JPH0127673B2 - - Google Patents
Info
- Publication number
- JPH0127673B2 JPH0127673B2 JP57187483A JP18748382A JPH0127673B2 JP H0127673 B2 JPH0127673 B2 JP H0127673B2 JP 57187483 A JP57187483 A JP 57187483A JP 18748382 A JP18748382 A JP 18748382A JP H0127673 B2 JPH0127673 B2 JP H0127673B2
- Authority
- JP
- Japan
- Prior art keywords
- motor
- current
- electromotive force
- back electromotive
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Direct Current Motors (AREA)
Description
【発明の詳細な説明】
この発明は直流電動機の電流制御装置、特に電
動機の加、減速時における電流指令値と実際値と
の偏差（以下、オフセツトともいう。）をなくす
ようにした直流電動機の制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a current control device for a DC motor, and particularly to a current control device for a DC motor that eliminates a deviation between a current command value and an actual value (hereinafter also referred to as offset) during acceleration and deceleration of the motor. Regarding a control device.
第１図はかかる制御装置の従来例を示すブロツ
ク図である。同図において、１は電流調節器、２
は電機子回路２１、界磁要素２２１，２２２およ
び起動時定数要素２３等から構成される直流電動
機である。 FIG. 1 is a block diagram showing a conventional example of such a control device. In the same figure, 1 is a current regulator, 2
is a DC motor composed of an armature circuit 21, field elements 221, 222, a starting time constant element 23, and the like.
すなわち、電動機２の電機子電流（検出値また
は実際値）ｉは、電流調節器１において電流指冷
値（目標値）i*と等しくなるように調節演算さ
れ、電圧Ｖが出力される。この電圧Ｖと電動機逆
起電力E〓の偏差によつて電機子回路２１に電流
ｉが流れ、界磁要素２２２の作用により電動機２
にトルクτMが発生し、起動時定数要素２３によつ
て決まる時間TMにしたがつて電動機２が加速さ
れる。このような制御装置において、電動機２に
発生する逆起電力が変化しない領域では、電流指
令値i*と実際値ｉとは略一致するのに対し、例え
ば加、減速時のように電動機逆起電力が変動する
領域においては電流指令値i*と実際値ｉとの間に
オフセツトが生じ、このため良好な制御ができな
くなるという欠点を有している。 That is, the armature current (detected value or actual value) i of the motor 2 is adjusted and calculated in the current regulator 1 so as to be equal to the current command cooling value (target value) i * , and the voltage V is output. Due to the deviation between this voltage V and the motor back electromotive force E, a current i flows through the armature circuit 21, and due to the action of the field element 222, the motor 2
A torque τ M is generated at , and the electric motor 2 is accelerated according to a time T M determined by the starting time constant element 23 . In such a control device, in a region where the back electromotive force generated in the electric motor 2 does not change, the current command value i * and the actual value i almost match, whereas the electric motor back electromotive force is In a region where the power fluctuates, an offset occurs between the current command value i * and the actual value i, which has the disadvantage that good control cannot be achieved.
この発明はかかる点に鑑みてなされたもので、
上述の如きオフセツトを生じないようにして制御
性能を向上させることを目的とするものである。 This invention was made in view of these points,
The purpose of this is to improve control performance by preventing the above-mentioned offset from occurring.
その特徴は、直流電動機の電流制御回路に電動
機に発生する逆起電力を微分する微分回路を設
け、該逆起電力微分値を電流指令値に加算して電
流制御を行なうようにした点にある。つまり、電
動機の加、減速時にはその逆起電力が変化する点
に着目し、該逆起電力の変化（微分値）に応じて
電流指令値を補正するものである。 The feature is that the current control circuit of the DC motor is equipped with a differentiation circuit that differentiates the back electromotive force generated in the motor, and the current control is performed by adding the differential value of the back electromotive force to the current command value. . That is, it focuses on the fact that the back electromotive force changes when the motor accelerates or decelerates, and corrects the current command value according to the change (differential value) of the back electromotive force.
以下、この発明の実施例を図面を参照して説明
する。 Embodiments of the present invention will be described below with reference to the drawings.
第２図はこの発明の実施例を示すブロツク図で
ある。すなわち、同図からも明らかなように、こ
の実施例は、電動機２が発生する逆起電力E〓を
微分する微分要素３を設け、該微分出力E〓〓を電
流目標値i*に加算して逆起電力の変化に応じた補
償を行なうようにした点が特徴である。つまり、
電動機の加、減速時には逆起電力E〓が変化する
ので、この逆起電力の微分値、すなわち変化分を
電流指令値i*に加えることにより、特に電動機の
加、減速時に発生するオフセツトをなくそうとす
るものである。なお、その他の点は第１図と全く
同様であるので、説明は省略する。 FIG. 2 is a block diagram showing an embodiment of the invention. That is, as is clear from the figure, in this embodiment, a differentiation element 3 is provided to differentiate the back electromotive force E〓 generated by the electric motor 2, and the differential output E〓 is added to the current target value i * . The feature is that compensation is performed according to changes in back electromotive force. In other words,
Since the back electromotive force E〓 changes when the motor accelerates or decelerates, by adding the differential value of this back electromotive force, that is, the amount of change, to the current command value i * , it is possible to eliminate the offset that occurs especially when the motor accelerates or decelerates. This is what we are trying to do. Note that the other points are completely the same as those in FIG. 1, so the explanation will be omitted.
以上のように、この発明によれば、電動機に発
生する逆起電力の微分値によつて電流指令値を補
正する回路を付加するだけで、電動機の加、減速
時の如くその逆起電力が変動する場合における電
流指令値と実際値との偏差をなくすことができ、
したがつて、制御性能が向上するという利点を有
するものである。このため、例えば直流電動機を
用いて媒体の巻取り制御を行なう場合に、上述の
如きオフセツトにもとづく媒体のタルミ、引張り
等の現象をなくすことができ、これによつて媒体
の損傷を防止することができる効果をもたらすも
のである。 As described above, according to the present invention, by simply adding a circuit that corrects the current command value based on the differential value of the back electromotive force generated in the motor, the back electromotive force can be reduced as when the motor is accelerated or decelerated. It is possible to eliminate the deviation between the current command value and the actual value when it fluctuates,
Therefore, it has the advantage that control performance is improved. Therefore, when controlling the winding of the medium using a DC motor, for example, it is possible to eliminate phenomena such as sagging and tension of the medium due to offset as described above, thereby preventing damage to the medium. It brings about the effect that can be achieved.
なお、この発明は、上述の如き直流電動機ばか
りでなく、これと同様の伝達特性をもつ制御対象
におけるオフセツト補償装置として適用すること
ができる。 Note that the present invention can be applied not only to the above-mentioned DC motor but also as an offset compensator for a controlled object having similar transfer characteristics.
第１図は電流制御装置の従来例を示すブロツク
図、第２図はこの発明の実施例を示すブロツク図
である。
符号説明、１……電流調節器、２……電動機、
２１……電機子回路、２２１，２２２……界磁要
素、２３……起動時定数要素、３……微分要素。
FIG. 1 is a block diagram showing a conventional example of a current control device, and FIG. 2 is a block diagram showing an embodiment of the present invention. Description of symbols, 1...Current regulator, 2...Electric motor,
21... Armature circuit, 221, 222... Field element, 23... Starting time constant element, 3... Differential element.
Claims (1)
るべく調節演算を行なう電流調節器を備えてなる
直流電動機の電流制御装置において、前記電動機
に発生する逆起電力成分を微分する微分手段を設
け、該逆起電力微分値を前記電流指令値に加算す
ることにより、電動機の加、減速時における電流
目標値と検出値との偏差をなくすことを特徴とす
る直流電動機の電流制御装置。1. A current control device for a DC motor comprising a current regulator that performs adjustment calculations to make the armature current of the DC motor match a target value, comprising a differentiating means for differentiating a back electromotive force component generated in the motor, A current control device for a DC motor, characterized in that a deviation between a current target value and a detected value during acceleration and deceleration of the motor is eliminated by adding the back electromotive force differential value to the current command value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57187483A JPS5980191A (en) | 1982-10-27 | 1982-10-27 | Current controller for dc motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57187483A JPS5980191A (en) | 1982-10-27 | 1982-10-27 | Current controller for dc motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5980191A JPS5980191A (en) | 1984-05-09 |
| JPH0127673B2 true JPH0127673B2 (en) | 1989-05-30 |
Family
ID=16206856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57187483A Granted JPS5980191A (en) | 1982-10-27 | 1982-10-27 | Current controller for dc motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5980191A (en) |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5276586A (en) * | 1975-12-19 | 1977-06-28 | Meidensha Electric Mfg Co Ltd | Automatic control unit |
-
1982
- 1982-10-27 JP JP57187483A patent/JPS5980191A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5980191A (en) | 1984-05-09 |
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