JPH0127675B2 - - Google Patents
Info
- Publication number
- JPH0127675B2 JPH0127675B2 JP56028698A JP2869881A JPH0127675B2 JP H0127675 B2 JPH0127675 B2 JP H0127675B2 JP 56028698 A JP56028698 A JP 56028698A JP 2869881 A JP2869881 A JP 2869881A JP H0127675 B2 JPH0127675 B2 JP H0127675B2
- Authority
- JP
- Japan
- Prior art keywords
- motor
- control
- current
- amplification factor
- polarity
- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more DC dynamo-electric motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Description
【発明の詳細な説明】
本発明は、共通制御電源によつて駆動される複
数台の直流電動機の負荷が機械的に結合されてい
る場合に、各直流電動機の負荷電流を界磁電流制
御によつて、平衡制御または比率制御する直流電
動機の制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention provides field current control for controlling the load current of each DC motor when the loads of a plurality of DC motors driven by a common control power source are mechanically coupled. Therefore, the present invention relates to a control device for a DC motor that performs balance control or ratio control.
従来の制御方式の場合、界磁電流制御による負
荷電流平衡制御増幅器または負荷電流比率制御増
幅器の増幅率は一定であるため、その制御系の閉
ループ増幅率が直流電動機速度に比例して変化
し、低速度における制御応答時間が遅くオフセツ
ト量が増加する欠点があつた。 In the case of conventional control methods, the amplification factor of the load current balance control amplifier or load current ratio control amplifier using field current control is constant, so the closed loop amplification factor of the control system changes in proportion to the DC motor speed. The disadvantage is that the control response time at low speeds is slow and the amount of offset increases.
また、直流電動機の回転方向が逆になつたと
き、その誘起電圧の極性が逆になるため、従来の
制御方式では可逆運転が不可能となる場合があつ
た。 Furthermore, when the direction of rotation of the DC motor is reversed, the polarity of the induced voltage is reversed, so that reversible operation may not be possible with conventional control methods.
ここにおいて、本発明は、前述の欠点を除去す
るため、制御増幅器の増幅率を直流電動機の速度
の絶対値に変換し、速度変化によつて制御系の閉
ループ増幅率が変動せず、低速領域においても充
分な負荷電流の平衡制御または比率制御を保てる
ようにし、また直流電動機の回転方向を検出して
制御増幅器の出力電圧極性を切換え、可逆運転を
可能にした直流電動機の制御装置を提供すること
をその目的とする。 Here, in order to eliminate the above-mentioned drawbacks, the present invention converts the amplification factor of the control amplifier into the absolute value of the speed of the DC motor, so that the closed loop amplification factor of the control system does not change due to speed changes, and To provide a control device for a DC motor that can maintain sufficient balance control or ratio control of load current even when the motor is in use, detects the direction of rotation of the DC motor, switches the output voltage polarity of a control amplifier, and enables reversible operation. Its purpose is to
以下、図面を参照して本発明を説明する。 The present invention will be described below with reference to the drawings.
第１図に本発明の一実施例を示すブロツク図を
示す。 FIG. 1 shows a block diagram showing one embodiment of the present invention.
１は共通制御電源、２Ａ，２Ｂは共通制御電源
１によつて駆動される直流電動機、３Ａ，３Ｂは
その界磁巻線、４は負荷が機械的に結合されてい
る直流電動機２Ａ，２Ｂの回転速度を検出する速
度発電機、５は界磁電流基準発生装置、６Ａ，６
Ｂは界磁電流制御装置、７Ａ，７Ｂは直流電動機
２Ａ，２Ｂの負荷電流を検出する電流検出装置、
８は負荷電流平衡制御または比率制御増幅器、９
は速度発電機４の出力から直流電動機２Ａ，２Ｂ
の回転速度を検出する速度検出装置である。 1 is a common control power source, 2A and 2B are DC motors driven by the common control power source 1, 3A and 3B are field windings thereof, and 4 is a DC motor 2A and 2B to which loads are mechanically coupled. A speed generator that detects the rotation speed, 5 is a field current reference generator, 6A, 6
B is a field current control device, 7A and 7B are current detection devices that detect the load current of the DC motors 2A and 2B,
8 is a load current balance control or ratio control amplifier; 9
is the DC motor 2A, 2B from the output of the speed generator 4.
This is a speed detection device that detects the rotation speed of a motor.
さて、共通制御電源１によつて直流電動機２
Ａ，２Ｂに第１図に示す極性に電圧が印加され、
ある速度で回転し、負荷電流がIA，IBの状態で平
衡または比率運転しているとする。 Now, by the common control power supply 1, the DC motor 2
A voltage is applied to A and 2B with the polarity shown in Figure 1,
Assume that the motor is rotating at a certain speed and is operating in a balanced or proportionate manner with load currents I A and I B .
いま、何等かの原因で負荷電流IAが増加し、平
衡または比率が崩れたとすると、電流検出装置７
Ａによつて検出される電流検出信号IA′が増加し、
その信号により負荷電流平衡制御または比率制御
増幅器８の制御出力信号EAは、直流電動機２Ａ
の界磁電流を強めて負荷電流IAを減少する方向へ
制御する。 Now, if the load current I A increases for some reason and the balance or ratio collapses, the current detection device 7
The current detection signal I A ′ detected by A increases;
By that signal, the control output signal E A of the load current balance control or ratio control amplifier 8 is controlled by the DC motor 2A.
control the load current IA in the direction of decreasing it by increasing the field current.
一方、制御出力EBは直流電動機２Ｂの界磁電
流を減少して負荷電流IBが増加する方向へ、所定
の平衡または比率となるように制御する。 On the other hand, the control output E B is controlled in a direction in which the field current of the DC motor 2B is decreased and the load current I B is increased, so that a predetermined balance or ratio is achieved.
これらの関係は共通制御電源１の極性が反転
し、直流電動機２Ａ，２Ｂが逆転すると、すべて
増減が逆になる。また、直流電動機が平衡状態で
運転しているとき、次の(1)式が成立する。 When the polarity of the common control power source 1 is reversed and the DC motors 2A and 2B are reversed, the increases and decreases in these relationships are all reversed. Furthermore, when the DC motor is operating in a balanced state, the following equation (1) holds true.
Kωφ＋iR＝ｖ …(1)
但し、
Ｋ：比例定数 ｉ：電機子電流
ω：回転速度 Ｒ：電動機内部抵抗
φ：界磁々束 ｖ：電動機端電圧
(1)式から(2)式が導出でき
ｉ＝ｖ−Kωφ／Ｒ …(2)
微小磁束変化△φによる微小電機子変化△ｉの
関係は
ｉ＝−Kω／Ｒ△φ …(3)
(3)式のようになる。 Kωφ+iR=v …(1) However, K: proportionality constant i: armature current ω: rotational speed R: motor internal resistance φ: field magnetic flux v: motor end voltage Equation (2) can be derived from equation (1). i=v−Kωφ/R…(2) The relationship between the minute armature change Δi due to the minute magnetic flux change Δφ is as shown in equation (3): i=−Kω/RΔφ.
従つて、負荷電流IA，IBの制御に要する界磁電
流の制御量は、界磁磁束の飽和を無視すれば、直
流電動機２Ａ，２Ｂの回転速度に反比例して変化
する。即ち同じ負荷電流IA，IBを制御するのに、
10％速度のときは定格速度のときに比べて10倍の
界磁電流の制御量を必要とする。この現象は、界
磁電流による負荷電流の平衡制御または比率制御
のゲインが速度に比例し、低速になる程ゲインが
低下することを意味する。 Therefore, the control amount of the field current required to control the load currents I A and I B changes in inverse proportion to the rotational speed of the DC motors 2A and 2B, if saturation of the field magnetic flux is ignored. In other words, to control the same load currents I A and I B ,
At 10% speed, a field current control amount that is 10 times greater than at rated speed is required. This phenomenon means that the gain of the balance control or ratio control of the load current using the field current is proportional to the speed, and the lower the speed, the lower the gain.
第２図は、従来の負荷電流平衡制御または比率
制御増幅器８′のブロツク図である。 FIG. 2 is a block diagram of a conventional load current balance control or ratio control amplifier 8'.
１０は増幅率一定の加算増幅器、１１は極性反
転増幅器である。 10 is a summing amplifier with a constant amplification factor, and 11 is a polarity inverting amplifier.
第２図の従来の制御方式の場合は、加算増幅器
１０の増幅率が一定のため、前述の理由により直
流電動機２Ａ，２Ｂの回転速度が低いほど制御系
の増幅率は低下し、また可逆運転は不可能であ
る。 In the case of the conventional control system shown in FIG. 2, the amplification factor of the summing amplifier 10 is constant, so for the reason mentioned above, the lower the rotational speed of the DC motors 2A, 2B, the lower the amplification factor of the control system, and the reversible operation is not possible.
そこで、第３図に、本発明になる負荷電流平衡
制御または比率制御増幅器８のブロツク図を示
す。 FIG. 3 shows a block diagram of a load current balance control or ratio control amplifier 8 according to the present invention.
１２は可変増幅率の加算増幅器、１３は極性切
換回路、１４は絶対値変換回路、１５は極性検出
回路である。 12 is a summing amplifier with a variable amplification factor, 13 is a polarity switching circuit, 14 is an absolute value conversion circuit, and 15 is a polarity detection circuit.
第３図の本発明による制御方式の場合は、可変
増幅率の増幅率の加算増幅器１２の増幅率Ａを速
度検出信号ESの絶対値｜ES｜に逆比例させ、Ａ＝
Ｇ（ゲイン）／ω（角速度）とすることにより制御
系全体として増幅率が変動しないようにしてあ
る。 In the case of the control system according to the present invention shown in FIG. 3, the amplification factor A of the variable amplification factor summing amplifier 12 is made inversely proportional to the absolute value |E S | of the speed detection signal E S , and A=
By setting G (gain)/ω (angular velocity), the amplification factor of the control system as a whole is prevented from changing.
また、速度検出信号ESの極性が反転すると極性
検出回路１５によつて検出し、極性切換回路１３
によつて可変増幅率加算増幅器１２の出力電圧極
性を反転させ、可逆運転を可能にしている。 Further, when the polarity of the speed detection signal E S is reversed, it is detected by the polarity detection circuit 15 and the polarity switching circuit 13
This inverts the output voltage polarity of the variable gain summing amplifier 12, thereby enabling reversible operation.
以上の説明から明らかなように、本発明は負荷
電流の平衡制御または比率制御増幅器８の増幅率
を直流電動機速度ESに逆比例させ、制御系の閉ル
ープ増幅率が変化しないようにして、直流電動機
２Ａ，２Ｂの全速度領域に対し充分安定した負荷
電流IA，IBの平衡制御または比率制御を保てるよ
うにし、また直流電動機２Ａ，２Ｂの回転方向が
変つたとき、自動的に極性検出回路１５を介して
制御増幅器８の出力EA，EBの極性を切換えて、
可逆運転を可能にした直流電動機の制御装置を実
現することができる。 As is clear from the above explanation, the present invention makes the amplification factor of the load current balance control or ratio control amplifier 8 inversely proportional to the DC motor speed E S , so that the closed loop amplification factor of the control system does not change, and the DC It is possible to maintain sufficiently stable balance control or ratio control of the load currents I A and I B over the entire speed range of the motors 2A and 2B, and the polarity is automatically detected when the rotation direction of the DC motors 2A and 2B changes. By switching the polarity of the outputs E A and E B of the control amplifier 8 via the circuit 15,
A DC motor control device that enables reversible operation can be realized.
第１図は本発明の一実施例を示すブロツク図、
第２図は従来装置の負荷電流平衡制御または比率
制御増幅器のブロツク図、第３図は本発明の一実
施例における負荷電流平衡制御または比率制御増
幅器の構成を示すブロツク図である。
１……共通制御電源、２Ａ，２Ｂ……直流電動
機、３Ａ，３Ｂ……直流電動機２Ａ，２Ｂの界磁
巻線、４……速度発電機、５……界磁電流基準発
生装置、６Ａ，６Ｂ……界磁電流制御装置、７
Ａ，７Ｂ……電流検出装置、８，８′……負荷電
流平衡または比率制御増幅器、９……速度検出回
路、１０……増幅率一定の加算増幅器、１１……
極性反転増幅器、１２……可変増幅率の加算増幅
器、１３……極性切換回路、１４……絶対値変換
回路、１５……極性検出回路、EA，EB……制御
出力、ER……界磁電流基準信号、ES……速度検
出信号、IA，IB……負荷電流、IA′，IB′……電流
検出信号。
FIG. 1 is a block diagram showing one embodiment of the present invention;
FIG. 2 is a block diagram of a conventional load current balance control or ratio control amplifier, and FIG. 3 is a block diagram showing the configuration of a load current balance control or ratio control amplifier in an embodiment of the present invention. 1... Common control power supply, 2A, 2B... DC motor, 3A, 3B... Field winding of DC motors 2A, 2B, 4... Speed generator, 5... Field current reference generator, 6A, 6B...field current control device, 7
A, 7B...Current detection device, 8, 8'...Load current balance or ratio control amplifier, 9...Speed detection circuit, 10...Summing amplifier with constant amplification factor, 11...
Polarity inversion amplifier, 12...Summing amplifier with variable amplification factor, 13...Polarity switching circuit, 14...Absolute value conversion circuit, 15...Polarity detection circuit, E A , E B ... Control output, E R ... Field current reference signal, E S ... Speed detection signal, I A , I B ... Load current, I A ′, I B ′ ... Current detection signal.
Claims (1)
機を共通制御電源で駆動すると共に各直流電動機
の界磁電流を個別に制御する界磁電流制御手段を
備えた装置において、 各直流電動機の電機子電流を比較して電流偏差
に比例した検出信号を得ると共にその比例増幅率
が前記直流電動機の回転速度に逆比例する電流偏
差検出手段を設け、 前記検出信号により各界磁電流制御手段の界磁
電流基準を補正して電流偏差が減少するようにし
た ことを特徴とする直流電動機の制御装置。 ２ 前記電流偏差検出手段は、比例増幅率が前記
回転速度の絶対値に逆比例すると共に回転速度の
方向を示す極性により、前記検出信号の極性を反
転するように構成した ことを特徴とする特許請求の範囲第１項記載の直
流電動機の制御装置。[Scope of Claims] 1. In a device that drives two DC motors whose load sides are mechanically coupled with a common control power source and is equipped with a field current control means that individually controls the field current of each DC motor. , providing a current deviation detection means which compares the armature current of each DC motor to obtain a detection signal proportional to the current deviation and whose proportional amplification factor is inversely proportional to the rotational speed of the DC motor; A control device for a DC motor, characterized in that a field current reference of a current control means is corrected to reduce current deviation. 2. A patent characterized in that the current deviation detection means is configured such that the proportional amplification factor is inversely proportional to the absolute value of the rotational speed and the polarity of the detection signal is inverted based on the polarity indicating the direction of the rotational speed. A control device for a DC motor according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2869881A JPS57145593A (en) | 1981-02-28 | 1981-02-28 | Control device for dc motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2869881A JPS57145593A (en) | 1981-02-28 | 1981-02-28 | Control device for dc motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57145593A JPS57145593A (en) | 1982-09-08 |
| JPH0127675B2 true JPH0127675B2 (en) | 1989-05-30 |
Family
ID=12255686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2869881A Granted JPS57145593A (en) | 1981-02-28 | 1981-02-28 | Control device for dc motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57145593A (en) |
-
1981
- 1981-02-28 JP JP2869881A patent/JPS57145593A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57145593A (en) | 1982-09-08 |
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