JP2901351B2 - Servo calculation check method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo operation check method, and more particularly, to a servo operation check method for diagnosing a failure of a microcomputer that executes a servo loop operation.

[0002]

2. Description of the Related Art FIG. 3 shows a block diagram of a microcomputer for executing a conventional servo loop operation. In FIG. 3, 1 is a multiplexer,
Multiplexer 1 has input ports 1a, 1b, 1c, 1d
And an output port 1f. Command data for instructing the operation of the control target is input to the input port 1a, speed data indicating the speed of the control target is input to the input port 1b, and position data indicating the position of the control target is input to the input port 1c. Is input, and D / A is input to the input port 1d.
(Digital-Analog) The output of the converter 9 is input. 2 is a CPU (Central Processing Unit)
The CPU 2 executes a program stored in a ROM (Read Only Memory) 3, selects a predetermined input port by the multiplexer 1 according to a procedure described later shown in FIG. / D (An
alog-Digital) converter 5 and data / address bus 6
Through a predetermined storage area of a random access memory (RAM) 7. Next, the CPU 2 reads the data stored in the RAM 7 and performs gain calculation and the like,
A signal for controlling driving of a control target (not shown) is output based on the calculation result. 8 is D / I (Digital /
Input), 10 is D / O (Digital / Ouput), 11 is OCR
(Oscillator), 12, 13 and 14 are control lines for controlling the multiplexer 1, the sample hold 4 and the A / D converter 5, respectively, and 15 is a signal line for inputting the output of the D / O 10 to the D / I 8. Note that, for simplicity of description, a control target and an output line to the control target are not illustrated.

On the other hand, as a method for checking whether or not the above servo loop calculation is appropriate, that is, as a servo calculation check method, for example, a method of diagnosing a failure of each part of the microcomputer before executing the servo loop calculation is known. Are known. Such a failure diagnosis check procedure and a servo loop calculation execution procedure are shown, for example, in the flowcharts of FIGS. In addition, S ₁ ~ shown in FIG. 4
S ₁₁ ~S1 ₈ of S ₇ and 5 show the steps of the flowchart.

First, a check procedure of a conventional servo operation check method will be described with reference to a flowchart shown in FIG. In S _1, by adding the ROM area 8 or 16 bits wide, by determining whether or not consistent with the known data, checks the ROM 3. In S _2, writing a known data in the RAM area, then, by determining whether or not to match the write data is read, R
Check AM7. In S _3, by to perform addition or subtraction such as instructions by CPU 2, it is determined whether or not consistent with the known data, checks the CPU 2.

[0005] S _4, and outputs the known data in the D / O10 read from D / I8, depending on whether the read data matches the output data, checks the D / O10 and D / I8. In S _5, and outputs the known data to the D / A converter 9, by inputting data from the A / D converter 5, and determines whether or not to match the output data, A / D converter 5 And the D / A converter 9 is checked. If the data does not match in each step of S _{1 to} S ₅ ,
_{In step 6} , the failure of each part of the microcomputer is determined.
Further, only when the data matches at all S ₁ to S _5, to perform the servo loop operation at S _7.

Next, the execution procedure of the servo loop calculation will be described with reference to the flowchart of FIG. In S _11, selects the input port 1a of the multiplexer 1, in S _12, reading command data D _CMD. In S _13, selects the input port 1b of the multiplexer 1, in S ₁ 4, reads the velocity data D _VEL. In S _15, the input port 1c of the multiplexer 1
Select, in S _16, it reads the position data D _POS.

[0007] In S _17, the next example performs an operation represented by the formula, at S _18, and outputs the result to the D / A converter 9, to drive a controlled object (not shown) through the output line (not shown). V = (D _CMD −D _POS ) K ₁ −D _VEL K ₂ , where K ₁ and K ₂ are gain constants.

[0008]

[SUMMARY OF THE INVENTION However, since in such a conventional servo operation check method, was diagnosed separately failure of the microcomputer to the respective parts as shown in S ₁ to S ₅ in FIG. 4 However, there has been a problem that the execution time of the failure diagnosis becomes very long. Therefore, the present invention reads data from at least one input port set to the ground or a specific value of the multiplexer,
As in the case of servo calculation, the read data is stored, the calculation is executed, and the calculation result is compared with a predetermined set value, thereby diagnosing the microcomputer failure at one time.
It is an object of the present invention to significantly reduce the execution time of failure diagnosis.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to a servo operation checking method for a microcomputer having a multiplexer as a signal input unit and executing a servo operation. A first step of setting an input port to a ground level or a specific value, selecting the input port and connecting it to an output port, after the first step, reading data from an output port of a multiplexer, A second step of storing data in the same area as the random access memory area for storing data and executing the same operation as the servo operation in the same area as the random access memory area used in the servo operation; And a third step of comparing the operation result with a predetermined set value. A.

[0010]

According to the present invention, in the first step, data can be input from the input port set to the ground level or a specific value of the multiplexer, and in the second step, the input data indicating substantially 0 volt or a specific value can be obtained. Is stored in the same area as the RAM area used for the servo operation, the same operation as the servo operation is executed in the same RAM area, and the failure in the microcomputer is diagnosed at once by the comparison in the third step.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing one embodiment of a microcomputer that executes a servo loop operation to which the present invention is applied.
FIG. 2 is a flowchart showing an example of a check procedure of the servo calculation check method according to the present invention. 1 has the same configuration as that of the block shown in FIG. 3 except for the input port 1e of the multiplexer 1 connected to a ground level or a specific value. The same reference numerals are given and the description of the configuration is omitted. Also, the execution procedure of the servo loop operation executed by the microcomputer of FIG. 1 is the same as the procedure shown in FIG.

First, the checking method of this embodiment will be described with reference to FIG. 1 and according to the procedure of the flowchart of FIG. In the following description, the case where the input port 1e of the multiplexer 1 is connected to the ground level will be described. In S _21, ground input port 1 of the multiplexer 1
Select e connected to the output port 1f, at S _22, the data command data DC _MD output from the output port 1f
And stores the command data in the same area as the predetermined area of the RAM 7 for storing the command data at the time of the servo calculation.
In S _23, it reads the data outputted from the output port 1f as velocity data D _VEL, be stored in the same region and a predetermined region of RAM7 of storing velocity data during servo operation. In S _24, it reads the data outputted from the output port 1f as position data D _POS, be stored in the same region and a predetermined region of RAM7 of storing position data to the servo operation.

In S25, the above-mentioned equation V = (D _CMD -D _POS )
The servo operation indicated by K ₁ -D _VEL K ₂ is executed in the same area as the predetermined area of the RAM 7 used in the normal servo operation, and in S 26, the value of the operation result V in S 25 is set to a predetermined set value 0 ± Δα. (Δα is a small positive value) and | V | <
0 ± [Delta] [alpha] Otherwise, the process proceeds to S _27, a verdict of the microcomputer malfunction. That is, since reading data from S ₂₂ to S ₂₄ in the input port 1e, the read data D _CMD, D _VEL and D _POS are all substantially 0 volt. Further, the multiplexer 1, the CPU 2, the ROM 3, the sample and hold 4, the A / D converter 5, the data / address bus 6, the RAM 7, the D / I 8, the D / A converter 9, and the D / A converter 9.
/ O10 uses an area used when executing a servo loop operation. For this reason, if there is an abnormality in any of these, the calculated V does not become V ≒ 0. Therefore, Δ
if the α set in consideration of the measurement error, allows failure diagnosis of the microcomputer by comparing the S _26. On the other hand, | V | <0 if ± [Delta] [alpha], the process proceeds to S ₂₈ it is determined that there is no abnormality in the microcomputer, S ₁₁ in FIG. 5
Run the servo loop operation represented in to S _18.

According to the servo operation checking method as described above, the data D is input from the input port 1e of the multiplexer 1.
_CMD , D _VEL and D _POS are read, and the read data is stored in a predetermined area of the RAM 7 which is the same as when the servo calculation is performed.
By performing the same calculation as in the servo calculation and comparing the calculation result with a predetermined set value 0 ± Δα, the microcomputer failure is diagnosed, so that the microcomputer failure can be diagnosed at a time. The execution time of the failure diagnosis can be greatly reduced as compared with the conventional method in which the failure of the microcomputer is diagnosed by checking the failure of each part separately.

In the above description, the input port 1e is set to the ground level. If the input port 1e is set to a specific value other than the ground level, the comparison result of the operation result is 0 ±
Except for Δα (a predetermined value corresponding to a specific value) ± Δα, the same as the above-described embodiment. It is also possible to use a plurality of input ports of the multiplexer 1 and execute a servo operation using a plurality of data assigned to each of them to detect a failure.

[0016]

According to the present invention, data is read from the input port set to the ground level or a specific value of the multiplexer, the read data is stored and the calculation is executed in the same manner as in the servo calculation, and the calculation result is determined. , The failure of the microcomputer can be diagnosed at once, and the execution time of the failure diagnosis can be greatly reduced.

[Brief description of the drawings]

FIG. 1 is a diagram showing a block configuration of a microcomputer that executes a servo loop operation to which a servo operation check method according to the present invention is applied.

FIG. 2 is a flowchart showing an example of a check procedure of a servo operation check method according to the present invention.

FIG. 3 is a diagram showing a block configuration of a microcomputer to which a conventional servo operation checking method is applied.

FIG. 4 is a flowchart showing a check procedure of a conventional servo calculation check method.

FIG. 5 is a flowchart showing an execution procedure of a servo loop operation in FIG. 4;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Multiplexer 1a-1d Input port 1f Output port 1e Input port set to ground level or a specific value 2 CPU 3 ROM 4 Sample hold 5 A / D converter 6 Data / address bus 7 RAM 8 D / I 9 D / A Converter 10 D / O

Claims (1)

(57) [Claims] 1. A servo operation check method for a microcomputer having a multiplexer as a signal input unit and executing a servo operation, wherein at least one input port of the multiplexer is set to a ground level or a specific value. And connecting to the output port, and after the first step, data is read from the output port of the multiplexer and stored in the same area as the random access memory area for storing data during the servo operation. A second step of executing the same operation as the servo operation in the same area as the random access memory area used in the servo operation, and a third step of comparing the operation result in the second step with a predetermined set value. And a servo operation checking method.