CN100592232C - Positioning control device and method - Google Patents
Positioning control device and method Download PDFInfo
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- CN100592232C CN100592232C CN200710151918A CN200710151918A CN100592232C CN 100592232 C CN100592232 C CN 100592232C CN 200710151918 A CN200710151918 A CN 200710151918A CN 200710151918 A CN200710151918 A CN 200710151918A CN 100592232 C CN100592232 C CN 100592232C
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Abstract
The invention provides a positioning control device and a positioning control method, wherein the positioning control device receives a displacement command and a displacement feedback signal output by a controlled body so as to control the displacement and positioning of the controlled body, and the positioning control device comprises a first control loop, a second control loop and an arbitration module having a dead point default value. The first control loop is used for controlling the displacement of the controlled body according to the displacement command and the displacement feedback signal, and the second control loop is used for controlling the positioning of the controlled body. The arbitration module compares an operation displacement command with the dead point default value,and is used for controlling the actions of the first control loop or the second control loop according to the operation result.
Description
Technical field
The present invention relates to a kind of position control device and position control method, refer to the comparison operation result of a kind of foundation one displacement command and a dead point default value especially, in order to the displacement of control managed object and the control device and the method for location.
Background technology
With reference to figure 1, Fig. 1 is known control system block schematic diagram.In control system in the past, include man-machine or the person of issuing an order 10, a control Driver Circuit 12 and a managed object 14.Control Driver Circuit 12 receives from order SD man-machine or that the person of issuing an order 10 sends, and then exports a controlling signal SC according to this order SD and give this managed object 14.This managed object 14 is controlled by this controlling signal SC and moves, and sends a feedback signal SF and get back to control Driver Circuit 12, carries out the control of closed loop so that control Driver Circuit 12 to be provided.In addition, control Driver Circuit 12 more can be sent back to man-machine state in the control or the person of issuing an order 10, checks the state of control system so that the user to be provided.
Cooperate Fig. 1, please refer to Fig. 2, Fig. 2 is the known coaster control synoptic diagram of advancing.This coaster 20 is advanced and controlled is to have adopted aforementioned known control system.Man-machine or the person of issuing an order 10 issues one advance command SD give control Driver Circuit 12, makes its driving be arranged at managed object 14 in the coaster 20, advances in order to drive coaster 20, and at this moment, managed object 14 can be sent feedback signal SF and get back to control Driver Circuit 12.So, control Driver Circuit 12 advancing with closed loop control coaster 20.
When coaster 20 advanced to zone, a dead point, the thimble 202 on the coaster 20 touched a feedback assembly 24.At this moment, feedback assembly 24 can be sent a dead point feedback signal ST to control Driver Circuit 12, stops or resets with notice control Driver Circuit 12, allows coaster 20 be unlikely to collide and faces limit face 22, and reach the rough location of coaster 20.This kind control mode allows the location of coaster 20 do not worn away, the influence of factor such as dust, air-flow, vibrations, and is able to normal operation.
Yet, because the progress of process technology impels increasing parts or forms design, must have conditions such as high precision, low error and miniaturization, the displacement of coaster 20 also all needs to meet aforementioned each condition with the location as described above.
Therefore, when the managed object 14 that is driven, when its moving condition had entered the field of microcosmic (micro cosmic) or near field (near-field), regular meeting can't realize because of feedback assembly 24 excessive volumes.In addition, feedback assembly 24 also will be because of the factor in abrasion, dust or the processing, and produces the deviation in the reaction, cause coaster 20 to be stopped at facing limit face 22 apart from the gap, can't effectively level off to zero.
Simultaneously, if feedback assembly 24 is removed, coaster 20 be stopped at face limit face 22 apart from the gap, also can be because of the variance factor that faces limit face 22 surfaces, and can't effectively level off to zero, more seriously, integrator in the control Driver Circuit 12 (indicate) integration these apart from the gap after, the very big power of generation is driven coaster 20 advance, and cause managed object 14 to bear great invalid virtual work, even infringement.
Summary of the invention
The invention provides a position control device and method, according to the comparison operation result of a displacement command and a dead point default value, and then the displacement and the location of control managed object.This position control device need not use known feedback assembly, and can allow managed object reach accurate localization, falls into zone, the dead point severe impairment that caused with the location of avoiding managed object.
For this reason, position control device of the present invention includes an arbitration modules, one first driver module, one second driver module, all die change pieces and an error concealment module.Wherein, arbitration modules has a dead point default value, and receives a displacement command.Arbitration modules comparison operation displacement command and dead point default value, exporting a controlling signal, and, convert displacement command to displacement signal output.First driver module is connected in arbitration modules and managed object, receives a Displacement Feedback signal of displacement signal and managed object output, drives signal in order to export one first.Second driver module drives signal in order to export one second.
Handover module is connected in arbitration modules, first driver module, second driver module and managed object, and handover module is controlled by controlling signal, delivers to managed object in order to the first driving signal or second is driven signal.The error concealment module is connected in the arbitration modules and first driver module, is controlled by arbitration modules, in order to eliminate the error accumulation amount of first driver module.
Moreover position control method of the present invention is applicable to a position control device, and displacement and location to control a managed object the steps include: at first, obtain a displacement command, and judges whether displacement command can be understood.If can understand, judge next whether displacement command was handled.If unprocessed, then be judged as new displacement command, compare this a new displacement command and a dead point default value to judge whether displacement command and dead point default value that this is new coincide.If coincide, then control managed object and stop to move, to reach positioning states.If misfit, then that this is new displacement command converts a new displacement signal output to, and according to the Displacement Feedback signal of this managed object output of comparison operation displacement signal therewith, the control managed object begins running fix.
According to aforementioned, position control device of the present invention need not use feedback assembly, and can allow managed object reach accurate localization, is applicable to the field of microcosmic (micro cosmic) or near field (near-field), and has the advantage of Miniaturizable.In addition, position control method of the present invention is controlled the stroke that managed object enters displacement or location according to the comparative result of displacement command and dead point default value, and reach high precision by the stroke of location, the positioning control of low error.
Illustrate further feature of the present invention and technology contents in order to make, see also following about detailed description of the present invention and accompanying drawing, yet appended graphic only provide with reference to and the explanation usefulness, be not to be used for the present invention is limited.
Description of drawings
Fig. 1 is known control system block schematic diagram;
Fig. 2 is the known coaster control synoptic diagram of advancing;
Fig. 3 is the function block schematic diagram of position control device of the present invention;
Fig. 4 is the circuit diagram of position control device of the present invention;
Fig. 5 is a position control method schematic flow sheet of the present invention;
Fig. 6 is for implementing the coaster of the present invention control synoptic diagram of advancing.
Wherein, Reference numeral:
The 10 man-machine or persons of issuing an order
12 control Driver Circuit
14 managed objects
The SD order
The SC controlling signal
The SF feedback signal
ST dead point feedback signal
20 coasters
22 face the limit face
202 thimbles
24 feedback assemblys
4 position control devices
40 arbitration modules
402 microprocessors
404 logic array unit
42 first driver modules
420 error amplifiers
422 PID arithmetical unit
4220 scale operation devices
4222 integrator computing units
4224 differentiation operators
424 totalizers
44 second driver modules
The VDD bias voltage
The R adjustable resistance
46 handover modules
460 change-over switches
462 amplifiers
48 error concealment modules
482 differentiator discharge switches
484 integrator discharge switches
5 managed objects
The S1 displacement command
S2 Displacement Feedback signal
The S3 controlling signal
S4 displacement signal
S5 first drives signal
S6 second drives signal
S7 ratio signal
S8 integration signal
S9 differential signal
30 coasters
302 smooth
32 face the limit face
Embodiment
See also Fig. 3, Fig. 3 is the function block schematic diagram of position control device of the present invention.Position control device 4 is connected in a managed object 5, as the displacement of managed object 5 and the control of location, position control device 4 receives a displacement command S1 and obtains a Displacement Feedback signal S2 from managed object 5 from the man-machine or person of issuing an order (indicating), and according to displacement command S1 and Displacement Feedback signal S2, with the displacement and the location of control managed object 5.
Among Fig. 3, position control device 4 comprises an arbitration modules 40, one first driver module 42, one second driver module 44, all die change pieces 46 and an error concealment module 48.Wherein, arbitration modules 40 has a dead point default value (not indicating), and arbitration modules 40 also obtains displacement command S1 from man-machine or the person of issuing an order, and comparison operation displacement command S1 and inner dead point default value, exports a controlling signal S3 according to comparative result again.In addition, arbitration modules 40 also converts displacement command S1 to one displacement signal S4 output.
Among Fig. 3, first driver module 42 is connected in arbitration modules 40 and managed object 5, receives displacement signal S4 and Displacement Feedback signal S2.First driver module 42 is used for the difference of computing displacement signal S4 and Displacement Feedback signal S2, and then exports one first and drive signal S5.And error concealment module 48 is connected in the arbitration modules 40 and first driver module 42, and it is controlled by arbitration modules 40, in order to eliminate the error accumulation amount of displacement signal S4 and Displacement Feedback signal S2 in first driver module 42.
Among Fig. 3, second driver module 44 drives signal S6 in order to export one second.In addition, handover module 46 is connected in arbitration modules 40, first driver module 42, second driver module 44 and managed object 5, and it is controlled by the controlling signal S3 of arbitration modules 40 outputs.Handover module 46 carries out change action according to controlling signal S3, delivers to managed object 5 so that the first driving signal S5 or second is driven signal S6.
Consult Fig. 3, first driver module 42 forms one first control loop with handover module 46, and this first control loop is according to the displacement signal S4 and the Displacement Feedback signal S2 of displacement command S1 conversion, as the control of managed object 5 displacement drive.And second driver module 44 forms one second control loop with handover module 46, the control that this second control loop then drives as managed object 5 location.Arbitration modules 40 comparison operation displacement command S1 and dead point default value, and according to operation result, in order to control the action of first control loop or second control loop.
In aforementioned, when arbitration modules 40 comparison operation results do not meet the dead point default value for displacement command S1, the controlling signal S3 control handover module 46 of arbitration modules 40 outputs makes it to drive signal S5 with first and switches to managed object 5, so that the displacement drive of managed object 5 to be provided.Otherwise when arbitration modules 40 comparison operation results met the dead point default value for displacement command S1, the controlling signal S3 control handover module 46 of arbitration modules 40 outputs made it to drive signal S6 with second and switches to managed object 5, drives with the location that managed object 5 is provided.
In conjunction with Fig. 3, see also Fig. 4, it is for the circuit diagram of position control device of the present invention.Arbitration modules 40 comprises a microprocessor 402 and a logic array unit 404, this microprocessor 402 is carried out a calculation program, with comparison operation displacement command S1 and dead point default value, in order to steering logic array location 404 output controlling signal S3, and transition shift order S1 becomes displacement signal S4 output.Simultaneously, arbitration modules 40 can be by the processing computing of microprocessor 402, in order to adjust this dead point default value.In addition, arbitration modules 40 also can be connected in second driver module 44, and borrows the annexation of the two, is controlled the output that second driver module 44 is adjusted the second driving signal S6.
In conjunction with Fig. 3, consult Fig. 4, first driver module 42 includes an error amplifier 420, a PID arithmetical unit 422 and a totalizer 424.Error amplifier 420 carries out the subtraction of displacement signal S4 and Displacement Feedback signal S2, to export a site error signal Verror.PID arithmetical unit 422 includes a scale operation device 4220, an integrator computing unit 4222 and a differentiation operator 4224, and aforementioned those arithmetical unit 4220,4222,4224 all are connected in error amplifier 420.And, and then export a ratio signal S7, an integration signal S8 and a differential signal S9 respectively respectively with scale operation, integral operation and this site error signal Verror that differentiates.And totalizer 424 is connected in aforementioned those arithmetical unit 4220,4222,4224, has integrated ratio signal S7, integration signal S8 and differential signal S9 with additive operation, and then exports the first driving signal S5.
In conjunction with Fig. 3, consult Fig. 4, error concealment module 48 includes a differentiator discharge switch 482 and an integrator discharge switch 484, wherein, differentiator discharge switch 482 is connected in the differentiation operator 4224 of PID arithmetical unit 422, and integrator discharge switch 484 then is connected in the integrator computing unit 4222 of PID arithmetical unit 422.Differentiator discharge switch 482 is controlled by arbitration modules 40 with integrator discharge switch 484, in order to eliminate the semi-invariant (error accumulation amount) of position error signal Verror in differentiation operator 4224 and the integrator computing unit 4222 respectively.
In conjunction with Fig. 3, consult Fig. 4, second driver module 44 is a current drives module or a driven module.And in Fig. 4, as embodiment, wherein, be made up of a bias voltage VDD and an adjustable resistance R by second driver module 44 with the driven module for second driver module 44, and it can adjust adjustable resistance R, and produced the second different driving signal S6 output.In addition, handover module 46 includes one and switches a switch 460 and an amplifier 462, and change-over switch 460 is controlled by the controlling signal S3 of arbitration modules 40 outputs, and carries out change action, the first driving signal S5 or second is driven signal S6 deliver to amplifier 462.462 in amplifier drives signal S5 or second with first and drives signal S6 amplification and deliver to managed object 5.
In conjunction with Fig. 3, consult Fig. 5, be position control method schematic flow sheet of the present invention.Position control method of the present invention is applicable to position control device 4, and makes the displacement and the location of its control managed object 5.At first, position control device 4 receives displacement command S1 (step S12) from man-machine or the person of issuing an order (not indicating), and judges whether displacement command S1 can understand (step S14).If can understand, judge that then whether displacement command S1 is processed commands (step S15) in last time operating.If displacement command S1 is not processed in last time operating, then position control device 4 can be according to displacement command S1, at the inside acquisition one dead point default value (step S16) corresponding to displacement command S1, simultaneously, position control device 4 is controlled managed object 5 according to displacement command S1 and is entered displacement operation.
When managed object 5 controlled displacements, position control device 4 can be judged whether identical dead point default value (step S17) of displacement command S1, if coincide, then position control device 4 control managed objects 5 enter positioning action (step S18), in the operation of this location, control device 4 can be with the removing in the lump of the stored error accumulation amount in inside, makes it be unlikely to influence next time positioning action.In addition, if displacement command S1 is misfitted the dead point default value, then control device 4 is in the operation (step S19) of displacement according to displacement command S1 control managed object 4, in the operation of this displacement, control device 4 can periodically be removed the stored error accumulation amount in inside, makes it can not influence the operation of displacement.
In conjunction with Fig. 3, consult Fig. 5, position control device 4 is before receiving displacement command S1, can carry out the program (step S10) of initialization and self-checking in advance, judge this program whether wrong (step S11) then, any mistake take place if position control device 4 has, then position control device 4 can produce a returning error message (step S20), provide the user to know,, then enter step S12 if there be not wrong the generation.In addition, if displacement command S1 can't be understood, then position control device 4 can be got back to the step (step S12) that receives this displacement command, receives displacement command S1 again, to obtain scrutable displacement command S1.Come, if the displacement command S1 that receives is processed in last time operating, then control device 4 can be got back to the step (step S12) that receives this displacement command, receives displacement command S1 again, to obtain not processed displacement command S1 again.
In conjunction with Fig. 3, consult Fig. 6, for implementing the coaster of the present invention control synoptic diagram of advancing.Wherein, managed object 5 actions of position control device 4 control setting of the present invention in coaster 30 make its drive coaster 30 follow a direction and advance.In this embodiment, position control device 4 of the present invention is carried out displacement operation, moves towards facing limit face 32 in order to control coaster 30.Be bordering on when facing limit face 32 when smooth 302 of coaster 30 drives, position control device 4 is carried out positioning actions, allows smooth 302 and the gap of facing limit face 32 levels off to zero.
In sum, position control device of the present invention need not use feedback assembly, and can allow managed object reach accurate localization, fall into zone, the dead point severe impairment that caused with the location of avoiding managed object, therefore be applicable to the field of microcosmic (micro cosmic) or near field (near-field), and have the advantage of Miniaturizable.Simultaneously, position control device of the present invention is carried out positioning action, and reaches the positioning control of high precision, low error, and do not worn away, the influence of factors such as dust, air-flow, vibrations.
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (20)
1. a position control device is characterized in that, receives a Displacement Feedback signal of a displacement command and managed object output, and in order to displacement and the location of controlling this managed object, this device comprises:
One arbitration modules has a dead point default value, and this this displacement command of arbitration modules comparison operation and this dead point default value in order to exporting a controlling signal, and convert this displacement command to a displacement signal;
One first driver module is connected in this arbitration modules and this managed object, and this first driver module receives this displacement signal and this Displacement Feedback signal, drives signal in order to export one first;
One second driver module is exported one second and is driven signal; And
All die change pieces are connected in this arbitration modules, this first driver module, this second driver module and this managed object, and this handover module is controlled by this controlling signal, and this first driving signal or this second driving signal are delivered to this managed object.
2. position control device according to claim 1, it is characterized in that, further comprise an error concealment module, this error concealment module is connected in this arbitration modules and this first driver module, this error concealment module is controlled by this arbitration modules, in order to eliminate the error accumulation amount of this first driver module.
3. position control device according to claim 2 is characterized in that, this first driver module comprises:
One error amplifier, this displacement signal of subtraction and this Displacement Feedback signal are in order to export a site error signal;
One PID arithmetical unit is connected in this error amplifier, this site error signal of this PID internalarithmetic, and export a ratio signal, an integration signal and a differential signal; And
One totalizer is connected in this PID arithmetical unit, integrates this ratio signal, this integration signal and this differential signal, and exports this first driving signal.
4. position control device according to claim 1 is characterized in that, when this displacement command did not meet this dead point default value, this controlling signal was controlled this handover module and switched this and first drive signal and output to this managed object, so that moving of this managed object to be provided; When this displacement command met this dead point default value, this controlling signal was controlled this handover module and is switched this and second drive signal and output to this managed object, so that the location of this managed object to be provided.
5. position control device according to claim 1, it is characterized in that, this arbitration modules comprises a microprocessor and a logic array unit, this microprocessor is carried out a calculation program, with this displacement command of comparison operation and this dead point default value, export this controlling signal and change this displacement command and become this displacement signal in order to control this logic array unit.
6. position control device according to claim 5 is characterized in that, this arbitration modules connects this second driver module, and this arbitration modules is controlled this second driver module and adjusted this second driving signal output by the processing computing of this microprocessor.
7. position control device according to claim 5 is characterized in that, this arbitration modules is adjusted this dead point default value by the processing computing of this microprocessor.
8. position control device according to claim 3, it is characterized in that, this PID arithmetical unit further is connected in this error concealment module, and this error concealment module includes a differentiator discharge switch and an integrator discharge switch, this differentiator discharge switch and this integrator discharge switch are controlled by this arbitration modules, are stored in the error accumulation amount of this PID arithmetical unit in order to elimination.
9. a position control device is characterized in that, receives a Displacement Feedback signal of a displacement command and managed object output, and in order to displacement and the location of controlling this managed object, this device comprises:
One first control loop is according to this displacement command and this Displacement Feedback signal, in order to control the displacement of this managed object;
One second control loop is in order to control the location of this managed object; And
One arbitration modules has a dead point default value, this this displacement command of arbitration modules comparison operation and this dead point default value, and according to operation result, in order to control the action of this first control loop or this second control loop.
10. position control device according to claim 9, it is characterized in that, this arbitration modules comprises a microprocessor and a logic array unit, this microprocessor is carried out a calculation program, with this displacement command of comparison operation and this dead point default value, export a controlling signal and convert this displacement command to a displacement signal in order to control this logic array unit.
11. position control device according to claim 10 is characterized in that, this first control loop comprises:
One first driver module is connected in this arbitration modules and this managed object, and this first driver module receives this displacement signal and this Displacement Feedback signal, drives signal in order to export one first; And
All die change pieces are connected in this arbitration modules, this first driver module and this managed object, and this handover module is controlled by this controlling signal, switch this first driving signal and output to this managed object.
12. position control device according to claim 11 is characterized in that, this second control loop comprises:
One second driver module is exported one second and is driven signal; And
This handover module is connected in this arbitration modules, this second driver module and this managed object, and this handover module is controlled by this controlling signal, switches this second driving signal and outputs to this managed object.
13. position control device according to claim 11, it is characterized in that, further comprise an error concealment module, this error concealment module is connected in this arbitration modules and this first driver module, this error concealment module is controlled by this arbitration modules, in order to eliminate the error accumulation amount of this first driver module.
14. position control device according to claim 13 is characterized in that, this first driver module comprises:
One error amplifier, this displacement signal of subtraction and this Displacement Feedback signal are in order to export a site error signal;
One PID arithmetical unit is connected in this error amplifier, this site error signal of this PID internalarithmetic, and export a ratio signal, an integration signal and a differential signal; And
One totalizer is connected in this PID arithmetical unit, integrates this ratio signal, this integration signal and this differential signal, and exports this first driving signal;
Wherein, this PID arithmetical unit further is connected in this error concealment module, and this error concealment module includes a differentiator discharge switch and an integrator discharge switch, this differentiator discharge switch and this integrator discharge switch are controlled by this arbitration modules, are stored in the error accumulation amount of this PID arithmetical unit in order to elimination.
15. position control device according to claim 12 is characterized in that, this second driver module further connects this arbitration modules, is controlled by this arbitration modules, to adjust this second driving signal output.
16. position control device according to claim 10 is characterized in that, this arbitration modules is by the processing computing of this processor, in order to adjust this dead point default value.
17. a position control method is characterized in that, is applicable to a position control device, with displacement and the location of controlling a managed object, this method comprises:
Receive a displacement command, and judge whether this displacement command can be understood;
If can understand, judge then whether this displacement command was handled;
If unprocessed, then according to this displacement command, capture a dead point default value, and the displacement of control managed object;
Judge whether this displacement command and this dead point default value coincide;
If coincide, then control the managed object location, if misfit, then control the managed object displacement.
18. position control method according to claim 17 is characterized in that, judging whether this displacement command can be understood in the step, if can not understand, then receives this displacement command again.
19. position control method according to claim 17 is characterized in that, judging whether this displacement command was handled in the step, if handled, then gets back to the step that receives this displacement command.
20. position control method according to claim 17 is characterized in that, in control managed object positioning step, further removes the error accumulation amount in this position control device; In control managed object displacement step, further periodically remove the error accumulation amount in this position control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710151918A CN100592232C (en) | 2007-09-20 | 2007-09-20 | Positioning control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710151918A CN100592232C (en) | 2007-09-20 | 2007-09-20 | Positioning control device and method |
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| Publication Number | Publication Date |
|---|---|
| CN101393459A CN101393459A (en) | 2009-03-25 |
| CN100592232C true CN100592232C (en) | 2010-02-24 |
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| CN200710151918A Expired - Fee Related CN100592232C (en) | 2007-09-20 | 2007-09-20 | Positioning control device and method |
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| CN (1) | CN100592232C (en) |
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