JPH02300901A - Continuously force exerting device - Google Patents

Abstract

PURPOSE:To continuously generate a command value in an internal part so as to continuously exert a load by installing a command value correction part which corrects a preceding command value without a halt even in a state when a system waits for the command value. CONSTITUTION:A position command Pr 14 is stored in a position buffer 17, and an arrival judgement part 19 compares it with the feedback value 11 of a position. When it reaches the value of the position buffer 17, the part 19 outputs an arrival signal arr 3, and a minicomputer 1 starts calculating the subsequent command value. During that time, a digital servo device 2 multiplies a speed correction coefficient 6 based on a speed buffer 5 where the preceding command 15 is inputted by the command value correction part 4 and attains switching to a lower side in a switching part 7, whereby it outputs the command as a present speed command 8. Thus, the load can continuously by pressure- added without the halt because a value obtained by multiplying the correction coefficient by the preceding speed command is integrated so as to set it to be the present position command even in the command waiting state by a minicomputer operation time.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention relates to a continuous application device for pickled vegetables and the like. [Prior Art] The conventional force applying servo device shown in FIG. When the negative 104 reaches the command value and moves on to the next command value, the load 04 must be stopped and waited while the minicomputer 01 is calculating, so continuous application of force is not possible. Note that 02 indicates a PI control unit, and 03 indicates a force applying device. [Problems to be Solved by the Invention] As described above, the conventional force applying device had a problem in that it was not possible to apply continuous force because the load was stopped until the next command value came. The present invention has been proposed in view of the above-mentioned drawbacks of the conventional art.The problem of the present invention is to provide a continuous load that can be applied continuously without stopping the load until the next command value arrives, unlike the conventional method. The purpose is to provide equipment. [Means for Solving the Problems] The continuous force device according to the present invention has a command value setting section and a PI
In the force applying device having a control unit, an arrival determination unit determines that the load has reached the command value set by the command value setting unit, and an arrival determination unit determines that the load has reached the command value. The present invention is characterized by comprising a command value modification section that modifies the command value when the command value is determined. That is, in the present invention, for example, even when waiting for a command value from a minicomputer, by providing a command value correction section that corrects the previous command value without stopping, the command value can be continuously generated internally. , the load is applied continuously.

[For use]

Since the continuous force application device according to the present invention is configured as described above, even when the load reaches the command value and is waiting for the next command value, the command value correction section changes the value of the previous speed command value. It multiplies the speed correction coefficient, integrates it, and outputs the position command every moment, so it can continuously apply the load without stopping it. [Example] Hereinafter, the present invention will be specifically described based on an example shown in the drawings. FIG. 1 is a block diagram of a continuous applying device according to an embodiment of the present invention. In FIG. 1, 1 is a minicomputer, 2 is a digital servo device, 3 is an arrival signal, 4 is a command value correction section, 5 is a speed buffer, 6 is a speed correction coefficient, 7 is a switching section, 8 is a current speed command, 9 is an integrator, 10 is a current position command, 11 is a position feedback value, 12 is a PI control unit, 13 is a load,
14 is a position command, 15 is a speed command, 16 is a strobe signal, 17 is a position buffer, 18 is a force device, and 19 is an arrival determination section. The operation of the above embodiment of the present invention will be explained. In FIG. 1, a minicomputer 1 is a digital servo device 2.
When the arrival signal 3 is input from , calculation of the next command value is started. During this time, the digital servo device 2 waits for the next command value, but in order to continue issuing speed commands, the command value correction unit 4 adjusts the speed based on the speed buffer 5 containing the previous speed command. The switching unit 7 is multiplied by the correction coefficient 6.
When switched to the lower side at , the current speed command 8 is output. This passes through the integrator 9 and becomes the current position command 10 that changes continuously.The deviation of the position feedback value 11 is taken and sent to the PI control unit 12, and the load 13 is continuously applied by the force applying device 18. Ru. The speed correction coefficient 6 can be freely set using software. Next, the minicomputer 1 finishes the calculation after a certain time, and the next command value is the position command P'
14 and a speed command Vr15. Furthermore, at the same time as the output, a strobe signal 5tr16 is also output to notify the digital servo device 2 that the command value calculation has been completed. In response to this, the switching unit 7 also switches to the upper side in order to connect directly to the speed buffer 5 containing the new speed command value. Further, the position command Pr14 is stored in the position buffer 17, and the position feedback 1 is determined by the arrival determination unit 19.
11, and when the value of the position buffer 17 is reached, an arrival signal arr3 is output. Through this repetition,
Provides continuous force function. FIG. 3 is an internal block diagram of the arrival determination section 19 in FIG. 1. FIG. 4 shows a comparative diagram comparing the movement of the load position between the continuous applying device according to the present invention and the conventional example. [Effects of the Invention] According to the present invention, even when the command value setting unit is in a state of waiting for a command value depending on the minicomputer calculation time, the current position command is obtained by integrating the previous speed command value multiplied by a correction coefficient. Therefore, it is possible to apply continuous load without stopping the load.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.
Fig. 2 is a block diagram showing the configuration of a conventional force application, Fig. 3 is an internal block diagram of the reach determination section in Fig. 1, and Fig. 4 is a comparison diagram of the movement of the load position between the present invention and the conventional example. be. 4... Command value correction section, 19... Arrival judgment section.

Claims (1)

[Claims] In a force applying device having a command value setting section and a PI control section, an attainment determination section determines whether the load has reached the command value set by the command value setting section; 1. A continuous force applying device comprising: a command value modification section that modifies the command value when it is determined that the command value has been reached.