JP2580575B2 - Moving object control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Technical Field to which the Invention pertains This invention relates to, for example, a moving object control that counts a count pulse from a rotary encoder corresponding to the movement of a moving object and controls the movement of the moving object. Related to the device.

(B) Conventional technology Conventionally, when a moving object is operated in, for example, an NC control system, if the moving speed of the moving object is too high, the object may collide with a stopper and be damaged.

Conventionally, in order to solve such a problem, the above-described problem has been solved by detecting the moving speed of the moving object with a rotary encoder, counting the count pulses output from the rotary encoder, and outputting a control signal. There is a counter that solves the point.

This conventional counter uses a count pulse P shown in FIG.
Outputs a count control signal depending on how many inputs are made within a preset time T (specifically, about 1 second).
The above-mentioned set time T is always required for the calculation of the counting speed, and because of the time required for this calculation, there is a problem that stable data cannot be obtained in a short time. In addition, every time the count pulse P is input, Since there is a time lag between the counter processing performed and the speed processing performed at predetermined time intervals set in the ROM, there is a problem that real-time processing using the speed data cannot be performed.

(C) Problems to be Solved by the Invention According to the present invention, the calculation of the counting speed can be performed in a much shorter time than before, the result of speed detection can be obtained for each count pulse input, and the speed data can be obtained. It is an object of the present invention to provide a moving object control device capable of performing real-time processing using a moving object and capable of outputting an overspeed signal when the moving speed of the moving object exceeds a preset maximum speed. .

(D) Means for Solving the Problems The present invention includes count pulse output means for outputting a count pulse in response to movement of a moving body, and compares a target value with a current value based on the count of count pulses. A moving body control device for controlling the movement of the moving body to a target value by periodically transmitting a basic clock at a speed equal to or higher than a maximum counting speed; and counting the number of basic clocks between input count pulses. Current clock number counting means
A basic clock number setting means for setting a basic clock number as a reference between count pulses, and a comparison for comparing the clock number of the current clock number counting means with the clock number of the basic clock number setting means for each input of the count pulse And a control means for controlling the output of the overspeed signal when the current clock number is equal to or more than the basic clock number based on the output of the comparison means.

(E) According to the present invention, when controlling the movement of the moving body to the target value by comparing the target value with the current value based on the count of the count pulse, the current clock number counting means sets the interval between the count pulses. The number of basic clocks of the clock oscillating means to be transmitted is counted, and the number of clocks of the current clock number counting means and the number of clocks of the basic clock number setting means serving as a preset reference are calculated by the above-mentioned comparing means for each count pulse input. Compared to,
The moving state of the moving body is checked, and based on the comparison result, the above-mentioned control means outputs an overspeed signal when the current clock number is equal to or greater than the basic clock number.

(F) Effect of the Invention As a result, according to the present invention, when the moving body is controlled to move to the target value of movement, the interval between the count pulses output during the movement control is determined by the number of current clocks and the number of basic clocks. Since the comparison is checked, the calculation processing is a comparison of the number of clocks, so that the calculation can be performed in a much shorter time than the calculation requiring the conventional time. In this processing, the speed detection of the moving body is performed for each count pulse input. The result can be obtained.

Further, as described above, since the result of the speed detection of the moving body can be obtained for each count pulse input during the movement to the target value of the moving body, real-time processing using the speed data can be performed.

In addition, when the moving speed of the moving body exceeds the maximum speed set in advance, the above-mentioned control means can output an overspeed signal. Scandals such as collision and damage can be prevented.

(G) Embodiment of the Invention One embodiment of the present invention will be described below in detail with reference to the drawings.

The drawing shows a counter for controlling the movement of the moving body,
In the figure, a rotary encoder 1 detects a moving speed and a moving direction of a moving object and outputs a count pulse P.
The two output lines 2 and 3 are connected to a single-chip IC4.

This IC 4 comprises a CPU 5, a ROM 6 for storing programs,
An input / output interface 7 and a RAM 8 are provided.
Stores necessary data such as a target value A, a current value a, and a basic clock number B as a speed setting value in a predetermined area.

The number B of basic clocks described above is a value in which the number of basic clocks b serving as a reference between the count pulses P shown in FIG. 3 is set in advance. In this embodiment, for example, the number of basic clocks b is set to five and the basic clock number B as a reference is set.
Has been established.

In other words, the setting is made such that the maximum movement speed of the object corresponds to the allowable range when the basic clock b has five shots.

Further, the above-mentioned CPU 5 periodically transmits the basic clock b at the maximum counting speed or higher.

That is, assuming that the minimum period between the count pulses P, P shown in FIG. 3 is t1 and the period of the basic clock b is t2, the condition satisfying the relational expression of t2 <t1, specifically, the condition of t2 = t1 / 5 Transmits the aforementioned basic clock b.

The CPU 5 counts the number of basic clocks b between the input count pulses P, P every time the count pulse P is input.

In addition, the CPU 5 compares the current clock number C (see FIG. 2) between the count pulses P and P with the basic clock number B (see FIG. 2), and based on the comparison result, C> At the time of B, the overspeed signal V is output to the output line 9.

Further, the aforementioned IC 4 has a data bus 10 for connecting to a host IC (not shown) such as another CPU, and an address bus 11.
Are provided.

Further, the above-described IC 4 is provided with output lines 12, 13, and 14 that output ON outputs when the relationship between the target value A and the current value a is A> a, A = a, and A <a.

The operation of the thus configured counter will be described with reference to the flowchart of FIG.

In the initial state, the speed counter (specifically, the CPU built-in counter) that counts the number of clocks of the basic clock b is cleared. For example, when one basic clock b is input at time t0 in FIG. In the first step 21
The CPU 5 increments (+1) the speed counter.

Next, in a second step 22, the CPU 5 determines the presence or absence of the count pulse P input. At the above-mentioned time point t0, since there is no count pulse P input, the CPU 5 proceeds to the next third step 23.

In the third step 23, the CPU 5 compares the current clock number C counted by the speed counter with the basic clock number B, and when C <B, returns to the first step 21, and returns to the first step 21.
In the case of B, the process moves to the next fourth step 24.

In the fourth step 24, the CPU 5 turns off the excess speed signal V on the output line 9, and then returns to the first step 21 described above. That is, in the above-described fourth step 24, when the moving speed of the moving object is extremely low, the excess speed signal V is OFF-controlled without having the count pulse P input.

When the input point of the count pulse P is reached while repeating the processing of the first step 21 to the fourth step 24, the CPU 5 executes the count pulse P in the second step 22 described above.
It is determined whether or not there is an input. In this case, since there is a count pulse P input, the process proceeds to the next fifth step 25.

In the fifth step 25, the CPU 5 determines whether the direction of the count pulse P is +1 or -1. In other words, it is determined whether the moving direction of the moving object is the forward direction or the reverse direction. When the value is -1, another 7th
In step 27, the CPU 5 steps down (-1) the current value a (corresponding to a counter) of the RAM 8.

Next, in an eighth step 28, the CPU 5 compares the target value A with the current value a, and if A> a, in the next ninth step 29,
The CPU 5 outputs an ON signal to the output line 12, and if A = a, the CPU 5 outputs an ON signal to the output line 13 in the next tenth step 30, and if A <a, the next eleventh step. In step 31, CP
U5 outputs an ON signal to the output line 14.

Next, in a twelfth step 32, the CPU 5 determines whether or not there is a change in the counting direction based on the count pulses P from the output lines 2 and 3.

That is, when the count pulse P as shown by the solid line in FIG. 1 is output to the above-mentioned two output lines 2 and 3 in the forward direction, and when the count pulse P as shown by the dotted line is output. If the direction is reverse, it is determined whether or not this direction has changed.

Then, for example, when the counting direction is reversed from the forward direction to the reverse direction, counting continues and a counting error occurs. In order to eliminate the mistake, the CPU 5 clears the speed counter in the next thirteenth step 33.

On the other hand, if there is no change in the counting direction, the flow shifts to the next fourteenth step.

In this fourteenth step 34, the CPU 5 compares the current clock number C (the number of clocks between the basic clocks b and b) with the basic clock number B set in the RAM 8 in advance, and the current clock number C is smaller than the basic clock number B. When the moving speed of the object exceeds the maximum counting speed, C <B, the process proceeds to the next fifteenth step 35, where the CPU 5 outputs the overspeed signal V to the output line 9.

On the other hand, in the above-mentioned fourteenth step 34, if the current clock number C is larger than the basic clock number B and the moving speed of the object is within the allowable count range C> B, the process proceeds to the next sixteenth step 36, In step 16, the CPU 5 turns off the overspeed signal V on the output line 9.

Next, in a thirteenth step 33, the CPU 5 clears the speed counter and prepares for the count between the next count pulses P, P, and then returns to the above-mentioned first step 21, and thereafter repeats the above-described operation.

In short, in the prior art, the calculation of the counting speed required time T (see FIG. 3), but in this embodiment, the calculation of the counting speed is performed within a short time corresponding to the interval between the count pulses P. In addition to this, there is an effect that a speed detection result can be obtained for each count pulse input.

As a result, real-time processing using the speed data described above can be performed, which is extremely effective, for example, when performing NC control on a moving object.

In addition, when the moving speed of the above-mentioned object exceeds a preset maximum speed, the above-mentioned CPU 5 can output an over-speed signal to the output line 9. Appropriate control such as braking control of an object can be performed.

In the correspondence between the configuration of the present invention and the above-described embodiment, the clock transmitting means of the present invention corresponds to the CPU 5 of the embodiment. Similarly, the current clock counting means corresponds to the built-in counter of the CPU 5, The number-of-clocks setting means corresponds to a predetermined area of the RAM 8, the comparing means corresponds to the third step 23 and the fourteenth step 34 of the CPU 5, and the control means corresponds to the CPU 5. It is not limited only to the example configuration.

[Brief description of the drawings]

 1 shows an embodiment of the present invention, FIG. 1 is a block diagram of a control circuit of a counter, FIG. 2 is a flowchart, and FIG. 3 is a time chart. 5: CPU, 8: RAM B: Number of basic clocks, b: Basic clock C: Current clock number, P: Count pulse

Claims (1)

(57) [Claims] And a count pulse output means for outputting a pulse for counting in response to the movement of the moving body, wherein the target value is compared with a current value based on the count of the count pulses to determine the movement of the moving body to the target value. A clock control means for periodically transmitting a basic clock at a speed equal to or higher than a maximum counting speed; a current clock number counting means for counting the number of basic clocks between input count pulses; Basic clock number setting means for setting a basic clock number serving as a reference between pulses; comparing means for comparing the number of clocks of the current clock number counting means with the number of clocks of the basic clock number setting means for each input of the count pulse And control means for controlling the output of the overspeed signal when the current clock number is equal to or more than the basic clock number based on the output of the comparison means. Mobile control unit.