CN1160604C - Position control equipment - Google Patents
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- CN1160604C CN1160604C CNB011448997A CN01144899A CN1160604C CN 1160604 C CN1160604 C CN 1160604C CN B011448997 A CNB011448997 A CN B011448997A CN 01144899 A CN01144899 A CN 01144899A CN 1160604 C CN1160604 C CN 1160604C
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Abstract
With an operation switch 17 ON, the speed of a speed control system composed of an acceleration/deceleration gradient generating means 26 and a speed command means 27 is inputted as a feedback signal while a load 2 is moved at the speed and when the speed decreases after the operation switch 17 is turned off, a switching decision means 31 employs a position control system composed of a deviation counter 12 and a position-speed converting means 22 instead of speed control on condition that the current speed is slower than a zero speed vh when a stop command is inputted from an external user input part 11, thereby controlling a motor 1 through the position control so that a target position pi is reached immediately at a response speed based upon a control gain Gi previously inputted from the user input part 1.
Description
Technical field
The present invention relates to a kind of position control apparatus that is used to control electric motor operated, this motor mounting is on x-y metal working machine tool, cutting machine and similar equipment based on speed control or position control.
Background technology
Usually, as shown in Figure 7, x-y metal working machine tool 10b moves worktable and the metallic article 10c that will be positioned on the worktable of x-y metal working machine tool 10b is processed into desirable shape towards the direction of metal grinding machine 10a in the x and y direction by a motor, and metal grinding machine 10a has fixing position with respect to worktable.
For example, zero servocontrol and directed control, this is the control model that typically is used for controlling electric motor operated.
In the former pattern, when the speed of motor is no more than the grade of zero-speed value, when the velocity amplitude that monitors simultaneously motor under speed control mode reduced with the rotating speed of motor, zero servocontrol stopped the operation of motor by the position control mode that speed control mode is converted to the zero velocity instruction.
For example, when the running of the reduction motor that causes owing to the operation that stops motor making the speed of motor arrive zero-speed value grade, when under speed control mode, monitoring the rotating speed of motor simultaneously, convert speed control mode to position control mode so that carry out zero servocontrol.This zero servocontrol can be controlled the worktable that makes x-y metal working machine tool 10b and arrive the target location by desired distance of displacement.
On the other hand, directed control can be reduced to the speed of motor directed slewing rate by receiving a phasing signal (as external signal) that comes from external transmission.When the speed of motor arrives directed slewing rate, to read the stop position instruction that has been provided with and detect the Z pulse, therefore speed control mode is switched to position control mode.In addition, calculate stop position according to detected Z pulsimeter, and operator scheme enters servocontrol so that stop motor.
Yet, the former pattern, just, zero servocontrol is transformed into zero servocontrol under the grade of zero-speed value, stop to handle so enter, in stopping processing procedure movable workbench a constant distance and enter halted state.Therefore, because the position of worktable dissimilates under two kinds of patterns in the transform mode control process, motor speed under these two kinds of patterns or very low or very high and worktable or the front that stops at the back of target location or stop at the target location.That is to say, under the former speed control mode (promptly zero servocontrol), between the stop position of target location that the user wishes and reality, produce deviation probably.In addition, because worktable is with the starting point of the position control mode constant distance that has been basic displacement, so be difficult to the stop position of worktable is carried out fine tuning.
On the other hand, the latter's pattern, promptly directed control can stop at worktable the position of a hope.Yet for example, it must use adjustment unit to detect the Z pulse.Therefore, directed control needs the control program of a complexity.
In addition, two kinds of control models, zero servocontrol and directed control all must be transformed into position control with control model and spend such shortcoming of a large amount of time (being this control program that needs a complexity) after motor stops fully, because for fine tuning is carried out and execution speed control after the locking that discharges servo-drive system in the position.
In addition, in general position control method, change control response according to the position control increment.Although a definite value is used as control increment, yet response speed is also fixed.Therefore general position control method is difficult to change operating speed.
Summary of the invention
Therefore, owing to consider the shortcoming of conventional art, one object of the present invention has proposed a position control apparatus exactly, this position control apparatus can stop a target workpiece accurately with desirable response speed, and this position control apparatus have the instruction of simple structure by receiving an instruction from the outside and come the start position control operation and receive relevant response speed and fine tuning with the target workpiece fine tuning in the desirable position of user.
Briefly, the present invention is in order to solve the shortcoming of conventional art, a kind of position control is provided, it can carry out running to the speed control position control after stopping by outside input and begin or answer speed or fine setting, and precision stops on the specified location in user goodly or carry out fine tuning on this position by the answer speed of simple structure and appointment.
Position control as embodiment of the present invention, have speed control system, position control system and PI control device, the speed control signal that this PI control device sends according to these control system produces phase signal, and this phase signal is sent to the supply convertor unit, driving motor and moving load, it is characterized in that this position control apparatus comprises: user input unit is used to import halt instruction, target velocity, zero velocity and position control increment instruction value; The speed command setting device, it is according to the target velocity command value that is input in the described user input unit, the speed control signal of formation speed control system; The control increment generation device, it generates acceleration and deceleration lifting value according to the position control increment instruction value that is input in the described user input unit; The conversion judgment means, it is input to described user input unit with halt instruction, and if loading speed smaller or equal to the command value that is input to the zero velocity in the described user input unit, then export switching signal; The deviation counter if import the switching signal that described conversion judgment means is sent, then feeds back the physical location of input load, as the target location, and calculates the physical location deviation of this target location and feedback input later on this physical location; Position-rate switching device, input multiply by the acceleration and deceleration lifting value of described control increment generation device from the deviation of described deviation counter output on this deviation, and produce the speed control signal of position control system; Conversion equipment, the speed control signal that speed control signal that the input speed control system is sent and position control system are sent, if import the switching signal that described conversion judgment means is sent, then will be converted to the speed control signal that sends from position control system to the speed control signal that the output of described PI control device is sent from above-mentioned speed control system.
In addition, this position control apparatus further comprises the zero servo judgment means of finishing, its enter in the input switching signal sent of described conversion judgment means and from the deviation of described deviation counter output specify finish width in, be judged as and finish zero servoly, and the zero servo signal of finishing is input to the outside.
In addition, in this position control apparatus, described user input unit also has the input block of the command value that is used for order that input position instruction stops to remove and target location, and this position control apparatus has: the position command pulse-generating circuit, and its position command pulse that command value that is input to the target location in the described user input unit is carried out pulses switch is exported; The conversion instruction device if the order that position command is stopped to remove is input to described user input unit, and is imported the switching signal in the described conversion judgment means, then its input conversion indicator signal; Gate circuit, its position command pulse with the position command pulse-generating circuit outputs in the described deviation counter.
In addition, this position control apparatus also can further comprise: the zero servo judgment means of finishing, the switching signal that it sends in the described conversion judgment means of input, and with the deviation of described deviation counter output put into appointment finish in the width time, it outputs to the outside with zero servo signal of finishing.
In addition, in this position control apparatus, described user input unit also possesses the input block that is used to import the starting reset instruction and changes the position control increment instruction, and has the increment selecting arrangement, it is according to changing the position control increment that is input in the described user input unit, from the offset list of storage in advance, select the position control increment meet and be set in the described control increment generation device, if will start the instruction that reset instruction and position command stop to remove, and the converted command signal that input conversion instruction device sends, the position command pulse that then described gate circuit sends the position command pulse-generating circuit outputs in the described deviation counter.
Description of drawings
Figure 1A and Figure 1B are the sketches according to the schematic structure of the position control apparatus of first embodiment of the invention;
Fig. 2 A to Fig. 2 F is the synoptic diagram according to the operation waveform of the position control apparatus of first embodiment of the invention;
Fig. 3 A and Fig. 3 B are the sketches according to the schematic structure of the position control apparatus of second embodiment of the invention;
Fig. 4 A to Fig. 4 G is the synoptic diagram according to the operation waveform of the position control apparatus of second embodiment of the invention;
Fig. 5 A and Fig. 5 B are the sketches according to the schematic structure of the position control apparatus of third embodiment of the invention;
Fig. 6 A to Fig. 6 C is the synoptic diagram according to the operation waveform of the position control apparatus of third embodiment of the invention;
Fig. 7 is the synoptic diagram of explanation x-y metal working machine tool operation control.
Embodiment
To being used for illustrating the description of the preferred embodiments of the present invention, other features of the present invention will become apparent but the present invention is not limited by following.
First embodiment
Figure 1A and Figure 1B are the sketches according to the schematic structure of the position control apparatus of first embodiment of the invention;
Comprise that according to the position control apparatus of first embodiment one is given three-phase inverted converter 3 that motor 1 provides driving power so that drive load 2, and a control module 4 that is used to control the operation of three-phase inverted converter 3.
Above-mentioned three-phase inverted converter 3 comprises rectification circuit 5, one filtering circuits 6 that are used for rectification three-phase R-S flip-flop, and one by changing the driving circuit 7 that a plurality of transistors produce a three-phase drive power UVW.
Scrambler 19 links to each other with motor 1 and load 2.Scrambler 19 is exported a control signal by converter 20 to first and second microprocessor 13 and 14.
User input unit 11 comprises three telegraph keys, halt instruction key, zero-speed key, increment enter key, speed key, and other key.These keys have omitted from synoptic diagram.Halt instruction key by user (operator) operation is to be used to stop to move of load.By the zero-speed key, whether input speed value VH is zero so that judge speed.By the increment enter key, input position control increment " Gi " is so that move to the target location with load from current location.By the speed key, input target speed value " Vi ".
The actual position value " pf " that deviation counter 12 input converters 20 feed back according to starting point, actual positional value " pf " is set as target location value " pi ", obtain the deviation (with the form of pulse) " ei " between target location value " pi " and the actual position value " pf ", and export the deviate " ei " that is obtained to first microprocessor 13.Second microprocessor 14 links to each other with operating switch 17.
That is to say that control module 4 comprises that first microprocessor 13 that is used to carry out the high-speed computation operation and one are used to carry out the operation of calculation control value to offer second microprocessor 14 of first microprocessor 13.
In above-mentioned structure, that group deviation counter 12, zero servo judgment means 21 of finishing, position-rate switching device 22 is called as position control system.That group speed command setting device 27 and control increment generation device 26 are called as speed control system.
That is to say, when with predetermined speed moving load 2, position control apparatus input present speed value is as feedback signal, and when present speed is no more than zero-speed VH and receive halt instruction under the situation that speed reduces, position control apparatus is converted to position control mode with speed control mode, control the operation of motor 1 then immediately so that motor 1 arrives target location value " pi " (i.e. the position of expression reception halt instruction) with response speed, response speed wherein is based on the control increment of being imported by user input unit 11 in advance under position control mode " Gi ".Therefore, motor 1 has arrived the position of being specified hope by the user at last.Although the user does not import any position command, yet motor 1 has arrived this position at last when speed is no more than predetermined velocity amplitude under the situation about reducing in speed.In the object lesson shown in Figure 1A and Figure 1B, speed control mode is switched to position control mode, and position control mode is controlled at the position of the motor 1 of zero position, although yet because the initial value that the user does not have to import any position command deviation counter 12 with the form of pulse is set to zero.
The explanation of each device in＜the first microprocessor 〉
The deviate " ei " that 22 inputs of position-rate switching device send from deviation counter 12, and obtain deviate " ei " be multiply by the velocity amplitude " vp " that predetermined increment " gi " is converted to, then velocity amplitude " vp " is outputed to conversion equipment 23.
The output signal " v " (being rate signal " vp " or " vk ") that PI control device 25 input is sent by conversion equipment 23, and produce one by carrying out PI control (PI control: P control is one of output and the proportional value of input value; I control is that output is by the whole input value values of acquisition of accumulative total) and the phase signal of acquisition, and the phase signal that produces is outputed to driving circuit 7, and indication PI control is meant that the difference between the velocity amplitude " ve " of the motor 1 that is sent to above-mentioned output signal " v " with from scrambler 20 controls.
When deviation counter 12 each output bias values " ei ", deviate " ei " is when having exceeded integral width, when the zero servo judgment means 21 of finishing from conversion judgment means 31 (operation of conversion judgment means 31 will be described in detail below) when receiving the information that will receive halt instruction, zero servo finish judgment means 21 judge finished zero servo.Then, the zero servo judgment means 21 finished is notified external unit with judged result.
The explanation of each device in＜the second microprocessor 〉
The state of operation judgment device 33 monitoring operating switchs 17.When the user keys in operating switch 17 for connection, operation judgment device 33 passes through to use three-phase inverted converter 3 and operating switch 17 keys are connection excited electric motor 1, and makes the speed control system running when servo ready state signal becomes on-state.In addition, operation judgment device 33 is by being the running that off-state stops speed control system with the operating switch key.
After this, when 31 outputs of conversion judgment means receive the information of halt instruction, the deviation counter 12 in the operation judgment device 33 operating position control system, position-rate switching device 22, and conversion equipment 31.
Speed command setting device 27 conversion is from the target speed value of user input unit 11, and a target speed value of being changed is set to acceleration lifting generation device 26.
Acceleration lifting generation device 26 has added a lifting value for target speed value " Vi ", and the value that is obtained is outputed to conversion equipment 23 as target speed value " Vk ".
Switching signal generation device 28 is exported the halt instruction identifiers to conversion judgment means 31 afterwards immediately in the halt instruction " po " that receives from user's input circuit 11.
The value that 29 conversions of zero velocity setting device send from user's input circuit 11 is set to zero by zero velocity setting device 29 speed, and the zero-speed value " vh " that is obtained is stored in the storer 35.
Control increment generation device 30 produces acceleration lifting value (increment " gi ") according to the position control increment from user input unit 11, and the value that is produced is set in position-rate switching device 22.
The velocity amplitude " ve " that conversion judgment means 31 sends feedback stores in the storer 34, then when being set to off-state halt instruction " po " afterwards at operation instruction signal when being set up, the zero-speed value " vh " that is stored in advance in the storer 35 is compared with the present speed value " ve " in being stored in storer 34, and when present speed value " vi " (also referring to actual velocity amplitude " vi ") output halt instruction " po " when being not less than zero velocity value " vh ".According to the halt instruction " po " of output, conversion judgment means 31 notice conversion equipments 23 receive halt instructions, and to the switching signal of conversion equipment 23 output on-states, and operation deviation counter 12 and and position-rate switching device 22 of connecting.
That is to say that the position-rate switching device 22 in the position control system links to each other with PI control device 25 so that come moving load 2 by the speed increment " gi " from position-rate switching device 22.
＜operation instructions 〉
Provide the operation instructions of position control apparatus with said structure referring to figs. 2A to 2F.Fig. 2 A to 2F is the synoptic diagram according to the operation waveform of the position control apparatus of first embodiment of the invention;
The user operate user input unit 11 in case input can speed initial value be set to zero zero-speed value " VH ", position control increment " Gi ", and target speed value " Pi ".That is to say that speed command setting device 27 is set to acceleration lifting generation device 26 in the speed control system with target speed value " pi ".
In addition, zero-speed setting device 29 stores zero-speed value " vh " in the storer 35 into, and control increment generation device 30 is set to position-rate switching device 22 with increment " gi ".
When the user keys in operating switch 17 to on-state, operation judgment device 33 makes speed control system enter on-state (speed control mode, see Fig. 2 C), and acceleration lifting generation device 26 by conversion equipment 23 to PI control device 25 output speed control signals " vk " (being target speed value " Vk ").Therefore speed control system enters on-state (seeing Fig. 2 A).
When the velocity amplitude " ve " of motor 1 reached target velocity " Pi ", the user keyed in operating switch 17 and is off-state.Operation judgment device 33 is transformed into off-state with operation signal.Speed command setting device 27 stops output speed control signal " vk " when operation signal is switched to off-state (seeing Fig. 2 A).That is to say that therefore the speed of motor 1 reduce.
At this moment, for example, so that stop load 2 (being the x-y metal working machine tool), compare with the zero-speed value " vh " in being stored in storer 35 by the velocity amplitude " ve " that conversion judgment means 31 sends feedback by user input unit 11 input halt instructions " PO " for the user.When current velocity amplitude " ve " was not more than zero velocity value " vh ", conversion judgment means 31 received halt instruction " PO " (seeing Fig. 2 D) and judges position control mode and export switching signals so that according to position control system current control model is transformed into position control mode to conversion equipment 23.
That is to say, position-rate switching device 22 in the position control system links to each other with PI control device 25 so that the locking of carrying out servo-drive system has the motor 1 of speed increment " gi " with driving, and speed increment " gi " is obtained by position-rate switching device 22.
The 12 output bias pulses of deviation counter convert certain value to up to deviate " ei ", and the increment " gi " that is provided with when at every turn receiving deviation " ei " of position-rate switching device 22 come driving motor 1 (motor 1 rotate so that load to the right or be moved to the left to arrive up to load restrain completely by the indicated target location of halt instruction " pi " and up to deviate).That is to say that the velocity amplitude " vp " that offers PI control device 25 is by the deviation between target location " pi " and the physical location " pf " be multiply by the value that increment size obtains.Consequently, the speed of motor 1 is controlled to load 2 is moved to target location " pi ".
In addition on the one hand, zero servoly finishes judgment means 21 detects deviation counter 12 when receiving from halt instruction that conversion judgment means 31 sends output, and the output of each deviation counter 12 when becoming integral width a part of the zero servo judgment means 21 of finishing to the zero servo signal (seeing Fig. 2 F) of finishing of external device (ED) output.That is to say that zero servoly finishes that judgment means 21 outputs zero are servo finishes signal so that notification payload 2 has arrived target location " pi ", is stopped in this position load 2.
Therefore, can be with the program of a simple structure load be stopped on the position by the hope of user's appointment, the x-y metal working machine tool can be processed the metal as load on the position that requires by using the metal grinding machine like this.
In addition, can discharge stop mode to on-state and from the conversion judgment means and operation judgment device 33 is arranged in the speed control system by keying in operation signal.This pattern can reduce the working time because grinding process is carried out at once once more after discharging stop mode.
Second embodiment
＜locational fine tuning 〉
Fig. 3 A and Fig. 3 B are the sketch of expression according to the schematic structure of the position control apparatus of second embodiment of the invention;
Position control apparatus shown in Fig. 3 A and Fig. 3 B can be carried out fine tuning to the position of load 2 after shut-down operation under the situation of speed control.Shown in Fig. 3 A and Fig. 3 B, gate circuit 41 is placed between position command pulse-generating circuit 40 and the deviation counter 12.
The pulse signal that position command pulse-generating circuit 40 converts target location value " pi " pulse signal to and obtained to next stage output.
User input unit 45 comprises the halt instruction key, the zero velocity key, the increment enter key, and speed key, these keys all are contained on the position control apparatus of first embodiment of basis shown in Figure 1A and Figure 1B, and user input unit 45 also comprises a target location key (not providing), and a position command stops release key (not providing), and other key (not providing).By the target location key, the user imports target location value " Pi ".Stop release key by position command, the user discharges halted state and obtains target location value " Pi " with reception by the target location key, and the user temporarily stops and import target location value " Pi " from the target location key.
Except the disclosed various devices of first embodiment shown in Figure 1A and Figure 1B, second microprocessor 42 also comprises a conversion instruction device 43 and the conversion judgment means 44 shown in Fig. 3 A and Fig. 3 B.
Above-mentioned gate circuit 41 prevention position command generation circuit 40 and the connection between the deviation counter 21 are up to importing conversion instructions by conversion instruction device 43.
Conversion judgment means 44 in the position control apparatus of second embodiment is carried out following operation:
The velocity amplitude " ve " that feedback is sent stores storer 34 into;
Compare with the present speed value " Vi " that is stored in storer 34 being stored in zero velocity value " Vh " in the storer 35 and that be used for the zero velocity judgement in advance;
When being not more than zero velocity value " vh ", present speed value " Vi " receives halt instruction " po ";
Export a switching signal so that will control transitions to position control system to conversion equipment 23 according to the halt instruction that receives " po ".
The relevant identifier that receives halt instruction " po " is set to conversion instruction device 43.
＜operation instructions 〉
4A to Fig. 4 G provides the operation instructions of the position control apparatus of second embodiment with said structure with reference to the accompanying drawings.Fig. 4 A to Fig. 4 G is the diagrammatic sketch of expression according to the operation waveform of the position control apparatus of second embodiment of the invention;
Shown in Fig. 4 A to Fig. 4 G, when the user keys in operating switch 17, speed control system enters mode of operation (speed control mode, see Fig. 4 C), acceleration lifting generation device 26 by conversion equipment 23 to PI control device 25 output speed control signals " vk " (as target velocity " vk ") in case control motor 1 operation (seeing Fig. 4 A).
At this moment, because conversion instruction device 43 is in operation stop condition when operation signal is in on-state, the position command stop signal outputs to gate circuit 41, shown in Fig. 4 E.That is to say that under speed control mode, such control does not arrive deviometer down to the position command that is produced circuit 30 generations by P-pulse and counts device 12.
In addition, when PI control device 25 to driving circuit 7 output phase control signals, with control motor 1 inverted converter and with velocity amplitude " vk " moving load 2.Scrambler 19 detects the rotating speed of motor 1, and converter 20 counts the umber of pulse of the rotating speed in each set time and convert the number of being counted to velocity amplitude, and to storer 34 and the actual velocity amplitude " ve " of PI control device 25 outputs.PI control device 25 these actual speed " ve " of input are so that carry out constant speed control.Therefore, can obtain the waveform of the speed of the motor 1 shown in Fig. 4 B.
When the user keyed in operating switch 17 for off-state, speed command setting device 27 decision instruction values were zero and therefore stop from acceleration lifting generation device 26 output speed controlling values " vk " (seeing Fig. 4 A and Fig. 4 B).Therefore the revolution of motor 1 reduces.
For example, when the user by user input unit 11 input halt instructions " po " so that when stopping load 2 (being metal working machine tool) immediately, conversion judgment means 44 is with velocity amplitude " ve ", just in feedback, transmit, compare with the zero velocity value " Vh " in being stored in storer 35, and reception halt instruction " po " (seeing Fig. 4 D) when present speed value " ve " is not more than zero velocity value " Vh ", judge that current control model necessarily converts position control mode to, and export switching signals so that current control model is converted into position control system to conversion equipment 23.
That is to say that the position-rate switching device 22 in the position control system is connected with PI control device 25 so that carry out the locking of servo-drive system for motor 1 has speed increment " gi ", speed increment " gi " is from position-rate switching device 22.
The 12 output bias pulses of deviation counter converge to a constant scope up to deviate " ei ", and position-rate switching device 22 is by increment " gi " driving motor 1, be provided with during the each output bias of increment " gi " " ei " (that is to say, load 2 to the right or be moved to the left converge to a constant scope and load 2 up to deviate " ei " and arrive by the indicated target location of halt instruction " pi ").
The another one aspect, zero servoly finishes judgment means 21 detects deviation counter 12 when receiving from halt instruction that conversion judgment means 44 transmits output, and the output of each deviation counter 12 when becoming integral width a part of the zero servo judgment means 21 of finishing to the zero servo signal (seeing " g1 " among Fig. 4 G) of finishing of external unit output.That is to say that zero servoly finishes that judgment means 21 outputs zero are servo finishes signal so that notification payload 2 has arrived target location " pi ", is stopped in this position load 2.
Yet when the current location " pi " of the dissatisfied load 2 of user, the position command that the user operates user input unit 45 stops release key so that the new target location of load 2 is set, and is stopped in this position load 2.
Therefore, conversion instruction device 43 confirms that the halt instruction identifiers are set up, and the switching signal with off-state as Fig. 4 E as shown in exports gate circuit 41 to, links to each other with deviation counter 12 down to position command pulse-generating circuit 40.That is to say, can confirm that conversion equipment 23 selected position control system.
The user is by new target location value " Pi " of user input unit 45 inputs.Position command pulse-generating circuit 40 is output to deviation counter 12 with the new target location value " pi " that new target location value " Pi " converts to the new target location value " pi " of pulse mode and the pulse mode that converted to by gate circuit 41.
When the new deviation of each input referred to " ei ", position-rate switching device 22 came driving motor 1 (seeing " ba " among Fig. 4 B) according to the speed increment " gi " that sets in advance.
In addition on the one hand, zero servoly finishes judgment means 21 detects deviation counter 12 when receiving the information of the halt instruction that sends from conversion judgment means 44 output, and the output of each deviation counter 12 becomes when finishing whole width a part of the zero servo judgment means 21 of finishing to the zero servo signal (seeing " g2 " among Fig. 4 G) of finishing of external unit output.
Therefore, even the user imports halt instruction, also can carry out fine tuning to the position of load 2.This can reduce process time.
＜the three embodiment 〉
Fig. 5 A and Fig. 5 B are the diagrammatic sketch according to the schematic structure of the position control apparatus of third embodiment of the invention.
The user input unit 45 of the position control apparatus shown in Fig. 5 A and Fig. 5 B comprises the halt instruction key, the zero velocity key, the increment enter key, the speed key, the target location key, and position command stops release key, these keys all are contained on the position control apparatus of second embodiment of basis shown in Fig. 3 A and Fig. 3 B, and user input unit 45 also comprises two types variable delta key (the first and second variable delta keys that are used to change the increment " gi " as position control, do not provide), and current location with worktable 2 turns back to the return key (not providing) of reference position.
As shown in Figure 6A, offset list 53 storages and the corresponding increment size of importing by the variable delta key of signal.
For example, the first variable delta key output signal AD2 and the second variable delta key output signal AD3, the combination selection increment size of signal AD2 and AD3, benchmark increment, twice increment, four multiplication amounts, and in the octuple increment one.
That is to say that the user can stop release key by the operating position instruction and select following two kinds of operations:
When the position of load 2 has surpassed the target location, the position of load 2 can be moved to the target location slowly; And
When the user wants load 2 is turned back to original position (reference position), the position of load 2 can be moved to original position fast.
In addition, monitor the state of operating switchs 17 according to the operation judgment device in the position control apparatus of the 3rd embodiment 54.Key in when operating switch 17 and to be on-state, operation judgment device 54 to the operation signal of three-phase inverted converter 3 output on-states so that excited electric motor 1 and when entering on-state and the travelling speed control system with the servo ready state signal of box lunch.In addition, the operation signal of each the device output off-state of operation judgment device 54 in speed control system is so that stop the operation of whole speed control system.
After this, the information that the relevant halt instruction of conversion judgment means 44 output finishes receiving is so that the deviation counter 12 in the run location control system, position-rate switching device 22, and conversion judgment means 44.
In addition, when the user keys in operating switch 17 for on-state and return key during also for on-state, operation judgment device 44 is to position control system output function signal.That is to say that position control apparatus only just can driving motor 1 by position control system.
＜operation instructions 〉
6A to Fig. 6 C provides the operation instructions of the position control apparatus of the 3rd embodiment with said structure with reference to the accompanying drawings.Fig. 6 A to Fig. 6 C is according to the waveform diagram in the operating process of the position control apparatus of the 3rd embodiment;
When the user keys in operating switch 17 to on-state and operate one or more return keys, and during the first and second variable delta keys, the operation signal of operation judgment device 54 output on-states.
So that user input unit 51 outgoing positions instruct when stopping release signal, conversion instruction device 43 is changed the level of these signals and is stopped release signal (this makes gate circuit 41 enter on-state) so that position command pulse-generating circuit 40 and deviation counter 12 are connected to the position command that gate circuit 41 is exported these off-states when user's operation.Therefore, the target location value " pi " from the position command pulse-generating circuit is sent to deviation counter 12 by gate circuit 41.
Deviation " ei " between the actual position value " pf " that obtain deviation counter 12 new target location value " pi " (preferably with reference position as new target location value " pi ") and feedback transmit, and export the deviate " ei " that is obtained to position-rate switching device 22.During the new deviate " ei " of each output, position-rate switching device 22 comes driving motor 1 by utilizing selected increment size " gi " (increment size, benchmark increment, twice increment, four multiplication amounts, and in the octuple increment one).
Fig. 6 B provided when selecting the benchmark increment waveform when the first time, the outgoing position instruction stopped release signal and when selecting the twice increment the second time outgoing position instruct waveform when stopping release signal.In addition, Fig. 6 C provided when the selecting four multiplication amounts waveform when the first time, the outgoing position instruction stopped release signal and when selecting the octuple increment the second time outgoing position instruct waveform when stopping release signal.
That is to say that the combination of variable delta key can change the value of positional increment, so that the acceleration time can be in Be Controlled under the position control mode.Therefore, if under position control mode, do not increase under the situation of any vibration at desirable stop position (reference position), can be fast or at a slow speed move metal working machine tool as load 2.
That is to say, speed control mode can be controlled the acceleration response by the lifting of direct change frequency change, but under position control mode, be difficult to the response of control acceleration in the prior art, because under position control mode, there is not the relation between frequency and the position.
On the contrary, according to the position control apparatus of the 3rd embodiment, the response characteristic of acceleration can be changed under position control mode.
Run duration in system is easy to change this response characteristic according to the input that sends from the outside.
Although the explanation of above-mentioned each embodiment uses metal working machine tool as load 2, the present invention is not limited, and for example the present invention can use apparatus operating on the various x-y of the being controlled in directions.In addition, principle of the present invention can be applied to servo-drive system locking control field.
In addition, except the mode of the input voltage described in the explanation of the 3rd embodiment, the conversion between position control mode and the speed control mode and select desirable yield value to be performed by the instruction that network provided according to external computer system.
In addition, in the 3rd embodiment, used the benchmark increment, the twice increment, four multiplication amounts, and octuple increment, still, the present invention is not subjected to the restriction of this mode, can use other yield value, for example, and the benchmark increment, 1/4 multiplication amount ..., and other values.
As above detailed description, position control of the present invention has speed control system (27,26), position control system (12,21,22) and PI control device (25), the speed control signal that this PI control device sends according to these control system produces phase signal, this phase signal is being outputed in the supply convertor unit (31), and make when the motor operation moving load, according to the target velocity command value that is input in the above-mentioned user input unit, generate the speed control signal of above-mentioned speed control system by speed command setting device (27), and command value according to the position control increment that is input to above-mentioned user input unit, generate control increment generation device (30) by acceleration and deceleration lifting value, if halt instruction is input in the above-mentioned user input unit, and above-mentioned loading speed is smaller or equal to the command value that is input to the zero velocity in the above-mentioned user input unit, then change judgment means output switching signal, if import the switching signal that above-mentioned conversion judgment means is sent, and the physical location of the above-mentioned load of feedback input, then by deviation counter (12), this physical location is made as the target location, if calculate later the deviation of the physical location of this target location and feedback input, and input is from the deviation of above-mentioned deviation counter output, then by position-rate switching device (22), this deviation multiply by the plus-minus lifting value that above-mentioned control increment generation device sends, and generate the speed control signal of above-mentioned position control system, if import the speed control signal that speed control signal that above-mentioned speed control system sends and above-mentioned position control system are sent, and import the switching signal that above-mentioned conversion judgment means is sent, then by conversion equipment (23), form from the control signal of the above-mentioned speed control system rheme that makes progress to the output of above-mentioned PI control device and to put the pattern of the speed control signal conversion of control system.Therefore, because after speed control running stops, on the position that the user can make load stop to want to stop easily, so, also can prevent the generation of the error on the target stop position even the running speed of the motor under the speed control is very fast.This control is especially effective for the control of the working machine that needs experience and skilled technical ability.In addition, if carry out position control for the current location of the time of having imported halt instruction, then this control rate is to be basis with the increment that the user sets.In a word, have and can be by simple structure stopping under the good precision on the position that the user wants to stop.
In addition, position control of the present invention enter in the input switching signal sent of above-mentioned conversion judgment means and from the deviation of above-mentioned deviation counter output specify finish width in, because by zero servo finish judgment means (21) be judged as finish zero servo, and will the zero servo signal (target location when arrival stops finishing signal) of finishing is input to the outside, so can be by simple program structure, the assigned address of wishing the user stops load.
In addition, position control of the present invention also possesses, above-mentioned user input unit also has the input block (45) of the command value that is used for order that input position instruction stops to remove and target location, because the position command pulse of the command value that is input to the target location in the above-mentioned user input unit being carried out pulses switch by position command pulse-generating circuit (40) is exported; If the order that position command is stopped to remove is input to above-mentioned user input unit, and import the switching signal in the above-mentioned conversion judgment means, then by conversion instruction device (43) input conversion indicator signal; If import the conversion indicator signal that above-mentioned conversion indicating device sends, then output in the above-mentioned deviation counter fine control of line position of going forward side by side so the user can shut down by the position command pulse of gate circuit (41) with above-mentioned position command pulse-generating circuit.
In addition, adopt position control of the present invention, above-mentioned user input unit also possesses the input block (51) that is used to import the starting reset instruction and changes the position control increment instruction, and because according to can changing the position control increment that is input in the above-mentioned user input unit, by increment selecting arrangement (52) the position control increment that selection meets from the offset list (53) of storage in advance and be set in the above-mentioned control increment generation device; If will start the instruction that reset instruction and position command stop to remove, and import the converted command signal that above-mentioned conversion instruction device sends, the position command pulse that then above-mentioned gate circuit (41) just sends above-mentioned position command pulse-generating circuit outputs in the above-mentioned deviation counter, so in position control, the positional increment that position command is changed with speed command changes, and response characteristics is changed.Therefore, can make the change in the system works become easy.
All these that the present invention explained in well-known scope and other improvement and modification all mean in above-mentioned disclosing.Therefore the present invention's explanation of being summarized and consistent with the clearly implication of subsequently claims or suitable protection domain in some sense, this all can think reasonably.
Claims (5)
1, a kind of position control apparatus with speed control system, position control system and PI control device, the speed control signal that this PI control device sends according to these control system produces phase signal, and this phase signal is sent to the moving load with driving motor of supply convertor unit, it is characterized in that position control apparatus comprises:
User input unit is used to import halt instruction, target velocity, zero velocity and position control increment instruction value;
The speed command setting device, it is according to the target velocity command value that is input in the described user input unit, the speed control signal of formation speed control system;
The control increment generation device, it generates acceleration and deceleration lifting value according to the position control increment instruction value that is input in the described user input unit;
The conversion judgment means, it is input to described user input unit with halt instruction, and if loading speed smaller or equal to the command value that is input to the zero velocity in the described user input unit, then export switching signal;
The deviation counter if import the switching signal that described conversion judgment means is sent, then feeds back the physical location of input load, as the target location, and calculates the physical location deviation of this target location and feedback input later on this physical location;
Position-rate switching device, input multiply by the acceleration and deceleration lifting value of described control increment generation device from the deviation of described deviation counter output on this deviation, and produce the speed control signal of position control system;
Conversion equipment, the speed control signal that speed control signal that the input speed control system is sent and position control system are sent, if import the switching signal that described conversion judgment means is sent, then will be converted to the speed control signal that sends from position control system to the speed control signal that the output of described PI control device is sent from above-mentioned speed control system.
2, position control apparatus as claimed in claim 1, it is characterized in that, further comprise the zero servo judgment means of finishing, its enter in the input switching signal sent of described conversion judgment means and from the deviation of described deviation counter output specify finish width in, be judged as and finish zero servoly, and the zero servo signal of finishing is input to the outside.
3, position control apparatus as claimed in claim 1 is characterized in that, described user input unit also has the input block of the command value that is used for order that input position instruction stops to remove and target location, and this position control apparatus has:
The position command pulse-generating circuit, its position command pulse that command value that is input to the target location in the described user input unit is carried out pulses switch is exported;
The conversion instruction device if the order that position command is stopped to remove is input to described user input unit, and is imported the switching signal in the described conversion judgment means, then its input conversion indicator signal;
Gate circuit, its position command pulse with the position command pulse-generating circuit outputs in the described deviation counter.
4, position control apparatus as claimed in claim 3, it is characterized in that, further comprise: the zero servo judgment means of finishing, the switching signal that it sends in the described conversion judgment means of input, and with the deviation of described deviation counter output put into appointment finish in the width time, it outputs to the outside with zero servo signal of finishing.
5, position control apparatus as claimed in claim 4 is characterized in that, described user input unit also possesses the input block that is used to import the starting reset instruction and changes the position control increment instruction,
And have the increment selecting arrangement, it be according to can changing the position control increment that is input in the described user input unit, from the offset list of storage in advance, select the position control increment that meets and be set in the described control increment generation device,
If will start the instruction that reset instruction and position command stop to remove, and the converted command signal that input conversion instruction device sends, the position command pulse that then described gate circuit sends the position command pulse-generating circuit outputs in the described deviation counter.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2000403495 | 2000-12-28 | ||
| JP2000403495A JP3440936B2 (en) | 2000-12-28 | 2000-12-28 | Position control device |
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| CN1362652A CN1362652A (en) | 2002-08-07 |
| CN1160604C true CN1160604C (en) | 2004-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB011448997A Expired - Fee Related CN1160604C (en) | 2000-12-28 | 2001-12-28 | Position control equipment |
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| CN (1) | CN1160604C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101274399B (en) * | 2007-03-26 | 2013-03-20 | 株式会社神户制钢所 | Device for controlling workpiece positioning device |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4075770B2 (en) * | 2003-10-30 | 2008-04-16 | サンケン電気株式会社 | Winding bobbin rotational speed control method and inverter |
| JP4083767B2 (en) | 2005-12-22 | 2008-04-30 | ファナック株式会社 | Numerical control device to control servo motor |
| JP5171395B2 (en) * | 2007-07-31 | 2013-03-27 | 京セラ株式会社 | Stage position variation detection device and transport device provided with the same |
| JP5153457B2 (en) * | 2008-05-29 | 2013-02-27 | 京セラ株式会社 | Stage position variation detection device and transport device provided with the same |
| 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 |
| CN104444913B (en) * | 2014-09-24 | 2017-01-11 | 深圳市正弦电气股份有限公司 | Braking method and device of crane |
| JP6794194B2 (en) * | 2015-09-17 | 2020-12-02 | キヤノン株式会社 | Manufacturing methods for robotic devices, control methods, programs, recording media and articles |
| CN105388923B (en) * | 2015-11-06 | 2018-07-13 | 浙江宇视科技有限公司 | A kind of method for pre-configuration and system controlling different ball machine output same rotational speeds |
| CN105867445B (en) * | 2016-04-13 | 2019-04-23 | 中国科学院光电技术研究所 | A kind of simple steady deceleration method of gondola counteraction flyback |
| CN106773651B (en) * | 2016-12-31 | 2020-01-17 | 深圳市优必选科技有限公司 | Steering engine critical point locking method and device |
| CN112114539B (en) * | 2020-09-25 | 2023-11-28 | 成都易慧家科技有限公司 | Control system and method for double-motor driven sliding door and window |
| TWI776344B (en) * | 2021-01-04 | 2022-09-01 | 東元電機股份有限公司 | Judgment system and method for automatic adjustment of servo motor |
-
2000
- 2000-12-28 JP JP2000403495A patent/JP3440936B2/en not_active Expired - Fee Related
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- 2001-12-28 CN CNB011448997A patent/CN1160604C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101274399B (en) * | 2007-03-26 | 2013-03-20 | 株式会社神户制钢所 | Device for controlling workpiece positioning device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3440936B2 (en) | 2003-08-25 |
| JP2002202819A (en) | 2002-07-19 |
| CN1362652A (en) | 2002-08-07 |
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