DE3514096A1 - PROGRAMMABLE FUNCTIONAL CALCULATOR AS SETPOINT VALUE FOR CONTROLLED DRIVES - Google Patents

Description

NACr- ¹ CZRSCHT

The programmable function computer serves as a setpoint generator for the speed behavior of electric variable speed drives. It is suitable for all variants of star ratings and machines that respond to analog setpoints.

A large number of setpoint generators are known, e.g. from the GO5F patent class, which are operated with mechanical means such as Cam-controlled potentiometers work. Electronic amplifier circuits are also described, that work with integrators, jerk limiters and superimposed position controls. There are also functional gears, which specify the desired movement. A common disadvantage of all known devices is the considerable expense and the low flexibility when making adjustments or changing requirements.

The invention has therefore set itself the task of building blocks of modern microelectronics known per se in the desired improved sense as a variable single target value transmitter to combine. Encoders of all types including the limit switches are replaced. This is done through the Evaluation of pulses that are generated by the rotating drive and a measure for both the path (counter) as are the speed (frequency). With coded pulse generators and directional phase discriminators At the input circuits of the function computer, high levels of certainty in the setpoint output can be achieved. the advantageous mode of operation is praised in the claims. FIGS. 1 to 3 serve for explanation.

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Fig. 1 shows a speed-time function which, in the form of an analog setpoint value U = f (t), e.g. for certain conveyor tasks for smooth acceleration, deceleration and precise positioning is required. To the Limiting forces and moments in the transmission elements and converting the conveyed material with low vibrations is possible a harmonious speed-time curve is required, which is provided by the function

V = (1-cos ^{2 Λ} ). V max / 2

t total

is theoretically given. This voltage curve is for the positioning is summed up with a crawl setpoint. Desired changes to the maximum speed are set

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^J the function computer in such a way that constant paths take a longer time, but in principle similar setpoint values.

Fig. 2 shows any other setpoint function, such as was previously solved with cam disks, for example. on The computer reacts to amplitude arrangements as shown in FIG. 1.

Fig. 3 explains the time optimization, depending on the computer for different lengths of movement Programming can specify. Within set

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The drive no longer traverses certain travel ranges according to the limit values for speed, acceleration and jerk Function, but constant according to the limit values. In the case of short distances, the highest possible route is automatically selected Calculated top speed.

The time optimization also means that e.g. with turntable drives the preselected path takes place with the direction of rotation that requires the least time. 10

In Fig. 4 and 5 embodiments of the invention are shown.

Explanations for Fig. 4 and 5:
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1 calculator

2 Monitoring of the supply and the function (watchdog) with automatic resetting of the computer in the event of errors

3 Standardized target interface

4 data RAM

5 buffer battery

6 FPROM program

7 input / output port with Timor

8 Selection logic

9 input circuits for control inputs

Pulse counter with directional input

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11 digital-to-analog converter

12 amplifiers

13 Summing point

14 Internal parameter switches. 15 External switch matrix

16 output circuits

17 angle encoder

18 Display device for routes and route differences as well as operating and error comments

A-A Analog computer outputs for controlling a motor controller

Imp.-E Pulse generator connection for 2 pulse trains offset by 90 ° and optionally an additional zero pulse per revolution P-A outputs to peripheral devices P-E inputs from peripheral devices - if in a network

Process computers are used S total setpoint 5_ additional setpoint

St-A Digital control outputs as trip command, fault message, the brake ventilation and other (optocoupler for \ driving lamps and relays) St-E Digital control inputs, eg manual mode, automatic mode, limit switch, start (via optocoupler).

Fig. 4 shows the essential components of the basic scarf device. With a start signal from an external The controller reads the function computer via the I / O postage (7) also externally set digital path setpoints and maximum speed (15) and starts the motor controller by sending a "drive" signal and, if programmed, outputs an analog creep setpoint for a lead time. Optionally, you can enter the current Drive parameters for the movement can also be made via the serial interface. Before the drive is released, the Computer checked its own monitoring (2) and the admissibility of the input values.

He also monitors the driving speed Target / actual comparison of the impulses. Too great a deviation leads to the deactivation of the setpoints (A-A) and the travel command (St-A). During the movement, a time- and distance-dependent analog basic setpoint for the speed is created output, position and speed value are compared with their internal digital setpoints. The differences between setpoint and actual value are evaluated with factors that have to be set during commissioning and in an additional analog set value converted.

The commissioning setting of lead time, gain factors, Creep setpoint, functional form, tolerance distance for the limit switch are preferably carried out by internal Hoxs decimal switch (14). These parameter switches are also activated before the movement is released queried automatically.

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Further functions of the control inputs and outputs are defined depending on the requirements.

After completing the movement in the defined target position, After mains switching or pressing a Resot button on the central unit (l), the function computer is reset, i.e. all outputs are blocked, the analog outputs are set to zero and the internal variable data (4) are deleted.

The invention works on the basis of a microprocessor and is constructed with plug-in types in European format. the The plug-in cards are placed in a plastic housing.

The monitored (2) microprocessor (1) works in dialogue via the bidirectional data line to the serial interface (3), a battery-buffered (5) write and Read memory (4) for variable data during the execution of the program, to a memory (6) for the Program and fixed drive parameters on an input / output module with timer (7), which only operates the control (St-E, St-A), as well as an additional input / output module (7) for data lines. The discrete building blocks (7) can be more advanced with a new one Structure of the function computer is also omitted. At the port module that is not loaded with control inputs / outputs (7) 3 data lines are connected: an output line to the selection logic (8) that controls the pulse counter (10),

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the digital-to-analog converter (ll), the internal (l4) and external switches (12), the control inputs (9) and the Selects control outputs (16), another output data line to two digital-to-analog converters (ll), the external one Switch matrix (15) and the output control circuits (16)

and a data input line for the internal switch t (14), the external switch matrix (15), the control input circuits (9) and the pulse counter (10).

Direct connections lead from the digital-to-analog converters (ll), in one case via the summing point (13), to amplifiers (12) whose analog outputs have a total setpoint, a common setpoint S + S and positive ones and supply negative additional setpoint for optional control of the motor controller.

According to FIG. 5, a variant of the function computer is suitable for multi-motor drives. The goal is in the depicted Example of the angular synchronism of two motors,

^ 20

ψ which are fed by two separate actuators.

For this purpose, the outputs of the two digital-to-analog converters (11) each give a total setpoint value via the amplifier (12) to the motor controller. A display (18) for the distances covered is also useful in this system or path differences. In addition, the computer provides the display with operating instructions and error comments. The display is connected to the output data line, on which the digital-to-analog converters are also attached, and is also controlled by the selection logic (B).

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Generate angle encoders coupled with the drive motors in the example the digital input signals for the data input bus. Further connections lead from the Angle encoders to the selection logic (8) and the control outputs (St-A). The rest of the construction of the programmable Function computer remains unchanged compared to FIG. 4.

summary

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Claims (1)

Meissner & Meissner PATENT AGENCY OFFICE PATENTANWÄLTE DIPL-ING. W. MEISSNER (1980) DIPL-ING. P. E. MEISSNER DIPL-ING. H.-J. PRESTING Authorized representative before the European Patent Office Professional Representatives Before the European Patent Office Your reference Your letter from Our reference HERBERTSTR. 22.1000 BERLIN 33 M / Go. 2h 031 Mannesmann AG
Mannesmannufer 2
4000 Düsseldorf 1 Programmable function computer as setpoint generator for Variable speed drives Claim; Programmable function computer as setpoint generator for electrical control drives, taking the specified paths into account limited maximum speed, acceleration and change in acceleration time-optimized according to Control selectable functions, characterized in that a computer combination is available on the input side processes digital input signals and outputs analog voltages or currents on the output side, which correspond to the programmed function sequence and at the same time the distances to be traveled in terms of time optimize, whereby the function is principally retained on short stretches below the maximum speed, over long distances, however, changes to the functional progression can also be permitted by the drive limit values. FAX: TELETEX: TELEGRAM PHONE: BANK ACCOUNT: CHECK ACCOUNT: 030/891 78 50 TELEX: INVENTION 030/891 60 37 BERLINER BANK AG. P. MEISSNER. BLN-V / (17-2627) BERLIN 030/891 30 26 BERLIN 31 40047 37-103 V \ BfI M