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Development of High-Precision and High-Resolution Servo-Controllers, That Have High Noise-Rejection Ability

开发具有高抗噪能力的高精度、高分辨率伺服控制器

基本信息

批准号：
07555075
负责人：
EMURA Takashi
金额：
$ 4.86万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1997
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07555075/
关键词：
PLL Phase-Locked Loop Servomechanisms Angle Sensors Phase Dividers Phase Interpolators NC Machines Mechatronics

项目摘要

Maximum speed of high-resolution controllers for NC machines and robots is not high enough to avoid misoperation under strong electrical noise environment. Because the controllers require low-pass filters whose cutoff frequency is sufficiently low for removing electrical noise involved in two-phase signals obtained from position sensors such as rotary or linear encoders. If resolution of encoder becomes higher, the output of two-phase signals becomes lower, and S/N of two-phase signals decreases as the resolution increases. This means that we must use the low-pass filters to work the controller without misoperation.This research project developed a high-speed and high-resolution servo-controller that has high noise rejection ability by using two-phase type PLL proposed by T.Emura. This two-phase type PLL can make the cutoff frequency of low-pass filter extremely higher. Therefore, we can raise the speed of servo-controller. First, an analog type servo-controller was made for trial. Though the analog type has very good characteristics, it has a weak point that its circuit is very complex and making cost is very expensive. Therefore, next, a digital type servo-controller was made for trial, because the circuits of digital one is simple and the making cost becomes lower.Performance of the digital type servo-controller was tested, and experimental results showed that it has very good characteristics in resolution, operational speed, noize rejection ability, etc. This means that very excellent results was obtained by the project of this grant-in-aid.

数控机床和机器人的高分辨率控制器的最高速度不够高，以避免在强电噪声环境下的误操作。因为控制器需要低通滤波器，其截止频率足够低以去除从诸如旋转或线性编码器的位置传感器获得的两相信号中涉及的电噪声。随着编码器分辨率的提高，两相信号的输出降低，且两相信号的信噪比随分辨率的提高而降低。本研究计画利用T.Emura提出的两相型锁相回路，开发出具有高杂讯抑制能力的高速高解析度伺服控制器。这种两相型PLL可以使低通滤波器的截止频率极高。从而提高伺服控制器的速度。首先，模拟型伺服控制器进行了试验。虽然模拟型具有很好的特性，但它有一个缺点，即它的电路非常复杂，制造成本非常昂贵。因此，本研究以数字式伺服控制器电路简单，制作成本较低为目的，制作了数字式伺服控制器进行实验，并对数字式伺服控制器的性能进行了测试，实验结果表明，该数字式伺服控制器在分辨率、运算速度、抗噪声能力等方面都具有很好的特性，说明本资助项目取得了很好的效果。