CN1006350B - High-precision auromatic numerical control device - Google Patents
High-precision auromatic numerical control deviceInfo
- Publication number
- CN1006350B CN1006350B CN87106461A CN87106461A CN1006350B CN 1006350 B CN1006350 B CN 1006350B CN 87106461 A CN87106461 A CN 87106461A CN 87106461 A CN87106461 A CN 87106461A CN 1006350 B CN1006350 B CN 1006350B
- Authority
- CN
- China
- Prior art keywords
- circuit
- signal
- voltage
- speed
- voltage conversion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
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- 238000000926 separation method Methods 0.000 claims abstract description 13
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- 229910052698 phosphorus Inorganic materials 0.000 claims description 12
- 239000013642 negative control Substances 0.000 claims description 11
- 239000013641 positive control Substances 0.000 claims description 9
- 238000007493 shaping process Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
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- 239000013078 crystal Substances 0.000 claims description 2
- 238000002955 isolation Methods 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000009191 jumping Effects 0.000 description 5
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- 230000008569 process Effects 0.000 description 3
- 229910052757 nitrogen Inorganic materials 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
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- 230000009885 systemic effect Effects 0.000 description 1
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- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention belongs to the technical field of automatic control and is used for controlling graph plotters of computers, machine tool programs, automatic gun directors, etc. The present invention adopts a positive and reverse rotation pulse separation logic circuit, a differential speed/voltage converting circuit, a linearity-saturation limiting working state D/A converter and a speed and acceleration forward feed passage. The present invention has the advantages of stable and reliable operation, high control precision (reaching micron dimension), simple circuit, convenient debugging, etc.
Description
The invention belongs to the automatic control technology field.Draught machine control, machine tool program control, the control of automatic gun director and other industrial instrument control system of can be used for computer.
Current with garden dish grating as the digitial controller of outer corner measurement element owing to its performance simple in structure reliably is widely adopted.The controller of 1425/1455 flat-bed plotter of for example French Benson (Benson) company is exactly the typical case of this quasi-controller.Its circuit block diagram as shown in Figure 1, it is by the D/A(digital to analog converter) 1, cascade compensation circuit 2, voltage amplifier circuit 3, power amplification circuit 4, motor 5, light-emitting diode, photodiode, garden dish grating optical grating measuring system 6, shaping decoding logic circuit 7, forward-backward counter 8, switch control type speed/voltage conversion circuit 9, controlling object 10, the subtracter 11,12 formed form.(Benson 1425-1455 flat-bed plotter servicing manual (June 1983 for Benson Flatabed Plotters 1425-1455Maintenance manual, Publication No4 212 20096/02) input signal x
iRepresent the characteristics of motion of desired controlling object, position feed back signal x with digital form
oBe the characteristics of motion of the controlling object reality represented with digital form, signal x
iAnd x
oError numeral signal epsilon through subtracter 11 controlled systems.D/Al converts error numeral signal epsilon to analog voltage signal linearly and amplifies through voltage amplifier circuit 3 and power amplification circuit 4, comes drive motors 5 so that it has enough big power, makes it to rotate towards the direction that reduces error signal.Go into to hold the amplification coefficient between the armature of motor 5 big more from error signal, then the error signal of control system is just more little, but the big more then system of this amplification coefficient is just unstable more, for there are enough open loop amplification coefficients in system.And can stably work again, this device is provided with cascade compensation circuit 2.The effect of switch control type speed/voltage conversion circuit 9 is in order to obtain a negative velocity feedback signal v who is directly proportional with motor 5 rotating speeds
oSupply with major loop to form negative velocity feedback, system is played corrective action in parallel, and the system parameters of raising power amplification circuit 4, motor 5 and load (controlling object 10) is linear and stable.In order to obtain negative velocity feedback signal v
oWith position feed back signal x
oThe optical grating measuring system 6 of measuring motor speed has been installed on the axle of motor 5, the garden dish grating that is fixed on 5 in the motor rotates with motor 5, on a pair of photodiode S, C, induce the sinusoidal voltage that differs 90 °, the frequency of voltage is directly proportional with motor 5 rotating speeds, two differ 90 ° sinusoidal voltage to form repetition rate through shaping decoding logic circuit 7 identical with the sinusoidal voltage frequency or equal the pulse train V of twice sinusoidal voltage frequency, and produce a positive rotaring signal P(when motor just changes), or reverse signal N(is when motor reverses).Pulse train V one road delivers to forward-backward counter 8, controls addend or subtrahend by have (N does not have) or the nothing (N has) of P, and forward-backward counter 8 outputs provide the position feed back signal x of motor corner
o; Another road of pulse train V is delivered to switch control type speed/voltage conversion circuit 9 and is formed negative velocity feedback signal voltage v
o, and control its output voltage v by rotating signal P, N
oPositive and negative polarity.The weak point of this device is: 1. switch control type speed/voltage conversion circuit output signal v
oPositive and negative polarity be by the having of forward and backward signal P (N does not have) or do not have (N) and control, as shown in Figure 2.Pulse train V is to C
7Charging, the size of charging voltage is directly proportional with motor speed, and its positive and negative polarity then is by forward and backward signal P, N control, when positive rotaring signal P arrives, T
7Pipe ends, B
7Being operated in cophasal state is output voltage and input voltage homophase; When reverse signal N arrives, T
7The pipe conducting, B
7Be operated in rp state, promptly output voltage and input voltage are anti-phase.Because the existence of conversion integral constant in transfer process, is changed preceding residual voltage also by reversing polarity, form incorrect feedback, thereby make system's instability when running up like this; The decoding logic part more complicated of 2. existing shaping decoding logic circuit, as shown in Figure 3.Be unfavorable for the reduction of system cost and increased the difficulty of producing debugging; 3. D/Al(D/A conversion circuit) design is at omnidistance (as 12bit) linear working state, as shown in Figure 4, it is low to gain, make as simulation fractionated gains such as voltage amplification, power amplifications big, thereby make the operational amplifier drift after the D/Al big, to making system works unreliable to the influence of system; 4. with said system realize fast, during High Accuracy Control, must rely on the open-loop gain of raising system, the restriction that this is subjected to the stability of a system and system compensation complexity, very high (can reach more than 0 millimeters) that the control precision of system can not be done.
Purpose of the present invention will overcome the deficiency of existing apparatus exactly, precision height when designing a kind of running up, reliable and stable auromatic numerical control device, and make that circuit is simple, debugging is convenient, cost is low.
Technical essential of the present invention is: 1. adopted and pressed
V
P＝S
1C
++C
1S
-+ S
1C
-+ C
1S
+
V
N＝ S
1C
++ C
1S
-+S
1C
-+C
1S
+
Just (the V that the Boolean algebra formula constitutes
P), anti-(V
N) change pulse separation logical circuit and (V just
PAnti-(V
N) change the differential type speed/voltage conversion circuit of pulse train control, make motor forward or reverse moment, be proportional to sinusoidal voltage frequency n just commentaries on classics (V doubly by isolating
P) or counter-rotating (V
N) electric capacity controlled in differential type speed/voltage conversion circuit of pulse train charges feedback speed signal voltage v forward or backwards
oPositive and negative polarity be by V
P-V
NDetermine.Eliminated owing to the existence of integral constant and the incorrect feedback that causes by polarity switch control, good stability when making the system high-speed running; 2. adopt the D/A of linearity-saturation limiting operating state, increased the gain of numerical portion, reduced the voltage amplification after the D/A and the gain of power amplifying part, thereby reduced of the influence of amplifier dc shift system reliability; 3. set up the suitable feedthrough road of forming by the positive and negative control of speed, differential type speed/voltage conversion circuit and the positive and negative control of acceleration, differential type acceleration/voltage conversion circuit and adder, the output signal of this passage adds to minor loop by the subtraction device between voltage amplifier circuit and the power amplification circuit, and positive and negative control impuls (promptly adding subtract pulse) is sent into big loop by the subtraction device that a forward-backward counter adds to before the D/A, the equivalent open loop amplification coefficient that makes system improves two orders of magnitude and does not influence the stability of system, has improved the precision of system greatly.
Describe the present invention below in conjunction with accompanying drawing:
V
P＝S
1C
++C
1S
-+ S
1C
-+ C
1S
+
V
N＝ S
1C
++ C
1S
-+S
1C
-+C
1S
+
The Boolean algebra formula produces.S
1And C
1Be respectively S
1And C
1The paraphase square wave.The forward and backward separation logic circuit 20 that constitutes according to these two Boolean algebra formulas has reliable operation, characteristics that systemic resolution is high.
Along the differential type speed/voltage conversion circuit 27 in feedthrough road, differential type acceleration/voltage conversion circuit 29 is identical with differential type speed/voltage conversion circuit 21, and the positive and negative control 28 of positive and negative control 26 acceleration of speed is common electronic switch, a
i, v
iBe motor acceleration and the speed of being expected, F
aAnd F
vRepresent a respectively
i, v
iPositive and negative control signal, a
i, v
i, F
a, F
vProvide by the control microcomputer.Work as F
vWhen just (promptly just changeing), with the pulse train v of repetition rate representation speed size
iBy the P branch road electric capacity in differential type speed/voltage conversion circuit 27 is charged; Work as F
VDuring for negative (i.e. counter-rotating), pulse train v then
iBy the N branch road to the electric capacity reverse charging in differential type speed/voltage conversion circuit 27, thereby make that differential type speed/voltage conversion circuit 27 provides positive voltage when just changeing, counter-rotating provides negative voltage.Acceleration also is like this along the feedback branch road.
Linearity-saturation limiting D/A change-over circuit is signal epsilon=Q that the n position complement of two's two's complement is represented
N-1Q
N-2Q
1Q
0Press the Boolean algebra formula:
The logical circuit that constitutes produces the XFER that a latch signal F is connected to the DAC slice, thin piece, when being F=1, make D/A be in latch mode, the output of D/A is decided by to begin to latch output valve constantly and does not change with input signal in latch mode, because signal epsilon is a continually varying, beginning to latch constantly, signal value is ε=2
mOr-2
mThereby, realized ε 〉=2
mOr ε≤-2
mAmplitude limit ,-2
m＜ε＜2
mScope in F=0, D/A is operated in the linear transformation state; Low (m+1) position Q with input signal
mQ
M-1Q
1Q
0Join with the wrong K of the input position of DAC slice, thin piece, i.e. Q
mWith DI
M+k, Q
M-1With DI
M-1+kQ
0With DI
kJoin, and DI
K-1, DI
K-2DI
0Ground connection realizes taking advantage of 2 in the D/A transfer process
KComputing makes the digital gain of D/A improve 2
KDoubly, the output circuit of DAC gets final product by the normal connection of device handbook requirement.
Major advantage of the present invention is: 1. can follow the tracks of at a high speed and the stability of a system good; 2. the numerical portion gain is big, and the amplifier dc shift after the D/A is little, and system reliability is good; 3. the systematic tracking accuracy height is used for computer graphics, plate-making etc., and control precision can reach micron dimension.4. circuit simply is easy to debugging.
Embodiment:
The combinational logic circuit of forming latch signal F, with 4 of the input misconnection of input signal and DAC-1210, and with the DI of DAC-1210
0～DI
3Ground connection.Then this D/A is-2
5＜ε＜2
6Range of signal in be operated in the linear transformation district, when ε≤-2
6Or ε 〉=2
6The time, output is clipped at-2
6Or 2
6On the level.Realized taking advantage of 2 in the D/A transfer process
4Computing, like this under the condition that does not increase circuit complexity, make digital gain improve 24db, add the quadruple gain of rotating pulse separation logical circuit, then can increase 36db(64 altogether doubly) digital gain, this just makes the influence of the operational amplifier dc shift after the D/A force down 64 times, makes system works reliable and stable.Accompanying drawing 11 is its transfer characteristic schematic diagrames.
Description of drawings
Accompanying drawing 1 is the circuit block diagram of 1425/1455 flat-bed plotter controller of Benson company
Accompanying drawing 3 is existing decoding logic circuit figure
Accompanying drawing 4 is linear D/A circuit diagrams
Accompanying drawing 5 is circuit block diagrams of the present invention
Accompanying drawing 6 is (V just
P), anti-(V
N) change the oscillogram of pulse separation
Accompanying drawing 8 is forward and backward pulse separation logical circuitrys
Accompanying drawing 10 is linearity-saturation limiting D/A change-over circuit figure
Claims (3)
1, a kind of high-precision auromatic numerical control device, optical grating measuring system and the controlling object be made up of cascade compensation circuit, voltage amplifier circuit, power amplification circuit, shaping circuit, forward-backward counter, subtraction device, motor and light-emitting diode, photodiode, disk light barrier constitute, it is characterized in that adopting the D/A of linearity-saturation limiting operating state, made input signal Xi and feedback signal X
OThe error numeral signal epsilon of the control system that obtains through subtraction device, amplify earlier and become analog voltage signal again and send cascade compensation circuit, voltage amplifier circuit, power amplification circuit by it, so that the voltage amplification after it, power amplification have under the situation of less gain, also can there be enough big power to come drive motors, makes it to rotate towards the direction that reduces error signal; Adopted and pressed
Just (Vp) that Boolean expression constitutes, anti-(VN) change pulse separation logical circuit and (V just
P), anti-(V
N) differential type speed/voltage conversion circuit of changeing pulse train control produces the feedback speed signal V that is directly proportional with motor speed
OThe disk grating that is fixed on the motor shaft rotates with motor, the light that light-emitting diode sends induces the sinusoidal voltage that differs 90 ° on a pair of photodiode, form square wave through shaping circuit, goes out forward and backward pulse train V by forward and backward pulse separation logical separation again
P, V
N, divide two-way, the one tunnel send differential type speed/voltage conversion circuit to produce V
OAnd deliver to subtraction device between voltage amplifier circuit and the power amplification circuit, V
OPolarity depend on V
P-V
N, another road V
P, V
NSend forward-backward counter to produce and feedback signal X
OSend D/A preceding subtraction device; Set up the suitable feedthrough road of forming by the positive and negative control of speed, differential type speed/voltage conversion circuit and the positive and negative control of acceleration, differential type acceleration/voltage conversion circuit and adder (or speed only being arranged) along feedback, the output signal of this passage adds to minor loop by the subtraction device between voltage amplifier circuit and the power amplification circuit, and positive and negative control impuls (promptly add, subtract pulse) is sent into big loop by the subtraction device that a forward-backward counter adds to before the D/A.
2,, it is characterized in that said differential type speed/voltage conversion circuit is to have constituted the normal phase inverter that ends by two crystal switch pipes, is connected to R between the collector electrode of two pipes according to the said high-precision auromatic numerical control device of claim 1
1, R
2, the charge-discharge circuit that constitutes of R and C, the RC two ends are respectively by isolation resistance R
3, R
4Be connected to the differential input end of operational amplifier, wherein R
1=R
2
3,, it is characterized in that said linearity-saturation limiting D/A change-over circuit is by the Boolean algebra formula according to the said high-precision auromatic numerical control device of claim 1
Constitute a signal epsilon=Q that the n position complement of two's two's complement is represented
N-1Q
N-2Q
1Q
0Produce the combinational logic circuit of a latch signal, and its output is connected to the XFER end of DAC slice, thin piece, low (m+1) position Q of input signal
mQ
M-1Q
1Q
0With the input misconnection K position of DAC slice, thin piece, and DI
K-1DI
0Ground connection, the output circuit of DAC slice, thin piece connects by the conventional connection of device handbook requirement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN87106461A CN1006350B (en) | 1987-09-24 | 1987-09-24 | High-precision auromatic numerical control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN87106461A CN1006350B (en) | 1987-09-24 | 1987-09-24 | High-precision auromatic numerical control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN87106461A CN87106461A (en) | 1988-04-13 |
| CN1006350B true CN1006350B (en) | 1990-01-03 |
Family
ID=4815714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN87106461A Expired CN1006350B (en) | 1987-09-24 | 1987-09-24 | High-precision auromatic numerical control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1006350B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101609326B (en) * | 2008-06-20 | 2012-09-19 | 鸿富锦精密工业（深圳）有限公司 | Acceleration and deceleration control device and acceleration and deceleration control method |
| CN105116782B (en) * | 2015-04-14 | 2018-09-04 | 宁波职业技术学院 | A kind of laboratory control platform |
-
1987
- 1987-09-24 CN CN87106461A patent/CN1006350B/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| CN87106461A (en) | 1988-04-13 |
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