JP4160352B2 - Transmission control device - Google Patents

Description

BACKGROUND OF THE INVENTION
[0001]
The present invention relates to a delivery control device, and more particularly to a delivery control device capable of continuously delivering a liquid and quickly controlling the delivery operation to an optimum state.
[0002]
[Prior art]
Prior art document information related to the invention of this application includes the following.
[0003]
[Patent Document 1]
JP 2002-179194 A
[0004]
In Patent Document 1, a liquid delivery line capable of delivering a liquid, a main body having an inflow portion into which the liquid flows in and an outflow portion from which the liquid flows out, and the liquid from the inflow portion to the outflow portion by rotating in the main body. There is provided a liquid delivery apparatus having a rotor that moves a constant volume along the inner wall of the main body and having a flow rate regulator that continuously delivers liquid to the liquid delivery line by a constant volume based on the rotation of the rotor. ing. The liquid to be sent is pressurized with carbon dioxide gas and sent to the liquid delivery device. As a result, a liquid having a desired flow rate can be continuously and accurately delivered at a constant volume.
[0005]
In the field of beverage production, diluting water and syrup are used to produce beverages by mixing multiple liquids such as diluted water and liquid ingredients (syrups) in beverage production equipment such as cup-type beverage vending machines and beverage dispensers. Some perform feedback control of the liquid delivery operation so that the liquid is mixed at a predetermined dilution ratio.
[0006]
In such a beverage manufacturing apparatus, a device that satisfies the dilution ratio by feedback control of the syrup flow rate based on the flow rate of the dilution water is known. When the predetermined dilution ratio is deviated during the sale of the beverage, the flow rate of the syrup is corrected in one sales unit so as to satisfy the desired dilution ratio at the next sale.
[0007]
By the way, when performing the feedback control of the above-described delivery operation, it is not possible to correct the sales operation out of the dilution ratio, and there is a disadvantage that a beverage with a reduced quality is sold for the full amount. In this way, even if the dilution ratio fluctuates during the sale of the beverage, the applicant shall make a correction to ensure that the dilution ratio is secured without wasting the beverage being sold. Japanese Patent Application No. 2002-96296 has been filed for a configuration in which the deviation between the control target value and the actual measurement value is monitored and the beverage supply operation is sequentially controlled according to the deviation.
[0008]
[Problems to be solved by the invention]
However, according to the conventional beverage manufacturing apparatus, the liquid is pressurized with carbonic acid and sent to the flow rate regulator, and the liquid is continuously delivered by rotationally driving the flow rate regulator. Therefore, as shown in FIG. There is a problem that the response of the drive motor differs between when the flow rate regulator is accelerated and when it is decelerated. As shown in the straight line S1, the delivery characteristic at the time of acceleration increases the rotational speed n1 at the time t1, and the delivery characteristic at the time of deceleration adds a load based on pressurization to the flow rate regulator. Instead, a curve S2 is generated, and a time difference of (t2−t1) is generated, which causes a flow rate error.
[0009]
Accordingly, an object of the present invention is to provide a delivery control device that can quickly achieve a control target value and maintain stable delivery accuracy without causing a flow rate error due to a difference in motor response.
[0010]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, the present invention is driven in accordance with a liquid delivery command and generates a state monitoring signal corresponding to the number of revolutions per unit time, and the number of revolutions based on the state monitoring signal. And the deviation between the control target value and System based on the deviation A control unit that generates a control signal And the control unit suppresses the deviation and deceleration at the time of acceleration of the drive motor so as to suppress a flow rate error per unit time of the liquid at the time of acceleration and deceleration of the drive motor with respect to the deviation. The control signal is corrected according to the deviation in time A delivery control device is provided.
[0011]
According to the transmission control device described above, since the number of revolutions per unit time is monitored as a control amount based on the state monitoring signal, the difference in responsiveness between the speed increase and the speed decrease of the drive motor with respect to the deviation is quantified. As a result, the control signal is generated so as to suppress the difference in responsiveness between when the drive motor is accelerated and when it is decelerated.
[0012]
The control unit monitors the control amount per unit time during the delivery of the liquid, and the control amount for the liquid being delivered can quickly realize the control target value regardless of the pressure of the liquid or the characteristics of the device. Thus, the energization control of the drive motor is performed. If control is performed with an emphasis on quickly eliminating the deviation, there is a conflicting characteristic that the system tends to become unstable, but in the present invention, the entire system is not continuously unstable Clear the deviation in a short time.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the transmission control apparatus of the present invention will be described in detail with reference to the drawings.
[0014]
FIG. 1 schematically shows a transmission control apparatus according to a first embodiment of the present invention.
As shown in FIG. 1 (a), this delivery control device is provided with a constant volume flow rate regulator 1 capable of continuously delivering a fixed volume of liquid in a pipe line 13 to deliver the liquid. When the control unit 3 monitors the (rotation speed) as a control amount and a deviation occurs from the target value (control target value), the sending operation is sequentially controlled so as to eliminate this one after another, and the control amount becomes abnormal. The rotor drive motor 1M, which is a direct current motor provided in the flow rate regulator 1, the energization unit 2 for supplying electric power to the rotor drive motor 1M, and the rotor drive. A control unit 3 is provided that outputs a control signal to the energization unit 2 based on signals output from the motor 1M and the pulse encoder 1S. The liquid is pressurized from a storage unit (not shown) and delivered to the pipe 13.
[0015]
The flow rate regulator 1 is housed in a main body 10, meshed with each other, and rotated to continuously feed a predetermined volume of liquid to a conduit 13. A rotor drive motor 1M connected to one shaft 11A of the set of rotors 11 and a pulse encoder 1S for generating pulses having a frequency corresponding to the rotation speed of the rotor drive motor 1M are provided. The liquid accommodated between the 11 teeth and the inner wall of the main body 10 is moved based on the synchronized rotation of the pair of rotors 11.
[0016]
The pulse encoder 1S includes a shaft member connected to the shaft 11A, a disk member that is fixed to the shaft member and formed with a slit, and a light-emitting element and a light-receiving element that are arranged to face each other via the disk member. The light having passed through the slit is received by the light receiving element, and a pulse having a frequency corresponding to the rotational speed of the pair of rotors 11 is output.
[0017]
The energization unit 2 performs energization control to vary the duty of the rotor drive motor 1M by inputting a control signal generated by the control unit 3 in accordance with a pulse output from the pulse encoder 1S.
[0018]
FIG. 1B shows a circuit configuration of the control unit 3, and controls an abnormality detection unit 32 that detects an abnormality in the liquid delivery operation, physical property data corresponding to the type of liquid, weight coefficient data, which will be described later, and a weight coefficient. A memory 33 which mainly stores condition data to be multiplied by a signal and a program for executing transmission control, a timer circuit 34 which performs a time counting operation based on counting clock pulses generated by a reference clock unit (not shown), a liquid An interface unit 35 for inputting / outputting various signals such as a target value for transmission control, a current value fed back from the rotor drive motor 1M, a pulse output from the pulse encoder 1S, and a control signal to the energization unit 2, and each unit And a weighting coefficient to be multiplied by a control signal corresponding to the driving amount of the rotor driving motor 1M. It is constructed by connecting a weight setting unit 37 via the internal bus 38.
[0019]
The abnormality detection unit 32 is provided for the target value and is used for abnormality determination processing, calculation data for calculating the energization amount of the rotor drive motor 1M based on the threshold value for determining abnormality, the number of pulses per unit time, and the like. It has a storage unit 32A for storing data and a program for abnormality determination operation, and a determination processing unit 32B for executing abnormality determination processing based on the data and program described above. The threshold is set based on an allowable range for the number of pulses of the target value for the number of pulses per unit time of the rotor drive motor 1M.
[0020]
The control circuit 36 calculates the number of rotations of the rotor drive motor 1M based on the pulses input from the pulse encoder 1S based on the data and program stored in the storage unit 32A, and the control amount and target value of the rotor drive motor 1M. Deviation control, generation of a control signal based on the deviation, generation of a final control signal based on multiplication of the control signal and a weighting factor to be described later, sampling period based on a timing signal output from the timer circuit 34 (t = 1... N) Update.
[0021]
Further, the control circuit 36 is connected to an input device (not shown) via the interface unit 35 to execute various data such as a target value stored in the storage unit 32A and the memory 33 and a response operation when an abnormality occurs. It is configured to be able to read and write a program for doing as needed.
[0022]
The weight setting unit 37 assigns a weight coefficient to be multiplied to the control signal. This weighting factor is, for example, a value that increases the duty of the rotor drive motor 1M, such as doubling the duty as the acceleration weight, or a rotor drive such that the duty is multiplied by 0.5 as the deceleration weight. This is a value for reducing the duty of the motor 1M.
[0023]
2 shows the flow rate regulator 1, FIG. 2 (a) is a state seen from the plane direction, FIG. 2 (b) is a state seen from the side surface direction, and FIG. 2 (c) is A in FIG. 2 (b). It is the state which looked at the cross section in -A part in the arrow direction. The flow regulator 1 has an inflow portion 10a for injecting a pressurized liquid into the main body 10 and an outflow portion 10b for outflowing the liquid, and is fixed to the upper portion of the main body 10 by screws or the like and is generated by the rotor drive motor 1M. The rotor 11 has a speed reducer 10A that decelerates to a reduction ratio determined based on the viscosity of the liquid, and a lid 10B that is fixed to the lower part of the main body 10, and the rotor 11 is a rotation generated by the rotor drive motor 1M. The torque is transmitted through the speed reducer 10 </ b> A, so that it rotates in the direction of the arrow inside the main body 10. A pulse encoder 1S that outputs a pulse corresponding to the rotational speed of the rotary shaft is attached to the upper portion of the rotor drive motor 1M.
[0024]
In the flow regulator 1, the pressurized liquid flows into the main body 10 from the inflow portion 10 a. When the rotor drive motor 1M is driven to rotate the rotor 11 in the direction of the arrow shown in FIG. 2C, the liquid that has flowed into the main body 10 is between the teeth of the rotor 11 and the inner wall of the main body 10. It moves while accommodated in the interdental C, and is continuously sent out from the outflow part 10b. As a result, the rotor drive motor 1M rotates at a rotation speed based on the energization amount and the viscosity of the pressurized liquid, and the pulse encoder 1S outputs a pulse corresponding to the rotation speed of the rotor drive motor 1M.
[0025]
Further, when the flow rate regulator 1 is not energized to the rotor drive motor 1M, no drive force is generated in the rotor drive motor 1M, and the pressure of the pressurized liquid is applied to the rotor 11. As a result, the rotor drive motor 1M rotates at a rotation speed based on its rotation resistance and the viscosity of the pressurized liquid. For example, when the temperature decreases and the viscosity of the liquid increases, the rotation speed of the rotor drive motor 1M decreases and the number of pulses per unit time output from the pulse encoder 1S decreases.
[0026]
Hereinafter, the operation of the transmission control apparatus in the first embodiment will be described.
[0027]
FIG. 3 shows a flowchart of the liquid delivery operation. When the operator instructs the start of the delivery operation (S1), the control circuit 36 outputs an instruction for executing the abnormality detection operation to the abnormality detection unit 32 and sends it out. Physical property data corresponding to the liquid is read from the memory 33 and an energization start signal is output to the energization unit 2 via the interface unit 35. The energization unit 2 energizes the rotor drive motor 1M based on the energization start signal. The rotor drive motor 1M rotates based on energization. The flow rate regulator 1 continuously delivers pressurized liquid flowing into the main body 10 from the inflow portion 10a from the outflow portion 10b by driving the rotor 11 based on the rotation of the rotor drive motor 1M. . The control circuit 36 performs sequential control of the sending operation at every predetermined sampling period (S2). The abnormality detection unit 32 inputs a pulse corresponding to the flow rate output from the pulse encoder 1S based on the rotation of the rotor drive motor 1M via the interface unit 35 as a state monitoring signal (S3), and unit by sampling period. Monitor changes in the number of pulses per hour. The determination processing unit 32B monitors the state monitoring signal to monitor whether the number of pulses per unit time exceeds the threshold value. When the number of pulses exceeds the threshold value, it is determined that there is an abnormality (S4), and an abnormality detection signal is output to the control circuit 36. When the abnormality detection signal is input from the determination processing unit 32B, the control circuit 36 gives a flag indicating that an abnormality has occurred in the control amount of the sampling period (S5). When the number of pulses is normal, the control circuit 36 generates a control signal based on the deviation between the state monitoring signal and the target value, and outputs the control signal to the energization unit 2 via the interface unit 35. The control circuit 36 continues the sending operation without calculating the deviation for the control amount to which the flag is assigned.
[0028]
The control circuit 36 outputs an instruction signal for instructing the weight setting unit 37 to output a weighting coefficient when a predetermined time has elapsed after starting sequential control (S6). At this time, whether the rotor drive motor 1M is to be accelerated or decelerated is determined according to the deviation, an acceleration weight instruction signal is output in the case of acceleration, and a deceleration weight instruction signal is output in the case of deceleration. . When the instruction signal is input, the weight setting unit 37 outputs a weighting factor designated to the control circuit 36 (S7). The control circuit 36 multiplies the control signal generated for the rotor drive motor 1 </ b> M by a weighting coefficient, and outputs the result to the energization unit 2 via the interface unit 35. Further, when the control circuit 36 receives a trigger signal corresponding to the cycle update timing from the timer circuit 34 (S8), the control circuit 36 updates the sampling cycle (S9) and monitors the state monitoring signal for the new sampling cycle as described above. Perform sequential control.
[0029]
FIG. 4 shows a characteristic change when a weighting factor is applied to the control signal, FIG. 4A shows a change in flow rate per unit time with respect to the target value, and FIG. ) Shows the duty of the drive motor 1M. In the figure, a solid line a ′ and a solid line b ′ are shown corresponding to the solid line a and the solid line b. When sequential control is performed for the liquid delivery operation in a state where the flow rate Rt is specified as the target value, a flow rate as shown by the solid line a in FIG. showed that. In the solid line a, since the flow rate up to 3 seconds greatly deviates from the target value due to the transient characteristics of the drive motor 1M, the final control is performed by multiplying the control signal up to 3 seconds by a weighting factor of 1 as the acceleration weight. When a signal is generated and the drive motor 1M is energized again, a flow rate as shown by the solid line b is shown. The solid line b has a smaller deviation from 1 second to 3 seconds than the solid line a. This is because, as shown in FIG. 4B, the control signal from 1 second to 3 seconds is selectively given a weighting factor of 1 so that the duty indicated by the solid line a ′ is indicated by the solid line b ′. This is due to the fact that the amplitude of the portion to which the weighting factor has been applied has changed to an energized waveform. The generation of this amplitude improves the responsiveness of the energization control from 1 second to 3 seconds, and the time until the target flow rate is realized is shortened.
[0030]
The weighting coefficient shown in FIG. 4 uses values obtained empirically based on data such as the pulse count value of the pulse encoder 1S and the duty of the rotor drive motor 1M obtained by executing the liquid delivery operation. If a value that does not make the entire system continuously unstable can be set, it can be set by other methods.
[0031]
FIG. 5 shows a flowchart of the procedure for determining the acceleration weight and the deceleration weight. First, the current pulse number based on the flow rate per unit time is compared with the target value.
[0032]
When the current number of pulses is larger than the target value, the control circuit 36 designates an output of deceleration weight and compares the current number of pulses with the previous number of pulses. When the current pulse number is larger than the previous pulse number, it is 0.3 times, when the current pulse number is equal to the previous pulse number, 0.5 times, and when the current pulse number is smaller than the previous pulse number, 0. An instruction signal is output to the weight setting unit 37 so as to output a deceleration weight of 75 times as a weighting coefficient.
[0033]
When the current pulse number is smaller than the target value, the control circuit 36 designates the output of the acceleration weight and compares the current pulse number with the previous pulse number. When the current pulse number is smaller than the previous pulse number, it is tripled. When the current pulse number is equal to the previous pulse number, it is doubled. When the current pulse number is larger than the previous pulse number, it is multiplied by 1. Is output to the weight setting unit 37 so as to be output as a weighting coefficient. In addition, the value of the weighting coefficient shown here is an example.
[0034]
When the pulse input from the pulse encoder 1 </ b> S reaches the specified pulse value (S <b> 10), the control circuit 36 outputs an energization stop signal instructing the end of transmission to the energization unit 2 via the interface unit 35. The energization unit 2 stops energization to the rotor drive motor 1M by inputting an energization stop signal. This terminates the sending operation (S11).
[0035]
FIG. 6 shows an abnormality determination process in the determination processing unit 32B, in which a threshold value xx is set for a target value Pt set for the number of pulses per unit time (control amount Pc). In the figure, the threshold value xx is set as an absolute value with respect to the target value Pt, so that even when the control amount Pc causing the abnormality has an amplitude as indicated by a dotted line, it can be detected. When the number of pulses per unit time is within the range of the threshold value xx (solid line), the determination processing unit 32B determines that the state is normal and outputs a normal determination signal to the control circuit 36. On the other hand, the determination processing unit 32B determines that an abnormality has occurred when the control amount Pc is outside the range of the threshold value xx, and outputs an abnormality detection signal to the control circuit 36.
[0036]
In the abnormality determination process in the above-described determination processing unit 32B, a deviation is not calculated by setting a flag for the sampling cycle in which an abnormality has occurred, but when the flag is given, the liquid delivery operation is stopped and the operator is informed. You may make it report generation | occurrence | production of abnormality. The notification of abnormality can be performed by, for example, lighting a lamp provided for alarm display, but other alarm notification devices may be used.
[0037]
In addition to the control that does not calculate the deviation as described above for the control amount Pc to which the flag is assigned, the control amount Pc to which the flag is assigned is the fourth time when the flag is assigned three times without obtaining the deviation. For the control amount Pc, the deviation from the target value may be calculated regardless of the presence or absence of the flag. Further, the deviation from the target value Pt may be calculated using the control amount Pc to which the flag is assigned as it is. The response of the control circuit 36 to such flag assignment can be selected according to the application, the physical properties of the liquid, the delivery form, and the device configuration.
[0038]
In the first embodiment, in order to continuously send the liquid through the pipe line 13, the liquid stored in the storage unit is pressurized and urged to be sent, and the liquid that is not pressurized is sent. Compared with the feature of being able to adjust according to the amount of pressurization so as to reduce the flow rate drop due to the pressure loss of the conduit 13 in comparison, for example, the control in the case of abnormality described in FIG. 6 by pressurizing the liquid The amount Pc is less likely to appear. That is, as the amount of pressurization of the liquid is increased, the control amount Pc indicated by the dotted line for the number of pulses per unit time of the rotor drive motor 1M approaches the control amount Pc indicated by the solid line, and the control amount Pc indicated by the dotted line It becomes difficult to detect a false control amount included in the. In such a case, if the sequential control is performed without being aware of the presence of the false control amount, there is a disadvantage that the false control amount is included in the deviation from the target value Pt.
[0039]
Therefore, the hatched portion e where the control amount Pc shown in FIG. 6 deviates from the threshold value xx is detected as a false control amount included in the true control amount, thereby destabilizing the system. It is possible to prevent the sequential control from being performed. Also, accurate sequential control can be performed even under sending conditions where the allowable range of the control amount Pc is small.
[0040]
According to the transmission control device in the first embodiment described above, the deviation between the pulse as the state monitoring signal per unit time output from the pulse encoder 1S and the target value is monitored, and the rotor drive motor 1M with respect to the deviation is monitored. Since the acceleration weight or the deceleration weight is selectively given so as to suppress the difference in response between acceleration and deceleration, the response of the rotor drive motor 1M generated when the pressurized liquid is delivered. Therefore, the control target value can be quickly achieved without causing a flow rate error.
[0041]
Further, by giving a weighting coefficient corresponding to the liquid delivery operation to the control signal, the stability of the system is not greatly degraded, so that stable delivery accuracy can be maintained.
[0042]
FIG. 7 shows the relationship between the number of rotations per unit time of the rotor drive motor 1M and the pressure. In the first embodiment, as described above, a constant volume of liquid is continuously sent to the conduit 13. Therefore, when the flow rate regulator 1 is used and the number of revolutions per unit time of the rotor drive motor 1M is changed, the pressure difference corresponding to the flow of liquid at the inflow portion 10a and the outflow portion 10b of the flow rate regulator 1 (Differential pressure) occurs. Further, when the liquid is pressurized, as shown in the figure, an event in which the differential pressure differs between when speeding up and when decelerating occurs.
[0043]
In particular, during deceleration, the amount of pressurization with carbon dioxide gas acts as a load and acts to prevent the rotation of the rotor drive motor 1M via the rotor 11, so the change in pressure with respect to the change in the number of rotations is illustrated. It becomes non-linear.
[0044]
Here, when the rotational speed of the rotor drive motor 1M is increased from n1 to n2, the pressure decreases from P1 to PA. When the pressure in the inflow portion 10a does not become negative, the differential pressure ΔPA is an absolute value of (P1−PA). Next, when the rotational speed of the rotor drive motor 1M is decelerated from n2 to n1, the pressure rises from PA to PB instead of P1, and the differential pressure ΔPB becomes an absolute value of (PB−PA). Thus, the differential pressure ΔPB during deceleration is greater than the differential pressure ΔPA during acceleration. The difference between ΔPA and ΔPB is generated by pressurizing the liquid with carbon dioxide gas. The deceleration weight described above is given to suppress a difference in responsiveness to such an event where the differential pressure is different between acceleration and deceleration, and promptly send a desired flow rate.
[0045]
Note that the acceleration weight and the deceleration weight described in the first embodiment change according to the pressurization amount of the liquid, and in particular, the deceleration weight is driven by the rotor within a predetermined sales time. It is preferable to set so that the difference from the responsiveness at the time of acceleration of the motor 1M is small enough not to cause a problem in the allowable range of the flow rate error.
[0046]
The deceleration weight may be set by calculation according to the load based on the pressure received by the rotor drive motor 1M through the liquid. For example, the number of pulses per unit time with respect to the energization amount of the rotor drive motor 1M may be monitored and compared with the reference number of pulses to be obtained by calculation.
[0047]
Further, the acceleration weight and the deceleration weight are not limited to values fixed in unit time, but may be changed stepwise within the unit time. Further, the stepwise change in the acceleration weight and the deceleration weight may be an increasing tendency or a decreasing tendency.
[0048]
Further, since the flow rate regulator 1 can monitor the flow rate of the liquid to be delivered according to the output pulse of the pulse encoder 1S, it sets a reference pulse count value as a liquid integrated value, and counts the pulse according to the liquid delivery operation. A predetermined weighting coefficient may be added to the control signal at a timing when the value matches the reference pulse count value, thereby enabling energization control focusing on the flow rate.
[0049]
Alternatively, the difference between the above-described reference pulse count value and the pulse count value corresponding to the liquid delivery operation may be calculated, and a weighting coefficient corresponding to the difference may be obtained by calculation to correct the control signal.
[0050]
In addition, if a weighting factor is given to the control signal, the control amount Pc shown in FIG. 6 may temporarily increase and deviate from the threshold value depending on the situation. The determination may be temporarily stopped at a certain time.
[0051]
The delivery control device that assigns a weighting coefficient according to the liquid delivery operation as described above is particularly suitable for an application in which a plurality of liquids are delivered continuously with high accuracy in synchronization. For example, when a beverage is manufactured by diluting a liquid ingredient (syrup) with dilution water, the taste will change if the dilution ratio deviates from a predetermined dilution ratio, so it is necessary to keep the dilution ratio constant in one sales operation. Is done. More preferably, the dilution ratio per unit time, which is a minute time during delivery, is within an allowable range that does not affect the taste. However, the delivery state of the liquid constituting the beverage may fluctuate due to the structure of the device, etc., and the dilution ratio may fluctuate accordingly.
[0052]
For example, in a cup-type vending machine that sells carbonated beverages, carbonated water is generated and procured in the machine, and when the amount of storage is insufficient, diluted water is supplied from the water source to the storage tank, and carbon dioxide gas is supplied there. To produce carbonated water by dissolving it in dilution water. When the water supply timing to this storage tank overlaps with the sales operation, the amount of dilution water supplied will be significantly lower than in the normal sales state. There may be situations where the ratio cannot be realized quickly.
[0053]
FIG. 8 shows a schematic configuration of a beverage dispenser to which the delivery control device described in the first embodiment is applied as a second embodiment, and each of syrup, a dilution water, and carbonated water that is a liquid material. Are supplied to the multi-valve 29 through the supply line, mixed by the multi-valve 29, and supplied to the cup 50. The pipe line 13 described in the first embodiment delivers syrup. Since the flow rate regulator 1 is the same as the configuration shown in FIGS. 1 and 2, redundant description is omitted.
[0054]
This beverage dispenser includes a carbon dioxide cylinder B containing high-pressure carbon dioxide, a syrup tank 6 containing syrup S as a liquid raw material, a carbon dioxide supply line 7A for supplying carbon dioxide to the syrup tank 6, and a carbon dioxide supply line From the carbon dioxide gas control valve 8A provided in 7A, the syrup cooling coil 15 that cools the syrup S with the cooling water W, the cooling water tank 15A filled with the cooling water W in which the syrup cooling coil 15 is immersed, and a cooling unit (not shown) An evaporator 15B for cooling the cooling water W based on vaporization of the supplied refrigerant, a refrigerant line 15C for circulating the refrigerant to the evaporator 15B, and a syrup supply for sending syrup S pressurized with carbon dioxide gas from the syrup tank 6 The line (hereinafter referred to as the pipe line) 13 and the syrup S are continuously sent out at a constant volume. With a flow regulator 1 that outputs a flow rate signal corresponding to the flow rate in the pulse encoder 1S, a syrup electromagnetic valve 14 for opening and closing the conduit 13, a syrup S, diluting water W _A A multi-valve 29 that mixes a liquid such as carbonated water Wc and discharges it as a beverage to the cup 50; _A Water intake pipe 16, water solenoid valve 17 for opening and closing the water intake pipe 16, and dilution water W _A Water pump 18 for pumping water and dilution water W _A Dilution water cooling coil 19 for cooling the cooling water with cooling water (not shown), and dilution water W _A Dilution water supply line 20 for feeding _A Dilution water flow meter 21 that outputs a flow signal corresponding to the flow rate of the dilution water, a dilution water electromagnetic valve 22A that opens and closes the dilution water supply line 20, a water branch line 23 that branches from the dilution water supply line 20, and water Solenoid valve 22B for opening and closing the branch line 23 and dilution water W supplied via the water branch line 23 _A And carbon dioxide supplied through the carbon dioxide supply line 7B to form carbonated water Wc, a carbon dioxide control valve 8B provided in the carbon dioxide supply line 7B, and the carbonator 24. Carbonated water supply line 25 for delivering carbonated water Wc, carbonated water flow meter 26 for outputting a flow rate signal corresponding to the flow rate of carbonated water Wc, and carbonated water cooling for cooling carbonated water Wc with cooling water (not shown) A coil 27 and a carbonated water electromagnetic valve 28 for opening and closing the carbonated water supply line 25 are provided.
[0055]
Further, as a configuration not shown, like the syrup cooling coil 15, a cooling water tank that cools the dilution water cooling coil 19 and the carbonated water cooling coil 27 with cooling water, a cup supply device that supplies the cup 50, and ice is supplied to the cup 50. The ice machine has a sales switch for inputting a sales request signal.
[0056]
The evaporator 15B forms ice 15D on the surface by vaporizing the liquid refrigerant supplied via the refrigerant pipe 15C, and cools the cooling water W in the cooling water tank 15A based on the ice 15D.
[0057]
The flow rate regulator 1 is supplied with electric power to the rotor drive motor 1M by the energization unit 2 described in the first embodiment. Further, the rotor drive motor 1M outputs a signal corresponding to the drive state to the control unit 3 described in the first embodiment. The pulse of the pulse encoder 1S attached to the rotor drive motor 1M is also output to the control unit 3.
[0058]
Hereinafter, syrup S and dilution water W in the beverage dispenser of the second embodiment _A The operation in the case of producing a beverage by mixing the ingredients will be described. Here, dilution water W _A The flow rate of the syrup S is made to follow with reference to.
[0059]
First, when a sales switch (not shown) for selecting a beverage is pressed by an operator, a sales request signal is input to the control circuit 36 of the control unit 3 via the interface unit 35. The control circuit 36 supplies the diluted water W to the multi-valve 29 via the diluted water supply line 20 by energizing the water electromagnetic valve 17, the water pump 18, and the diluted water electromagnetic valve 22A based on the sales request signal. _A Supply. The control circuit 36 receives the flow rate signal of the dilution water flow meter 21. In addition, the control circuit 36 uses the dilution water W. _A After a lapse of a certain time from the start of delivery, the syrup solenoid valve 14 is energized to open the conduit 13 and then the rotor drive motor 1M of the flow regulator 1 is energized. As a result, the rotor drive motor 1M rotates, and the flow rate regulator 1 supplies the syrup S to the multi-valve 29.
[0060]
FIG. 9 shows dilution water W with and without water supply to the carbonator 24. _A The flow rate per unit time is shown, and the time on the horizontal axis shows the elapsed time from the start of sales. A solid line D indicates a flow rate when there is no water supply to the carbonator 24 (normal sales state). A solid line E indicates a flow rate when water is supplied to the carbonator 24 and is significantly lower than the flow rate indicated by the solid line D. For this reason, the reduced dilution water W is required to secure the dilution ratio of the beverage. _A Although it is necessary to control the flow rate of the syrup S corresponding to the flow rate of the motor, it is necessary to control the energization of the rotor drive motor 1M at a low speed because the flow rate difference from the normal sales state is large.
[0061]
When the solenoid valve 22B is opened, the control circuit 36 performs sequential control of the rotor drive motor 1M so as to give a weighting factor corresponding to the carbonator water supply. The control circuit 36 generates a control signal corresponding to the drive amount of the rotor drive motor 1M based on the deviation between the pulse output from the pulse encoder 1S and the target value, and further, the control circuit 36 sets the rotor drive motor 1M according to the deviation. Judgment of acceleration or deceleration is made, and in the case of deceleration, the control signal is multiplied by the weight of the deceleration and the final control signal obtained by multiplying the weighting factor read from the memory 33 is energized via the interface unit 35. Output to part 2. The abnormality detection unit 32 monitors the pulse. In addition, the control circuit 36 dilutes water W input from the diluting water flow meter 21 at every predetermined sampling period. _A The beverage dilution ratio is calculated based on the flow rate signal and the pulse output from the pulse encoder 1S. When the dilution ratio is out of the allowable value, the rotor drive motor 1M is sequentially controlled so as to realize the dilution ratio determined for the beverage.
[0062]
The control circuit 36 monitors whether or not a pulse (control amount 1) as a state monitoring signal output from the pulse encoder 1S is within a threshold range at every sampling period, and the control amount exceeding the threshold is abnormal. Set a flag to indicate the occurrence. The control circuit 36 also sets a flag indicating that an abnormality has occurred in the control amount 2 even when the amplitude (control amount 2) of the rotor drive motor 1M exceeds the threshold value. Since the control amount 1 and the control amount 2 to which the flag is assigned can be processed in the same manner as described in the first embodiment, redundant description is omitted.
[0063]
FIG. 10 shows a flowchart of the procedure for determining the acceleration weight and the deceleration weight. First, the current dilution ratio based on the flow rate per unit time is compared with the target value.
[0064]
When the current dilution ratio is larger than the target value, the control circuit 36 designates the output of the acceleration weight and compares the current dilution ratio with the previous dilution ratio. When the current dilution ratio is greater than the previous dilution ratio, it is 3 times. When the current dilution ratio is the same as the previous dilution ratio, it is doubled. When the current dilution ratio is smaller than the previous dilution ratio, it is 1 time. Is output to the weight setting unit 37 so as to be output as a weighting coefficient.
[0065]
When the current dilution ratio is smaller than the target value, the control circuit 36 designates the output of the deceleration weight and compares the current dilution ratio with the previous dilution ratio. When the current dilution ratio is smaller than the previous dilution ratio, 0.3 times, when the current dilution ratio is equal to the previous dilution ratio, 0.5 times, and when the current dilution ratio is larger than the previous dilution ratio, 0. An instruction signal is output to the weight setting unit 37 so as to output a deceleration weight of 75 times as a weighting coefficient. In addition, the value of the weighting coefficient shown here is an example.
[0066]
The control circuit 36 receives the dilution water W input from the dilution water flow meter 21. _A When the flow rate signal reaches the specified value, an energization stop signal for instructing the end of transmission is output to the energization unit 2 via the interface unit 35. The energization unit 2 stops energization to the rotor drive motor 1M by inputting an energization stop signal. Further, the control circuit 36 terminates the beverage sales operation by stopping energization of the syrup solenoid valve 14, the water solenoid valve 17, the water pump 18, and the diluted water solenoid valve 22A.
[0067]
According to the second embodiment described above, sequential control of the rotor drive motor 1M is executed in accordance with the dilution ratio of the beverage to be delivered, and when the rotor drive motor 1M is decelerated, a deceleration weight is given to the control signal. Since the water supply timing to the carbonator 24 overlaps with the beverage sales operation, the diluted water W _A Even when the flow rate of the battery drops extremely, it is possible to ensure the responsiveness of the energization control based on the sequential control. As a result, a desired dilution ratio can be quickly realized, and quality deterioration such as a change in the taste of the beverage can be prevented.
[0068]
In addition to the beverage dispenser using the pressurized syrup as described above, the same delivery control can be applied to, for example, a vending machine for a cup-type beverage using the pressurized syrup.
[0069]
In the second embodiment, dilution water W is used. _A The case where the flow rate of the syrup S is made to follow with reference to the syrup S has been explained. _A You may make it make the following flow follow. Alternatively, the flow rate of the syrup S may be caused to follow the carbonated water Wc.
[0070]
In consideration of the drive characteristics of the rotor drive motor 1M, the energization control of the rotor drive motor 1M is performed by increasing the weighting coefficient in the transient state at the initial stage of transmission, and the weighting coefficient is changed or applied after the transient state. Instead, sequential control may be performed.
[0071]
The problem of the responsiveness of the energization control described in the first and second embodiments is particularly noticeable when the liquid to be delivered is pressurized, but it is a non-pressurized liquid. May also be caused by factors such as viscosity. From this, the liquid is not limited to gas pressurized liquid, liquid pressurized based on the volume change of the storage unit, liquid pressurized based on the supply water pressure, liquid pressurized based on gravity, or It is suitable for delivery control in which non-pressurized liquid is continuously delivered.
[0072]
【The invention's effect】
As described above, according to the delivery control device of the present invention, since the control signal is generated so as to suppress the difference in response between the acceleration and deceleration of the drive motor with respect to the deviation, the motor responsiveness is generated. The control target value can be achieved quickly without causing a flow rate error due to the difference between the two, and stable delivery accuracy can be maintained.
[Brief description of the drawings]
FIG. 1A is a schematic configuration diagram of a transmission control apparatus according to a first embodiment of the present invention.
(B) is a circuit diagram showing the configuration of the control unit
FIGS. 2A and 2B show the configuration of a flow regulator, where FIG. 2A is a plan view, FIG. 2B is a side view, and FIG. 2C is a cross-sectional view taken along line AA in FIG.
FIG. 3 is a flowchart of a liquid delivery operation.
FIG. 4A is a graph showing a relationship between a flow rate per unit time and a time in a liquid delivery operation according to the presence or absence of weighting.
(B) is a graph showing the relationship between the duty of the rotor drive motor and the time in the liquid delivery operation according to the presence or absence of weighting.
FIG. 5 is a flowchart of a procedure for determining acceleration weights and deceleration weights in the first embodiment.
FIG. 6 is a graph showing the relationship between the number of pulses per unit time and time when abnormality determination processing is performed in the determination processing unit.
FIG. 7 is a graph showing the relationship between the number of rotations per unit time and the pressure of the rotor drive motor in the first embodiment.
FIG. 8 is a schematic configuration diagram of a beverage dispenser according to a second embodiment of the present invention.
FIG. 9 shows dilution water W with and without water supply to the carbonator. _A Graph showing flow rate per unit time
FIG. 10 is a flowchart of a procedure for determining acceleration weights and deceleration weights in the second embodiment.
FIG. 11 is a characteristic diagram when a liquid pressurized by a flow regulator of Japanese Patent Application No. 2002-96296 is delivered.
[Explanation of symbols]
1. Flow controller 1M, rotor drive motor 1S, pulse encoder
2, current-carrying unit 3, control unit 6, syrup tank 7A, carbon dioxide supply line
7B, carbon dioxide supply line 8A, carbon dioxide control valve 8B, carbon dioxide control valve
10, body 10A, speed reducer 10B, lid portion 10a, inflow portion
10b, outflow part 11, rotor 11A, shaft 13, pipe line
14, syrup solenoid valve 15, syrup cooling coil 15A, cooling water tank
15B, evaporator 15C, refrigerant line 15D, ice 16, intake pipe
17, water solenoid valve 18, water pump 19, dilution water cooling coil
20, dilution water supply line 21, dilution water flow meter 22A, dilution water solenoid valve
22B, solenoid valve 23, water branch line 24, carbonator
25, carbonated water supply line 26, carbonated water flow meter 27, carbonated water cooling coil
28, carbonated water solenoid valve 29, multi-valve 32, abnormality detector
32A, storage unit 32B, determination processing unit 33, memory
34, timer circuit 35, interface unit 36, control circuit
37, weight setting unit 38, internal bus 50, cup

Claims (6)

A drive motor that is driven in response to a liquid delivery command and generates a state monitoring signal in accordance with the number of revolutions per unit time;
Monitoring the deviation between the rotational speed and the control target value based on the state monitoring signal, and a control unit for generating a control signal based on the deviation,
The control unit suppresses the deviation at the time of acceleration of the drive motor and the speed at the time of deceleration so as to suppress a flow rate error per unit time of the liquid at the time of acceleration and deceleration of the drive motor with respect to the deviation. A sending control device, wherein the control signal is corrected according to a deviation .   The delivery control apparatus according to claim 1, wherein the drive motor continuously delivers pressurized liquid as the liquid. The said control part gives the weighting coefficient which correct | amends the said control signal to the said control signal according to the said deviation at the time of the acceleration of the said drive motor, and the said deviation at the time of a deceleration . Sending control device. Wherein, according to the deceleration of the drive motor, characterized by applying a weighting factor for correcting the control signal according to the deviation during deceleration so as to suppress the flow rate error to said control signal Item 2. The transmission control device according to Item 1. Wherein the control unit sends control apparatus according to claim 1, wherein applying the weighting factor changed stepwise in a unit time to said control signal.   The delivery control device according to claim 1, wherein the control unit sets a ratio between the liquid and another liquid delivered in synchronization with the liquid as the control target value.

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