DE2236703A1 - NUMERICAL CONTROL OF ELECTRIC MOTORS WITH ORIGINAL MEMORY - Google Patents

Description

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TEL. (OpII) 530211 TgI ₅ GKs S-243Q3 tgpaj

53 0211

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Munich: '- Frarikfurl / M .:

pipUChem.Pr.P.Thomsmi PlpJ, * | ng, W. Welnkeuff ΡΙρΙ, -lng, H. TleiUkg (Fuchenprii 71)

Pipl.-former <3, BüfiHog p! P | _t -lng. B · Kinne Pipl.-Cfiem. Pr. U. Eggm

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Kel * er-Ludwlfl-Platz β 26, July 1972

Andre Dejoux
Paris, France

Numerical control of electric motors with original spearer

The invention relates to a device that the mechanical connections for synchronization between the elements of transfer riveting machines or similar to replace mechanical systems and also the ordinary ones To replace speed controls by giving them an additional variable is entered, the puncture of which ensures the knowledge of a position as a function of is of a defined origin that is stored in a memory is. The devices currently used to maintain synchronism are mainly divided into two groups:

1) Those through which the connection between the different Places carried out by a purely mechanical V / eg

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* Oral retrievals, insbttondtr · durcti Ttltfon, require "chrlttllchtr confirmation Püittchtck (Miinohtnl Klo 1180 74 Drtidntr Β · ηΚ (MOnchan) Account SSMTOf BAD ORIGINAL

2) those who use electrical or electronic controls are provided.

In the first group, all requirements are met in a very reliable manner; but the shafts, gears, chains and other mechanisms quickly become costly and unacceptably bulky as the dimensions of the controlled machine increase; Furthermore, the operation brings with it non-negligible factors to be observed, the influence of the gear backlash, the joints, the wear, torsion and beer of shafts, the effects of the rapid or brutal moment reversal, which are dangerous for all connecting organs and chains, breakdowns in the cable slack, greatest Inertia from where the need for larger engines arises.

The devices of the second group have in the fi? 11 The main disadvantage of electrical oynchronous machines is the possibility the slippage (displacement) of one or more

Revolutions with a random increase in a moment of resistance. In the case of electronic controls, the only quantity which could be guaranteed with accuracy in the current speed. The knowledge of the position speaks a second superimposed servomechanism to reduce the cost the facility greatly enlarged. In the pail of constant circulation the mechanisms for storing the origin position become very complicated and expensive *

The control 209886/0951 should be used at the same time as the invention

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the rotational speed (speed) of one or more machines, the complete synchronism between these machines and the reference (position) of the shafts in relation to the origin of the movement, regardless of the number of revolutions passed through guaranteed.

In addition, the device according to the invention allows precise, defined and controllable speed ratios between the different controlled waves. In the event of abnormal use, the lossless relocation of the original memory is used as a force limiter. It is possible to stop the arrangement of the controlled machines during a fault of this type, to eliminate them by intervening in the moments of resistance when the resulting shift is significant is; this middle.1 · allows to avoid the rupture of organs.

In contrast to ordinary electronic control systems, the storage of the origin and the instant can be carried out Position can be carried out in the event of an interruption of the drive energy, which enables the operation of the machines without loss of synchronism allowed. The principle of restrained control also provides additional information about the acceleration or delay of a general nature or for any of the machines obtained without storing the origin is impaired or lost and automatic backward displacement is made impossible.

The device according to the invention works essentially with the aid of integrated numerical systems, whose

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Developing in the direction of constant progress and more and more suitable industrial and lower cost allows relatively little costly development.

This device also allows the control of sources of motion other than electrical; She is particular applicable to heat engines and hydraulic turbines.

This aim is achieved according to the invention by providing each motor shaft with the following means:

1) a pulse transmitter that could respond to the direction of rotation;

2) constant or variable controls, especially of frequency generators and / or function generators;

3) binary up and down counters and memory counters;

¹ O binary numeric comparators arranged in a cascade to obtain a "high, medium, fine, very fine" regulation according to a sequence compatible with the required accuracy;

5) active summing networks, weighted according to the rank of the information, for the control of the power circuits by the best known means for phase correction;

6) Numerical divisors with variable division factors to make certain waves with in view of general control variable but constant speed ratio to be able to drive.

The invention is illustrated in the following with the aid of a schematic Drawings explained in more detail using an exemplary embodiment.

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Pig »1 shows a device with a single control, with a machine as a reference serves for another;

Pig. Fig. 2 shows a device with a single control, in which the machines directly on the Control related; and

Figure 3 shows the addition of a phase comparator.

As shown in Fig. 1, the apparatus comprises for example two machines 1 and 2 and their general controls 3 »which is sufficient to understand how the system works to do that “would be analog for any number of machines.

Each machine 1 and 2 is controlled by the power blocks 4 and 5, while the rotation of the machines actuates the pulse generators 6 and 7, the memory counters 8, 9 and Ik with the desired storage of proportional capacity. These counters are completed by the numerical binary comparators 10 and 11. The information from the comparators is available on summing networks 12 and 13.

The device shown operates in the following way: At the time origin, counters 8, 9 and 14 are empty and the control 3 is not yet in operation, at the moment when the system is energized, starts the controller 3, which essentially consists of a pulse

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generator with variable repetition period exists work, which causes the countability of these pulses by the counter 14. The number, however small it may be, however different from zero, is due to the comparator 11, which in turn in the current state of the art by a cascade is formed from numerical binary comparators (coarse, medium, fine, very fine, etc.). These comparators are known in the current state of the art as n ° DM 8200 NSC-USA.

The comparator 11 receives at its other input the number which is present in the counter 9 which is actuated by the pulse generator 7 which is operated by the machine 2. Since this machine is still at a standstill, the number contained in the counter 9 is zero, which, compared to I ¹ I, indicates information about the acceleration as soon as the number 1 appears in 1 * 1. This information, which is proportional to the difference between the numbers 9 and IM (a piece of logical information from the counter), is applied to the active summing network 13, which is formed by a network of input resistors, an operational amplifier and an active integrator. The values make it possible to give the information a weight proportional to the rank of the applied comparator, so that information is obtained which represents the hundreds and is more important than the information which corresponds to the ones.

The information coming from 13 in analog form can be used in the state or fed back in binary form according to the working principle of the power block controlling machine 2. As stated in the foregoing ",

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At the moment of starting, the information shown in FIG. 13 corresponds to a command to start the power block 5. As soon as the machine 2 begins to rotate, 7 pulses are emitted, counted in 9 and compared ^{in 11 with the content of I 1 I.} If the content of 9 is less than that of 14, block 5 receives the command to accelerate by increasing the analog voltage supplied through 13 under the influence of the constant presence of the logic state of 11. Due to the "weight" of the resistors, the rise in voltage is all the faster, as the difference between 9 and 14 is important. At the moment of approaching the equality of the numbers contained in 9 and 1H , the slope of the control voltage rise becomes very small, and at the moment of equality the control voltage becomes constant: machine 2 has fallen in step with the rhythm of the pulse generator ^.

More or less a single impulse is enough to

to change the control voltage, its slope as a function of

't
can be reduced from the desired instantaneous accuracy. One can go as far as the comparison of the phases, as shown in FIG. 3, in order to improve the synchronization accuracy. In the event of an accidental stoppage of the machine 2 or an abnormal moment of resistance that causes it to lose its synchronism for a short time, re-phasing takes place automatically by comparing the contents of the counters 9 and 14, the capacity of which is proportional to the presumed largest period, an unwanted stoppage of the controlled machine must be set. (Without any particular difficulty and for a reasonable cost, one could ask for information

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rnation per revolution of the machine and 15OO rpm easily one Week reach. When the counters reach the full state, they automatically return to zero and start again a cycle. Note that a complementary summer could take into account the cycles, and could allow times to be achieved that are greater than the lifespan of the controlled machines).

The control of the machine 1 with respect to the machine 2 proceeds strictly according to the same principle as the control of the machine 2 with respect to the control device 3 via the comparator 10, which receives the information from the counters 8 and 9, which are actuated by the pulse generators 6 and 7, wherein the network 12 sums the particular for the power block ¹ J information.

Fig. 2 comprises the same elements as Fig. 1; the functions are identical, but the comparisons for the regulating process directly from the counter 14 with respect to the counter 8 for the machine 1 on the one hand and at the counter 9 for the machine 2 on the other hand. The same operating sequences result from the control device at the same time 3 for machine 1 and for machine 2. There are no control between 1 and 2 but an indirect control by the common control device 3.

In Figures 1 and 2 one can notice the presence of a dashed line divider D, which is

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for example, by dividing the number of impulses coming from 6, a constant and controllable ratio between of the machine 1 and the machine 2. This divider (e.g. MODULO N DIVISOR - NSC (USA)) allows it to be done independently of whether the division ratio is fixed or adjustable, to be divided by a whole variable. Getting fractions from the same system is known.

It is still possible to use the same place instead of the divider D and regardless of which of the controlled machines introduce a numerical addition-subtraction system (e.g., FULL-ADD - MODULO N DIVISOR); this device enables a positive or negative serial input in the control variable after external control, regardless of the number at the discretion of the attendant.

You can also use this number if you wish

apply to an up and down counter, which in the case of free forward

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upward or backward shift allows the retrieval of the same origin thanks to a cascade of additional numerical comparators.

It should be noted that the addition-subtraction sequences Mathematical or mechanical functions can be used to define what the machine with which the system is in series is switched, causes to have a non-uniform movement that accelerates or according to the selected function can be decelerated, while the speed of the shaft for defi-

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nated Zritperio den the same as the speed of the shafts the other machines is. In terms of mechanics, this method corresponds to the use of an elliptical or eccentric Gear pair.

As in the general case, in the event of a break in synchronism as a result of a abnormal moment of resistance when normal conditions return automatically back in phase and with respect to the original memory.

Figure 3 illustrates the addition of a phase comparator between machines 1 and 2. This known one Device is used in those cases where a very great severity. Position of the machines is necessary a Carry out quick and very precise correction by superimposing an active network with a positive or negative one DC voltage applied in the direction that is suitable for eliminating the error and through a phase correction network is modulated in such a way that a very high accuracy is obtained, the occurrence of oscillations of the system completely is avoided.

It should be noted that this phase correction can be obtained in the same way with the aid of a numerical comparator (DM 8200 - NSC - USA) used on a single bit (binary number 0001), in which case the non-coincidence of the two pulses is transmitted through the logical outputs e iide O ₁ I or 1,0 according to the direction of the error; the

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Equality of state 1.1 will only be in the case of complete Coincidence. For example, this binary number is present the active summing network 12 after the regulation to a "weight" which corresponds to the characteristic values of the machines.

The very low consumption and the very low working voltages of current integrated circuits allow powering of the whole of the integrated circuits by microbatteries on the normal power sources are arranged floating. These batteries have a volume comparable to that of large filter capacitors leakproof and require no monitoring and have a lifespan equal to that of conventional electronic materials is comparable (e.g. Voltabloc or AGGLO cell). These elements can be used in the sash frame or cabinet, box, etc., as well as other components be arranged to achieve a moderate price. They enable a permanent supply to be guaranteed the numerical circuits in case of failure of the main source,

In this case and for the fact that the pulse generators are, for example, electrodynamic generators, 'it becomes possible to preserve the entire memory of the origin of the revolutions, even if the controlled machines are random or free rotate or be rotated. If they are put under tension again, the original employment will be taken up again independently on the number of relative rotations made by the TlafichineTi during the standing period or the blocking period do:; ΛιΐίίΓίΠΐΒ drr "Rnoffio were carried out.

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In the most general case, the transition of the counters from counting up to counting down can be achieved by or reverse control, or by a system that is responsive to the direction of flow of the current (e.g. a polarized relay). This is the case with certain fast controls or braking by countercurrent However, this method is not suitable because the direction of the control or of the current is temporarily in opposition the direction of rotation of the machine. There is no lack of a conversion disorder setting in the control. It is sufficient However, to replace the simple pulse generator with a pulse generator that points to the direction of rotation of the machine or the shaft appeals to. This known system may require, among other things, a gate discriminator, the impulses at two different Outputs according to the order in which the gates are excited.

In the case of heating machines or hydraulic turbines, the Sumiaiernetz 13 (Pig. 1 and Fig. 2) no longer acts the control blocks 1 and 5 of the machines 1 and 2 but the regulating element of the heating machine or the control servomotor the hydraulic turbine.

The device can be used to control transmission machines used by cylinders of printing machines, by high-speed heliograph machines, by rotating equipment, by machines for the paper industry, Felt and plastic (used in machines for thermoforming plastic materials), air conditioning machines, machines for the Tfixtil- and GuroniinduBtrie, MangeimaBchinen., "iehmaschinpn"

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from Maecfiinen for the food industry, for the automatic Handling of the control of taxiways, rolling, block rolling and branching block rolling lines and especially for the control of sheet metal lines of a general kind, xfo this is always desired is to control an organ in speed and position, applying to steering and maneuvering on the synchronization of complex facilities, marine and aviation. - ■,

An optional application is also the synchronous drive of machines for cinematographic studios, for the the use of classic synchronous machines (e.g. Selsyn) causes frequent problems. In the particular case where generally a synchronous encoder machine referred to as the "mother group" vervrencletL-iWxrd, which rdt the drive receiver each Projection machine is connected, there are numerous running errors, such as runaway, oscillations, break in synchronism, and complex forward-reverse switching. It is possible without difficulty to replace the "mother group" by the control device according to the invention, the. . Receiver machines are controlled by the controller according to the method described above. The capacity of the counter reaches the number of frames of any film without difficulty.} furthermore, complete synchronization is easily obtained the reference machines depending on the origin; in addition, it is much easier than with the usual systems (differential machines) a shift of a predetermined number of images and the return to the starting point

2CI9886 / Ü951 bad original

to obtain: addition-subtraction device, up and down counter, numerical comparator with automatic reset to zero, as described above.

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Claims (12)

- 15 claims (1.J device for simultaneously ensuring the control of the speed of one or more rotating
Machines or machine elements, the complete synchronism between these machines and the reference of the shafts
the origin of the movement regardless of the number of revolutions passed through, characterized by a pulse generator connected to each machine, constant or variable control obtained from frequency stabilized pulse generators, numerical binary up and down counters with memories, numerical binary comparators, active summing networks, the are weighted according to the rank of the information. 2. Apparatus according to claim 1, characterized by at least one divider with a controllable division factor. 3. Apparatus according to claim 1, characterized by at least one Adtlitions-subtraction device with a Up and down counter and a numerical binary comparator is connected, which allows the reset to zero. ¹ J. Device according to claim 3, characterized in that the number introduced into the adding device is generated by an appending device in such a way that it is
after a puncture determined by the application for which the device is intended. 5-, device according to claim 1, dnduroh marked 2098 8 6/0951 BATH ORIGINAL net that the machines individually from the general control being controlled. 6. The device according to claim 1, characterized in that the machines in cascade, starting from the controller, being controlled. 7. Apparatus according to claim 1, characterized in that at least one analog phase comparator the accuracy the current relative position of the machines improved. 8. The device according to claim 1, characterized in that at least one numerical phase comparator the accuracy the current relative position of the machines improved. 9. The device according to claim 1, characterized in that the determination of the direction of upward or downward counting from the previous knowledge of the direction of the control in The machine is moving forward or backward. 10. The device according to claim 1, characterized in that that determining the direction of the upward or downward 8-count takes place with an impulse generator, the «Indirectly die Direction of rotation of the shaft determined. 11. The device according to claim I ₉ datferöfi 2 0 9886/0951 ORIGINAL INSPECTED net that the presence of an internal source of energy that feeds the electronic systems in the event of a failure of the feed network, the preservation of the original memory and the port setting counting in case of machine rotation outside the main run. 12. The device according to claim 1, characterized by its use in the synchronous drive of materials for. cinematographic studios and the preservation of the original storage. 209886/0951 ORIGINAL INSPECTED Blank page