JPH07204361A - Hoist operation controller for stage apparatus - Google Patents

Abstract

PURPOSE:To enable synchronous operation of objects to be hoisted mounted on motors by comparing a computing positions of the objects to be hoisted with operation starting positions thereof to compute a moving value thereof while correction values of fixed speed and variable speed motors are computed according to deviation of the moving values. CONSTITUTION:Positions of objects to be hoisted mounted on one fixed speed motor and a proper number of variable speed motors are controlled synchronously. Here, the present positions of the objects to be hoisted are detected by detectors 10, 11-1N while being computed with arithmetic sections 20, 21-2N, The rising timing of a position synchronous operation signal 3 is detected by a detector 4 and the present positions of the objects to be hoisted are stored in memory sections 50, 51-5N at the rising timing as operation starting position. Moreover, the positions computed are compared with the respective operation starting positions to compute the distance that the objects to be hoisted have moved by arithmetic sections 60, 61-6N. Then, deviations of the moving values of the objects to be hoisted are computed by arithmetic sections 111-11N while correction values of the motors are computed by arithmetic sections 121-12N according to the deviations obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspended operation control device for stage equipment.

[0002]

2. Description of the Related Art As a conventional hanging operation control device for a stage apparatus, one having a structure shown in FIG. 2 is known. This conventional suspension operation control device for stage equipment is to attach the first to Nth suspensions to the required number N of variable speed motors, respectively, and perform synchronous operation control of the position of each suspension. , 1st
Position detectors 11 to 11 for detecting the current positions of the N-th suspended objects
1N, position calculation units 21 to 2N that calculate the current position of each of the first to Nth suspended objects from the outputs of these position detectors 11 to 1N, and the input of the position synchronous operation command signal 3 from the outside. On the other hand, the rising detector 4 that detects the rising timing and the first to Nth suspensions calculated by the position calculation units 21 to 2N at the rising timing of the position-synchronized operation command signal 3 detected by the rising detector 4. After the position storage units 51 to 5N that store the current position of the object as the operation start position and the position-synchronized operation command signal 3 in which the rise detector 4 has detected the rise timing, the position calculation units 21 to 2 are performed at fixed time intervals.
The output of each N and the operation start position stored in each of the position storage units 51 to 5N are compared with each other, and substantial movement amount calculation units 61 to 6N for calculating the actual movement amount of each hanging object are provided.

In the conventional hanging operation control device for a stage apparatus, an operator selects any one of a plurality N of motors as a master device and gives a speed reference to the device,
That is, a theoretical movement amount calculator 8 for obtaining the theoretical movement amount of the hanging object from the master device speed reference 7 and the position-synchronized operation command signal 3 at fixed time intervals is provided, and further, the actual movement of each of the first to Nth hanging objects. The deviation calculation units 91 to 9N for comparing the calculation results of the movement amount calculation units 61 to 6N and the calculation result of the theoretical movement amount calculation unit 8 at constant time intervals to obtain the movement amount deviation, and these deviation calculation units 91 to 9N. Based on the respective calculation results, the correction amount of the speed reference of the variable speed motor of each hanging object required for the actual moving amount of each of the first to Nth hanging objects to be the same as the theoretical moving amount of the master device is obtained. The correction amount calculation units 101 to 10N are provided.

In such a conventional suspension operation control device for a stage apparatus, the current position of each suspended object is determined from the output of each of the position detectors 11 to 1N for detecting the current position of each of the first to Nth suspended objects. The first to Nth suspended objects calculated by the position calculation units 21 to 2N and calculated by the position calculation units 21 to 2N at the rising timing of the position synchronization operation command signal 3 from the outside detected by the rising detector 4 respectively. The current position is stored in the position storage units 51 to 5
It is stored as the operation start position depending on N.

Then, after the position-synchronized operation command signal 3 whose rising timing has been detected by the rising detector 4 is input, the substantial movement amount calculating units 61 to 6N respectively output and position the position calculating units 21 to 2N at regular time intervals. The operation start position stored in each of the storage units 51 to 5N is compared to obtain the actual movement amount of each hanging object, and the theoretical movement amount calculator 8 uses the master device speed reference 7 and the position-synchronized operation command signal 3 The theoretical moving amount of the hanging object is obtained at regular time intervals, and the deviation calculating units 91 to 9 are further calculated.
Each N is the actual movement amount calculation unit 61 of each of the first to Nth suspended objects.
6N and the theoretical moving amount calculator 8 are compared at regular time intervals to obtain a moving amount deviation, and the correction amount calculating units 101 to 10N each calculate the deviation calculating units 91 to 9N. Based on the above, the correction amount of the speed reference of the variable speed motor of each hanging object required for the actual moving amount of each of the first to Nth hanging objects to be the same as the theoretical moving amount of the master device is obtained.

The correction amount of the speed reference of each variable speed motor thus obtained is added to the speed reference from the speed reference generator of the speed control system of each variable speed motor to make a normal speed reference, and each variable speed is adjusted. Feedback control of the speed motor will be performed.

[0007]

However, such a conventional suspension operation control device for a stage apparatus is such that a variable speed motor controls the synchronous operation of the suspended objects, and a fixed speed motor and a variable speed motor are used. It did not perform synchronous operation control between and. A device for performing synchronous operation control with each suspended object attached to each of a fixed speed motor and a plurality of variable speed motors has not been conventionally known.

The present invention has been invented based on such a conventional technical problem, and is a synchronous operation of each suspended object attached to one fixed speed motor and an arbitrary number of variable speed motors. An object of the present invention is to provide a suspended operation control device for a stage device that can perform control.

[0009]

SUMMARY OF THE INVENTION According to the present invention, a hanging operation of a stage apparatus for synchronously controlling the position of each hanging object attached to one fixed speed motor and an arbitrary number of variable speed motors. In the control device, position detection means for detecting the position of each suspended object attached to each motor, operation command input detection means for detecting the input of a position synchronization operation command signal from the outside, and operation command input detection means are detected. Operation start position storage means for storing the position of each suspended object detected by each position detection means as the operation start position at the time of inputting the position synchronous operation command signal, and the output of each position detection means and the operation start position storage means. To the fixed speed motor, and a moving amount calculation means for calculating the moving amount of each suspended object from the operation start position of each suspended object stored by Based on the calculation result of each of the movement amount deviation calculating means and the movement amount deviation calculating means for calculating each deviation between the movement amount obtained by the movement amount calculating means and the movement amount obtained by each movement amount calculating means for each variable speed motor, Speed reference correction amount calculation means for calculating a speed reference correction amount required for each variable speed motor so that each suspension is operated by each variable speed motor at an operation speed synchronized with the operation speed of the suspended object by the fixed speed motor It is equipped with.

[0010]

In the hanging operation control device of the stage apparatus according to the present invention,
The position detection means detects the position of each suspended object attached to each motor, the operation command input detection means detects the input of a position synchronization operation command signal from the outside, and the position synchronization operation is detected by the operation command input detection means. The position of each suspended object detected by each position detecting means at the time of inputting the command signal is stored as the operation start position by the operation start position storage means.

Then, each of the suspended objects is moved from the output of each of the position detecting means by the movement amount calculating means and the operation start position of each suspended object stored in each of the operation start position storage means from the time when the position synchronous operation command signal is input. The movement amount is obtained, and each deviation between the movement amount obtained by the movement amount calculation means for the fixed speed motor and the movement amount obtained by the movement amount calculation means for each variable speed motor is calculated by the movement amount deviation calculation means,
The speed reference correction amount calculation means is variable based on the calculation result of each of the movement amount deviation calculation means so that each of the variable speed motors operates each of the suspended objects at an operation speed that is synchronized with the operation speed of the suspended object by the fixed speed motor. The speed reference correction amount required for each speed motor is calculated and output to the speed control system of each variable speed motor.

In this way, position-synchronous operation control of each suspended object operated by each of the fixed speed motor and the arbitrary number of variable speed motors can be realized by the speed control system for each variable speed motor. .

[0013]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 shows a circuit block diagram of an embodiment of the present invention. In the hanging operation control device for a stage apparatus according to this embodiment, one fixed speed motor and each of the first to Nth (N is an arbitrary number determined according to the actual situation) variable speed motors are provided with hanging objects. The position detector 10 is for performing position-synchronized operation control of each suspended object operated by each variable speed motor with respect to a suspended object operated by a fixed speed motor. 1N, position calculation units 20 to 2N that calculate the current position of each suspended object from the outputs of the position detectors 10 to 1N, and the rising timing of the position synchronization operation command signal 3 from the outside. The rising position detector 4 to be detected and the current position of each suspended object calculated by each of the position calculation units 20 to 2N at the rising timing of the position-synchronized operation command signal 3 detected by this rising position detector 4 are described as the operation start position. Position storage unit 50 for
5N and the output stored in each of the position storage units 50 to 5N and the output of each of the position calculation units 20 to 2N at regular time intervals after the input of the position synchronization operation command signal 3 in which the rise detector 4 detects the rising timing. There are provided movement amount calculation units 60 to 6N for comparing the start position and the actual movement amount of each hanging object.

The hanging operation control device for a stage apparatus according to this embodiment further includes a moving amount calculating section 60 for a hanging object driven by a fixed speed motor and a hanging object operated by each of the first to Nth variable speed motors. Moving amount calculator 6 for each
Comparing the calculation results with each of 1 to 6N at regular intervals, the moving amount of the suspended object driven by the fixed speed motor and
Deviation calculators 111 to 11 for finding deviations from the respective amounts of movement of the suspended object driven by each of the Nth variable speed motors.
N and the actual movement amount of each hanging object operated by the variable speed motor becomes the same as the actual moving amount of the hanging object operated by the fixed speed motor based on the calculation results of each of the deviation calculating units 111 to 11N. Correction amount calculation unit 12 for obtaining the correction amount of the speed reference of the variable speed motor of each hanging object required for
1 to 12N.

Next, the operation of the suspended operation control device for the stage apparatus having the above configuration will be described. Each of the position detectors 10 to 1N detects the current position of each suspended object driven by one fixed speed motor and each of the N variable speed motors, and the position calculation units 20 to 2N each detect these position detectors. 11-1
A position-synchronized operation command signal 3 from the outside that calculates the current position of each suspended object from the output of each N and is detected by the rising detector 4
The current position of each suspended object calculated by each of the position calculation units 20 to 2N at the rising timing of is stored as the operation start position by the position storage units 50 to 5N.

Then, after the position-synchronized operation command signal 3 whose rising timing is detected by the rising detector 4 is input, each of the movement amount calculation units 60 to 6N is moved by the position calculation unit 20 at fixed time intervals.
.About.2N output is compared with the operation start position stored in each of the position storage units 50 to 5N to obtain the substantial movement amount of each suspended object, and the deviation calculation units 111 to 11N are each driven by a fixed speed motor. Moving amount calculation part 6 for suspended objects
0 and the moving amount calculation units 61 to 6N for the respective suspended objects driven by the first to Nth variable speed motors are compared with each other, and the moving amount of the suspended object operated by the fixed speed motor and the A deviation between each of the moving amounts of the suspended object driven by each of the first to Nth variable speed motors is obtained.

The correction amount calculators 121 to 12N are driven by the variable speed motors based on the calculation results of the deviation calculators 111 to 11N. The actual movement amount of each suspended object is driven by the fixed speed motors. The speed-based correction amount required to become the same as the actual moving amount of the hanging object is calculated and output. Therefore, in the speed control system of each variable speed motor (not shown), the feedback control system is added as the normal speed reference by adding the speed reference correction amount from each of the correction amount calculation units 121 to 12N to the speed reference from the speed reference generator. The feedback control of each variable speed motor is performed.

As described above, in the hanging operation control device for the stage apparatus of this embodiment, the positions of the hanging objects driven by the plurality of variable speed motors are adjusted so as to match the positions of the hanging objects driven by the fixed speed motor. Synchronous control can be performed.

The present invention is not limited to the above-described embodiment. In particular, which part of the position-synchronized operation command signal is detected as the input detection timing is not particularly limited, but the command signal is not limited. Is from "L" to "H", the rise detector detects the rise timing of the signal as the input of the command signal as in the above embodiment, but the command signal is changed from "H" to "H". If it changes to L ″, a detecting means for detecting the falling timing will be used.

Further, the number of variable speed motors is not particularly limited, and may be any number of one or more.

[0021]

As described above, according to the present invention, the position of each suspended object attached to each motor is detected by the position detecting means, and the input of the position synchronous operation instruction signal from the outside is detected by the operation instruction input detecting means. The position of each suspended object detected by each of the position detecting means at the time of inputting the position-synchronized operation command signal detected by the operation command input detecting means is stored as the operation starting position by the operation starting position storing means, and then moved. From the output of each position detection means by the amount calculation means and the operation start position of each suspended object stored in each operation start position storage means, the amount of movement of each suspended object from the time of input of the position synchronization operation command signal is obtained, The deviation between the movement amount obtained by the movement amount calculation means for the fixed speed motor and the movement amount obtained by the movement amount calculation means for each variable speed motor is the movement amount deviation. The speed reference correction amount calculation means calculates the speed reference correction amount necessary for each variable speed motor to realize a speed that matches the speed of the fixed speed motor based on the calculation result of each movement amount deviation calculation means. Since each quantity is calculated and output to the speed control system of each variable speed motor, position synchronous operation control of each suspended object driven by each fixed speed motor and an arbitrary number of variable speed motors is performed. It can be realized by a speed control system for each variable speed motor.

[Brief description of drawings]

FIG. 1 is a circuit block diagram of an embodiment of the present invention.

FIG. 2 is a circuit block diagram of a conventional example.

[Explanation of symbols]

 10-1N position detector 20-2N position calculation unit 3 position synchronous operation command signal 4 rising detector 50-5N position storage unit 60-6N movement amount calculation unit 111-11N movement amount deviation calculation unit 121-12N correction amount calculation unit

Claims (1)

[Claims] 1. A suspended operation control device for a stage apparatus for synchronously controlling the position of each suspended object attached to one fixed speed motor and an arbitrary number of variable speed motors, wherein: Position detection means for detecting the position of each attached suspension, operation command input detection means for detecting the input of a position synchronization operation command signal from the outside, and position synchronization operation command signal detected by the operation command input detection means The operation start position storage means for storing the position of each hanging object detected by each of the position detection means as the operation start position, and the output of each of the position detection means and the operation start position storage means. A moving amount calculation means for calculating the amount of movement of each suspended object from the time when the position-synchronized operation command signal is input, from the operation start position of each suspended object; Moving amount deviation calculating means for calculating each deviation between the moving amount calculated by the moving amount calculating means and the moving amount calculated by each moving amount calculating means for each of the variable speed motors, and calculation of each moving amount deviation calculating means Based on the result, a speed for calculating a speed reference correction amount required for each variable speed motor so that each of the variable speed motors operates each of the suspended objects at an operation speed that is synchronized with the operation speed of the suspended object by the fixed speed motor. A suspended operation control device for a stage device, comprising a reference correction amount calculation means.