JPH0663251A - Hanging object controller for stage - Google Patents

Abstract

PURPOSE:To achieve higher speed harmonizing property and a prevention of positional deviation by correcting a speed reference pattern for controlling speed of a motor for moving hanging objects on a stage vertically according to a difference between a moving distance based on the pattern and a moving distance based on an actual cumulative angle of rotation of the motor to control the speed of the motor. CONSTITUTION:A speed reference for individual controllers C1, C2... is applied to a speed reference pattern computing device 4 from a common speed setting device 2 through a start switch 3. The computing device 4 computes and outputs a speed reference pattern based on the speed reference. A moving distance computing device 5 computes and outputs a moving distance based on the speed reference pattern to a subtracter 13. A moving distance detector 12 outputs an actual moving distance based on an cumulative angle of rotation of a motor M to the subtracter 13. The subtracter 13 determines a difference between both the moving distances to be converted into a correction signal with a signal converter 14 and the results are inputted into an adder 15 to correct the speed reference pattern. A speed controller 18 controls the motor M 10 based on the results of the correction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stage hanging control device for controlling the speed of a plurality of electric motors for vertically driving a stage hanging in response to a start command in accordance with a predetermined speed reference pattern.

[0002]

2. Description of the Related Art In many cases, various hangings in a stage apparatus, such as, for example, a curtain, are used to individually raise and lower a hanging curtain that constitutes various backgrounds of a stage by an electric motor. The number of such hanging objects is not small in many cases even when it exceeds 30 pieces. These suspensions move up and down in a state where they can be seen from the audience seats, especially as a real background scene with movement, and when it is desired to drive while maintaining a considerable synchronous relationship between the suspensions, that is, maintaining a relative positional relationship. There are many. Inconsistencies in the moving speed of a large number of suspended objects result in inconsistent positions in the suspended objects, and often impair the original background. Conventionally, for example, 2
When driving two or more suspended objects, the device that gives the speed reference to the drive control device of each drive motor is provided with a fine adjustment operation means that can be operated for each motor, and the fine adjustment of each motor can be performed manually. Therefore, the uniform speed is maintained.

[0003]

The fine adjustment operating means and the drive controller of each electric motor have its own device error and temperature drift, and it is true that each electric motor, that is, each hanging object, is driven at exactly the same speed. It's impossible. Therefore, when a plurality of suspended objects are simultaneously activated under the above circumstances, even if the error of the drive control system of each suspended object is within the allowable range, the time elapses if the vehicle travels a considerable distance. With it, a large displacement may occur gradually,
It was virtually impossible to perfectly align the position of the hanging object during or after driving. Furthermore, when each suspended object is started with a time difference, the vertical relationship between the suspended objects may be reversed due to the characteristic difference between the control systems.

The present invention has been made in consideration of the above circumstances, and achieves uniform speed of a plurality of stage hangings by means of the simplest possible means, thereby avoiding displacement of the plurality of stage hangings. It is an object of the present invention to provide a stage hanging control device.

[0005]

In order to achieve the above object, the present invention provides a stage suspension in which a plurality of electric motors for vertically driving the stage suspension are controlled in speed according to a predetermined speed reference pattern in response to a start command. In the control device, each of the speed control systems of the plurality of electric motors, distance calculating means for calculating a moving distance corresponding to the drive time based on the speed reference pattern, and an actual cumulative rotation angle of the electric motors in response to the drive command. A moving distance detecting means for detecting an actual moving distance on the basis of the moving distance, and a correcting means for correcting the speed reference pattern in accordance with a difference between the moving distance calculated by the distance calculating means and the moving distance detected by the distance detecting means. And a stage hanging control device provided with speed control means for speed controlling an electric motor according to a speed reference pattern corrected by the correction means. That.

[0006]

First, the speed reference pattern of the electric motor is calculated according to the speed reference given in response to the drive command. A reference moving distance corresponding to the drive time is calculated based on the obtained speed reference pattern. On the other hand, the actual moving distance is detected based on the actual cumulative rotation angle of the electric motor. Here, the reference moving distance is a calculated moving distance, that is, a distance that should be a target value. Therefore, the difference between the two becomes an error relating to the moving distance.
The velocity reference pattern is corrected according to the moving distance error in order to compensate for the moving distance error. By controlling the speed of the electric motor in accordance with this corrected speed reference pattern, if the error of each drive control system is within the permissible range, a sufficient leveling speed between a plurality of suspended objects is achieved and the final stop is achieved. The positions can be aligned accurately enough.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in more detail based on the embodiments shown in the drawings.

FIG. 1 shows an embodiment of a stage hanging control apparatus according to the present invention.

It is assumed that a large number of hanging objects T1, T2, ... Which are normally driven up and down at the same time are provided on the stage. Each of these hanging objects T1, T2, ... Has its own individual controller (No. 1 controller, No. 2 controller, ...) C1, C2 ,.
The electric motors (M) 10 included in each of the ...

A common speed reference (steady speed reference) is given from a common speed setter 2 to the plurality of individual controllers C1, C2, .... The speed reference from the speed setter 2 is given to the speed reference pattern calculator 4 via the start switch 3. The speed reference pattern calculator 4 sets the speed increase rate (acceleration) from the start to the constant speed and the speed decrease rate (deceleration) from the constant speed to the stop within a predetermined value according to the given speed reference. After being suppressed, the speed reference pattern is calculated so that the cumulative rotation angle of the electric motor 10 from the start to the stop, that is, the moving distance of the corresponding hanging object becomes a predetermined value. The moving distance calculator 5 calculates the moving distance of the hanging object T1 based on the time integral value of the speed reference pattern based on the speed reference pattern output from the speed reference pattern calculator 4. A signal representing the speed reference pattern obtained by the speed reference pattern calculator 4,
A signal representing the moving distance obtained by the moving distance calculator 5 is given to each individual controller C1, C2, ... As a reference value based on the set value. Individual controller C1, C
.. are respectively provided with selection switches S1, S2, ... For selecting the hanging object to be driven. These selection switches are operated manually or automatically. Provided that these selection switches S1, S2, ... Are in the ON state, a start timing signal is supplied to each individual controller C1, C2 ,. .

The individual controllers C1, C2, ... Have the same internal structure, and the details of the individual controller C1 typically provided as the No. 1 controller will be described here.

The output pulse of the pulse generator (PG) 11 attached to the electric motor (M) 10 for raising and lowering the hanging object T1 is moved at a moving distance at the ON timing of the switch 6 which is turned on in synchronization with the start switch 3. Detector 1
By counting with 2, the cumulative rotation angle of the electric motor 10, that is, the actual movement distance of the hanging object T1 is detected. By subtracting the actual moving distance detected by the moving distance detector 12 from the moving distance calculated by the moving distance calculator 5 by the subtracter 13, the difference between the target moving distance and the actual moving distance (moving distance error) One after another. This difference, that is, the moving distance error, is obtained as including all the errors such as the error peculiar to the controller and the temperature drift already described. In order to reduce this moving distance error to zero, this moving distance error is passed through the signal converter 14 to be converted into a speed correction signal, which is led to the adder 15. The adder 15 outputs the speed reference pattern signal corrected by adding the speed correction signal from the signal converter 14 to the speed reference pattern output from the speed reference pattern calculator 4. After that, the speed of the electric motor 10 is controlled by known feedback control. That is, the hanging object T obtained by the speed detector 18 based on the count value of the number of pulses output from the pulse transmitter 11 within a predetermined time.
A speed control device so that the actual speed of 1 matches the speed corresponding to the speed reference pattern signal output from the adder 15, that is, the difference between both speeds obtained by the subtractor 17, that is, the speed deviation becomes zero. Electric motor 1 through 20
The speed of 0 is feedback controlled. Speed control device 2
0 may be configured as a well-known PI operational amplifier.

According to the above embodiment, the position of the hanging object T1 is always calculated as a theoretical moving distance corresponding to the speed reference in each case, and a difference between the theoretical moving distance and the actual moving distance is obtained as a moving distance error. , The speed reference of the electric motor is corrected based on the moving distance error. As a result, even if the controller that drives the motor has an inherent error or temperature drift, if the error is within the allowable error range, the moving distance of each hanging object can be accurately controlled, and thus multiple hanging objects can be synchronized. It can be driven accurately in relation. Therefore, uniform speed control (uniform position control) or fixed position stop control of a plurality of suspended objects can be achieved.

[0014]

As is apparent from the above description, according to the present invention, even if there is an error inherent in the control system of the electric motor that drives the hanging object, it is theoretically suitable for each speed standard. The moving distance of the motor is constantly calculated, the difference from the actual moving distance is calculated as the moving distance error, and the speed reference of each electric motor is corrected based on this moving distance error. It can be driven, where uniform speed control or fixed position control of a plurality of suspended objects can be achieved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a stage hanging control device according to the present invention.

[Explanation of symbols]

 T1, T2 Suspended object C1, C2 Individual controller S1, S2 Selection switch 2 Speed setting device 3 Start switch 4 Speed reference pattern calculator 5 Moving distance calculator 6 Switch 10 Electric motor 11 Pulse transmitter 12 Moving distance detector 13, 17 Subtractor 14 Signal converter 15 Adder 16 Speed detector 18 Speed control device

Claims (1)

[Claims] 1. A stage suspension control device for controlling the speed of a plurality of electric motors for respectively driving a stage suspension up and down in response to a start command in accordance with a predetermined speed reference pattern, wherein each speed control system of the plurality of electric motors. A moving distance calculating means for calculating the moving distance corresponding to the driving time based on the speed reference pattern, and a moving distance detecting means for detecting the actual moving distance based on the actual cumulative rotation angle of the electric motor in response to the driving command. Correction means for correcting the speed reference pattern according to the difference between the moving distance calculated by the moving distance calculating means and the moving distance detected by the moving distance detecting means, and the correcting means for correcting the speed reference pattern according to the correcting means. A stage hanging control device comprising a speed control means for speed controlling an electric motor.