DE2511640A1 - Motor speed and acceleration control system - is digital system and has input to processor stating motor requirements - Google Patents

Abstract

A system to achieve accurate motor positioning with optimum acceleration and retardation in response to input information to a digital processor controlling the motor. Information stored in the controller relates to maximum motor speed and rate of change of speed which can be achieved without missing a pulse, whilst the signal input states the machine requirement. In the processor the governing factors are the actual motor speed in impulses per second, and the number of impulses permitted in the next time subdivision which will give optimum rate of change of speed. The difference in impulses between successive time intervals is always an integer, and by counting in pulses rather the pulse sequences more accurate control is achieved.

Description

Method of controlling the speed of a motor and apparatus for carrying out the method The invention relates to a method for controlling the speed of a digitally operating motor system and a device to carry out the procedure.

The invention is particularly applicable to numerical control systems in which a device is moved a distance that is programmed by Commands is given; a particularly useful area of application for these systems occurs when the movement is carried out digitally in such a way that it is generated by a motor which causes each received pulse to be substantially simultaneous in one step with the same length. By controlling the rate or

Speed and number of pulses can be changed in this way reach the speed and overall motion of the motor.

Because the engine has a finite, limited ability to respond to every impulse To address, it is essential that the impulses the engine in the range of possibilities of the motor are supplied to respond to it; if this is not the case, step Errors in that the motor does not generate a step for each pulse or loses a step. In U.S. Patent No. 3,411,058, which is assigned to the assignee of the The present invention provides a rate control system or the speed of the pulses described by a digital motor device while in U.S. Patent No. 3,553,549, also assigned to the assignee of the present invention, another system will be explained.

Although both of these systems work satisfactorily, they are based both basically insist on the rate of each pulse being regulated and / or by analog circuitry be used. Since each pulse is regulated, it must be practically throughout the entire process Time a circuit can be assigned to this scheme, while on the other hand at an analog circuit, the rate or speed inherently has difficulty can be adjusted; it is also relatively difficult to change the rate; if this can be done at all, it must be done using programmed commands happen in order to be functional even under different operating conditions. Of the Invention is therefore, inter alia, the object of a method and a Apparatus for controlling the speed and movement of a digital motor device to create in which a programmed digital computer can be used and programmed instructions are used to make the device different Adjust operating conditions.

Furthermore, with the present invention, a method and a Apparatus can be provided in which the above task by means of a minimum in terms of computer time is achieved by provisions or the use of the calculator be done on the basis of time intervals, usually by several Impulses in relation to number and rate are controlled instead of determinations to individual ones Make impulses.

Finally, the present invention aims to provide a method and an apparatus for controlling the movement of a digital motor device using a programmed computer, simultaneously however, there is only a relatively small need for storage space; should continue the device slightly different step-wise or step-wise working motor devices can be adapted and programmed relatively easily, but at the same time the control of each pulse applied to the motor means in Regarding number and speed is maintained in order to produce movement.

To carry out the invention, the method or

of the device according to the invention according to a preferred embodiment uses a general purpose computing system programming in accordance with this invention will; if necessary, however, a hard-wired or hardwired device can also be used for the device specified circuit can be used.

With both structures, there is the one required for each movement information from three numbers, namely the amount of movement in incremental steps, the maximum speed in steps per second and a value for the acceleration.

The acceleration value represents a change in speed, i.e., the number of pulses per second to which the engine device is certain to respond can that not a step is lost. Basically it is based on the number of pulses per unit of time that the motor device increases its speed from a speed can change to the next speed, the motor device making the change to have reached the new speed at the end of the time interval. If on that At the end of each time interval the motor means in this way a speed which is equal to the pulse rate, it essentially transmits each pulse at the same time in an incremental or stepwise movement and is so in relation on speed and position synchronous with the impulses.

With the above information, the computer performs a variety of Determinations, each determination being the number of steps (or pulses) and provides the pulse rate or pulse frequency (or steps per second) at which the engine device is to be operated.

During speed changes, i.e. when there is an acceleration or a decrease in speed occurs, the provisions are made according to a preferred embodiment performed as often as the motor device can respond to the speed changes, thereby reducing the time for the to keep commanded movement as low as possible and the possibilities of the motor completely to take advantage of. During the movements at constant speed, the determinations repeats according to an embodiment of the invention with constant time intervals be carried out while after another embodiment the time intervals are not constant.

The determinations of the calculator are presented as a series of two sentences carried out by numbers, one of the numbers being an electrical representation of the Number of pulses is while the other number is an electrical representation of the pulse rate or speed of the pulses. Each determination is then made by a circuit, which contains a speed or flow multiplier and a down counter, processed into a pulse train in which the number of pulses and the rate through the information is specified in the determination. This series of impulses forms the input signal to a digital motor device that generates one for each pulse Step or an incremental movement. At the end of the pulse train a determination, the circuit then requests the information from the computer next determination that has already been made available and in a buffer memory can be stored.

The determination? which the calculator performs for each output record is relatively simple and can be done much faster than the engine setup can generate the movement, so that the computer is only intermittent and not continuous must be used. This means that the calculator can also be used for other calculations Can be available.

The invention will be played in the following on the basis of exemplary embodiments Explained in more detail with reference to the accompanying schematic drawings.

1 shows a block diagram of the processing circuit according to FIG of the present invention, the the numbers on each determination translates into an emergent train of pulses; Fig. 2 is a schematic representation the pulse train generated for commanded movement of the motor means; 3 is a view similar to FIG. 2, but only showing the pulse train. which is then generated when a further embodiment of a computer program is used, and FIG. 4 is a data flow diagram of the computer program which is used for delivery the determination numbers is used.

As can be seen from the drawings, the system is according to the present invention Invention indicated generally by the reference numeral 10; such a system becomes used, by means of a motor 11, whose energy is controlled by a digital motor 12 is set to produce an incremental or stepwise movement; the Motor control receives at an input 13 a pulse to essentially simultaneously with its receipt to generate the energy for the motor 11, whereby the motor a causes incremental or gradual movement. So the motor creates a movement of the same length for each pulse received at input 13. The entrance 13 is connected to processing circuitry, generally designated by the reference numeral 14 is provided; this processing circuit receives information from a programmed Computing system or data processing system 15, which has an input 16.

The command information at input 16 of the computer system 15th or on a hard-wired circuit assigned to a movement from the following elements: The number of steps that the motor 11 must perform, to create the movement; the maximum speed he can move while moving should have; and an acceptable value for the speed change for acceleration or to reduce the speed.

The computing system 15 is a number on a buffer memory 17, the for each determination the speed in steps per second (here referred to as VX) as well as the number of pulses instead of a pulse train (referred to as NX), that the motor should generate at this speed. The speed information VX is transmitted to a flow multiplier 18 as soon as a transmission block 19 is actuated while the pulse number information NX under the control of a transmission block 21 to a down counter counting in the direction of zero 20 are transmitted; the transmission block 21 becomes simultaneous with the transmission block 19 actuated.

The FluB multiplier has a 'tGakt' ('clock') Input 22 and an output 23 for the pulses. The aurgcng for the impulses is with the input 13 of the digital engine control 12 and with a counting connection 24 of the down counter 20 connected, its count value for each received pulse decreases by one.

The down counter has another connection labeled N = O 24a, which sends a signal to the two transmission blocks when the count value is zero 19 and 21 and to a block 25; the latter block is a control unit for the computer system 15 to make a new determination so that the buffer memory 17 a new VX and a new NX are fed.

The clock terminal 22 of the flow multiplier is connected to the output of a the divide-by-fourth blocks 26 connected, who in turn to one 1 million Hertz clock 27 is connected; this is a pulse frequency, which can generally be obtained from the computer 15.

So the VX information is in the flow multiplier, while the down counter 20 is set to the number NX; the clock connection then continuously receives clock pulses at a rate of 250 z and incrementally added the value of VX to itself for each clock pulse. Every time the sum exceeds the maximum count of the multiplier, it overflows in order to generate an output pulse at the terminal 23 which passes through the engine controller 12 is processed; this creates a step and also the count value of the down counter 20 is reduced by one. This process continues until the count value of the down counter 20 becomes zero; at this time new values for VX and NX are added to the flow multiplier 18 and the down counter, respectively 20 is supplied from the buffer memory 17, and a new determination request is sent to the computer posed. The processing circuit 14 then processes this new information, in order to generate a pulse train with the pulse frequency at the output 23 for the pulses, which is indicated and controlled by the speed information VX until the Number of pulses (NX) generated; at this point the processing circuit receives the next destination information to be processed. The calculator needs to carry out a determination takes a shorter period of time than it takes to process a determination is required; he can therefore make a determination at any point in time of a time interval carry out; no immediate determination is required due to the buffer memory, when a request is made by block 25.

In Fig. 2, a series of pulses is shown schematically, the the digital engine controller 12 are supplied; in this case the input command to the computer is designed so that the motor 27 steps with a maximum speed of 800 steps per second and with one Acceleration value of 200 moves. The acceleration value is determined by the ability of the motor 11 is set to respond to a change in speed without to lose a step; in this example this was 40,000 steps per sec2 so that the motor has a speed at the end of a second of acceleration of 4o,000 steps per second. This value depends on the operating conditions away; however, in all examples it is not greater than the pulse rate at which the Motor 11 can start without losing a step. So that the motor 11 can a value of 200 respond to a pulse frequency of 200 steps per second.

Furthermore, at least in this representation, it is assumed that that a constant value is maintained during the entire duration of the movement.

In Fig. 2, the issue of the start command is through a vertical Line indicated, which is indicated by the addition of start; shortly thereafter occurs an impulse Pl on.

This is the first pulse in the series of pulses; it is generated very quickly, after the start command is received to trigger the motor to move as soon as the command is given. In the present example, NX has the value one, while the value for VX may be 1,000 or a similar amount; this depends on what is selected; according to a preferred embodiment, however, this should be in in each case happened very quickly. When this information through the buffer memory to the Bluß multiplier 18 and the down counter 20 is generated the multiplier 18 within the time period TI a pulse Pl, while the down counter 20 again assumes the state N = O.

In the next determination, VX is equal to the acceleration value, namely 200 steps per second, while NX is equal to one again. According to the period of time T2, the pulse P2 is then generated. For the next time interval U3, the Pulses P3 and P4 generated by determining the values of VX = 400 and NX = 2. To the termination of the pulses P4 has the new determination VX = 600 and NX = 3; to this At this point, the pulses P5, P6 and P7 are generated (some pulses are in the figure not shown in detail). The motor has its controlled, maximum speed of 800 steps per second has not yet been reached, so that for the next time interval T5 has the determination VX = 800 and NX = 4, thereby generating pulses P8 through P11 will.

The motor has now reached its maximum speed; while of the time intervals T6 and T7, VX is then 800 and NX 4, so the engine speed held at 800 steps per second for the duration of these two time intervals will. At the end of the interval 27, the engine control 12 has received the pulse P 19, so that 8 more pulses have to be generated; these impulses are used to a decrease in speed with substantially the same change in speed how to effect acceleration. This means that for the interval T8 the values VX = 600 and NX = 3, while for the intervals T9 and T10 they are VX = 400 and NX = 2.

The last pulse P27 is derived from the determination of VX = 200 and NX = 1 is generated and occurs during time interval T11.

Taking into account the distribution of the pulse series, it results that with the exception of the time T1, the time intervals T2 to T11 are identical, which is inevitably it follows that the duration of the time interval is equal to NX (number of Pulses) divided by VX (pulse rate); in this embodiment is Duration 5 msec (0.005 sec).

As soon as P1 is generated, the motor continues to have time period T2 available to accelerate to 200 steps per second; there is only one Pulse requires a speed of 400 steps before pulses P2 and P3 request per second. However, the time interval U3 is available to the motor, to increase its speed from 200 to 400 steps per second; while the time T4 it increases its speed from 400 to 600 and during the time 25 his speed from 600 to 800 steps per second.

Although the pulses in each time interval have a constant rate or Speed, the motor must have a speed at the end of each time interval which is equal to the pulse rate. During at least part of the interval however, the pulse rate is faster than the motor from the start of the interval on so that the motor accelerates during the interval. So this results a delay caused by the change in speed between a pulse and the response of the engine is introduced at the end of the time interval on their Normal value drops. In no case is the delay greater than one step, like this that it is ensured that the synchronous sequence between the motor movement and the pulse generation will be within one step at all times.

Of course, the calculator can produce identification numbers in a shorter Generate time span as a time interval; this allows the computer to operate in "ime-sharing" mode work with other areas that require calculations.

In Fig. 4 is a data flow diagram is shown with which the computer so can be programmed that the determination numbers are generated for the control the speed of the motor. First of all, the various Abbreviations be explained in the data flow plan; BB represents the current movement, which is still to be carried out; at the beginning before taking any steps it is equal to the commanded number of movements (namely 27 for the specified Example) while they are processing the information for each command pulse is decreased by one to maintain the number of steps required for movement remain. VM represents the maximum permissible speed and is an entered one Information that remains constant for the movement; in the example given would this speed have a value of 800 steps per second. A represents a Is a device that can assume two states; for example, a Flip-flop can be used, which has either a state 1 or a state 0; this device is used for generating the first pulse it; BN provides represents the count in a counter that is used to determine the point in time at which the speed reduction should begin; this becomes a Maintain count for the minimum number of pulses required for reduction the speed required. NO represents a time interval counter, which is the count, less one, of each successive time interval and maintains its count only by one for each time interval or determination can change. V represents a numerical value for the engine speed at the Determination. K represents the numerical value for the change in speed, which lies within the possibilities of the engine and which in the present example has a value of 200. NX is the number of motor steps required for each determination is output while VX represents the determination speed. V INNIG is the speed that is only used for the first pulse P1 and is called Information entered.

Thus, in the example given, the one shown in FIG Momentum distribution generated and the determinations described above can be carried out is required for the functioning of the data flow plan that in a block 23 the following Input information is supplied: BL = 27, VM = 800, K = 200 and V INDIZ = 1000.

A start block 29 is actuated to start processing the input information to start; at the beginning it brings A to state 0 via a block 30. The block 25 indicates that the processing circuit is ready to receive information, and therefore requests them. The block 31 inquires whether there are any remaining Steps are in place by querying the BB counter; no steps remain remaining, block 32 is actuated, indicating that the move complete and finished. As a result, a block 33 can be actuated if necessary, to proceed to the next movement, with the information for the processing block 28 for the new input command can be received.

However, if BL = 27, then block 31 generates a NO signal and issues this to a block 34 which asks whether A is in state 1 (which it does in Considering block 30 is not); a signal is still sent to a DO block 35, which fulfills the following functions: It sets A to its state 1, sets the NC counter to 0, the BN counter to 1 and the V register to 0. Continue the block 35 decreases the count of the BL counter by 1 and sets NX = 1 and VX = the initial pulse rate V INIT. This information of the first determination is output by a block 36, whereby the pulse P1 in a corresponding manner is produced.

When the processing circuit 14 makes the next determination by the Block 25 requests the numeric values for VX and NX for the time interval T2 determined via the blocks 31 and 34 and given to a block 37, the queries whether the difference between the two registers BB and BN is greater than two times the Time interval counter NC is. If BB is numeric 26, BN 0 and NC 0 then flow the information to a block 38 which changes the value from V to 200 by adding K (200) is added to the old value for V (O).; then a block 39 asks whether V (now 200) is equal to or less than the maximum speed VM (800). Will the answer "yes" is given, the commands are executed in block 40, the Sets BN equal to BN plus NC (both 0), so that BN remains 0, while NC by the addition is set from 0 and 1 to 1.

Subsequently, by a command block 41 BS is around the word of NO (1) decreased so that it now becomes 25, while NX is equal to NC (1) and VX is equal to V (200) can be made; these values become the determination for the time interval T2 output by block 36. After the termination of this determination, the saved Values V = 200, BN = 0, NC = 1 and BB = 25.

The next time the values VX and NX are requested for the time interval T3 the same determination is made by blocks 34, 37, 38, 39, 40 and 41, after which the block 36 outputs the values VX = 400 and NX = 2. The information stored are V = 400, BN = 1, NC = 2 and BN = 23. For the time interval T4, VX = 600 and NX = 3 are output, with the stored values V = 600, BN = 3, NC = 3 and BL = 20. At the time interval T5, TX = 800 and NX = 4, where the stored Values are V = 800, BE = 6, NC = 4 and BB = 16. It should be noted that that the value of V is now equal to VM, after which the acceleration phase of the movement is finished.

The information flows in the determination for the time interval T6 to blocks 34, 37 and 38 and to block 39, where the flow of information is now is passed through a block 42, since V is now equal to 1000 (by the block 38, which adds 200 to the previous value 800 for V), block 42 decreases increases the value of V by 200 (K) to a V value of 800, and then returns to the block 41 back. This block outputs VX as 800 and NX as 4, with the end of the Time interval T6, the stored values are V = 800, BN = 6, BL = 12 and NC = 4. This is the first time the engine is set to run running at its maximum speed.

For the time interval T7, the flow of information runs through the block 34 and block 37, where the question asked by this block is "no" for the first time. is (12 minus 6 is less than 2 times 4); thereby the flow of information becomes one Block 43 led, where the set by this block; Rrgemit "åa" is answered (since BL = 12, 3N = 6 and NC = 4); this basically asks whether there is more when moving Steps are left over as required for the reduction in speed are. The flow of information is so through a switch 44, which has a contact 44a can come into engagement, led to the block 41. This block moves the Value for BL to a value of 8, after which the values 4 and 800 for NX and VX through the block 36 are output.

In the next time interval T8 there is a reduction in speed performed at the K value representing the same pulse rate as that at that the engine was accelerated; in this case the flow of information is again one after the other and in sequence to blocks 34, 37 and 43. At the block 43 is however, the question asked answered with "no" (since BS = 8, BN = 6 and NC = 4); the information thus continues to a block 45 which contains the value for NC by 1 to 3 and the value for BN decreased by the new value of NC (6-3 = 3), while the block 42 then decreases the value for V by K (to 600). Information will then forwarded to block 41, who value fut BS is lowered by NC (8-3 = 5), after which the values for VX = 600 and NX = 3 output by block 36 will. The values for NC = 3, BN = 3, V = 600 and BS = 5 remain in the memory registers.

For the next interval T9, at which pulses P23 and P24 are output the data flow through blocks 34, 37, 43, 45, 42 and 41 leads to the output of VX = 4, NX = 2, while the values for NC = 2, BN = 1; V = 400 and BL = 3 saved will. When determining for the time interval rad10, the data flow takes place through blocks 34, 37, 43, switch 44 and block 41, where the values for VX = 400 and NX = 2 are output, while the values for BL = 1, NC = 2, BN = 1 and V = 400 remain. Since the question in block 43 is answered with "yes", only changed the value for BB, the number of steps left.

For the last time interval 211, the data flow through the blocks 34, 37, 43, 45, 42 and 41 to output VX = 200 and NX = 1. Remain in the register the values NC = 1, BN = O, V = 200 and BB = O. When the next determination is requested the block 31 generates the answer "yes", since BB = 0, which indicates that all impulses for the movement have been generated. The information then flows to block 32 to indicate that the determination of motion has ended; this allows block 33 to request new input data for the next commanded movement.

Since the value for VX is equal to the value for VM, it goes without saying the two excess pulses, namely P25 and P26, that occur during the time interval 10 occur not required for speed reduction; with the one shown They only require their own time interval and motor movement at a slower speed than the maximum speed. So that these excess impulses the maximum speed generated be in order to decrease the time for movement and also on a determination and to waive the time interval required for this, thereby reducing the speed becomes effectively the same as the acceleration, the data flow plan can can be changed by having the switch 44 in contact with its terminal 44b is brought. This results in the distribution of the pulses shown in FIG. 3. For the first six time intervals, the impulse distribution is identical to that in Fig. 2 shown. For the time interval 7 'according to FIG. 3, which corresponds to the time interval T7 corresponds to, however, six pulses are generated instead of the four pulses while the time intervals T8 ', T9' or

TIl 'correspond to the intervals D8, T9 and 211 and the time interval T10 is omitted. The two excess pulses from T10 appear and become in 27 ' thereby generated at the maximum hotord speed.

The following results from the data flow diagram shown in FIG How it works: Since the switch 44 is in contact with the terminal 44b, the information for the time interval 7 'is processed by the block 43, which causes that with BL = 12, BN = 6 and NX = 4 the information flows to a block 46, which outputs NX = the difference between BS and BN (namely 6), making BB equal to BN and outputs the value for V, namely 800. By using this path for the determination in the data flow plan becomes the value for BS, namely the pulses that still need to be recorded, equal to BN made, the number of pulses required for the reduction in speed needed; the difference between them will be output in order to compensate for the excess pulses.

The remaining intervals T8 ', 9' and T11 'become the same Way how the intervals 8, T9 and U11 are generated.

For the determinations described above, the diCtIotor should move and the pulse generation is kept synchronous within a pulse or step will, although, if necessary, more than one step in certain circumstances, for example two steps that can be beneficial.

So the value of NC can be changed by 2 when there is a maximum delay of 2 steps generates a maximum acceleration and is acceptable instead NC incrementally by 1 for example in block 40 and it by 1 in block 45 to reduce. Am an example where a two step delay is beneficial is a motor that normally has 200 steps per revolution, though all windings are energized continuously, but at 400 steps per revolution Can be operated at maximum torque when a partial excitation is done will; there can be a delay or a leading of two impulses to the step instead of delaying or advancing from pulse to step will.

In the embodiment shown in FIG. 2, the time intervals of course the same duration in each case; this inevitably results from that K has a constant value with a during the entire course of the movement constant increase or decrease of 1 for the number of pulses in the neighboring Has time intervals, since the duration of the time interval is equal to the number of pulses divided by the pulse rate, or NX divided by VX. In the case of the in Fig. 3, however, are the lengths because of the time interval Afp7 ' all time intervals are not the same, so that this embodiment as a device can be viewed with a variable time interval.

Of course, the value for K can also be changed if necessary, when the program is running and can depend, for example, on a value for NC, when the time intervals the determining factors are where the value for K decreases as the speed of the engine increases to get a Reduce the acceleration torque when adjusting the speed increases. Alternatively, the value for K can be used for each acceleration time interval decreased by a small amount if variable acceleration is required is. This can be achieved by providing a block immediately in front of block 38 which requires that K be made equal to K - C, where C is a small number, such as for example 5 or 10. It would further advocate reducing the speed an oppositely acting block (K = K + C) is located immediately in front of block 42.

An embodiment of a motor device used in the present Invention can be used is described in the above-mentioned US patent and consists of a stepper motor; however, the present invention can can also be used with a digitally controlled DC motor with variable speed, where the energy for the operation of the motor comes from a rectified 60 Hz source and through adjustable auxiliary elements, such as phase-regulated, controlled rectifier, is controlled. Because a change in engine speed can only be done when the phase angle of the controlled rectifier Can be changed is the minimum time interval in which there is effective control of the motor can be exercised, the reciprocal of 120 or 0.00867sec. and 0.0010 sec. for a 50 Hz alternating current. The values for K and the momentum changes between adjacent time intervals can thus, based on such a lot small time interval, determined and carried out. The change in number the pulse for successive time intervals can also be 1, as with the embodiment described above, where only a delay of one step is aimed at; however, it could also have two or three pulses be, where such a deviation is acceptable.

In any case, the change should be designed to ensure that is that at the end of each time interval the motor speed is the pulse rate has reached.

Although it has been stated that the value for K with the command information is entered for each movement, this value is not changed too often, so that it can be permanently stored in the device for normal use, with a different K-value is only entered if necessary. V INIT can also be saved as this value is rarely changed, if at all.

Furthermore, in the usual scope of the present invention an embodiment are in which a determination contains all the pulses at the maximum speed instead of making multiple determinations.

Although the above description only applies to the movement of the motor As shown in Fig. 1, its direction can be determined by a buffer block for the direction receiving the direction command from the computer and via a transmission switch 47 this information to a direction connection 12a in the engine controller 12 transmitted.

The specific embodiment described here requires that two numbers are supplied for each determination to control the pulses. For each time interval, however, the following relationship applies: The distance (number of pulses) is equal to the speed (rate of pulses for an interval) times the duration of the interval; from this it follows that only the number for one of these factors must be added if the value is held for any other of these factors will. If, for example, the time interval is kept constant, then it must only the numerical value of the speed or the extent or length of the movement as the impulses can be determined from these values.

The present invention thus provides a method of control the speed of a digital motor and an apparatus for carrying it out the procedure, which is either a programmed computer or a fixed, assigned circuit can be adapted.

The method and apparatus are based on the finding that the controlled motor has only a limited ability to respond to a change in speed address, and that commands only need to be given when the engine is at can switch to a new command. All other additional commands are in themselves superfluous. In this way the number of commands is essentially reduced to one Value, which is much smaller than that of the conventional systems, at essentially one command for each step the motor takes should perform. Since every command requires a determination, this in turn takes up computer time required can reduce the computing time required by a considerable amount the number of determinations are kept very low or minimal; still holds the device described here not only the synchronous sequence between the MotoSewegùng and the pulse generation in a fixed, predetermined deviation range or in Range of a specific number, such as 1, but it also allows control over every single impulse.

- patent claims -

Claims (16)

Claims 1. A method for controlling the speed of a Motor means that convert each received pulse substantially simultaneously into a Incremental movement transmits, that is to say the change in speed is determined to which the motor device (11, 12) can respond while each pulse is converted to a notor movement that for each of a plurality of consecutive time intervals the total number The number of pulses received is determined, usually multiple pulses located in an interval that the difference in the number of pulses received between adjacent time intervals is limited to no more than the certain Generate speed change, the difference being an integer number of pulses is, and that the specific number of pulses with an approximately uniform Rate is supplied during each time interval. 2. The method according to claim 1, characterized in that in the Determine the number of pulses between at least some adjacent time intervals is changed by a constant, whole number of pulses. 3. The method according to any one of claims 1 or 2, characterized in that that in determining the pulse rate between at least some adjacent time intervals will be changed. 4. The method according to claim 3, characterized in that in this Change in pulse rate the change equals the determined speed change is made so that this change becomes equal to the responsiveness of the engine. 5. The method according to any one of claims 1 to 4, characterized in that that the maximum: speed is limited, and that in determining for every time interval the whole number of pulses in a time interval to one Value is limited, which is not greater than the number of pulses that the maximum Would generate speed. 6. The method according to any one of claims 1 to 5, characterized in that that in determining the minimum duration of any time interval is not shorter as the time it takes the engine to reach a speed is made which is equal to the pulse rate at the end of the time interval. 7. The method according to any one of claims 1 to 6, characterized in that that in the determination the pulse rate is set for each time interval. 8. The method according to any one of claims 1 to 7, characterized in that that in every time interval that has the same number of pulses, the same distribution the pulses are provided over the time interval. 9. The method according to any one of claims 1 to 8, characterized in that that information for controlling the movement of a digital motor device (11, 12) that the amount of movement entered as a number of steps is that the duration of the movement in several successive time intervals that is divided in determining the integer number of steps to be taken during each time interval should occur for successive time intervals in Comparison with the number of steps in the time interval before mid-bar the integer number of steps numerically for an accelerating movement during of a time interval and the whole number of steps numerically an integer for a movement of decreasing speed during a Time interval is decreased, and that for each time interval an electrical representation the integer number of steps. 10. The method according to claim 9, characterized in that in the Determining the rate of the number of pulses in each time interval is determined and an electrical representation of the rate given as a number for each time interval will. 11. The method according to any one of claims 9 or 1D, characterized in that that in determining the rate by the interrelationship between the duration of the Time interval and number of steps is set for the interval is determined. 12. Device for performing the method according to one of the claims 1 to 11, characterized by a device which carries out an instruction receives a movement that consists of a number of step-by-step movements, further by an arrangement for supplying pulses to the motor means (11, 12), whereby the impulses are divided into several groups and the groups one behind the other the motor means (11, 12), and by an integer number of pulses in each of the groups, the pulses in each group having the same rate and the arrangement for delivering the pulses causes the number of pulses in one Group differs by an integer from the number in an adjacent group, when the motor device (11, 12) is to change its speed. 13. The apparatus according to claim 12, characterized in that the Arrangement for the delivery of the impulses, that the time interval has a constant duration for each group as the motor changes speed. 14. Device according to one of claims 12 or 13, characterized in that that the arrangement for delivering the pulses has the same number of pulses in two different groups, the temporal distribution of the impulses in every group is the same. 15. Device according to one of claims 12 to 14, characterized by an arrangement for supplying a first group with an integer of Pulses, the pulses being at a constant rate, and by an array to deliver a second group with an integer number of pulses during one certain period of time, the pulses of the second group at a constant rate that is different from the rate of the first group, and where the minimum amount of time for the second group is not shorter than the time that the motor device (11, 12) needed to adjust their speed to the rate of pulses in the second group to change. 16. Device according to one of claims 12 to 15, characterized in that that see the time period of the second group approaches the time that the motor means (11, 12) needed to adjust their speed to the rate of the pulses in the second Change group.