DE2624733A1 - Microprocessor based controller with learning capability - enamines input output status during step sequencing through cycle and data is entered into memory - Google Patents

Abstract

A microprocessor based control system for use in machine tool applications, special purpose production machines etc., includes a 'teaching' facility to simplify the ease of application. The microprocessor operates to a fixed set of instructions held in read only memory in conjunction with a keyboard control and interrupt circuit. These modules together with a power module and read-write storage are coupled to the data and address buses. Output buffers transmit signals to a D/A converter and inputs are transmitted from the process to buffers. During the 'teaching' phase all output-input states are entered into RAM.

Description

Learning electronic control unit with microcomputer

The invention relates to an electronic computer containing a microcomputer Control unit that is able to independently carry out a series of control measures To repeat this sequence of measures in a timely, dimensional and conditional manner after you have carried out this sequence of measures in a learning phase once dependent and led by a 'teacher', the one Person or another control unit.

The adaptive electronic control unit with Nikrocomputer can for controlling equipment such as machine tools, special machines, devices, Plants, warehouse handling equipment, transport facilities are used. The control unit the task here is to control sequences resulting from mechanical movement processes, from switching on and off and regulating electrical currents, regulating consist of liquid or gas flows.

Electronic control units with microcomputer for controlling Machines and apparatus are known.

You need programs to carry out your control tasks, which are usually fed to them from outside on punched strips or other data carriers will.

The known control units with microcomputers are, however, without exception not able to build a program on the basis of a model sequence and With such a program, the model sequence is timely, dimensional and true to the conditions repeat.

On the other hand, large computers capable of learning are well known, but divide these because of their extremely high price for controlling machine tools, Apparatus in the majority of cases.

The invention is based on the object of an electronic control unit with a microcomputer capable of, during a model run, at which it is guided by a teacher, a person or another control unit can be to build a program in your memory with the help of which you can run the model Repeat as often as required, true to time, measure and condition.

According to the invention, this object is achieved by an electrical arrangement connected with each other he solved electronic components as their essentials Potential module, microprocessor, read-only memory, read / write memory, interruption indicator, Console keyboard, external signal buffer, reference signal transmitter, measurement signal indicator and condition signal indicator are to be viewed and which has a number of binary external signal lines, which are connected to the external signal buffers and in control signal lines, measurement signal lines and condition signal lines can be subdivided, wherein the control signal lines with the command signal transmitter, the measurement signal lines with the measurement signal indicator and the condition signal lines are connected to the condition signal indicator.

During the learning phase, the command signal generator takes action the teacher's binary signals on the control signal lines, the one hand control measures in the gas-controlled apparatus and on the other hand the microcomputer the electronic control unit available as input signals stand. At the same time, the wet signal detector provides the teacher with measured signal values, which come from the controlled apparatus or come from a time counter and the are assigned control signals generated by the driving signal generator. Furthermore there at the same time the condition signal indicator notifies the teacher of condition signal e, which come from the controlled apparatus and the one generated by the command signal transmitter Control signals are assigned. Due to the measurement and condition signals or due to a direct observation of the controlled apparatus causes the teacher to Eiahrungssignalgeber to change the output on the control signal lines Signals.

The microcomputer recognizes every change in the values on the external Control signal lines and each immediately stores the new external Control signal values together with the currently available external test signal values and the existing external condition signal values. That way builds the Nikrocomputer rn its read-write memory during the learning phase a signal table which enables him to time, in each repetition phase, a control signal sequence To be delivered true to measured values and conditions as defined during the learning phase became. This enables the adaptive control unit with a microcomputer to a sequence of control measures after the completed learning phase, true to time, size and condition to repeat as often as you like.

Of the mentioned electronic components of the control unit are Potential module, microprocessor, read-only memory, read / write memory, interruption indicator, Console keyboard and external signal buffer with each other once through a potential rail connected on the other hand via internal signal lines, which one in address lines, Data lines and internal Can subdivide control lines.

The potential module draws power from the mains, from which it receives the power from the rest The DC voltage potentials required by the control modules are gained. He disposes in addition via batteries, which it uses in the event of an ez failure.

In the event of a power failure, it stores the read / write memory on a separate one Rail ifaltepotential to preserve the memory contents available, whereas all other components of the control unit have their potential supply after a power failure lose.

The microprocessor includes a clock, among which Influence the read-only memory step by step via the address rail and internal control rail addressed and then put on the data rail by the read-only memory Interprets and executes signals as prograzam commands. So he works under the management of a basic program in the read-only memory and functions as a Data distribution and data processing module within the control unit.

The read / write memory is controlled by the microprocessor via address and Control rail addresses and takes depending on the respective internal control signals either signals coming from the microprocessor from the data rail for storage in itself or puts data from its memory content on the data rail, so that they are fed to the microprocessor.

The interruption indicator becomes active if during the learning phase the Signals running from the outside in an external signal buffer change these are external control signals that come from a command signal transmitter. Of the The interruption indicator is received from the affected external signal buffer via the internal control rail notifies, he interrupts the microprocessor and tells him which signal buffer he received new external control signals. The microprocessor then overaddresses Address and internal control rail this signal buffer takes from him on the data rail the new external signals on the other hand, ze gives the read / write memory for storage. Immediately afterwards it @olt from the respective signal buffers the assigned external un @@ signals, and the assigned external @@ signal signals in order to also transfer them to the read / write memory for storage.

The console keyboard essentially has the task of the microprocessor to start, to stop him and to inform him whether the control unit has completed the learning phase or to make a repetition.

The task of the external signal buffers is, on the one hand, to send data to them an ule internal data rail from the microprocessor to your external To set and hold signal lines, on the other hand, external signals, which you receive to transmit to the microprocessor on demand.

In some cases they are addressed and internal by the microprocessor Addressed control lines.

External signal buffers can use the same external signal lines Send signals to the outside world and receive signals coming from outside. Which both of which they do each are dictated to them by the 'microprocessor'.

Reference signal transmitters draw potential from the common potential rail the control unit and are each connected to a group of external control signal lines tied together.

they have a supply of binary control signals that they follow Put the teacher's choice on the external control signal lines during the learning phase, from where they once in the controlled apparatus to the other along with associated Values of the measurement and condition signals in the read / write memory of the microcomputer reach. The reference signal generators remain passive during the repetition phases. Their signal outputs are then electrically neutral to those of external signal buffers not to affect the signals set on the control signal lines.

Measuring signal indicators refer to their supply potential from the common potential rail and are connected to the external Neßsiallei lines, the values of which they continuously record in order to make them available to the teacher during the learning phase to deliver.

Condition signal detectors obtain their supply potential from the common potential rail and are connected to the external control signal lines, the values of which they continuously record in order to make them available to the teacher during the learning phase to deliver.

In the repeated sequence (repetition phase) the microprocessor interrogates the external ileßsignalbuffer and condition signal buffer and sets Qie in Read / write memories from the learning phase stored control signals exactly then on the external control signal lines if the associated stored measurement signals with the instantaneous external measurement signals or the associated stored condition signals match the current external condition signals. This is in the frame the temporal resolution of the microprocessor is true to time, measured value and condition Repetition of the process recorded in the learning phase enables.

The one with the adaptive electronic control unit with microcomputer achievable advantages are that sequences by a realistic Model sequence can be programmed into the control unit. It takes no programming knowledge and no formulation of the desired sequence in a language only familiar to programming specialists.

Rather, the desired sequence is different from that for the controlled Apparatus competent person skilled in this apparatus directly defined and in fixed to the control unit for any number of repetitions.

This becomes an example for machine tools with series production a open up a new advantageous approach. The use of the microcomputer will be the Manufacturing enables control units to learn at low cost enable. The fact that the model can be programmed without using a Programming language and the fact of the cost advantage will make this new technology one make it accessible to a wide range of users.

An embodiment of the invention is described below with reference to the drawing explained in more detail.

1 shows the essential building blocks of a learning control unit with microcomputer, plus a control signal converter and a time counter.

In Fig. 1 we see a potential module POTB from the 50 Hz AC network is fed and the DC voltage potentials + 12V on the potential rail POT, + 5V, OV, -9 available, whereby it provides an output of about 1) O watts. With the help of batteries, it holds the POT potential for a short time in the event of a power failure upright, then switches it off at the instruction of the MIPRO microprocessor and sets only the read / write memory RAM the holding potential HALPO with + 5V in the long term available, from which the memory has a holding current of about 50 mA to maintain its takes stored data. Since the potential module as instructed by the microprocessor works, it has a connection to the internal signal lines, which are in the address rail ADR, data rail DAT and internal control rail C are subdivided. The microprocessor module MIPRO works at a rate of 2 MHz and carries out the commands in read-only memory ROM existing basic program.

The POUB potential module, ROM read-only memory, and read / write memory RAM, interruption detector UMLD, console keyboard KONTAS and external signal buffer ESPS, ESPM, ESPB are controlled by the microprocessor via the ADR address rail and the internal control rail C, whereupon it is either sent by the microprocessor to the Data rail Accept signals set by DAT or, for their part, send signals via Dat to the microprocessor forward onto. Modules that can be recognized by aspnchrone Er @ igni @ se such as the Potential bat a power failure or the console keyboard module an operator intervention or an external signal buffer report a change in incoming external signals via the internal control busbar C at the interruption detector UELD, which the Microprocessor interrupts in its running program execution and gives him the causative fist. The microprocessor then responds preprogrammed measures. The console keyboard of a controller is usually Start and stop button included as well as a parameter button to bring about the Learning phase and a parameter key for bringing about a repetition phase.

In FIG. 1, the external ones coming from the signal buffer ESPS lead Control signal lines S1, S2, ..... SN in a digital-to-analog converter, which the The analogue control variable S is transmitted to the controlled apparatus. The leading signal generator Fsg has an 8-stage rotary switch with which binary control signals for the lines 1 S1, ... Sn can be set. The in the signal buffer ESPM incoming external measurement signals Iii, M2, .... MZ come from the time counter ZZL, they are continuously made visible on a display panel of the MSM measuring device. The external condition signals B1, B2, ... BX come from the controlled apparatus in the signal buffer ESPB, they are also shown on a display field of the condition signal indicator BSM made visible. During the learning phase, the teacher observes the time display NSM and condition display BSM and changes based on the read values with the Rotary switch on FSG the values on the control signal lines S1, ..... SN. The microprocessor detects the change with a delay of about 40 microseconds and saves it the new values S1, ... SN together with the associated instantaneous values of M1, .... MZ and B1, .... BX in the read / write memory RAM.

In the repetition phase, the microprocessor continuously compares the External signal values M1 ', ... MZ' present at the signal buffers ESPm and ESPBm and B1 ', ... BX' with the values i "i'1 and B1, ... BX stored from the Lerriphase. Equality prevails and is a priority rule anchored in the basic program (ROM) between; Äeß- and condition signals fulfilled, then the microprocessor sets immediately the associated stored values S1, ... SN on the external signal lines of the ESPS buffer. A lack of clarity in the assignment of control signals to measurement or condition signals is due to the fact that the processor makes the change once during the learning phase recognizes the external control signals with a delay of about 40 microseconds and that on the other hand, in the repetition phase, the ones taken from the read-write memory Control signals with approximately the same delay compared to the arrival of the associated Sets measurement or condition signals to the external control lines.

One can therefore rely on the time resolution of the control unit speak of 80 microseconds.

Claims (5)

P A T E N T A N S P R Ü C H E 1. Learning electronic control unit with Mikrocox iuter, not indicated that they are used to control a Apparatus is used, for example a machine tool, a special machine> a system can be a transport device that it has a read-write memory and external signal buffers, these signal buffers being capable of lines to lock and open, to set and hold signals on lines and incoming Caching signals to forward them on demand from some of theirs External signal buffer from control signal lines directly or via converter to the controlled Apparatus and the signal values on these lines the sequence in the controlled apparatus direct that measurement signal lines or condition signal lines from the controlled equipment directly or via converters to external signal buffers the control unit and that the signal values on these lines originate from the controlled apparatus and provide information about the state of the controlled equipment The sequence indicates that there are command signal generators with external control lines are connected to the control unit and set control signals on these lines and can direct the controlled process by measuring signal indicators or condition signal indicators are present with measuring signal lines or with condition signal lines are connected and the measurement signal values originating from the controlled apparatus or Continuously record or record and display condition signal values, d The control unit can be put into a learning phase in which a teacher who can be a person or another control unit and report with the aid of measurement signals or condition signal indicators or the process status based on a direct visualization of the controlled apparatus by actuating guide signals relies on external control lines and thus the process in the controlled apparatus steers, the control unit each associated value groups of the external Control signals, the assigned measurement signals or the assigned condition signals in their read / write memory, and with each change of the signal status A memory entry on the external control lines causes the control unit after the learning phase has been completed in a repetition phase, the one from the learning phase then exactly then on the control signal values held in their read / write memory their external control signal lines resets when the momentary out of the controlled Apparatus coming measurement or condition signals are assigned to the read / write memory same measured or operating signal values, and that the control unit thus one that is true to the measured value and the conditions in terms of its reaction speed Repetition of the process can cause the controlled apparatus during who has experienced the learning phase. 2. Learning electronic control unit with microcomputer according to claim 1, characterized in that measurement signals also come from a time counter off is applied to the external buffer of the control unit and stored by it in the learning phase be, and that the control unit is thus also within the scope of its reaction speed can initiate timely repetition of the sequence. 3. Learning electronic control unit with Nikrocomputer according to claim 2, it is noted that some or all of the control unit Control signals, measurement signals or condition signals to be stored during the learning phase before saving. is passed through a signal converter Imd that in the repetition phase then a reverse conversion of these signals is carried out. 4. Learning electronic control unit with microcomputer according to claim 3, in that there is an explanatory signal generator and are connected via signal lines to external signal buffers of the control unit, with those when the external control signals are changed by reference signal generators during can be given to the control unit during the learning phase to define which food or condition signals for the respective modification of the Control signals are decisive. 5. Learning electronic control unit with microcomputer according to Claim 2, characterized in that the control unit controls the content of your read / write memory on an external data carrier or after the learning phase to an external read / write memory and swap it out before or during a repetition phase from the external data carrier or from the external read / write memory read.