JP3624322B2 - Motor control circuit and motor control method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motor control circuit with a learning function and a motor control method.
[0002]
[Prior art]
Conventionally, there is a method of cutting a sheet by driving a cutter by rotating a motor. The motor driving method at this time is as shown in (1) to (4) of FIG.
(1) The cutter is driven by rotating the motor in the normal direction (clockwise) to cut the paper.
[0003]
(2) After that, when the light projected by the phototransistor is received at the left end of the notch of the rotating disk that rotates with the rotation of the motor, the reverse current is applied for 50 ms to perform braking, and then the actual rotation Waits for a compensation time of 200 ms until it stops.
[0004]
(3) After waiting for the compensation time of 200 ms in (2), if the phototransistor does not receive light from the notched portion, it is determined that the phototransistor has rotated too much, and a reverse current (for example, 30 ms reverse current) is supplied to Wait for a compensation time of 200 ms before stopping.
[0005]
(4) When the phototransistor receives light at the position where the motor has stopped after the compensation time of 200 ms in (3), the process ends. If it does not receive light, repeat (3) and reverse the overturned portion little by little.
[0006]
[Problems to be solved by the invention]
When the paper cutting operation is performed by the conventional motor control method shown in FIGS. 6A to 6D in FIG. 6 described above, it takes too much time to move due to the inertia of the motor, and the state of the phototransistor can be checked until the actual operation stops. Therefore, there is a problem that a large time loss of 300 ms to 400 ms occurs, and a lot of time is required for the entire motor control.
[0007]
In order to solve these problems, the present invention calculates the optimum reverse current brake time by self-learning after rotating the motor to perform operations such as paper cutting, and thereafter, the desired position is determined by this reverse current brake time. The purpose of this is to realize a quick and optimal motor control by eliminating the waiting time for the compensation time for moving by the conventional inertia and eliminating the time loss of repeating the back process.
[0008]
[Means for Solving the Problems]
Means for solving the problem will be described with reference to FIG.
In FIG. 1, the motor control unit 2 controls the motor 6, and supplies a driving current to the motor 6 to execute a predetermined operation, and then detects that it has reached a predetermined position. After supplying the brake current to the motor for a predetermined time T, if the vehicle has passed the predetermined stop position after the compensation time has elapsed, the reverse processing is repeated to return to the predetermined stop position by supplying the reverse current and stop at the predetermined stop position. On the other hand, when the vehicle stops at a predetermined stop position after the compensation time has elapsed, control is performed so that back processing is not performed.
[0009]
The motor 6 rotates and performs a predetermined operation, and then stops at a predetermined stop position and waits for the next operation.
The notch 8 is for stopping the position of the motor 6 at a predetermined stop position.
[0010]
The disk 7 rotates with the rotation of the motor 6, and is provided with a notch 8 to stop the motor 6 at a predetermined stop position.
The phototransistor 9 detects that the notch 8 of the disk 7 has reached a predetermined stop position.
[0011]
[Action]
As shown in FIG. 1, when the motor control unit 2 supplies a driving current to the motor 6 to execute a predetermined operation and then detects that it has reached a predetermined position, the initial value or the previous time is detected. When the brake current is supplied to the motor for a predetermined time T that is self-learned by adding a predetermined value to the value of the motor, and after passing the predetermined stop position after the compensation time has elapsed, a reverse current is supplied to the predetermined stop position. When the back process is returned to (2) and stopped at the predetermined stop position, the back process is not performed when the stop time is reached after the compensation time has elapsed.
[0012]
At this time, a notch 8 is provided in the disk 7 that rotates with the rotation of the motor 6, and when one end of the notch 8 is detected and passed by the phototransistor 9, a predetermined position is set. The center is set as a predetermined stop position.
[0013]
Further, self-learning is performed when the motor 6 is powered on or reset, and is fixed at a predetermined time T (or a predetermined time T corrected so as to be approximately at the center of the notch 8) after self-learning and is short. The motor is surely stopped at a predetermined stop position in time.
[0014]
Accordingly, after rotating the motor 6 to perform operations such as paper cutting, the optimum reverse current brake time T is calculated by self-learning, and thereafter, the motor is stopped at a desired position by the reverse current brake time T. This makes it possible to realize a quick and optimal motor control by eliminating the waiting time for the compensation time to move with the inertia and eliminating the time loss of repeating the back process.
[0015]
【Example】
Next, the configuration and operation of the embodiment of the present invention will be sequentially described in detail with reference to FIGS.
[0016]
FIG. 1 shows a block diagram of an embodiment of the present invention.
FIG. 1A shows a configuration diagram.
In FIG. 1A, the controller 1 controls the motor 6 and cuts the ticket sheet 10 with the blade 12 of the cutter 11, and is composed of the motor control unit 2 and the like.
[0017]
The motor control unit 2 drives the motor 6 or stops it at a predetermined position.
The RAM 3 stores various data.
[0018]
The motor 6 drives the cutter 11 and cuts the ticket sheet 10.
The disk 7 rotates with the rotation of the motor 6, and is provided with a notch 8 to stop the motor 6 at a predetermined stop position.
[0019]
The notch 8 is a notch having a predetermined width W provided on the outer peripheral portion of the disk 7, and is for detecting the position of the light projected by the phototransistor 9.
[0020]
The phototransistor 9 is an element that detects light projected through a notch 8 provided on the outer periphery of the disk 7.
The ticket sheet 10 is a sheet to be cut.
[0021]
The cutter 11 is a mechanism for cutting the ticket sheet 10.
The cutter blade 12 is a blade for cutting the ticket sheet 10.
The arm 13 rotates as the motor 6 rotates. Here, the arm 13 drives the blade 12 of the cutter 11 as the disk 7 rotates.
[0022]
FIG. 1B shows a control signal. Here, when the controller 1 outputs the illustrated signal, the motor 6 performs the following operation illustrated.
Operation signal normal rotation 01
Reverse 10
Brake 11
Next, the operation of the configuration of FIG. 1 will be described in detail according to the order of the flowchart of FIG.
[0023]
In FIG. 2, S1 performs initial setting. This is, as described on the right side,
・ T = 50ms
・ Predetermined stop position rotation time 8ms
And initialize. Here, T is the reverse current brake time (predetermined time). The predetermined stop position rotation time is a time determined by an experiment necessary to stop the center approximately from the position of the left end of the notch 8 in FIG.
[0024]
In S2, the motor is rotated once and rotated forward (clockwise). This is because the motor control unit 2 in FIG. 1A supplies the signal 01 to the motor 6 and tries to rotate the motor 6 one rotation forward.
[0025]
In S3, it is determined whether it is a photo stop position. This is to determine whether the phototransistor 9 in FIG. 1A has detected light passing through the notch 8. In the case of YES, it is determined in S4 that the cutting of the ticket sheet 10 has been completed, and a process of stopping the motor 6 at a predetermined stop position is performed for correcting the cutter position after S5. On the other hand, in the case of NO in S3, it waits for the phototransistor 9 to detect the light that has passed through the notch 8.
[0026]
In S5, it is determined whether it is the first cut after the power is turned on. If YES, the process proceeds to S6. If NO, the process proceeds to S12.
In S6, a reverse current is supplied to the motor 6 during the reverse current brake time T = 50 ms (reverse current brake T = 50 ms initially set in S1).
[0027]
S7 waits for the motor brake stop compensation time 200 ms and waits for the motor 6 to stop.
In S8, it is determined whether it is a photo stop position. This is to determine whether the position where the motor 6 is stopped in S7 is the photo stop position. In the case of YES, it is determined that the motor 6 has stopped at the predetermined stop position, and the process ends. In the case of NO, since it has been found that the motor 6 has passed the predetermined stop position, the motor 6 is reversely rotated for 30 ms in reverse rotation of the motor in S9, and the motor brake stop compensation time of 200 ms elapses in S10. The motor reverse rotation operation flag is set to ON in S11, the process returns to S8 and is repeated, and the back process is repeated until the predetermined stop position is returned.
[0028]
In the case of cutting the first ticket sheet 10 when the power is turned on by YES to S11 in S5, the reverse current brake time T = 50 ms (from when the phototransistor 9 detects light at the left end of the notch 8). After the braking of the initial value (S6, S7), the back process (S8 to S11) is repeated, and the motor 6 is gradually reversely rotated to the predetermined stop position.
[0029]
S12 determines that the reverse rotation operation flag is ON because it is not the first cut of power-on in S5 but the second and subsequent cuts (S11 determines whether the reverse rotation flag is set to ON in S11). ). In the case of ON, since it was found that the motor 6 was reversely rotated last time, self-learning is performed from S13 to S15 and from S8 to S11. In the case of OFF, since it was found that the motor 6 was not reversely rotated last time, the motor 6 is braked for the updated reverse current brake time T by adding +8 ms to the reverse current brake time T in S16. Thus, the motor 6 is stopped at substantially the center position of the notch 8, and after the motor brake stop compensation time of 50 ms elapses in S17, the motor 6 is stopped at the predetermined stop position and the process ends.
[0030]
In step S13, a reverse current is supplied to the motor 6 during the updated reverse current brake time T obtained by adding +2 ms to the reverse current brake time T.
S14 waits for the motor brake stop compensation time 200 ms and waits for the motor 6 to stop.
[0031]
In S15, the motor reverse rotation flag is reset to OFF, and the process proceeds to S8.
In S8, it is determined whether it is a photo stop position. In step S15, it is determined whether the position where the motor 6 is stopped is the photo stop position. In the case of YES, it is determined that the motor 6 has stopped at the predetermined stop position, and the process ends. At the time of the next cut, a series of self-learning is terminated by NO in S5, OFF in S12, S16, and S17. On the other hand, in the case of NO in S8, since it has been found that the motor 6 has passed the predetermined stop position, in S9, the motor 6 is reversely rotated for 30 ms, and the motor brake stop compensation time of 200 ms elapses in S10. Then, after waiting for the motor 6 to stop, the motor reverse rotation operation flag is set to ON in S11, and the process returns to S8 and repeats, and the back process is repeated until it returns to the predetermined stop position. In the next cut, S5 NO, S12 ON, S13, S14, S15, S8 to S11 are repeated, and self-learning is repeated.
[0032]
With the above S5 NO, S12 ON, S13 to S15, and S8 to S11, light is detected at the left end of the notch 8 by the phototransistor 9 in the case of cutting the ticket sheet 10 after the second power-on. After braking the reverse current brake time T (first time 50 ms, second time 52 ms, third time 54 ms... By self-learning) (S13, S14), the back process (S8 to S11) is repeated. The reverse rotation of the motor 6 to the predetermined stop position is repeated every time the ticket sheet 10 is cut, and the self-learning of the reverse current brake time T is performed. Then, self-learning is finished when the motor reverse rotation is no longer necessary, and the next time and afterward, braking is performed during the self-learned reverse current brake time T, and the motor 6 can be accurately stopped at a predetermined stop position. It becomes.
[0033]
FIG. 3 is a diagram for explaining the operation of the present invention. This shows the state of self-learning in FIG. 2 described above.
FIG. 3A shows the first operation. This represents a state when the processes of S1 to S4, YES of S5, and S6 to S11 of FIG. 2 are performed. More specifically, when the photo signal is ON, the driving of the motor 6 is stopped, a reverse current is supplied for 2 ms for 50 ms (initial value T), and after the elapse of 200 ms for the motor brake stop compensation time, Since the signal is not turned ON, the process is repeated n times, and the process ends when the photo signal is turned ON, and the motor 6 is back-processed at a predetermined stop position. In this first time, the reverse current brake time T is updated to 50 ms + 2 = 52 ms.
[0034]
FIG. 3B shows the second operation. This represents a state when the processes of S1 to S4, NO of S5, S12 of ON, S13 to S15, and S8 to S11 of FIG. 2 are performed. More specifically, when the photo signal is ON, the driving of the motor 6 is stopped and a reverse current is supplied for 52 ms (52 ms obtained by adding 2 ms to the initial value) to compensate for the motor brake stop of 200 ms. Since the photo signal is not turned on after the elapse of time, the process is repeated m times, and when the photo signal is turned on, the process is finished and the motor 6 is back-processed at a predetermined stop position. In this second time, the reverse current brake time T is updated to 52 ms + 2 = 54 ms.
[0035]
FIG. 3C shows the n-th operation. This represents the situation when S1 to S4, S5 NO, S12 ON, S13 to S15, and S8 at the beginning of FIG. 2 are YES. This is the result of adding +2 ms to the reverse current brake time T of S13 this time, and braking and motor brake stop compensation time (4) After the elapse of 50 ms, the motor 6 just stops at the photo stop position, and reverse rotation becomes unnecessary. Is.
[0036]
FIG. 3D shows an operation after the time is fixed. This shows the situation at the next time S1 to S4, S5 NO, S12 OFF, S16, and S17 in FIG. This is because the motor 6 just stopped at the photo stop position in the previous self-learning and the motor reverse operation flag remains OFF, so this time the S12 is OFF, and the reverse current brake time T is +8 ms in S16. Thus, the motor 6 is stopped at substantially the center position of the notch 8, and a series of processing is ended after the motor brake stop compensation time of 50 ms elapses in S17. More specifically, when the photo signal is ON, the driving of the motor 6 is stopped and the reverse current is set to (2) 50 + Xms (the time when X (total number of additions of 2 ms up to the previous time) is added to the initial value) Flow for +8 ms. (4) After the 50 ms motor brake stop compensation time has elapsed, the photo signal remains ON, and the series of motor stop processing ends.
[0037]
FIG. 4 shows a learning explanatory diagram of the present invention.
(1) is the number of self-learning times, and represents the number of cuts from the first cut after the current is applied until the back process is eliminated. This {circle over (1)} represents, for example, the first time in FIG. 3 (a), the second time in (b),... (C) and the nth time (when n = 23).
[0038]
(2) represents a change in which the value of the reverse current brake time T is self-learned.
(3) represents the value of X in FIG. 3 and added to the reverse current braking time T.
(4) represents the compensation time until the motor stops.
[0039]
(5) represents the processing time of the entire cutter motor.
As a result of actually measuring the number of times of self-learning for the motor 6 (cutter motor) having the configuration shown in FIG. 1, there is a slight variation depending on the motor, but on average, back processing is within 3 times (self-learning is within 3 times) and fixed. It was possible to self-learn with time, and 660 ms in the conventional case of FIG. 6 could be reduced to 292 ms according to the present invention, and could be reduced to 1/26.
[0040]
FIG. 5 shows a cutout example of the present invention. This shows the shape of the notch 8 of the disk 7 that rotates as the motor 6 of FIG. 1 rotates. Here, when the position of the solid line ○ becomes the light receiving portion of the phototransistor 9, the motor 6 is at a predetermined stop position. The position of the dotted line on the left side is the position where the driving of the motor 6 is stopped and the reverse current brake is started. A position indicated by a dotted line on the right side is a position detected by the phototransistor 9 by rotating the motor 6 in the reverse direction.
[0041]
As described above, by providing the disc 7 with the notch 8 having the predetermined width W, when the tip of the notch 8 is detected by the phototransistor 9, the driving of the motor 6 is stopped and during the reverse current brake time T. When the braked and stopped position passes through the width W of the notch 8, the self-learning is performed by repeatedly performing the back process and increasing the reverse current brake time T. The self-learning is completed when the position where the brake is stopped is just the right end of the width W of the notch 8, and in order to make the position approximately the center from the right end, here, 8 ms is set as the reverse current brake time T. It is adding. As a result, the motor 6 can be self-learned and stopped at the predetermined stop position accurately by the notch 8 having the predetermined width W.
[0042]
【The invention's effect】
As described above, according to the present invention, after the motor 6 is rotated to perform operations such as paper cutting, the optimum reverse current brake time T is calculated by self-learning, and thereafter the reverse current brake time T is calculated. Therefore, it is possible to realize a quick optimum motor control by eliminating the waiting time for the compensation time for moving by the conventional inertia and eliminating the time loss for repeating the back process. As a result, the processing time required to stop at a predetermined stop position after a predetermined operation using the motor 6 can be significantly reduced, for example, 660 ms can be shortened to 292 ms.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an embodiment of the present invention.
FIG. 2 is a flowchart explaining the operation of the present invention.
FIG. 3 is an operation explanatory diagram of the present invention.
FIG. 4 is an explanatory diagram of learning according to the present invention.
FIG. 5 is a cutout example of the present invention.
FIG. 6 is an explanatory diagram of a conventional technique.
[Explanation of symbols]
1: Controller 2: Motor control unit 3: RAM
6: motor 7: disk 8: notch 9: phototransistor 10: book ticket paper 11: cutter 12: cutter blade 13: arm

Claims (2)

After rotating and performing a predetermined operation, stopping at a predetermined stop position and waiting for the next operation to supply the drive current to the motor to execute the predetermined operation, then came to the predetermined position When a brake current is supplied to the motor for a predetermined time T that is self-learned by adding a predetermined value to the initial value or the previous value, and after passing the motor brake stop compensation time, it passes the predetermined stop position. In this case, the self-learning is terminated when the reverse rotation of the motor is no longer necessary by supplying a reverse rotation current and returning to the predetermined stop position, and after the next time, the predetermined time at the end of the self-learning A motor control circuit comprising a motor control section for stopping the motor at a predetermined stop position by supplying a brake current to the motor during T. A motor control method that repeats rotating and performing a predetermined operation, then stopping at a predetermined stop position and waiting for the next operation,
After the drive current is supplied to the motor and a predetermined operation is executed, when it is detected that the motor has reached a predetermined position, the predetermined value is added to the initial value or the previous value and self-learned for a predetermined time T During this period, after the brake current is supplied to the motor , if the motor brake stop compensation time has passed and the vehicle has passed the predetermined stop position, the reverse process of supplying the reverse current and returning it to the predetermined stop position is repeated so that the motor does not need to be reversed. The self-learning is terminated at a point in time, and the motor is stopped at a predetermined stop position by supplying a brake current to the motor for the predetermined time T at the end of the self-learning after the next time. Motor control method.

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