JP3752701B2 - Self-excited vibration type vibration control device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a self-excited vibration type vibration control apparatus.
[0002]
[Prior art and its problems]
In general, the self-excited resonance type vibration control apparatus has an advantage of automatically tracking a resonance point, but requires some control for keeping the amplitude limited. If the amplitude is made constant with the saturation characteristics of the controller and power amplifier, the output of the power amplifier becomes a rectangular wave and contains many harmonic components.
[0003]
In view of this, Japanese Patent Application No. 61-154599 discloses a self-excited vibration type vibration control apparatus as shown in FIG. FIG. 4 is a block diagram showing a part of the function of FIG. 3 as a transfer function. That is, in FIG. 4, the vibration machine is indicated by 1 as a whole, and shows a characteristic equation as shown. The amplitude detector 2 is disposed in close proximity to this (for example, in a vibration parts feeder, an eddy current type sensor disposed in proximity to a leaf spring that connects the bowl and the base). The output is supplied to the amplitude controller 3, and this output is supplied to the power amplifier 4. On the other hand, the output x of the vibration machine is supplied to the self-excited oscillation controller 7, which is negatively fed back in the adder 6 and is now self-excited vibration, so one input is zero. Is further supplied to the first-order lag element 5, and its output is supplied to the power amplifier 4 described above.
[0004]
When the mass m vibrates at an acceleration d ² x / dt ² , the vibration machine 1 has a velocity dx / dt through a delay element of 1 / s (s is a Laplace transducer—the same applies hereinafter), and is viscous to this. The product of the coefficient c acts on the mass m as vibration damping force, and when dx / dt further passes through the delay element 1 / s, x is obtained, and the product of this multiplied by the spring constant k is mass as the restoring force. acts on m. The vibration machine 1 is conceptually shown in such a closed loop, but the phase is delayed by 90 degrees at the resonance frequency. By delaying the primary delay element 5 in the self-oscillation controller 7 by 90 degrees, a phase difference of 180 degrees is generated in the open loop, so that self-excited oscillation is possible. The system oscillates when the gain K ₀ of the power amplifier 4 is above the stability limit, but the amplitude controller 3 detects the difference between the current amplitude and the predetermined amplitude, The gain K ₀ of the power amplifier 4 is controlled. That is, when the deviation between the target Fuhaba is large, the gain K ₀ is increased, and returned to the stability limit when reaching the target Fuhaba. However, as shown in FIG. 5 , the amplitude deviation Δr and the gain K of the power amplifier have a linear relationship. Now, in order to improve the rising characteristics of the self-excited oscillation, the amplitude deviation Δr Therefore, it is necessary to increase the gain K of the power amplifier 4 sufficiently. In this case, the amplitude detector 2 has a high frequency component, that is, a ripple in its waveform. And the output of the power amplifier 4 is fluctuated to prevent the vibration machine from causing stable self-excited vibration.
[0005]
[Problems to be solved by the invention]
The present invention has been made in view of the above-described problems, and an object thereof is to provide a self-excited vibration type vibration control device capable of suppressing fluctuations in gain due to ripples of the amplitude detecting means while improving the rising characteristics of self-excited vibration. And
[0006]
[Means for solving problems]
The above object is to provide a vibration speed detecting means for detecting the vibration speed of the vibration equipment, receiving the output of the vibration speed detection means as a positive feedback signal, and obtaining the gain K of the AC amplifier for amplifying the signal of the vibration equipment. Regarding the amplitude deviation Δr which is the difference between the amplitude and the predetermined amplitude, a self-excited oscillation controller as a predetermined function, a power amplifier for amplifying the output of the controller, and the power amplifier A self-excited vibration type vibration control apparatus having a vibration driver for receiving an output, wherein the vibration device is vibrated by the vibration driver, and the value of the gain K is set to the amplitude of the vibration device With respect to the amplitude deviation Δr, which is a difference from a predetermined amplitude, K = K ₁ Δr + K ₃ (Δr) ³ + K _cr (where K ₁ and K ₃ are constants, K _cr is a stability limit gain, and is a non-zero finite value) Value) to change the vibration device to the predetermined value. Self-oscillating vibration control apparatus being characterized in that so as to control so as to stably self-induced vibration at Fuhaba is achieved by.
[0007]
Another object of the present invention is to provide a vibration displacement detector for detecting the vibration displacement of the vibration device, receiving the output of the vibration displacement detector as a negative feedback signal, and obtaining the gain K of the AC amplifier for amplifying the signal as the vibration. A self-oscillation controller that performs a phase lag control with an integral element or a first-order lag element as a predetermined function with respect to the amplitude deviation Δr that is the difference between the amplitude of the device and the predetermined amplitude , and outputs the controller power In a self-excited vibration type vibration control apparatus having a power amplifier for amplifying, and a vibration driver for receiving the output of the power amplifier, wherein the vibration device is vibrated by the vibration driver, With respect to the amplitude deviation Δr, which is the difference between the amplitude of the vibration device at that time and a predetermined amplitude, the value of the feedback gain K is K = K ₁ Δr + K ₃ (Δr) ³ + K _cr (where K ₁ , K ₃ is a constant, it is K _cr is at the stability limit gain 0 Achieved by a self-excited vibration type vibration control device, wherein the vibration device is controlled so as to be stably self-excited and vibrated at the predetermined amplitude. Is done.
[0008]
Another object of the present invention is to provide a vibration displacement detector for detecting the vibration displacement of the vibration device, receiving the output of the vibration displacement detector as a negative feedback signal, and obtaining the gain K of the AC amplifier for amplifying the signal as the vibration. A self-excited oscillation controller that is a predetermined function with respect to amplitude deviation Δr that is the difference between the amplitude of the device and a predetermined amplitude, a power amplifier that amplifies the output of the controller, and the power amplification In the self-excited vibration type vibration control apparatus in which the vibration device is vibrated by a magnet attracting force generated by a current flowing in a coil of the electromagnet that receives the output of the electromagnet, the value of the feedback gain K at that time Regarding the amplitude deviation Δr, which is the difference between the amplitude of the vibration device and a predetermined amplitude, K = K ₁ Δr + K ₃ (Δr) ³ + K _cr (where K ₁ and K ₃ are constants, and K _cr is stable) It is a limit gain and changes in relation to a non-zero finite value) And as the cause, the vibration device is achieved by the self-excited oscillation type vibration control device, which is characterized in that so as to control so as to stably self-induced vibration at the predetermined Fuhaba.
[0009]
[Action]
Feedback gain K = K ₁ Δr + K ₃ Δr ³ + K _cr . ^{_{K 1 Δr + K 3 Δr 3}} + K cr is the odd function, when a large [Delta] r, since a cubic characteristic, the [Delta] r ³ becomes very large, thereby likely to occur is increased to self-induced vibration feedback gain K At the same time, when the amplitude deviation Δr becomes smaller, the amplitude becomes abruptly smaller, and when the deviation Δr is zero, it becomes K _cr , that is, a stability limit gain. Thereafter, the vibration machine stably vibrates and maintains a constant amplitude. Note that the detection of the vibration speed of the vibration device is the same as the case of detecting the displacement. When detecting the vibration displacement, self-excited oscillation is possible by shifting the phase by 90 degrees. In the case where the vibration driver is an electromagnet drive unit, when detecting this vibration displacement, the electromagnet itself has a phase delay of 90 degrees. And this vibration is continued stably.
[0010]
【Example】
Embodiments of the present invention will be described below with reference to the drawings.
[0011]
FIG. 1 shows a self-excited vibration type vibration control apparatus according to an embodiment of the present invention. In the figure, the vibration machine 11 is not limited to a vibration parts feeder in this embodiment, but is a general vibration machine. It is assumed that the vibration driver 17 for applying an excitation force to this is not an electromagnet type excitation mechanism but a piezoelectric type or an electrodynamic type. Therefore, it is assumed that there is no phase difference between the output of the power amplifier 16 connected to the input terminal and the output (excitation force) of the vibration driver 17. The detection unit of the vibration speed detector 12 is attached to or disposed close to the movable part of the vibration machine 11, but is composed of a vibration displacement detector and a differentiator, or integrated with the vibration acceleration detector. It consists of a vessel. The amplitude detector 13 detects the amplitude by integrating the output of the vibration velocity detector 12 and supplies the output to the amplitude controller 14. The amplitude controller 14 includes a comparator. A target amplitude value is set at one of the input terminals, and the output of the amplitude detector 13 is supplied to the other input terminal, so that the amplitude deviation Δr is automatically adjusted. The excitation oscillation controller 15 is supplied. The self-oscillation controller 15 includes an AC amplifier and cuts the DC component to increase the AC component. The magnitude of the feedback gain K is controlled by the output of the amplitude controller 14. It is comprised so that. The relationship between the amplitude deviation Δr and the feedback gain K is configured as shown in FIG. That is, this gain curve changes according to the feedback gain K = K ₁ Δr + K ₃ Δr ³ + K _cr (where K ₁ and K ₃ are constants and K _cr is a stability limit gain), and is a so-called cubic curve. When the amplitude deviation Δr is large, it can be seen that the value is considerably large.
[0012]
The embodiment of the present invention is configured as described above. Next, this operation will be described.
[0013]
Although not shown, a DC power source is connected to the power amplifier 16 via a switch. When the vibration machine 11 is driven by self-oscillation, the switch is closed and the power amplifier 16 is in an operating state. . In addition, the self-excited oscillation controller 15, the amplitude controller 14 and the like are similarly put in an operating state. In the amplitude controller 14, the amplitude deviation Δr is the maximum because the amplitude of the movable part of the vibration machine 11 is initially zero. In other words, the initial value of the amplitude deviation Δr is (target amplitude−zero), but since the conventional relationship is linear as shown in FIG. 5 , that is, the DC amplitude of the amplitude deviation Δr or the PID increase. Depending on the width, the feedback gain K ₀ was increased linearly in the relationship of K = K _P Δr. Therefore, in order to improve the rising characteristics of the self-excited vibration, the feedback gain K ₀ is the maximum value in this system at the initial value of the amplitude deviation Δr. this if would be Zohaba to ripple superimposed on the output of Fuhaba detector 13 as described above, can not be kept feedback gain K ₀ constant at the stability limit, it varies greatly. Accordingly, the output of the power amplifier 16 also varies.
[0014]
However, in the present invention, the feedback gain K is given by a non-linear calculation output as shown in the above equation. Therefore , the feedback gain K is mainly determined in the initial value of the amplitude deviation Δr by the second term K ₃ (Δr) ³ in the above equation. Since the self-excited oscillation is performed quickly and the gain K that determines the behavior near the stability limit can be reduced as shown in FIG. 2, the influence of the ripple can be reduced.
[0015]
FIG. 6 shows a temporal change in the feedback gain of the conventional example, but also shows an enlarged view from 900 msec to 910 msec after the switch is turned on, but the gain K changes greatly sinusoidally. On the other hand, FIG. 7 shows a temporal change of the gain K according to the present invention, but the stability limit gain hardly changes in the same 900 msec to 910 msec. This indicates that the influence of the ripple of the vibration detector 13 is small.
[0016]
Having described embodiments of the present invention, of course, the present invention is not limited to these, and various modifications are possible based on the technical idea of the present invention.
[0017]
For example, in the above embodiment, the vibration speed of the vibration machine 11 is detected, and this is positively fed back to form a closed loop and self-excited vibration is performed. However, instead of detecting the vibration speed, vibration is detected. The displacement may be detected, and the detection signal may be negatively fed back to the self-excited oscillation controller 15, and the feedback gain K may be changed by delaying the phase. As is clear from the principle of self-excited vibration, the vibration displacement has a phase difference of π / 2 at the resonance point. Therefore, a delay element of π / 2 phase is used to further delay the phase of π / 2. You may do it.
[0018]
In addition, although the vibration displacement detection means is used, when the vibration driver is an electromagnet vibration mechanism, this mechanism delays the phase by 90 degrees, so that the effect of the present invention can be obtained without using any means for delaying the phase. Can do.
[0019]
【The invention's effect】
As described above, according to the self-excited vibration type vibration control device of the present invention, this vibration can be maintained stably while improving the rising of the self-excited oscillation.
[Brief description of the drawings]
FIG. 1 is a block diagram of a self-excited vibration type vibration control apparatus according to an embodiment of the present invention.
FIG. 2 is a chart explaining the same operation.
FIG. 3 is a block diagram of a conventional self-excited vibration type vibration control device.
FIG. 4 is a block diagram showing a part of the function of the apparatus as a transfer function.
FIG. 5 is a chart explaining the same operation.
FIG. 6 is a time chart showing temporal changes in feedback gain of a conventional example.
FIG. 7 is a chart showing temporal changes in feedback gain according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 11 Vibration machine 12 Vibration speed detector 13 Amplitude detector 14 Amplitude controller 15 Self-excited oscillation controller

Claims (3)

Vibration speed detection means for detecting the vibration speed of the vibration equipment, the output of the vibration speed detection means is received as a positive feedback signal, and the gain K of the AC amplifier for amplifying the signal is set to the amplitude of the vibration equipment and a predetermined value. A self-excited oscillation controller having a predetermined function with respect to the amplitude deviation Δr, which is a difference from the amplitude, a power amplifier that amplifies the output of the controller, and a vibration drive that receives the output of the power amplifier A self-excited vibration type vibration control apparatus that vibrates the vibration device by the vibration driver, and sets the value of the gain K to the amplitude of the vibration device at that time and a predetermined amplitude. The amplitude deviation Δr that is the difference between the two is K = K ₁ Δr + K ₃ (Δr) ³ + K _cr (where K ₁ and K ₃ are constants, and K _cr is a stability limit gain and is a non-zero finite value). So that the vibrating device is stable with the predetermined amplitude. Self-oscillating vibration control apparatus being characterized in that so as to control so that excited vibration. A vibration displacement detector for detecting the vibration displacement of the vibration device, the output of the vibration displacement detector is received as a negative feedback signal, and the gain K of the AC amplifier for amplifying the signal is set to the amplitude of the vibration device and a predetermined value. A self-oscillation controller that controls a phase delay with an integral element or a first-order lag element with respect to the amplitude deviation Δr that is a difference from the amplitude , and a power amplifier that amplifies the output of the controller And a vibration driver that receives the output of the power amplifier, and in the self-excited vibration type vibration control device that vibrates the vibration device by the vibration driver, the value of the feedback gain K is With respect to the amplitude deviation Δr, which is the difference between the amplitude of the vibration device at that time and a predetermined amplitude, K = K ₁ Δr + K ₃ (Δr) ³ + K _cr (where K ₁ and K ₃ are constants and K _cr Is a stability limit gain and a non-zero finite value) So as to reduction, the self-excited oscillation type oscillation device is characterized in that so as to control so as to stably self-induced vibration at the predetermined Fuhaba vibration control device. A vibration displacement detector for detecting the vibration displacement of the vibration device, the output of the vibration displacement detector is received as a negative feedback signal, and the gain K of the AC amplifier for amplifying the signal is set to the amplitude of the vibration device and a predetermined value. A self-excited oscillation controller as a predetermined function with respect to the amplitude deviation Δr, which is a difference from the amplitude, a power amplifier that amplifies the output of the controller, and an electromagnet that receives the output of the power amplifier In the self-excited vibration type vibration control apparatus in which the vibration device is vibrated by the magnetic attractive force generated by the current flowing through the coil of the electromagnet, the value of the feedback gain K is set to the amplitude of the vibration device at that time. With respect to the amplitude deviation Δr, which is a difference from a predetermined amplitude, K = K ₁ Δr + K ₃ (Δr) ³ + K _cr (where K ₁ and K ₃ are constants, K _cr is a stability limit gain, and is a non-zero finite value) Value) Serial oscillating device the predetermined self-oscillation type vibration control device which is characterized in that so as to control so as to stably self-excited vibration in Fuhaba.

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