JP2015107044A - Mobile drive controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow for quick detection of abnormality where a mobile collides against something tp stop, in a mobile drive controller for driving a mobile.SOLUTION: A mobile drive controller for driving a table 17 includes a control model 20 supplied with a signal being inputted to drive means and simulating a system including drive means and a position detector 18, an a monitor circuit 23 for detecting the fact that the positional deviation 22 of an estimated position response 21 and a position response 19 from the position detector 18 exceeds a predetermined value.

Description

  For example, in a substrate drilling apparatus that drills a printed board using a drill, a table on which the printed board is placed and moved is used. The present invention relates to a control device for driving a moving body such as a table, for example.

  FIG. 2 is a block diagram of a conventional table drive control device used in a printed circuit board drilling device. In FIG. 2, a position deviation 12 that is a difference between the position command 11 given from the position command generation circuit 10 and a position response 19 that is a feedback signal is input to the feedback compensator 13. A current command 14 that is an output of the feedback compensator 13 is input to a control amplifier 15 that is an input unit of drive means including a control amplifier 15 and a motor 16, and the motor 16 is rotated by the output, and the table 17 is Move. As the table 17 moves, the position information of the table 17 is detected by the position detector 18 and becomes the feedback signal as the position response 19.

FIG. 6 is a diagram showing changes in the position command 11 and the position response 19 in FIG. When a position command 11 such as a dotted line is input, the actual position response 19 has a waveform delayed from the position command 11 as indicated by a solid line due to mechanical factors.
On the other hand, when the table collides with any obstacle at the time T1 when the table is moving, the position response 19 largely fluctuates from the normal operation as indicated by a broken line, and the position response stops after a certain time.

  FIG. 7 is a diagram showing a change in the position deviation 12 which is the difference between the position command 11 and the position response 19 in FIG. The position deviation 12 is a state in which a certain amount of deviation always appears during movement because of the delay of the position response 19 with respect to the position command 11. At this time, if a collision occurs at the time T1 during movement, the position response 19 changes, so that the position deviation 12 is larger than that during movement.

  Conventionally, the table driving operation is stopped at time T2 when a large positional deviation occurs due to a collision or the like and the deviation amount becomes equal to or greater than a predetermined threshold value A1. However, as described above, even during an operation other than the time of a collision, there is always a positional deviation of a certain level or more due to the delay between the position command 11 and the position response 19, and the deviation amount also varies. Therefore, in order not to erroneously detect the deviation amount during movement, it is necessary to set the threshold value A1 to a value having a certain margin. For this reason, the detection of abnormality is delayed even at the time of a collision, it is difficult to stop the table immediately, and there is a problem that the table drive system is damaged.

Conventionally, as disclosed in Patent Document 1, a differential value between a torque command that is an input to a control amplifier and a virtual torque command (an ideal torque command when there is no collision or the like) is monitored in real time, When there is a change in the difference value, some brake control is performed.
However, in this method, since the change of the torque command that is the input command is monitored, when a collision occurs, the signal after passing through various feedback compensators as a feedback signal including a response including the influence of disturbance is monitored. It will be. For this reason, there has been a problem that detection of a collision or the like is delayed by the amount required for calculation by various feedback compensators.

Japanese Patent Laid-Open No. 11-77580

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to make it possible to quickly detect an abnormality that occurs when a moving body collides with something and stops in a moving body drive control device for driving the moving body. It is what.

  In order to solve the above-mentioned problem, in the moving body drive control device according to claim 1, based on a command for driving the moving body, a means for driving the moving body, and a result of movement of the moving body by the driving means. In the moving body drive control device having position detection means for detecting position information and means for feeding back position information from the position detection means, a signal input to the drive means is supplied and the drive And means for simulating a system including the position detection means, and monitoring means for detecting that the difference between the position information obtained from the simulation means and the position information from the position detection means is equal to or greater than a predetermined value. It is characterized by that.

  Further, in the mobile drive control apparatus according to claim 2, in the mobile drive control apparatus according to claim 1, the monitoring means stops the operation of the drive means by the detection. .

  According to a third aspect of the present invention, in the movable body drive control apparatus according to the first or second aspect, the movable body is a table on which a printed circuit board is placed.

  According to the present invention, in a moving body drive device for driving a moving body, if an abnormality occurs such that the moving body stops due to collision or the like, it can be detected quickly, and the drive system is It becomes possible to protect.

It is a block diagram of the table drive control apparatus which becomes one Example of this invention. It is a block diagram of the conventional table drive control apparatus. In FIG. 1, it is a figure which shows the change of a position command, a position response, and an estimated position response. In FIG. 1, it is a figure which shows the change of a position command and a position response. In FIG. 1, it is a figure which shows the change of the position deviation used as the difference of an actual position response and an estimated position response. In FIG. 2, it is a figure which shows the change of a position command and a position response. In FIG. 2, it is a figure which shows the change of the position deviation which is a difference of a position command and a position response.

  Hereinafter, an embodiment of the present invention will be described.

FIG. 1 is a block diagram of a table drive control device according to the present invention. In FIG. 1, the same reference numerals as those in FIG. 2 are the same.
In FIG. 1, the current command 14 obtained from the feedback compensator 13 is input not only to the control amplifier 15 which is an input unit of the driving means but also to the control model 20. As will be described later, the control model 20 simulates the characteristics (input / output relations) up to the control amplifier 15 and the motor 16 constituting the driving means, and further to the table 17 and the position detector 18 by mathematical expressions. When 14 is input, a position response (hereinafter referred to as an estimated position response) 21 corresponding to the position response 19 can be obtained. Reference numeral 23 denotes a monitoring circuit that constantly monitors a position deviation 22 that is a difference between the position response 19 and the estimated position response 21. The monitoring circuit 23 detects that the position deviation 22 is equal to or greater than a predetermined threshold A2, and recognizes that a collision has occurred. After this detection, the monitoring circuit 23 sends a detection signal 24 to the position command generation circuit 10 to generate the position command 11 for returning the table 17 to the position before the collision position and stopping the table driving operation.

  A method for realizing the control model 20 is as follows. Measure characteristics (input / output relations) up to the control amplifier 15, motor 16, table 17, and position detector 18 that constitute the drive means in advance, and adjust the variables in the approximate expression shown below to match the results. Is realized. This approximate expression is a transfer function in the s region.

Where P (s) is the transfer function of the control model 20, s is the Laplace operator, Kt is the unit conversion factor, K0 is the rigid body mode gain, ζi is the damping coefficient of each vibration mode, and ωi is the angle of each vibration mode Frequency, Ki is an influence coefficient of each vibration mode, n is an arbitrary number of vibration modes, e is a base of natural logarithm, and L is a delay time.

  FIG. 3 is a diagram illustrating changes in the position command 11, the position response 19, and the estimated position response 21 in FIG. The waveform of the estimated position response 21 changes as shown by a broken line, which is equivalent to the position response 19 shown by the solid line in FIG. 6 when there is no external factor such as a collision. That is, even when an external factor such as a collision occurs, the actual position response 19 varies, but the estimated position response 21 is not affected by the collision or the like.

FIG. 4 is a diagram showing changes in the position command 11 and the position response 19 in FIG. FIG. 5 is a diagram showing a change in the position deviation 22 which is a difference between the actual position response 19 and the estimated position response 21 in FIG. As shown in FIG. 5, after the collision time T1, the position deviation 22 with respect to the estimated position response 21 fluctuates from the value 0. However, when the position deviation 22 exceeds a predetermined threshold value, the monitoring circuit 23 detects the detection time T2. Recognize that a collision occurred. After this detection, the monitoring circuit 23 sends a detection signal 24 to the position command generation circuit 10 to generate a position command 11 for returning the table 17 to the near side from the collision position and stopping the table driving operation as shown in FIG. Let
The threshold value A2 can be set to a value smaller than the conventional threshold value A1 shown in FIG. 7, and the detection time of an abnormality such as a collision becomes T2> T2 ′, and an abnormal state can be detected earlier than in the past. .

  In the above embodiment, the main elements in FIG. 1 are realized by hardware such as a circuit, but it is not always necessary to do so. Some machining apparatuses and the like that require drive control of the table 17 control the entire apparatus by a program-controlled processing apparatus. For example, parts other than the control amplifier 15, the motor 16, and the position detector 18 are processed in this way. You may implement | achieve by an apparatus.

10: Position command generation circuit 11: Position command 13: Feedback compensator 14: Current command 15: Control amplifier 16: Motor 17: Table 18: Position detector 20: Control model 19, 21: Position response 22: Position deviation 23: Supervisory circuit

Claims (3)

  A means for driving the moving body based on a command for driving the moving body, a position detecting means for detecting position information based on a result of movement of the moving body by the driving means, and position information from the position detecting means are fed back. Means for simulating a system to which a signal input to the drive means is supplied and including the drive means and position detection means, and a position obtained from the simulation means A moving body drive control device comprising: monitoring means for detecting that the difference between the information and the position information from the position detection means is equal to or greater than a predetermined value.   2. The mobile drive control apparatus according to claim 1, wherein the monitoring unit stops the operation of the drive unit by the detection. 3. The moving body drive control apparatus according to claim 1 or 2, wherein the moving body is a table on which a printed board is placed.