JPH02229098A - Landing controller for recorder pencil pen - Google Patents

Abstract

PURPOSE:To conduct a suitable control invariably by correcting the value of a control parameter in accordance with a length change amount of a lead of a pencil in use. CONSTITUTION:When a point D is a landing target point just after a previous landing control, a value (z) at that time is written in a z0 register 18. When a pencil pen 1 is used and receives a pen-up command at a point t6, a value (z) at that time is written in a z1 register 19 before the execution of a pen-up action. After a pen-up control is conducted, a control parameter is corrected. As a result, a value of a point C suitable for a next landing control is set as a control parameter. Thus, the lead of the pencil can come into contact with a recording paper surface without impact.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pencil pen used in a recording device, and particularly to a landing control device thereof.

[Prior Art] Pencil recording on a recording device has become popular recently because it is easy to erase after recording. FIG. 2 is a side view showing a pencil pen used in a recording device and its vertical mechanism, in which 1 is a pencil pen, 2 is a pen holder, 3 is a base, 4 is an actuator, 5 is a slide bearing,
6 is a position sensor, 7 is a control device, 8 is a recording paper surface, and 9 is a pencil lead.

The axis of the pencil pen 1 is held in a direction perpendicular to the surface of recording paper (not shown). That is, for convenience of explanation, if we consider orthogonal coordinate axes with the surface of the recording paper as the X-Y plane, the axis of the pencil pen 1 is held in the Z direction. The entire structure shown in FIG. 2 is mounted on a carriage (not shown) by means of a base 3;
This carriage is configured so that it can be controlled to position it at any x-y position on the recording paper, but since this part is not directly related to the present invention, its explanation will be omitted.

The pencil pen 1- is configured to be able to change its position gz in the Z direction with respect to a base 3 via a pen holder 2 and a slide bearing 5. Assume that a force F that drives the pencil pen 1 in the Z direction is generated according to the current flowing through the actuator 4.

The position sensor 6 includes, for example, a magnetic field that changes in relation to the relative position 2 and a pole effect element that detects changes in this magnetic field, and inputs the detected value of the relative position to the control device 7.

FIG. 1 is a block diagram showing one embodiment of the present invention, and since most of the components are the same as the conventional device, the conventional device will be explained using FIG.

In FIG. 1, the same reference numerals as in FIG. 2 indicate the same or equivalent parts, 10 is a CPU, 11 is a common path, 12 is an interface (hereinafter abbreviated as IF) with a post computer (not shown), and 13 is an interface with a post computer (not shown). 14 is an analog-to-digital converter (hereinafter abbreviated as ADC); 15 is an input/output control device (hereinafter abbreviated as IOC); 16 is a data memory; 17, 18, and 19 are parts included in the data memory 16, respectively. 17 is the control parameter memory, 18 is z
O register 19 is the z1 register.

In addition, the control device 7 is a digital-to-analog converter (hereinafter referred to as D
(abbreviated as AC) 71, differentiation circuit 72, subtraction circuit i ¥87
3.74, amplifier circuits 75, 76, changeover switch 77
．． 78.

The output of the amplifier 76 is given to the actuator 4, but for convenience of explanation below, it is assumed that G in FIG. This will be explained as representing.

including all loads connected to the actuator 4,
If the equivalent electric charge is m and the uniform frictional resistance coefficient is r, then m (d2z/'dt2)+r (dz/dt) -F
... (1).

In constant speed control, the switches 77 and 78 are connected in the opposite direction to that shown in Figure 1, and if the output of the DAC 71 is ■, then F=G (v-dz/dt)... (2) becomes.

Here, V is the target speed, and dz/dt is controlled so that it gradually approaches V.

For positioning control, the switches 77 and 78 are connected in the direction shown in Figure 1, and if the output of the DAC 71 is p, then F=G (p-z-k (dz/dt))...(3
). Here, p is the target position, k is the velocity feedback coefficient, and control is performed so that 2 gradually approaches p.

The control parameter memory 17 stores various parameters used to control the Z-direction position of the pencil pen 1. For example, pen-up position A, control switching position B, and target landing position C shown in Fig. 7 (Fig. 7 will be explained in a later section).
5. In addition to the landing point position, etc., a high speed target speed S, a low speed target speed S, etc. are stored. Since these memories are stored as digital values, if the output of the position sensor 6 is an analog value and the calculations in the control device W7 are performed using an analog circuit, the control parameters can be converted to analog values by the DAC 71. is necessary.

FIG. 7 is an operation diagram showing the conventional method, and the horizontal axis of the diagram is time t.
, the vertical axis represents the position 2 of the pencil pen 1 in two directions. Also, among the points on the vertical axis, A is the position where the pencil pen 1 is not in use and the tip of the pencil lead 9 is held away from the recording paper (temporarily referred to as the pen-up position), B is the control switching position, and C is the position where the tip of the pencil lead 9 is held away from the recording paper. The landing target position, D is the landing point position. At the landing position, the tip of the pencil lead 9 is pressed against the recording paper with a predetermined pressure.

Assume that a command to lower the position is given from the post computer via the IF 12 at time t○ in FIG. Initially, a high target speed S stored in the control parameter memory 17 is input to the DAC 71 under constant speed control, and the pencil pen 1 is lowered.

d z / d t gradually approaches S, 2 to, tl
, t2. During this time, the value of Z is ADC1
4 is converted into a digital value and sent to CP via bus 11.
U ], enter O. C, P U ], O compares the value of 2 with the value of B in the control parameter memory 17. When z=B and the position of the pencil pen reaches point B,
Control is switched to positioning control and point C is set as the target position. Since the initial speed at the switching point is approximately the target speed (supposed to be S), Z changes as shown in t2 to t73 in FIG. 7 and gradually approaches point C.

When the positional error with point C falls within a predetermined tolerance, the control is switched back to constant speed control. However, the target speed S at this time is set to a sufficiently small value. Although d z / d t tries to approach S, the tip of the pencil lead 9 collides with the recording surface at a time when it is still considerably smaller than S. Part of the kinetic energy at the time of this collision is absorbed by the system, and part of it becomes an elastic collision, and the direction of d z / d t of the pencil pen 1 is reversed. Although it is a kind of chattering, this chuckling eventually ends and the pencil pen 1 comes to rest at point D. At this time d
Since z/dt=0, the landing point position can be detected.

Since d z / d t = O at point D, the formula (
From 2), F=Gv... (4), and this force presses the pencil lead 9 of the pencil pen 1 against the recording surface.

The next target landing position C is calculated by considering an appropriate offset value to the value of 2 at the time the landing point position is detected, and this value of C is set in the control parameter memory 17, and the landing control is performed. In this case, use this set value of C.

Since the recording paper surface 8 has irregularities and the length of the pencil lead 9 has lengths, the distance between A and D in FIG. 7 is indefinite. In order to move the pencil pen 1 between A and D as quickly as possible and to minimize the impact of collision at point D, point C is set slightly before point D, and at point C, pencil pen 1 is temporarily stopped. After this, the control shown in FIG. 7 is performed in order to bring the pencil lead 9 into contact with the recording paper surface 8 at a speed as low as possible. In this sense, there is no problem in performing positioning control from point 10 in FIG. 7 to point C immediately.

[Problems to be Solved by the Invention] In the conventional device as described above, the target landing position C is calculated from the previous landing position, and therefore there are the following problems. FIG. 3 is a side view showing changes in the landing point position, in which the same reference numerals as in FIG. 2 indicate the same or corresponding parts. Due to the wear and tear of the pencil lead 9 during use, the value of Z at the landing point changes from the state shown in FIG. In the conventional method, the target landing position C is determined based on the previous landing position, and the determined value of C is used for the next landing control, so it takes a long time from this target landing position to the actual landing position. In this case, the speed of the pencil pen at the landing point d z / dt will be close to the target speed S, and if it collides at this speed, it will cause a large impact and the chatter link will become large. be.

This invention was made in order to solve the above-mentioned problem in the conventional device, and it is designed so that even if the value of 2 at the landing point changes due to the use of a pencil pen, the impact when it collides with the landing point does not change. The purpose is to provide a landing control device.

[Means for Solving the Problems] In the landing control device according to the present invention, the position 2 of the pencil pen when the landing point position is detected in the landing control is set to z0.
Store it in the register, and then the next time you receive a command for pen-up control, before executing that command, read the position 2 of the pencil pen at that time and store the value of 2 in the z1 register. , d=(z1)-(zO), and necessary corrections are made to the contents of the control parameter memory 17 according to the value of d.

[Operation] In the present invention, since the value of the control parameter is modified according to the amount of change d in the length of the pencil lead 9 in use, suitable control can always be performed.

First Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1st
The figure is a diagram showing one embodiment of this invention.
Although much of the figure has already been described, 20 register 18 and 71 register 19 are registers provided in data memory 16 in accordance with the present invention.

At the initialization stage, the initial values of the control parameters are set in the control parameter memory 17, and the contents of one register 18 are cleared. Initialization is performed, for example, each time the pencil lead 9 is fed out, and therefore, at the time of initialization, the control parameters may be determined assuming that the length of the pencil lead 9 is a predetermined value.

5 and 6 are flowcharts showing the main steps of the related program stored in the program memory 13 of FIG. 1, with 101 to 105 and 201 to 205 representing each step, respectively.

FIG. 4 is an operational diagram showing the operation of the apparatus of the present invention. In FIG. 4, the same reference numerals as in FIG. 7 indicate the same or corresponding parts, and E is the landing point position at the time when the pen-up command is received.

Point 0, not shown in FIG. 4, is the landing point position immediately after the previous landing control, and in step 105, the value of Z at this point is written into the zO register 18. When the pencil pen 1 is used and a pen-up command is received at time t6, the process goes to step 201 in FIG.
(indicated by E in FIG. 4) is written into one 71 register.

After performing pen-up control in steps 202 and 203 (between 6 and tlo at the top of Figure 4), steps 204 and 205
Modify the control parameters by

As explained earlier, the control parameters are AB, C,
There are S, s, etc., but those that require modification according to the value of d are C.
, and other parameters may be left at their initial values. Further, the correction amount for C may be d itself or a numerical value determined as a function of d.

By the above modification, a value of C suitable for the next landing control is set as a control parameter, and the contact of the pencil lead 9 with the recording paper surface 8 is made without impact, and after the contact, Equation (4) The pencil lead 9 is pressed against the recording paper surface 8 with the force shown in FIG. If the force shown in equation (4) is inappropriate, it is easy to change it after landing.

[Effects of the Invention] As described above, according to the present invention, there is an effect that the impact when the pencil pen lands on the ground can be alleviated regardless of the usage status of the pencil lead.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a side view showing a pencil pen used in a recording device and its up and down mechanism, FIG. 3 is a side view showing the length of the pencil lead, and FIG. FIG. 4 is an operation diagram showing the operation of the present invention, FIGS. 5 and 6 are flow charts showing the operation of the present invention, and FIG. 7 is an operation diagram showing the operation of the conventional device. A...Pen up position, C...Target landing position, DE
...Landing point position, 1-... Pencil pen, 2... Pen holder, 3... Base, 4... Actuator, 5...
...Slide bearing, 6.Position sensor, 7.Control device, 8. Recording paper surface, 9..Pencil lead, 16..Data memory, 17..Control parameter memory, 18..ZO register. , one...z1 register. Note that the same reference numerals in each figure indicate the same or corresponding parts. Wave up position control switching position Landing target position Landing position 7th

Claims (1)

[Scope of Claims] A pencil pen attached to a recording device for recording with a pencil on a recording paper, the X-Y plane having the surface of the recording paper as an X-Y plane.
- A landing control device for a recording device pencil pen that controls the axis of the pencil pen to be parallel to the Z axis with respect to the Z orthogonal coordinate axis and brings the tip of the lead of the pencil pen into contact with the surface of the recording paper, comprising: a position sensor that detects a Z-direction position z; an actuator that is energized by an input current and generates a force that drives the pencil pen in the Z-direction; and a control parameter that is used to control the movement of the pencil pen in the Z-direction. a control parameter memory for storing; a control device for inputting the contents of the control parameter memory and the value of z and generating a current to be input to the actuator; a z0 register and a z1 for storing the landing position of the pencil pen;
a register; means for setting initial values of each control parameter in the control parameter memory; and a means for setting the pencil pen at the time when the landing control of the pencil pen is completed and the tip of the lead of the pencil pen comes into contact with the surface of the recording paper. means for writing the value of the position z in the Z direction of the pencil into the z0 register; and with the tip of the lead of the pencil pen in contact with the surface of the recording paper, the lead of the pencil pen is removed from the surface of the recording paper and the pen is removed. When a command to hold the pencil pen in the up position is given, prior to execution of the command, means for writing the value of the Z-direction position z of the pencil pen at the time of receiving the command into the z1 register, the contents of the z1 register ( z1) and the above z
Difference from the contents of the 0 register (20) d = (z1) - (z0
), and means for making necessary corrections to the control parameters according to the value of d.