used to keep the angular variation frequency of the speed loop constant, and so that the controlled object (5) quickly and clearly converges to the target value. ) and transmits the signal to the drive unit (4).The drive unit (4) receives the signal and drives the controlled object (5).The position error calculator +11 The speed input signal (7) continues to be calculated until there is no difference between the position signal (8) of the controlled object (5) and the 1-position input signal (6), so the controlled object (5) moves to the desired target value. It turns out.

In this way, in this invention, the moment of inertia information α value of the controlled object (5) is taken into the gain setting device to determine the gain according to the moment of inertia of the controlled object (5). Even if the moment of inertia of ) decreases, overshoot does not occur, and even if the moment of inertia increases, the time required for convergence does not become longer.

[-Effect of invention]

As explained above, if this invention is used.

Even if the moment of inertia of the controlled object (5) increases.

Even if it decreases, the controlled object (5) responds as shown in A in FIG. 2, and quickly and smoothly converges to the target value. There is an effect.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram of a conventional servo mechanism control device, Fig. 2 is a diagram showing the response when the moment of inertia of each controlled object changes, and Fig. 3 is a servo mechanism control device to which the present invention is applied. FIG. In the figure (1) is the position error calculator, (
2 (is the speed error calculator, (3) is the gain setting device, (4)
is the drive unit, (5) is the controlled object, (6) is the position input signal,
(7) is a speed input signal, (8) is a position signal, (9) is a speed signal, and aO is moment of inertia information. In the drawings, the same or corresponding parts are designated by the same reference numerals. Agent Masuo Oiwa

Claims (1)

[Claims] a position error calculator that calculates the difference between the position input signal and the position signal of the movable body to be controlled; a speed error calculator that calculates the difference between the output signal of the position error calculator and the speed signal of the control target; A movable device comprising a gain setter that sets the gain of the controlled object based on the output of the speed error calculator and information on the moment of inertia of the controlled object, and a drive section that drives the controlled object according to the output of the gain setter. body control device.