JPH0268607A - Continuous position interpolating device - Google Patents

Abstract

PURPOSE:To smooth the motion of a motor by supplying the number of pulse strings equivalent to the amount of travel supplied at every constant time uniformly up to the time of a position supplied next time. CONSTITUTION:The pulse string generated by an oscillator is inputted to the pulse input of a pulse counter 8 and is counted, and a count completion signal 11 counted to the number of count inputted to the count number input of the pulse counter 8 is outputted. The signal 10 of the pulse string is controlled by the signal 11, and the pulse string passes from a gate 5 to output 12 until counting is completed, and is supplied to the pulse input of a DC motor controller 1. The pulse string supplies the number P10 of pulses to the DC motor controller 1 extending over the constant time T at a pulse interval T10. In such a way, the motor 3 is moved by the amount equivalent to one pulse and the motion of the motor 3 can be smoothed by supplying the pulse of the number P10 of pulses one by one.

Description

Detailed Description of the Invention (Industrial Application Field) 11 [When position control is performed using a current motor and an encoder or a pulse motor (prior art) Conventionally, as shown in FIG.
When position control is performed using a (closed loop) or a pulse motor (open loop), nine rotation directions are applied to the movement pulse input terminal of the position controller 1, and nine rotation directions are applied to the rotation direction input terminal of the position controller 1.

In the conventional method, as shown in FIG. 6(b), T,
, T, , T, ... distance MP+-Pe
r P2 Number of pulses P corresponding to pHPy-P2
When l@+ P 21 + P 32 is given, the position 9 changes as shown in Fig. 4 (b). In Fig. 4, the controller 1 immediately responds to the input of the pulse and controls the motor 3.
shall be moved. Therefore, P llll+ P
When a number of pulses such as 21 are input, it moves by the corresponding amount, and then remains stationary. Generally, the fixed time T is required to be a time sufficient for the computer 9 to calculate the motor's movement trajectory, and is often 10 to 100 wsec. Therefore, when the motor moves as shown in Figure 5(b), the movement The image may not be smooth and the image may not be smooth. There is also a method in which the controller calculates and interpolates the intermediate point between the current position and the next position (for example, P and P2), but at most 1~
The limit is 2 points.

(Section B) Smooth the movement of the above motor and eliminate vibrations.

[Structure of the invention]

(Method for solving the problem) Instead of applying a pulse train corresponding to the amount of movement given every fixed time at once, the pulse train is applied uniformly over the time period in which the ninth order amount of movement is given.

(Function) Since a pulse train of the number corresponding to the amount of movement given every fixed time is uniformly given over the time period of the primary given position, the movement of the motor becomes smooth.

[Embodiment 1] Fig. 1 shows a configuration example in which the present invention is applied to position control using a DC motor, and Fig. 2 shows a waveform diagram representing the function. The number of pulses corresponding to, for example, pts is calculated and given to the variable frequency pulse excavator 7 and pulse counter 8 at time T@. The direction of movement is also given to the DC motor controller l at the same time.

Excavator pulses T for a certain period of time pH! A time that is smaller and closer than the time divided by T1. Generate a pulse train with the pulse interval as . This pulse train enters the pulse counter 8 and is counted. When the pulse train is counted up to the count number previously input to the count number input of the pulse counter 8, a count completion signal 11 is output. The signal 10 of the pulse train is controlled by this signal 11, and the pulse train passes through the gate 5 to the output 12 and is applied to the pulse input of the DC motor controller 1 until the count is completed. This pulse train has a pulse number p as shown in Fig. 2(a).
ie is applied to the DC motor controller 1 over a constant time interval T with a pulse interval T, 8. The alignment of the DC motor controller 1, DC motor driver 2, DC motor 3, and encoder 4 moves by an amount corresponding to one pulse and maintains its position. Therefore, as shown in Figure 2(b), p+
When the number of pulses @ is given one pulse at a time, it moves by an amount corresponding to one pulse, and the movement from P6 to Pl becomes smooth. Although the rotation direction of the DC motor controller l is given by the computer in this example, it may also be given by a counter.

[Embodiment 2] FIG. 3 shows an example in which the present invention is implemented in a case where position control is performed using a pulse motor.

The difference is that the position control method in Example 1 is a closed loop using an encoder, whereas in Example 2 it is an oven loop using a pulse motor. is exactly the same.

〔Effect of the invention〕

According to the present invention, when the amount of movement is given by the number of pulses at a time for a certain period of time Tl, this pulse is applied for a certain period of time Tl.
The motor moves smoothly because it is spread over the cup and fed to the motor controller.

[Brief explanation of the drawing]

1 and 3 each show an embodiment of the present invention, and FIG. 2 is a waveform diagram showing the effects of the present invention. FIG. 4 shows a conventional embodiment, and FIG. 5 shows its waveform diagram. DC Motor Controller DC Motor Driver DC Motor Encoder and Gate Serial/Parallel Converter Variable Frequency Pulse Transmitter Pulse Counter Computer Pulse Signal Pulse Count Complete Signal and Gate Output Pulse Motor Controller Pulse Motor Driver Pulse Motor , O Name of procedural amendment method case Patent Application No. 2 28 of 1988 2゜ Name of invention Continuous position interpolation device 3゜ Relationship with the person making the amendment case

Claims (1)

[Claims] When position control is performed using a combination of a DC motor and an encoder or a pulse motor, the amount of movement is proportional to the number of pulses given to the controller, and when this pulse train and rotation direction are given by a computer at fixed time intervals T, the amount of movement is variable. A device that uses a frequency pulse excavator and a pulse counter to spread the pulse train that this computer gives at a given time T at a time to the full fixed time T and feed it to the controller.