HU189990B - Device for digital controlling electromechanical systems and self-learning unit to the device - Google Patents

Abstract

Field of the Invention The present invention relates to an apparatus for digital control of electromechanical systems and a self-learning unit for an apparatus which is used in industry, agriculture, transport, service industries, and the like. it can be used in electromechanical equipment operating on the ground. The apparatus according to the invention comprises a memory and auxiliary unit connected thereto, the memory (l) being divided into four parallel fields; an actuating field (10), provided (20) for a timing field (30) and a costume (40); the auxiliary unit (50) comprises a first equivalence generator (51), a counter (52), a first gate circuit (53), a second equivalence generator (54), a second gate circuit (55) and an address register (56), wherein the first equivalence formator (51) is connected to the recess (30) and counter (52), the costume (40) is connected to one of the inputs of the gate circuits (53, 55), the address entries of each of the four memory fields with the address register (56) and all elements of the accessory (50) are provided with at least one outlet. The self-learning unit according to the invention comprises registers (81, 82) and switches (83, 84), wherein the input (811) of the first register (81) with the technology controls of the controlled unit (60) is the input (821) of the second register (821). ) connected to other adjusters and controls, the single output (813, 823) of the registers (81,82) connected to the memory (1) and the controlled unit (60) via the first switches, and further inputs (812, 822) the second switches (84) are connected to a resting contact (b), the other resting contacts (a) of which are connected to the controlled unit (60) and its movable contacts to the memory (1). (Figures 1 and 8) t ír · t, s "1- or Í

Description

The present invention relates to apparatus for the digital control of electromechanical systems and to a self-learning unit for apparatus used in industry, agriculture, transport, the service industry, etc. Applicable to operating electromechanical equipment.

Electromechanical systems are generally constructed of the following units;

- actuators (sensors, actuators, etc.), - interface unit, - digital control unit.

Obviously, the first two are always tailored to the task at hand and cannot be standardized. However, some standardization can already be applied to the digital control unit, for example by using TTL level circuit elements. Currently, in practice, digital control of electromechanical equipment is individually designed, which has several disadvantages, such as:

- in each case only the specific task is solved;

- they differ significantly in design and operation, and thus have a significant body of experts; and lastly, the components used in the implementation, which may be interchangeable in some cases, differ considerably, requiring large sets of equipment for both production and maintenance.

Thus, there is a need for a single digital control system for electromechanical devices which can be used in many ways. However, the degree of complexity of the system to be controlled must be considered. For simpler systems, gate circuit (random logic) and / or storage circuits ("sequential random logic"), which produce different signals in time, are suitable. More sophisticated systems today usually use a computer or a microprocessor, which is both unnecessarily complicated (and has arithmetic units) and not fast enough in real-time mode. The biggest disadvantage of using a computer or microprocessor, however, is that digital control design requires significant hardware and especially software development.

It is an object of the present invention to provide a digital control mode that does not require complicated software development work, is easy to integrate into a given electromechanical system, and can be used to solve simple and complex control tasks.

It is therefore an object of the present invention to provide a digital control device that can be expanded in a modular manner for the purpose described above, and which enables faster operation than real-time operation of computers.

It is a further object of the present invention to provide a self-learning unit for a device for digital control of electromechanical systems, by which the software work can be significantly reduced or even eliminated.

The present invention is based on the recognition that, in the known way of microprogramming, memory is divided into fields having different functions. The entire field, like the microprogramming system, contains the micro-commands (actuator field), the execution conditions (actuator), and the commands (costume) necessary for the system's own internal control, and this is called In addition to a timer field that contains information about the timing of each program step, the creation of program words does not require any special software activity (even automated, eg by self-learning), and the memory size can be reduced and. some fields are of the same type, and program words can be of practically any length.

However, a word length can be defined that is generally sufficient for industrial control tasks (e.g., industrial lobes). Thus, a basic circuit kit, e.g. in the form of unit cards, which, depending on the complexity of the task, may be expanded in a modular fashion, using the basic elements as well.

According to the present invention, there is provided an apparatus comprising a memory and an auxiliary unit connected thereto, wherein the memory according to the invention is divided into four fields: actuator, condition, timer and costume; the accessory includes first and second equivalence generators, a counter, first and second gate circuits and an address register, the first equivalence generator being connected to the conditioner, the second equivalence generator being connected to the timer and the counter, the costumers being connected to each of the the address input of the memory field is connected to the address register, and each element of the auxiliary unit is provided with at least one terminal.

According to the invention there is further provided a self-learning unit for the above apparatus comprising registers and switches, wherein the input of the first register is connected to the technological controls of the controlled unit, the input of the second register is connected to other adjusting and controlling it is connected via a first switch to the memory or to the controlled unit, and further outputs are connected to a dummy contact of the second switches, the other dummy contacts of which are connected to the controlled unit and the movable contacts to the memory.

The apparatus and self-learning unit of the present invention will now be described in more detail with reference to the accompanying drawing, in which:

Fig. 1 is a block diagram of a digital control apparatus according to the invention; the

2 illustrates the operation of an industrial robot for transmitting a TV picture tube; the

Fig. 2b is a block diagram of a digital control apparatus according to the invention having the junctions needed to control the industrial robot of Fig. 2a;

3 is a diagram showing the state of control of a spiraling machine; the

Figure 3 b shows the junctions required to control the spiraling machine; the

4. the figure shows a traffic light system at a simple intersection; the

Figure 4b shows the junctions required to control the traffic light system; the

Figure 4, c is a time diagram of control signal system control signals; Fig. aa is a schematic diagram of a matrix-like design of a digital control apparatus according to the invention;

Figure 5b shows an element of the matrix of Figure 5a; »

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Figure 6 is a block diagram of a microcomputer version of the digital control apparatus of the present invention; the

Figure 7 shows a version of the digital control system according to the invention with a self-learning unit and a microcomputer; and finally the

Figure 8 is a block diagram of a self-learning unit according to the invention.

Figure 1 shows that the digital control apparatus according to the invention is essentially divided into two parts, memory 1 and auxiliary units 50, to which are controlled 60 units. The memory 1 consists of four fields, which are essentially of the same structure, for example REPRROM (erasable and electrically reprogrammable) memory elements, the model numbers of which are not exhaustive 12708, 12716, 12732. Intel, Siemens, Western MOSTEX, and Soviet Elorg. It contains a description of such integrated circuits, e.g. Erényi-Vajda: Development of Microprocessor Systems, Technical Publisher, 1981. c. book.

The memory 1 is thus comprised of an actuation field 10, a condition 20, a timing field 30 and a signal field 40. The accessory unit 50 includes a first equivalence generator 51, a counter 52, a first gate circuit 53, a second equivalence generator 54, a second gate circuit 55, a second equivalence generator 54, a second gate circuit 55, and an address register 56. The first equivalence generator 51 is coupled to the conditioner 20 and has terminals 511 and 512. Second equivalence generator 54 with timer field 30 and counter 52! is connected and has 541 terminals. Counter 52 is also connected to the first gate circuit 53 and has terminals 521, 522.

The gate circuit 53 is provided with terminals 53] and 532 and is connected to a signal field 40. The second gate circuit 55 is also coupled to the signal field 40 and the address register 56 and is provided with 551,522 outputs. Finally, the address register 56 is connected to the address bus 11 of the memory 1 and has terminals 561.

An equivalence-forming circuit is a circuit known per se which is capable of logically comparing a data with another data, preferably already known, and distinguishing in its output signal whether the two data are equal or different. It can be operated as an equivalent circuit e.g. the integrated circuit type TL 7485 comparator or other gate circuits, preferably TL 7400 and the like. Other complex integrated circuits can perform such tasks, eg. called. programmable - read-only memories, such as TM 601, TM 621, TM 188 and similar, and other integrated circuits. Details on this can be found, for example. TEXAS TTL Recipes, Technical Publisher, 1968 C publication.

Figures 2b, 3b and 4b are drawn on one sheet to illustrate that for various applications of the digital control device according to the invention, it is only necessary to make appropriate connections between the individual terminals,

2 illustrates the use of a digital control device according to the invention as an example of a TV. image tube transducer at industrial robot. As shown in the figure, 90 industrial robots move in x, y and rotate in a, β while touching points A, B, C, D and E. The industrial robot 90 waits for the load (TV tube) to arrive at point A, grabs it, lifts it and waits. After a period of time, it turns to point C while turning 90 °, then moves to point D. It then waits for the load removal unit to arrive. When this is done, the load is dropped at point E and returns to point A.

The industrial robot, for example. preferably repeats the above steps. The following control scheme according to Fig. 2b belongs to this. The signal 512 of the first equivalence generator 51 controls the counter 52 via its terminals 521. Signal 541 of the second equivalence generator 54 controls one of the outputs 532 of the first gate circuit 53 and the terminals 551 and 552 of the second gate circuit 55 and thereby the address register 56. Among the terminals 532 of the gate circuit 53, the second and the second of the gate circuit terminals 552, which are connected, are controlled by an external control unit 519, not a part of the system, preferably by a switch or an electrical signal.

As a result, the operation described in Fig. 2a is performed by triggering the robot waiting at point A in Fig. 2a, because of the signal from the external control 519, because according to said Fig. 2b, the control 519 sets the address register 56, so that the programmed motion sequence is played.

The rest of the movement, respectively. its control, by virtue of the described interconnections, is self-executing, without external intervention, and depends on the data stored in memory 1 and the signals emitted by the control unit 60 and compared to the equivalence generator 51.

Figure 3 shows a state diagram of a two-speed spiraling machine with the wire itself at the top as a good illustration of the time course of the operation. The other diagrams are as follows; 301 start signal, 302 pause signal, 303 winding signal, 304 slow winding signal, 305 fast winding signal, 306 stop signal, 307 pause timing signal 308 winding timing signal.

In the figure, the typical size of the non-helical portion of the filament from 330 to 331, and from 33 L to 334, is the typical size of the spiral portion of the helix. In manufacturing, the product to be manufactured consists of spiraling and non-spiraling portions separating it. Because the dimensions 331 and 334, and in addition to them, the dimensions 332 and 333 are stored in the memory 1, as well as their respective periods, which last from 340 to 341, and then to 342 and 343, and 3444g respectively. , operation can be monitored as shown in Figure 3a.

Figure 3b demonstrates that terminal 512 of the first equivalence generator 51 is coupled to second terminal 552 of the second gate circuit 55, terminal 541 of the second equivalence generator 54 is connected to the first and second gates 55 of the first gate circuit 53 connected to the terminals 551 of the circuit, while the second terminal 532 of the first gate circuit 53 and the other terminal 552 of the second gate circuit are connected to each other and to the external control 519.

Figure 4a shows a simple traffic light intersection, aliol with separate lights for pedestrian traffic control. In the figure, wavy arrows indicate the movement of pedestrians 402 and straight vehicles 401.

In Fig. 4c, the intersection signal in Fig. 4 # is -32

The time chart of the 189,990 green lights is shown, as an example of two directions of motion. The symbols used in the figure are _k 401 vehicles, 403 red, 402 pedestrian, 404 red-yellow, 405 green, 406 flashing-green, 407 tombs, and ti denotes the amount of time at which one-way (- *) traffic is called. .401 for vehicles and 402 for pedestrians, 403 for red or 405 for all traffic in the other direction (1). During the time period t ₂ , there is a green signal 405 in one direction for all traffic, vehicles 401 and pedestrians 402 and a red signal 403 in the other direction for all traffic, vehicles 401 and pedestrians 402.

For example, electrical control may be accomplished in the manner illustrated in FIG. 4, b, where terminal 512 of first equivalence generator 51 and first terminal 551 of second gate circuit 55 are connected, and terminal 541 of equivalence generator 54 is connected. The gate circuit 53 is connected to the first terminal 532, while the second gate circuit 532 and the second gate circuit terminal 552 are connected to the external control 519.

When using the apparatus according to the invention, in the first phase, a diagram of the electromechanical system to be controlled is plotted against time and the output signals required for its operation and the condition signals from the controlled system are determined. Then, a time slice is performed on the state diagram to determine all possible state changes and their timing. We then write each of the four-field program words as follows; determining the shortest time between the two changes of state and then multiplying by the integer multiple the time corresponding to each change of state; according to the invention, a four-field binary program word of length is then formed for each state change

PSZ = nmup + r where: n = number of actuators m = conditions (number of feedback) p = number of elementary control times, r = number of bits of information needed for the control unit's own internal control;

then write the program so created in memory. Industrial electromechanical systems are characterized by the fact that some of the signals required for their control are constant (within the given system), while some of the signals are eg. the timing may depend on the task. Therefore, it is advisable to write a permanent part of the program to PROM, ROM type memory and a variable part to REPRUM or RAM memory. Entering program words in memory is not an object of the present invention and will not be dealt with here.

The operation of the four-field digital control apparatus according to the invention is illustrated in Figures 1-4. figures.

Referring to Figure 1, the controlled unit 60 is connected to four fields of memory 1, actuator field 10, conditionator 20, timer field 30, and cost field 40. The function of the two equivalence generators 51 and 54 of the auxiliary unit 50 is to compare the bits in the prerequisites 20 of memory 1 and the mapping field 30 at a given section of the program at terminal 521 of the control unit 60 or otherwise at terminal 551 and counter 522. through the signs. If the signals coming from outside match the signals stored in the corresponding memory field (that is, for equivalence), the equivalence generator 51 outputs at terminal 512, and the equivalence generator 54 outputs terminal 541, which, depending on the task, is properly connected. 3b and 4c) are provided via the second gate circuit 55 to the address assist 56. The address register 56 is connected to the address inputs of each memory field so that any jumps or branches can be implemented in the execution of the program by generating the appropriate address.

The word length of the memory field 1 of the digital control device according to the invention may, in principle, be increased arbitrarily, but beyond a certain limit is no longer desirable. Instead, we propose a solution according to'S4Figure 1, where a memory matrix 1 consisting of a memory is shown, a matrix element of which is shown in Figure 5b. For example, elements in the same row of a matrix may be connected to one another via the assumption, while the actuation field 10 of an element at the lower level of the same column may act as the address register of the element at the higher level; .

For control of more complex electromechanical systems, it may be desirable to supplement the array of digital controllers with a microcomputer instead of the above-described matrix arrangement, as shown in Figure 6. By monitoring the program words stored in the four fields, the microcomputer can intervene in the address lines to, for example, deal with illegal conditions. It also allows you to create and execute more complex programs.

A versatile self-learning unit 80 is provided for programming the memory of the digital control device Γ of the present invention, the block diagram of which is illustrated in Figure 8 and the connection of the self-learning unit 80 to the four-field digital control device. The essence of self-learning is to write the program words into memory by following each step of the controlled process. ' the. Execution can be accomplished by slowing down the actual process, starting manually or by step. simulation. Figure 7 shows that the self-learning unit 80 is simply inserted between the four-field digital control unit and the controlled unit 60 and can be provided with a microprocessor system 70 if necessary.

The essence of self-learning is easily understood from Figure 8. The self-learning unit 80 includes registers 81 and 82 with switches 83 and 84, The switches 84 are two-position switches for connecting memory 1 to the registers 81 and 82 and switches 83, for example, where the unit to be controlled is connected technology controls, and other settings and controls, timers, etc. for register 82 input. Upon completion of the learning, then by switching the switches 84, the memory 1 can be directly connected to the controlled unit 60. The advantage of self-learning is that it does not require software work to write the program to the memory or to create the program itself, so that the digital controller can be taught by a Knower, later actuator or operator of the equipment to be controlled.

189,990 buoys, that is, reprogramming light music can be done.

A further advantage is that the self-learning unit, which completes its task after learning, can then be connected to other machines, that is, it can be used sequentially for several machines.

Claims (3)

Claims An apparatus for the digital control of electromechanical systems comprising a memory and an auxiliary unit connected thereto, characterized in that the memory (1) is divided into four parallel fields; an actuation field (10), a conditioner (20), a timing field (30), and a loading field (40); the auxiliary unit (50) comprising a first equivalence map (51), a counter (52), a first gate circuit (53), a second equivalence generator (54), a second gate circuit (55) and an address register (56), wherein a first equivalence generator (51) coupled to a conditioner (20), a second equivalence generator (54) connected to a timing field (30) and a counter (52), the costume field (40) being a gate circuit (53, 55). connected to one of its inputs, the address inputs of each of the four memory fields are connected to the address register (56), and finally all of the auxiliary units (50) are provided with at least one terminal. An apparatus according to claim 3, characterized in that it is provided with a microcomputer (70), wherein the microcomputer is connected to the accessory unit (50) and the memory (1) output. A self-learning unit for the apparatus according to claim 1 or 2, characterized in that it comprises registers (81, 82) and switches (83, 84), wherein the input (811) of the first register (81) is controlled. unit (60) with technology controls, second register (82) input (821) other settings 5 ponds and are connected to controls, one output (813, 823) of the registers (81.82) connected to the memory (1) and the control unit (60) via the first switches (83), and further outputs (812). 822) and the second switches (84) each They are connected to a resting contact (2) of a 2θ whose other resting contacts (a) are connected to the controlled unit (60) and their moving contacts to the memory (1).