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KR900000152Y1 - Arrangement for starting servo motor - Google Patents

Arrangement for starting servo motor Download PDF

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Publication number
KR900000152Y1
KR900000152Y1 KR2019860016786U KR860016786U KR900000152Y1 KR 900000152 Y1 KR900000152 Y1 KR 900000152Y1 KR 2019860016786 U KR2019860016786 U KR 2019860016786U KR 860016786 U KR860016786 U KR 860016786U KR 900000152 Y1 KR900000152 Y1 KR 900000152Y1
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KR
South Korea
Prior art keywords
pulse width
signal
motor
unit
output signal
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KR2019860016786U
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Korean (ko)
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KR880008832U (en
Inventor
정운철
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삼성항공산업주식회사
신훈철
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Priority to KR2019860016786U priority Critical patent/KR900000152Y1/en
Publication of KR880008832U publication Critical patent/KR880008832U/en
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Publication of KR900000152Y1 publication Critical patent/KR900000152Y1/en

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    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • 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
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/09—PWM with fixed limited number of pulses per period
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/907—Specific control circuit element or device
    • Y10S388/912—Pulse or frequency counter

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

Abstract

내요없음No need

Description

위치 제어장치의 직류 서보모터 폭주 방지회로DC servo motor runaway prevention circuit of position control device

제1도는 종래의 서보모터 폭주 방지 회로도.1 is a conventional servomotor runaway prevention circuit diagram.

제2도는 제1도의 모터폭주시의 펄스폭 변조 출력 파형도.2 is a pulse width modulation output waveform diagram when the motor runaway of FIG.

제3도는 본 고안의 블럭도.3 is a block diagram of the present invention.

제4도는 본 고안의 상세한 회로도.4 is a detailed circuit diagram of the present invention.

제5도는 제4도의 주요 부분에서의 파형도.5 is a waveform diagram in the main part of FIG.

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

10 : 합성부 20 : 기준 펄스폭 설정부10: combining unit 20: reference pulse width setting unit

30 : 반전부 40 : 판별부30: inversion unit 40: discrimination unit

50 : 표시부50: display unit

본 고안은 위치 제어장치에 있는 직류 서보모터의 폭주 방지회로에 관한 것이다.The present invention relates to a runaway prevention circuit of a direct current servo motor in a position control device.

일반적으로 모터의 속도 제어를 하는 방법은 회전중인 모터에서 검출되는 아날로그 속도 신호를 궤환시켜서, 입력되는 모터의 지지신호를 궤환신호에 의해 제어되어 모터에 인가됨에 따라 모터가 제어된다.In general, a method of controlling the speed of a motor is to feedback an analog speed signal detected by a rotating motor so that the motor is controlled as the support signal of the input motor is controlled by the feedback signal and applied to the motor.

제1도는 종래의 서보모터 폭주 방지회로도로서, 모터 속도의 지지신호와 모터(5)에서 검출되어 속도 궤환부(6)를 통해 출력되는 아날로그 피이드백 속도 신호와의 편차신호가 비교요소(CP1)에 의해 검출되어서 전압증폭부(1)에 인가되고, 이 전압증폭부(1)의 출력신호와 모터(5)에서 검출되어 전류궤환부(7)를 통해 출력되는 아날로그의 피이드백 신호와의 편차신호가 비교요소(CP2)에 의해 검출되어서 펄스 변조부(3)에 인가되며, 이 펄스폭 변조부(3)에서 발생되는 펄스폭 변조신호는 스위치(4)를 거쳐 모터(5)에 인가되어서 모터(5)의 회전을 제어한다.1 is a conventional servo motor runaway prevention circuit diagram, in which a deviation signal between the support signal of the motor speed and the analog feedback speed signal detected by the motor 5 and output through the speed feedback unit 6 is compared with the comparison element CP 1. And an analog feedback signal applied to the voltage amplifying section 1 and detected by the voltage amplifying section 1 and detected by the motor 5 and output through the current feedback section 7. The deviation signal is detected by the comparison element CP 2 and applied to the pulse modulator 3, and the pulse width modulated signal generated by the pulse width modulator 3 is transmitted to the motor 5 via the switch 4. Is applied to control the rotation of the motor 5.

그리고, 모터(5)에서 검출되어 전류 궤환부(7)를 통해 출력되는 아날로그의 피이드백 된 신호는 에러판단부(8)에 인가되는데, 이 에러판단부(8)에서는 모터(5)에 과부하가 걸려 폭주될 때를 감지하여서 펄스폭변조부(3)에서 출력되는 신호가 모터(5)에 인가되지 않도록 스위치(4)를 제어한다.The analog fed back signal detected by the motor 5 and output through the current feedback unit 7 is applied to the error determining unit 8, which overloads the motor 5 in the error determining unit 8. The switch 4 is controlled so that the signal output from the pulse width modulator 3 is not applied to the motor 5 by detecting when the runaway is overrun.

상기한 동작에서 모터(5)에 과부하가 걸려 폭주될 때, 펄스폭 변조부(3)에서 출력되는 펄스폭 변조신호(제2도)중에서 논리 "0"(로우레벨)신호의 폭(Toff)은 점점 좁아지고, 논리"1"(하이레벨)신호의 폭(Ton)은 점점 커져서 모터(5)에 인가되기 때문에 모터회전이 폭주된다.In the above operation, when the motor 5 is overloaded and congested, the width Toff of the logic " 0 " (low level) signal among the pulse width modulation signals (FIG. 2) output from the pulse width modulation section 3 Becomes narrower, and the motor rotation is congested because the width Ton of the logic " 1 " (high level) signal becomes larger and is applied to the motor 5.

즉, 모터의 폭주시 펄스폭 변조신호(제2도)의 듀티(Duty)비는 점점 커지게 된다. 이와같은 종래의 직류 서보모터의 폭주방지회로는 모터에서 검출된 피이드백 신호가 아날로그 신호이기 때문에 정확한 모터의 속도를 제어할 수 없고, 또한 피이드백된 아날로그 신호를 인가하는 에러판단부(8)는 매카니즘의 상태에 따라 에러 판단치를 조정해야 하는 어려움과 번거로움이 있으며, 그리고 모터에 과부하가 이미 걸린 상태에서 피이드백 된 신호를 인가해서 폭주상태를 감지하기 때문에 모터의 초기구동 상태에서의 폭주 현상으로 인한 회로 및 모터의 손상이 발생되는 단점이 있었다.That is, the duty ratio of the pulse width modulated signal (FIG. 2) during motor runaway Is getting bigger. In such a conventional DC servo motor runaway prevention circuit, since the feedback signal detected by the motor is an analog signal, it is impossible to control the exact speed of the motor, and the error judging part 8 which applies the feedback analog signal is It is difficult and cumbersome to adjust the error judgment value according to the state of the mechanism, and it detects the runaway condition by applying the feedback signal when the motor is already overloaded. There was a disadvantage that damage to the circuit and the motor caused.

이하 첨부도면에 의거하여 본 고안을 상세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

제3도는 본 고안의 블럭도로서, 제1도에 도시된 종래회로의 펄스폭 변조부(3)의 출력신호를 입력하여 모터(5)에 공급되는 전원을 절환시키는 스위치(4)를 제어하는 폭주방지회로이다.3 is a block diagram of the present invention, which controls the switch 4 for switching the power supplied to the motor 5 by inputting the output signal of the pulse width modulator 3 of the conventional circuit shown in FIG. Congestion prevention circuit.

제3도에 있어, 펄스폭변조부(3)에서 출력되는 펄스폭 변조신호(PS1,PS2)를 입력하여 반전시킨 다음 합성하는 합성부(10)의 출력신호는 기준 펄스폭 설정부(20)에 직접 인가되고, 한편 반전부(30)를 거쳐서 판별부(40)에 인가된다.In FIG. 3, the output signal of the synthesizer 10, which inputs and inverts the pulse width modulation signals PS 1 and PS 2 output from the pulse width modulator 3 , is combined with a reference pulse width setting unit ( 20 is applied directly to the discriminating unit 40 via the inverting unit 30.

그리고, 판별부(40)는 기준 펄스폭 설정부(20)에서 설정된 기준펄스 신호와 반전부(30)를 거쳐 입력되는 펄스폭 변조신호와 비교하여서 폭주상태의 신호가 입력되는 가를 판단하고, 폭주신호가 회로에 입력되면 판별부(40)의 출력 신호에 의해서 표시부(50)를 구동시켜 표시되게 함과 동시에 스위치(4)를 제어하여 모터에 공급되는 전원을 중지시킨다.Then, the determination unit 40 compares the reference pulse signal set by the reference pulse width setting unit 20 with the pulse width modulation signal input through the inversion unit 30 to determine whether a signal in the congestion state is input, When the signal is input to the circuit, the display unit 50 is driven and displayed by the output signal of the determination unit 40, and the switch 4 is controlled to stop the power supplied to the motor.

제4도는 상기한 구성을 갖는 본 고안의 상세한 회로도로서, 펄스폭 변조부에서 발생되는 두 펄스폭 변조신호(SP1,SP2)는 각각의 낸드게이트(G1,G2)에 의해 반전되어서 낸드게이트(G3)에 입력됨에 따라 합성되는데, 이 합성신호가 기준펄스폭 설정부(20)에 입력될때 기준펄스폭 설정부(20)에서는 기준펄스폭을 갖는 신호(제5도의 b)를 발생하여 판별부(40)에 인가되고, 한편 낸드게이트(G3)의 출력단 합성신호는 낸드게이트(G4)에 의해 제5도(a)와 같은 신호로 반전되어서 판별부(40)에 인가된다.4 is a detailed circuit diagram of the present invention having the above-described configuration, in which two pulse width modulated signals SP 1 and SP 2 generated in the pulse width modulator are inverted by respective NAND gates G 1 and G 2 . When the synthesized signal is input to the reference pulse width setting unit 20, the reference pulse width setting unit 20 receives a signal having a reference pulse width (b in FIG. 5) when the synthesized signal is input to the NAND gate G 3 . generated is applied to the determination part 40, while the output composite signal of the NAND gate (G 3) to be inverted into a signal such as FIG. 5 (a) by a NAND gate (G 4) is applied to the determining unit 40 do.

이때, 관별부(40)는 기준펄스폭 신호(제3도의 b)오라 펄스폭 변조신호(제3도의 a)를 비교하여서 폭주신호를 검출하는데, 일정 듀티비를 갖는 기준펄스폭 신호가 펄스폭 변조신호의 듀티비보다 클때 정상적인 펄스신호가 스위치(4)를 거쳐 모터(5)에 인가되어 동작되고, 기준펄스폭 신호의 듀티비가 펄스폭 변조신호의 듀티비보다 작을 때 판별부(40)는 폭주신호가 입력되었음을 판단하고 논리"1"신호를 출력하여서 스위치(4)를 "오프"시킴과 동시에 반전게이트(G5)를 거쳐 발광다이오드(LED)의 캐소드에 인가되기 때문에 전원(Vcc)이 저항(R1)과 발광다이오드(LED)의 애노드에 인가되어서 점등된다.At this time, the irrigation unit 40 detects the congestion signal by comparing the pulse width modulation signal (a in FIG. 3) with the reference pulse width signal (b in FIG. 3), and the reference pulse width signal having a constant duty ratio has a pulse width. When the duty ratio of the modulation signal is greater than the normal pulse signal is applied to the motor 5 via the switch 4, the operation is performed, and when the duty ratio of the reference pulse width signal is smaller than the duty ratio of the pulse width modulation signal, the determination unit 40 The power supply Vcc is applied to the cathode of the light emitting diode LED through the inverting gate G 5 while the switch 4 is turned off by outputting a logic " 1 " It is applied to the anode of the resistor R 1 and the light emitting diode LED to be turned on.

따라서, 폭주신호가 감지되면 스위치(4)가 "오프"됨에 따라 폭주전원이 모터(5)에 인가되지 않는다.Therefore, when the congestion signal is detected, the congestion power is not applied to the motor 5 as the switch 4 is “off”.

이상과 같이 본 고안에 의하면 판별부에서 디지탈 신호로 폭주신호를 검출하기 때문에 모터를 정확하게 제어할 수 있고, 모터의 폭주를 사전에 방지하므로 모터 이용의 작업안전을 기할 수 있을뿐만 아니라 모터의 수명도 연장시킬 수 있다.As described above, according to the present invention, since the detection unit detects the congestion signal with the digital signal, the motor can be precisely controlled, and the congestion of the motor is prevented in advance, thereby ensuring the safety of the work using the motor as well as the life of the motor. Can be extended.

Claims (1)

증폭 전류를 인가하는 펄스폭 변조부(3)의 출력신호가 스위치(4)를 거쳐 모터(5)에 인가되어서 모터가 구동되고 스위치(4)절환에 따른 폭주방지회로를 갖는 위치제어 시스템에 있어서, 펄스폭변조부(3)에서 출력되는 펄스폭 변조신호(PS1, PS2)를 반전시켜 합성하는 합성부(10)와, 상기한 합성부(10)의 출력신호에 따라 일정 듀티비를 갖는 기준펄스폭 신호를 발생하는 기준펄스폭 설정부(20)와, 상기한 합성부(10)의 출력신호를 반전하는 반전부(30)와, 상기한 기준펄스폭 설정부(20)와 반전부(30)의 출력신호와 듀티비를 비교하여서 폭주신호를 검출하는 판별부(40)를 포함해서, 판별부(40)의 제어출력 신호에 따라 스위치(4)를 절환시키고 표시부(50)를 구동시키도록 연결한 것을 특징으로 하는 위치제어 장치의 직류서보모터 폭주 방지회로.In the position control system having the output signal of the pulse width modulator 3 for applying the amplification current is applied to the motor 5 via the switch 4 so that the motor is driven and has a runaway prevention circuit according to the switch 4. The synthesizer 10 inverts and synthesizes the pulse width modulated signals PS 1 and PS 2 output from the pulse width modulator 3 and a predetermined duty ratio according to the output signal of the combiner 10. The reference pulse width setting unit 20 for generating a reference pulse width signal to have, the inverting unit 30 for inverting the output signal of the synthesis unit 10, and the reference pulse width setting unit 20 Including the determination unit 40 for comparing the output signal and the duty ratio of the whole 30 to detect the congestion signal, the switch 4 is switched in accordance with the control output signal of the determination unit 40 and the display unit 50 is turned on. DC servo motor runaway prevention circuit of the position control device, characterized in that connected to drive.
KR2019860016786U 1986-10-31 1986-10-31 Arrangement for starting servo motor KR900000152Y1 (en)

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Application Number Priority Date Filing Date Title
KR2019860016786U KR900000152Y1 (en) 1986-10-31 1986-10-31 Arrangement for starting servo motor

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Application Number Priority Date Filing Date Title
KR2019860016786U KR900000152Y1 (en) 1986-10-31 1986-10-31 Arrangement for starting servo motor

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KR880008832U KR880008832U (en) 1988-06-30
KR900000152Y1 true KR900000152Y1 (en) 1990-01-30

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