JPH11194827A - Actuator controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator controller which consists of a small number of mechanical components and can make the device small-sized and stably perform high-precision detection. SOLUTION: The controller which controls an actuator 10 having a rotary part with an external command value S0 and the rotation detection value of the actuator 10 is equipped with rotational angle detection means 2 and 3 which are attached to the actuator 10 and detect the rotational angle of the actuator 10, a rotational frequency counter 3a which counts up or down by '1' in consideration of the rotating direction of the actuator 10 each time the rotational angle detected by the rotational angle detecting means 2 and 3 reach 0 deg., and means 4 and 3 which obtain rotation detection values SB and SD according to the rotational angle detected by the rotational angle detecting means 2 and 3 and the rotational frequency counted by the rotational frequency counter 3a.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator control device for controlling an actuator based on an external command value and a rotation detection value of an actuator having a rotating section.

[0002]

2. Description of the Related Art FIG. 3 is a diagram showing the configuration of a conventional rotation angle control servo device as this type of control device. As shown in FIG. 3, the multi-rotation electric motor 1 rotationally drives the control target Z via an output shaft 30 connected to one end of the rotation shaft. The rotation of the electric motor 1, that is, the rotation of the output shaft 30, is reduced by a reduction mechanism 40 including a multi-rotation gear 41, a reduction gear 42, and a single rotation gear 43 attached to the output shaft 30 to perform angle conversion. In the single rotation gear 43,
A rotation angle sensor 51 composed of a single-rotation type high-precision resolver, a potentiometer, an absolute encoder and the like is coupled, and the rotation angle sensor 51 detects an angle signal SW indicating an absolute rotation angle. This angle signal SW is supplied to the first comparison amplification element 55 of the servo amplifier.

On the other hand, the speed signal SV is detected by an incremental encoder 52 attached near the other end of the rotating shaft of the electric motor 1. The detected speed signal SV is supplied to a second comparison amplification element 56 of the servo amplifier.

Thus, an external command value SO input to the servo amplifier and an angle signal SW from the rotation angle sensor 51 are output.
The electric motor 1 which is one of the actuator components is controlled by the rotation detection value including the speed signal SV from the incremental encoder 52, and the rotation angle of the control target Z is controlled.

[0005]

As described above, in the conventional rotation angle control servo apparatus shown in FIG. 3, first, the rotation angle of the electric motor 1 that makes multiple rotations, that is, the rotation angle of the output shaft 30 is simply reduced by the reduction mechanism 40. The rotation angle is replaced with a rotation angle, and then the angle is detected using a rotation angle sensor 51 composed of a high-precision resolver or the like. That is, the above-described device is provided with the rotation angle of the multi-rotation electric motor 1, that is, the output shaft 3.
As means for replacing the rotation angle of 0 with a single rotation angle, a reduction mechanism 40 including a multi-rotation gear 41, a reduction gear 42, and a single rotation gear 43 is required. For this reason, there are problems that the number of mechanical parts is large, the device becomes large, and the detection accuracy cannot be sufficiently increased.

In order to solve the above problem, a means for detecting a multi-rotation angle by using an incremental encoder as the rotation angle sensor 51 is conceivable. However, in the multi-rotation angle detection by the incremental encoder,
Since there is a certain limit on the angular resolution resulting from the pulse accuracy, there is a limit in high-precision detection. Therefore, the above means cannot be said to be effective means for solving the above-mentioned problems.

An object of the present invention is to provide an actuator control device which has a small number of mechanical parts, can be formed in a small size, and can stably perform highly accurate detection.

[0008]

In order to solve the above-mentioned problems and achieve the object, an actuator control device according to the present invention is configured as follows. That is, an actuator control device according to the present invention detects a rotation angle of an actuator attached to the actuator in a control device that controls the actuator based on a command value from the outside and a rotation detection value of the actuator having a rotating unit. Rotation angle detecting means provided as described above, and the number of rotations counted to increase or decrease by "1" in consideration of the rotation direction of the actuator each time the rotation angle detected by the rotation angle detecting means becomes 0 ° And a means for obtaining a rotation detection value based on the rotation angle detected by the rotation angle detection means and the number of rotations counted by the rotation number counter.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment [Configuration] FIG. 1 is a diagram showing a configuration of an actuator control device according to a first embodiment of the present invention. This embodiment is an example in which the present invention is applied to a seat operating system having a seat vibration damping function. In the figure, 1 is an electric motor, 2 is a high-precision resolver, 3 is an R / D converter, 4 is a rotation speed extender, 5 is a first comparative amplification element, and 6 is a second comparative amplification element. Reference numeral 10 denotes an actuator configured to include the electric motor 1 and the seat elevating mechanism 11 for driving and controlling the seat X to be controlled.

As shown in FIG. 1, a high-precision resolver 2 is directly attached to the other end (lower end in the figure) of the rotating shaft 1a of the electric motor 1, and multi-rotation angle information S of the electric motor 1 is provided.
X is detected without a speed reduction mechanism. The detected multi-rotation angle information SX is composed of a two-phase sine wave and a coss wave, and is input to an R / D (Resolver / Digital) converter 3 in the servo amplifier. The R / D converter 3 generates an angle signal SA, a speed signal SB, and a rotation number count signal SC based on the input multi-rotation angle information SX.

Here, the rotational speed count signal SC is represented by R / D
On the basis of the angle signal SA and the speed signal SB generated inside the converter 3, the rotation number is generated as follows by the rotation counter 3a built in the R / D converter 3. That is, the high-precision resolver 2 and the R /
Each time the rotation angle detected by the D converter 3 indicates 0 °, the rotation counter 3a increases or decreases the count value by “1” in consideration of the rotation direction of the electric motor 1 which is an actuator component. Count as you do. As a result, the rotation counter 3a outputs the rotation count signal S.
C is generated and output.

The rotational speed extender 4 in the servo um is R / R
The multi-rotation angle signal SD is detected and output with high accuracy based on the angle signal SA and the rotation count signal SC supplied from the D converter 3, that is, based on the current angular position and the current count.

Here, the angle indicated by the angle signal SA is θ [°].
Assuming that the rotation number count value indicated by the rotation number count signal SC is n [times], the multiple rotation angle α [°] indicated by the multiple rotation angle signal SD is α [°] = 360 × n + θ [°]. Is required. The obtained multi-rotation angle signal S
D is supplied to the first comparison amplification element 5 of the servo amplifier. The speed signal SB generated by the R / D converter 3 is supplied to a second comparison amplification element 6 of the servo amplifier.

Thus, a servo loop is formed, and the rotation of the actuator 10 is determined by the external command value SO input to the servo amplifier and the rotation detection value which is a closed loop feedback signal including the multi-rotation angle signal SD and the speed signal SB. The control unit controls the electric motor 1 as a unit, and controls the height position of the seat X to be controlled via the lifting mechanism 11.

[Feature] When the high-precision resolver 2 is used for detecting a rotation angle, it is usually used for detecting a single rotation angle. Therefore, in order to perform multi-rotation angle detection, a method is employed in which the multi-rotation angle is replaced with a single rotation angle and detected by a speed reduction mechanism as shown in the conventional example. Therefore, the above-described problem has occurred. However, in this embodiment, the multi-rotation angle information SX is directly detected without a speed reduction mechanism using a high-precision resolver for detecting a single rotation angle, and the detected information SX is converted into an angle signal SA by the R / D converter 3. , A rotation number count signal SC, and a rotation number expander 4 detects a multi-rotation angle signal SD.
The actuator 10 is controlled based on a rotation detection value consisting of D and the speed signal SB and an external command value SO input to the servo amplifier.

Therefore, according to the angle detecting means in this embodiment, since no deceleration mechanism is required, the detection accuracy does not deteriorate, and the high detection accuracy of the high-precision resolver 2 is guaranteed. Further, since there is no speed reduction mechanism, the number of mechanical parts can be reduced, and the size of the apparatus can be reduced. Also,
Since the speed signal SB can be detected at the same time as the detection of the multi-rotation angle signal SD, the conventionally required speed detector is not required. Furthermore, in the method of directly detecting a multi-rotation angle signal using an incremental encoder, there is a problem that the detection accuracy is deteriorated because the number of pulses is small at a low rotation speed, but according to the angle detection means of the present embodiment, A highly accurate multi-rotation angle signal SD can be obtained irrespective of the rotation speed.

(Second Embodiment) [Configuration] FIG. 2 is a diagram showing a configuration of an actuator control device according to a second embodiment of the present invention. This embodiment is an example in which the present invention is applied to a linear conversion mechanism system having a high-precision positioning servo mechanism. In the figure, reference numeral 20 denotes an actuator, which includes an electric motor 1 and a ball screw 2.
1, a moving element 22, and a linear conversion mechanism including a support shaft 23. The actuator 20 rotates the ball screw 21 connected to the tip of the motor 1 by the rotation of the electric motor 1 which rotates multiple times, and linearly moves the moving element 22 screw-connected to the ball screw 21. The control target Y rotatably supported by the moving element 22 via the support shaft 23 is linearly moved to perform positioning.

The rotation speed extender 4 in the servo amplifier of the present embodiment is configured to output the angle signal S supplied from the R / D converter 3.
A highly accurate linear position signal SD 'is detected and output based on A and the rotation count signal SC, that is, based on the current angular position and count number.

Here, the position P indicated by the linear position signal SD '
[Mm] is the multi-rotation angle α [°] =
It is obtained by multiplying 360 × n + θ [°] by a constant K as shown in the following equation.

P [mm] = Kα [mm] = K (360 × n + θ [°]) where K is a constant determined by the hardware configuration of the linear conversion mechanism. Linear position signal S including the position P [mm]
D 'is supplied to the first comparison amplification element 5 of the servo amplifier. The speed signal SB generated by the R / D converter 3 is supplied to a second comparison amplification element 6 of the servo amplifier.

Thus, a servo loop is formed, and the external command value SO inputted to the servo amplifier and the detection value which is a closed loop feedback signal composed of the linear position signal SD 'and the speed signal SB are used as the rotating portion of the actuator 20. , And the position on the straight line of the control target Y is controlled and positioned via the ball screw 21 and the moving element 22. Except for the above points, the configuration is the same as that of the first embodiment, and a description thereof will be omitted.

[Features] In this embodiment, basically, the same functions and effects as those of the embodiment can be obtained. In particular, a high-accuracy positioning servo mechanism could be configured using the actuator 20 including the linear conversion mechanism. According to this device, it is possible to obtain an extremely high-precision positioning servo mechanism which cannot be realized by a conventional device using a speed reduction mechanism.

[0023]

In the actuator control device according to the present invention, since the angle detecting means does not include any speed reduction mechanism, the detection accuracy does not deteriorate, and the high detection accuracy of the high-precision resolver is guaranteed. Also, since there is no speed reduction mechanism,
The number of mechanical parts can be reduced and the size of the device can be reduced. Further, since the speed signal can be detected simultaneously with the detection of the multi-rotation angle signal, the speed detector which has been required conventionally becomes unnecessary. Further, in the means for directly detecting the multi-rotation angle signal using the incremental encoder, the detection accuracy is deteriorated when the number of pulses is small at the time of low rotation, but according to the angle detection means of the present invention, A highly accurate multi-rotation angle signal can be obtained regardless of the number.

Thus, according to the present invention, it is possible to provide an actuator control device which has a small number of mechanical parts, can be formed in a small size, and can stably perform highly accurate detection.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an actuator control device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a configuration of an actuator control device according to a second embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of a rotation angle control servo device as an example of a conventional actuator control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Electric motor 2 ... High-precision resolver 3 ... R / D converter 4 ... Rotation speed extender 5 ... First comparative amplification element 6 ... Second comparative amplification element 10 ... Actuator 11 ... Seat elevating mechanism 20 ... Actuator 21 ... ball screw 22 ... mover 23 ... support shaft SX ... multiple rotation angle information SA ... angle signal SB ... speed signal SC ... rotation count signal SD ... multiple rotation angle signal SD '... linear position signal X ... control object (seat) Y: Control target Z: Control target

Claims (1)

[Claims] 1. A control device for controlling an actuator based on a command value from the outside and a rotation detection value of an actuator having a rotation unit, wherein a rotation provided to the actuator and provided to detect a rotation angle of the actuator. Angle detection means, and each time the rotation angle detected by the rotation angle detection means becomes 0 °, the value "1" is taken into consideration in consideration of the rotation direction of the actuator.
A rotation number counter that counts only to increase or decrease, and a unit that obtains a rotation detection value based on the rotation angle detected by the rotation angle detection unit and the rotation number counted by the rotation number counter. An actuator control device, characterized in that: