JPH0318287A - Drive and control device for linear pulse motor - Google Patents

Abstract

PURPOSE:To drive a slide section correctly in a very simple constitution by computing corrected quantity in comparison of a detected value for moving quantity in the slide section with the driving quantity generated for designated movement, by generating corrected pulses and by moving the slide section. CONSTITUTION:Moved numbers of tooth (N) necessary for the distance to move are sent out from a central processing unit 4, while a drive section 1 is actuated to move a slide section and actually moved numbers of tooth (N1) are detected by a moving pitch number detection sensor 2. N1 is compared with N by a comparator 14 in a comparison section 10. If N N1, a gate 23 of a correction section 20 is opened and the output pulse of an oscillator 22 same as in the driving pulse is outputted into the drive circuit 1 through a gate 5. The generation of driving pulses is repeated until N=N1 is obtained. The stepout and the quantity of step-out can easily be recognized and the available range of a linear pulse motor can be extended all the more.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a linear smoke drive control device.

(Prior Art and Problems to be Solved by the Invention) A linear pulse motor is a type of stepping motor, and is also called a linear stepping motor, and has the same characteristics as a stemming motor.

The total amount of movement of the linear pulse smoke is then proportional to the total number of input pulses, and the speed is proportional to the frequency of the large copulse.

By utilizing this property, the positioning control system can be monitored using digital signals.

If used within the rated range, no synchronization will occur.

However, in reality, it cannot be said that step-out due to external load fluctuations will never occur.

FIG. 6 is a schematic diagram for explaining a linear pulse motor and its operating principle.

The slide part 30 has a permanent magnet 3l and an electromagnet (EMA) 32
and an electromagnet (EMB) 33.

(1) (2) The electromagnet (EMA) 32 and electromagnet (EMB) 33 of this slide portion 30 are supplied with drive current from a drive circuit (not shown).

The drive circuit supplies an excitation current generated in response to the supplied pulse train.

As shown in FIG. 6 (T), when a current is passed only through the electromagnet (BMB) 33 in the direction shown, the pole of the electromagnet (EMB) 33 is
At the pole, the magnetic force is doubled, and at the pole ■, the magnetic force is canceled out. With the magnetic force being unbalanced, the slide part 30 is moved to the position shown in (I).
stops.

As shown in (II), when a current is passed in the direction shown in the diagram only through the electromagnet (EMA) 32, the magnetic force is doubled at the pole ■ of the electromagnet (EMA) 32, and the magnetic force is canceled at the pole ■, resulting in a state where the magnetic force is suspended. The slide portion 30 moves 174 pitches to the position shown in (II) and stops.

In addition, in this IJJ, 1 pisochi is defined as 1 pi and 7 chi (peak → - valley) of the status scale.

In addition, in the above-mentioned device, by applying a stepped cosine wave to the electromagnet (F.MB) 33 and a stepped sine wave to the electromagnet (EMA) 32, one cycle can be converted to a smaller steps, such as 1/16.1/32. It can be divided into...

In such a case, in order to accurately detect the amount of movement of the slide portion, a detection device having a resolution capable of measuring at least the minimum unit of the microstep drive is required.

FIGS. 7 and 8 are schematic diagrams each showing an example of a conventional closed-circuit driven linear pulse smoke.

In the example shown in FIG. 7, a more detailed Pisochi rank 41 is provided in addition to the status scale 40. The slide portion has a pinion 38 that meshes with the lasso 41, and this rotation is captured by a rotary encoder 39.

In the example shown in FIG. 8, a linear encoder 50 is provided in parallel with the status scale 40, and the position of the slide section 30 is detected by a sensor 37 that moves together with the slide section 30.

Then, control is performed again based on the information obtained from these sensors.

(3) (4) The inventors of the present invention have conducted various studies on the characteristics when the Linyapal smoke is out of step.

As a result, they discovered that it is possible to stop only at a position that does not always satisfy a certain condition for the control target point (a position where the slide part and the status scale are magnetically locked in the excitation state).

In other words, the relative relationship between the teeth of the slide section and the status scale at the target point of book production is maintained even if the teeth of the slide section go out of synch. When it is necessary to correspond to the status scale, the teeth of the slide part are made to correspond accurately to the other peaks of the status scale in a state where there is a problem even if the gear loses synchronization.

In other words, it was confirmed that the loss of synchronization occurs in units of 1 pisoti.

The purpose of this invention is to provide a linear pulse motor drive control device that is capable of accurately correcting the drive amount with an extremely simple configuration by focusing on the characteristics of the linear pulse smoke when it is out of synchronization.

(Means for Solving the Problems) In order to achieve the above object, the linear pulse smoke drive control circuit according to the present invention has a slide portion having a permanent magnet and an electromagnet that corresponds to a pulse train supplied to the drive circuit. A linear pulse motor drive control device that supplies excitation current generated by a linear pulse motor drive control device includes: a moving piston number detection sensor that moves integrally with the slide portion and detects the amount of movement of the slide portion from a status scale; a comparison section that compares the number of generated drive pulses and the number of movement pitches of the slide section driven by the pulses detected by the sensor; and a comparison section that causes the drive circuit to generate a correction pulse according to the amount detected by the comparison section. The correction department is in charge.

(Example) Hereinafter, the present invention will be described in more detail with reference to the drawings and the like.

FIG. 1 shows the linear pulse smoke drive (5) according to the present invention. (6) It is a block diagram showing an example of a control circuit.

FIG. 2 is a perspective view of a linear pulse motor equipped with a linear pulse smoke drive control circuit according to the present invention, and FIG.
It is a front view of the same.

The basic configuration of the slide portion 30 is as described above with reference to FIG. 6, but in this embodiment, the drive circuit I drives the W1-2 phase, and the
It is assumed that the magnet is excited to move 6 pitches.

The sensor 2 is moved together with this slide portion 30.

As the sensor 2, a magnetic resistance element is used to form a bridge, and an output corresponding to the peaks and troughs of the status scale is obtained, and an output pulse is generated every time a threshold value is exceeded in a certain direction.

The linear pulse smoke drive control device includes the sensor 2, the comparison section 10, and a correction section 2 that sends correction pulses to the drive circuit 1.
Consists of 0.

The comparator 10 is provided with a 16-field counter 11 to which the same pulse train as the drive pulse (L) supplied from the central processing unit (CPU) 4 to the drive circuit 1 is supplied via gates 1-5. .

The gate 12 is connected to the output of the counter 11 and a signal indicating that the TP central processing unit (CPU) 4 is generating a drive pulse (L).

The output of the gate is input to the N counter 13 and counted.

One pulse from the sensor 2 mentioned above is connected to the Sesoto terminal of the Frisopflosop 17 of the comparator 10 and the input terminal of the N1 counter 15.

The output of the N counter 13 and the output of the N counter 15 are connected to a comparator 14.

Here, the relationship between the Frisopflosop 17 and the counter 15 will be explained in more detail.

Hexadecimal counter 11, N counter 13, N1 in initial state
All values of the counter 15 are O.

The count output of the hexadecimal counter 11 is output at the 16th drive pulse and input to the N counter 13.

(7) (8) The pulse from sensor 2 is output before the 16th drive pulse and is input to N1 counter l5.

This is because if the pulse from sensor 2 is output at the 17th drive pulse, it has already been output at the 1st drive pulse.

As described above, the pulse from sensor 2 is sent to N1 counter l5.
, the count output of hexadecimal counter l1 becomes N
Until the counter 13 is manually input, N, is 1 larger than the value to be compared with N.

The pulse from the sensor 2 (-N, counter input pulse) is input to the set terminal of the Frisobfurosop 17.
The count output of the hexadecimal counter 11 (
= N counter input pulse) is input manually, so if the Frisopflosop 17 is reset after the output of the drive pulse is finished, the value to be compared with N is N1. In Sesotho, the value to be compared with N is N1-1.

The output of the Frisopflosop is connected to the countdown input terminal of the N1 counter 15 via the gate I.16 controlled by the control circuit 21, and if the Frisopflosop is Sesotho, N1-1 is executed.

The correction unit 20 includes a sequence control circuit 21 that controls the sequence of operations of this device after the output of the drive pulse L is finished.
, an oscillator 2 that generates the same pulse train as the drive pulse (L).
2 and gate 23 are included.

FIG. 4 is a schematic diagram showing the relationship between drive pulses and actual displacement in the device according to the invention.

First, with reference to FIG. 4, the case where step-out occurs and the principle of its correction will be explained.

Assume now that the central processing unit (CPU) 4 generates L drive pulses.

As a result, it is assumed that the excitation current pattern of the drive circuit 1 changes I times and the slide portion correctly moves by C without step-out.

j2-(1/1 6) pXL...-+11L-(16N+M)...(2) l: Travel distance tilt (if there is no step-out) p: Pitch of status scale L: Number of drive pulses (9) (1 0) N: Number of teeth moved (if there is no step-out) M: An integer of 15 or less Note that M is any number (0 to 15) determined by the excitation current pattern corresponding to the final drive pulse. Yes, it corresponds to 16 types of excitation current patterns, and l is
This is an integer value corresponding to one of the 6 points.

Assume that a load that limits the movement of the slider is applied while the slider is being driven by the series of drive pulses, and after the movement is limited, the load is removed.

Assume that the drive current pattern of the drive circuit 1 has changed L times, but the slide portion has moved by 7!1 (≦C).

7++ = (1/I 6) pXl, H H
・(3)L+1(1 6N+ +M)・
...(4) E1: Actual travel distance p: Pitch of status scale I51: Number of driving pulses corresponding to actual travel distance N1: Number of teeth actually moved M: An integer of 15 or less Note that M is determined by the above-mentioned L Determined by the excitation current pattern corresponding to the final drive pulse (any number from 0 to 15); even if a step-out occurs, if the load is finally removed, the The above value is not.

The number of pulses ΔL to be corrected is given by the following equation.

ΔL=L−L+−1 6 (N−Nl) (5) The present invention moves N1 in the equation (5) together with the slide portion 30 to calculate the amount of movement of the slide portion from the status scale 40. The movement pitch number detection sensor 2 detects the number of moving pitches.

N is determined from the drive pulse L.

(N-Nl) is calculated by the comparison section 10, and the correction section 20 sends 16 (N-N, ) to the drive section 1.

FIG. 5 is a flow chart for explaining the operation of the embodiment.

(Step 100) Start (Step 101) The drive pulse L (-1 6 17p) required for the distance C to be moved is sent out from the central processing unit 4, and it is monitored to see if it is being sent out and the pulse outputting signal is sent to the comparison section. Game 1-.12 of 10 is sent.

When the transmission of a predetermined amount of pulses is completed, the pulse outputting signal is stopped.

(Step 102) When the sending is finished, the timer of the control circuit 2l is driven and waits for the elapse of time T1.

(Step 103) The comparator 14 compares N and N as described above.

N is obtained by counting the drive pulses applied to the comparator 10 through the gate 5 during pulse output using the hexadecimal counter 11, and inputting the count output to the N counter 13.

N, is input from the sensor 2 to the N1 counter for each pulse each time the tooth actually moves.

This N and N1 are compared by the comparator 14 of the comparator 10.

The timing of the comparison is determined by a signal from the sequence control circuit 21.

If N=N, it is confirmed that the drive was performed correctly (no step-out occurred), so a positioning completion signal indicating that N=N is output (step 108). (Step 109).

(Stethop 104) If N≠N1, the gate 23 of the correction section 20 is opened and the output pulse of the oscillator 22, which is the same as the drive pulse, is outputted to the drive circuit 1 as 16 pulses corresponding to one tooth via the gates 1-5.

(Step 105) The slide portion 3 is moved by the drive pulse.
0 moves and the sensor output appears, compare until N=N → repeat generation of drive pulses for one tooth (step 103), and when N=N (step 108) →
(Step 109) ends the control.

(Step 106) If the sensor output does not appear, it means that the slide portion 30 cannot be moved even if a pulse is applied, so an error signal is generated.

(Step 107) Since the slide portion 30 cannot be moved, the operation ends.

Regarding the embodiments described in detail above, (I 3
) (4) Various modifications can be made within the range.

The drive method is not limited to the W1-2 phase, and can be similarly applied to any drive method having one or more stop positions within one pitch.

Further, a photoelectric sensor may also be used as the sensor.

Although the explanation has been given using an example of a step-out due to insufficient feed, correction can be made in the same way even in the case of overrun caused by an external force.

(Effects of the Invention) As described above in detail, the linear smoke drive circuit control device according to the present invention detects the number of moving pitches that move integrally with the slide portion and detect the amount of movement of the slide portion from the status scale. Since it allows for control by different factors, there is no need for separate scales or ranks.

By comparing the number of drive pulses generated for a predetermined movement and the number of movement pitches of the slide section driven by the pulses detected by the sensor in the comparison section, it is possible to easily detect step-out and step-out. This makes it easier to detect abnormalities such as step-out.

Currently, Linyapal smoke is mostly used in open loop control systems.

Therefore, users are dissatisfied with the fact that they are not aware of abnormal conditions such as step-out due to external disturbances. The device according to the invention can be easily adapted to conventional such devices. This makes it possible to further expand the scope of use of Linyapal smoke.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of a linear pulse motor drive control circuit according to the present invention. Fig. 2 is a perspective view of a Nyabaru smoke equipped with the Linyabaru smoke drive control circuit according to the present invention, and Fig. 3 is a perspective view of the Nyabaru smoke.
FIG. 1 is a front view of a linear pulse motor equipped with a linear pulse smoke drive control circuit according to the present invention. FIG. 4 is a schematic diagram showing the relationship between drive pulses and actual displacement in the device according to the invention. FIG. 5 is a flow chart for explaining the operation of the linear pulse smoke drive control circuit according to the present invention. FIG. 6 is a schematic diagram showing the principle of a linear pulse motor. FIGS. 7 and 8 are schematic diagrams showing examples of conventional closed-circuit driven linear pulse smoke, respectively. 1... Drive circuit 2... Sensor 4... Central processing unit (CPU) 10... Comparison section 11... Hexadecimal counter 12... Gate 13... N counter 14... Comparison circuit 15...Nl counter 16...Gate 17...Frisopflosob 20...Correction section 21...Control circuit 22...Oscillator 23...Gate 0...Slide section 1...・Permanent magnet 2...Electromagnet (EMA) 3...Electromagnet (.EMB) 7...Sensor 8...Binion 9...Local encoder 0...Status scale l...Rank 0・・Linya scale

Claims (1)

[Scope of Claims] A linear pulse motor drive control device that supplies an excitation current generated in response to a pulse train supplied to a drive circuit to a slide portion having a permanent magnet and an electromagnet, comprising: a linear pulse motor drive controller that moves integrally with the slide portion; a movement pitch number detection sensor that detects the amount of movement of the slide section from a status scale; and a movement pitch number detection sensor that detects the number of drive pulses generated for a predetermined movement and the movement pitch of the slide section driven by the pulses detected by the sensor. A linear pulse motor drive control device comprising: a comparison section that compares numbers; and a correction section that causes the drive circuit to generate a correction pulse according to the amount detected by the comparison section.