JPH07326202A - Remote control spotlight - Google Patents

Abstract

PURPOSE:To simplify the fine adjustment of a control parameter by performing the A/D conversion of an analog value which responds to a current attitude outputted from a position sensor, computing a deviation from a target attitude and controlling a circuit for a driving current. CONSTITUTION:A central processing device 21 controls a communication interface 20 and at the same time recognizes a target attitude value of a digital value contained in a target attitude command signal. An A/D conversion part 26 is controlled and at the same time a positional detection value of an analog value which responds to a current attitude outputted from a potentiometer 25 is recognized as a positional detection value of a digital value. A deviation between the target attitude value and the positional detection value is computed to output the data to the pulse width modulation signal output circuit 22a of a driving circuit 22. The driving circuit 22 converts a pulse width modulation signal into a current to supply a driving current to a d. c. motor 23. The d.c. motor 23 performs the attitude control of a movable light body 24. The potentiometer 25 changes the electric resistance according to the movement of the current attitude of the movable light body 24 to output a positional detection value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control spotlight whose irradiation direction and the like can be changed by an instruction from a remote control section.

[0002]

2. Description of the Related Art A conventional remote control spotlight is shown in FIG.
This will be described with reference to FIG. FIG. 4 is a block diagram illustrating a drive control configuration of a conventional remote control spotlight, FIG. 5 is a circuit diagram illustrating an outline of a servo control circuit of a conventional remote control spotlight, and FIG. 6 is a servo control circuit of a conventional remote control spotlight. 7 is a perspective view for explaining the outline of the external appearance of the remote control spotlight.

In television studios and stages in various halls, remote control spotlights are used that control the posture based on a target posture command signal from a remote control unit installed at a distance. In such a remote control spotlight, there are two types of rotation: a pan direction (horizontal direction) rotation as indicated by an arrow X in FIG. 7 and a tilt direction (vertical direction) rotation as indicated by an arrow Y in FIG. Axis control is possible. Also, in the remote control spotlight,
In addition to rotation in the pan and tilt directions, there is also one that performs four-axis control by adding focus adjustment movement of irradiation light (adjustment movement of the distance between the lens and the light source) and rotation of the color changer.

By the way, in the conventional remote control spotlight 1 as described above, as shown in FIG. 4, a communication interface 10, a central processing unit 11, a D / A converter 12, and a servo control circuit 13 are provided. Drive circuit 14, servo motor 15, speed sensor 16, and position sensor 17
And a current sensor 18. However, the remote control spotlight 1 shown in FIG.
A one-axis control system having only one servomotor as an actuator is assumed.

The communication interface 10 is a remote control
Remote control installed far away from the light 1
A target posture command signal is received from a console A, which is a part of the unit.
The central processing unit 11 controls the communication interface 10.
And a digital value included in the target posture command signal
Target posture value M_dThe target posture value M_dTo
It is output to the D / A conversion unit 12. The D / A converter 12 has a medium
The target posture value M of the digital value output from the central processing unit 11_d
Is the target posture value M which is an analog value_aConvert to servo control times
Output to path 13. Servo control circuit 13 performs D / A conversion
Target posture value M from section 12_aReceiving a speed sensor
Speed detection value V which is an analog value output from 16_aAnd position
Position detection value P which is an analog value output by the sensor 17_a
And current detection which is an analog value output by the current sensor 18
Value I_aReceives and as feedback values and performs analog calculation
Servo output that is an analog value as a result of processing
S _aIs output to the drive circuit 14.

The drive circuit 14 outputs a drive current corresponding to the servo output S _a output from the servo control circuit 13 to a servo motor 15 which is an actuator. Servo motor 1
5 rotates with a torque according to the drive current output from the drive circuit 14, changes the attitude of the remote control spotlight 1 to a target attitude, and moves the remote control spotlight 1, for example, in the irradiation direction.

The speed sensor 16 outputs _a speed detection value V _a which is an analog value according to the speed of movement of the remote control spotlight 1. The position sensor 17 detects the position detection value P which is an analog value according to the attitude of the remote control spotlight 1.
to output _a. The current sensor 18 outputs _a current detection value I _a which is an analog value according to the drive current supplied to the servo motor 15.

The above-mentioned servo control circuit 13 has a circuit diagram as shown in FIG. Figure 5
In, 13 _IN input unit of the servo control circuit 13 which receives the target position value M _a from the D / A converter 12, 13 _OUT at the output portion of the servo control circuit 13 which outputs a servo output S _a to the drive circuit 14 is there. Input unit 13 _IN and an output unit 13 _{OU T}
Between the position control circuit 13 _p and the speed control circuit 13 _v
And the current control circuit 13 _i are connected in series. The position control circuit 13 _p controls the position of the remote control spotlight 1 to converge to the target position. The speed control circuit 13 _v is responsible for speed control that suppresses fluctuations in speed due to load torque fluctuations when the attitude of the remote control spotlight 1 is moved to the target attitude. The current control circuit 13 _i is responsible for current control that suppresses fluctuations in the drive current supplied to the servomotor 15 due to fluctuations in the power supply voltage.

The position control circuit 13 _p is an operational amplifier OP ₁
It is configured to include a position gain composite value of the target attitude value M _a and the position detection value P _a at the feedback input point F ₁ G
_{It is} amplified by the amount corresponding to _p and output to the speed control circuit 13 _v . The speed control circuit 13 _v is configured to include an operational amplifier OP ₂ , and the combined value of the output value from the position control circuit 13 _p at the feedback input point F ₂ and the speed detection value V _a corresponds to the speed gain G _v . It is amplified by the amount and output to the current control circuit 13 _i . The current control circuit 13 _i is configured to include an operational amplifier OP ₃ , and the combined value of the output value from the speed control circuit 13 _v and the detected current value I _a at the feedback input point F ₃ corresponds to the current gain G _i . Amplified by the amount and servo output S _a
As the output section 13 _OUT, that is, to the drive circuit 14.

[0010] Based on the operation concept diagram of a servo control circuit shown in FIG. 6, a description will be given of the relationship between the rotational operation of the target attitude value M _a and the servo motor 15 from the D / A converter 12. In FIG. 6, the same parts as those in FIGS. 4 and 5 are designated by the same reference numerals.

That is, the position control circuit 13_pIs D / A
Target posture value M output by the conversion unit 12 _aAnd position sensor 1
Position detection value P output by 7_aFrom the deviation from
The speed command value for is output. Speed control circuit 13_vIs
Position control circuit 13_pOf the speed command value output by
The speed detection value V output by the server 16_aFrom the deviation from
The current command value for control is output. Current control circuit 13_i
Is the speed control circuit 13 _vCurrent command value output by
Current detection value I output from the sensor 18_aFrom the deviation from
An analog corresponding to the drive current to be supplied to the servomotor 15.
Servo output S which is_aIs output. Then the driving times
Path 14 is servo output S_aDrive current according to
Supply to the computer 15.

[0012]

However, in the conventional remote control spotlight having the drive control configuration as described above, the central processing unit performs the communication processing with the remote control unit via the communication interface, and Only the output process of the target attitude value to the servo control circuit via the D / A conversion unit is performed, and the idle time is very large and the processing capacity is wasteful.

Further, even if remote control spotlights of the same type are used, there are individual differences in load torque and inertia due to mounting conditions and backlash of gears for attitude control. Multi-axis control such as rotation, tilt rotation, focus adjustment movement, color changer rotation, etc. is required, and the required torque differs for each axis. Although it is necessary to adjust the control parameters (position gain, speed gain, current gain, etc.) according to the above, in the conventional remote control spotlight with the drive control configuration as described above, the servo control circuit is configured by an analog circuit. Therefore, it is very troublesome to make detailed adjustments for each mounting state of the remote control spotlight or for each axis of multiple axes. In it is difficult.

Further, in the conventional remote control spotlight having the drive control structure as described above, since the servo control circuit is composed of an analog circuit, the servo control circuit is bulky, and in particular, a remote control requiring multi-axis control. In the spotlight, the area around the servo control circuit becomes awkward and the appearance is unpleasant. Furthermore, in the conventional remote control spotlight having the drive control configuration as described above, the current is supplied to the servo motor in the so-called servo lock state even after the target posture is converged, which is wasteful. There is a problem in that power consumption is consumed and characteristic deterioration due to heat generation occurs.

The present invention has been made in order to solve the above-mentioned problems, and its purpose is to achieve miniaturization and weight reduction as well as fine control for each mounting state or each axis of multiple axes. The purpose of the present invention is to provide an excellent remote control spotlight that allows easy adjustment of parameters (position gain, velocity gain, current gain, etc.), and is inexpensive but enables smooth remote control.

[0016]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a target posture, which is a command from a remote control unit, which is received via a communication interface. In a remote control spotlight that outputs a drive current based on a posture deviation from the current posture to an actuator and moves to a target posture, a position sensor that detects the current posture and outputs an analog value according to the posture. The A / D conversion unit that converts the analog value output from the position sensor into a digital value, the communication interface and the A / D conversion unit are controlled, and the target posture and the A / D received via the communication interface are controlled. A central processing unit for controlling the drive circuit by calculating a posture deviation from the digital value output from the D conversion unit is provided.

According to a second aspect of the present invention, the central processing unit monitors a target posture which is a command from a remote operation unit via a communication interface during a free time of control of the drive circuit. And

According to another aspect of the invention, a pulse width modulation signal output circuit for outputting a plurality of channels of the pulse width modulation signal based on the posture deviation calculated by the central processing unit is provided, and the drive is provided for each channel. It is characterized in that each circuit is provided.

In the invention according to claim 4, the central processing unit detects a deviation between the current attitude and the target attitude even when the current attitude reaches the target attitude and the actuator is braking. It is characterized in that it is provided with detection means.

[0020]

With the above-mentioned structure, in the invention according to the first aspect, the analog servo calculation processing which is composed of the analog calculation amplifier circuit, the target attitude based on the analog value and the feedback input based on the analog value is performed. , Using the central processing unit, the target posture as a digital value,
The deviation calculation is performed digitally from the feedback input as a digital value, the drive circuit is controlled by the digital data as the result, and the drive current is supplied from the drive circuit to the actuator according to the digital data. Therefore, it becomes possible to digitally perform servo calculation processing,
Fine adjustment of control parameters can be made by changing the software according to the mounting state or the axis of multi-axis control.

According to another aspect of the present invention, the central processing unit controls the drive circuit by calculating the posture deviation between the target posture and the current posture, and the remote control section controls the drive circuit during the idle time of the control. Since the target posture, which is the command of, is monitored via the communication interface, it is possible to reduce the idle time spent by the central processing unit.

According to the third aspect of the invention, the plurality of actuators can be individually driven.

According to another aspect of the present invention, there is provided a posture deviation detecting means for detecting a deviation between the current posture and the target posture even when the current posture reaches the target posture and the actuator is braking. Therefore, even if the current posture deviates from the target posture due to some external force, the current posture can be returned to the target posture again.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a remote control spotlight according to the present invention will be described in detail below with reference to FIGS. 1 and 2, and another embodiment with reference to FIG. FIG. 1 is a block diagram illustrating a drive control configuration of a remote control spotlight.
FIG. 2 is a flow chart for explaining the operation of the remote control spotlight, and FIG. 2A shows the main routine.
FIG. 2B shows an interrupt routine. FIG. 3 is a block diagram illustrating a drive control configuration of a remote control spotlight having a multi-axis control configuration.

In the remote control spotlight 2 shown in FIG. 1, a communication interface 20 and a central processing unit 21 are provided.
A drive circuit 22, a DC motor 23 corresponding to an actuator, a movable lamp body 24 corresponding to a posture, a potentiometer 25 corresponding to a position sensor, and an A / D conversion unit 2
6 and. However, the remote control spotlight 2 shown in FIG. 1 is assumed to be one-axis control equipped with only one DC motor as an actuator for the sake of simplicity.

The communication interface 20 is a part that receives a target posture command signal from a console A corresponding to a remote control unit installed at a position distant from the remote control spotlight 2 wirelessly or by wire. Central processing unit 21
Is a target posture value M as a digital value included in the target posture command signal while controlling the communication interface 20.
While recognizing _d, while recognizing the A / D conversion unit 26, the position detection value P _a that is an analog value according to the current posture output by the potentiometer 25 is recognized as a position detection value P _d that is a digital value. After digitally calculating the deviation between the target posture value M _d and the position detection value P _d (after digital servo calculation), the digital data as the calculation result is output to the pulse width modulation signal output circuit 22 a of the drive circuit 22. It is the part to do.

The drive circuit 22 includes a pulse width modulation signal output circuit 22a. The pulse width modulation signal output circuit 22a is a part that receives digital data output from the central processing unit 21 and generates a pulse width modulation signal (PWM signal) according to the digital data output from the central processing unit 21. The drive circuit 22 converts the pulse width modulation signal generated by the pulse width modulation signal output circuit 22a into a current and supplies a drive current to the DC motor 23.

The DC motor 23 is supplied with a drive current from the drive circuit 22 and rotates in accordance with the drive current to control the attitude of the movable lamp body 24 to move the attitude (light emitting direction and focus adjustment). Is. The movable lamp body 24 is the lamp body itself of the remote control spotlight 2, and is a console A
The posture is moved in response to the target posture command signal from. The potentiometer 25 is a part that changes the electric resistance according to the movement of the current posture of the movable lamp body 24 and outputs _a position detection value P _a that is an analog value that is uniquely determined by the current posture. The A / D conversion unit 26 is a unit that is controlled by the central processing unit 21 and converts the analog position detection value P _a output from the potentiometer 25 into a digital position detection value P _d while sampling the position detection value P a. .

The remote control spotlight 2 configured as described above operates as follows. That is, as shown in the flowchart in FIG. 2, the central processing unit 21 monitors the output of the target posture command signal from the console A via the communication interface 20 (step S).
1). Upon detecting the target posture command signal from the console A, the central processing unit 21 immediately reads the target posture value M _d included in the target posture command signal, and stores and sets the target posture value M _d as the target value. After (step S2), interrupt permission (step S3) is executed to promptly start an interrupt routine for performing servo control calculation processing as shown in FIG. 2B, and to rotate the DC motor 23. The brake of the DC motor 23 in the braking state (either an electric brake or a mechanical brake may be released) is released (step S4).

When the interrupt routine shown in FIG. 2B is activated, the central processing unit 21 first detects the position detection value P which is the voltage analog value output by the potentiometer 25.
The _a, read and converted via an A / D converter 26 to the position detection value P _d as a digital value as well as sampling, it recognizes the current position of the remote control spotlight 2 (step S21). The central processing unit 21, which has recognized the current posture in step S21, compares the target posture value M _d stored and set in step S2 with the position detection value P _d recognized in step S21 to calculate a posture deviation (step S22).
Then, the speed command value is calculated from the posture deviation and the position gain as preset software (step S2
3) Do.

Thereafter, the central processing unit 21 detects the position detection value P recognized in step S21 of the interrupt routine this time.
_The current speed is calculated from the difference between _d and the position detection value P _d recognized in step S21 at the time of starting the previous interrupt routine (step S24), and the speed command value calculated in step S23 of the current interrupt routine and the above-mentioned value. A speed deviation is calculated from the difference with the current speed calculated in step S24 (step S25), and a current command is calculated from the speed deviation calculated in step S25 of the interrupt routine this time and the speed gain as preset software. The value is calculated (step S26), and the current command value calculated in step S26 is output to the pulse width modulation signal output circuit 22a of the drive circuit 22 (step S27). Therefore, at the time of outputting the current command value in step S27, it is possible to prevent the current command value from being provided with an upper limit by software and clamping it by software to supply an overcurrent to the DC motor 23.

Due to the nature of the product, the remote control spotlight 2 does not require high responsiveness such as servo control used in the FA (factory automation) field, but rather produces noise when driving a DC motor. A low speed drive that reduces the amount is required. Therefore, a current feedback circuit or a current detection circuit for controlling the current is unnecessary. Further, since the position gain and the velocity gain of the remote control spotlight 2 are numerical values as software, it is possible to finely and variably set the position gain and the velocity gain so that a smooth movement is possible when the posture is controlled. become.

In the remote control spotlight 2, the central processing unit 21 activates the interrupt routine shown in FIG. 2B at relatively long intervals of 10 msec to tens of msec, but as described above, it is low. Since control with responsiveness is allowed, there is no problem even if the sampling cycle has a relatively long interval of every 10 msec to several tens of msec. Further, the central processing unit 21 activates the interrupt routine shown in FIG. 2B at relatively long intervals of 10 msec to tens of msec, but after the interrupt routine is processed until the next interrupt routine is activated. See Figure 2
Since the main routine shown in (a) is executed, there is not much idle time and the central processing unit can be operated efficiently.

Now, the central processing unit 21 which has completed the interrupt routine shown in FIG. 2B determines whether or not the target posture has been reached, that is, when the deviation between the target posture and the current posture is zero for a predetermined time. Judge whether or not it continued (step S
5) Then, if the state in which the deviation between the target posture and the current posture is zero does not continue for the predetermined time, the communication interface 20 returns to the monitoring state in step S1 and it is determined whether or not there is a new target posture command signal. Check.

The central processing unit 21 confirms whether or not there is a new target attitude command signal, and if there is no new target attitude command signal, it judges whether or not the servo operation is in progress (step S9). , It is again determined whether the state in which the deviation between the target posture and the current posture is zero has continued for a predetermined time (step S
5) Do. When the central processing unit 21 determines in step S5 that the state where the deviation between the target posture and the current posture is zero continues for a predetermined time, the central processing unit 21 stops the drive current output from the drive circuit 22 (step S6), and Since the DC motor 23 is brought into the electric braking state (step S7) to restrain the DC motor, the target posture can be maintained without wasteful power consumption or heat generation. Then, after executing interrupt prohibition (step S8) for prohibiting jump to the interrupt routine of FIG. 2B, the communication interface 20 returns to the monitoring state of step S1 and whether or not there is a new target attitude command signal. To confirm.

Here, if there is no new target attitude command signal, the central processing unit 21 determines whether the servo operation is being performed (step S9), and then the DC motor 23 by the electric brake state (step S7). In order to confirm whether or not the target posture is maintained by being restrained, the A / D conversion unit 2
The position detection value P _a output by the potentiometer 25 via 6 is sampled, converted into a digital position detection value P _d and read (step S10), and the position detection value P _d is stored as the latest target. The attitude is compared (step S11), and if there is a deviation of a predetermined value or more, it is determined that the attitude of the movable lamp body 24 has moved due to some influence, and the latest target attitude is set again as the target attitude (step S12). The interruption is enabled (step S3), and the same servo control as described above is performed to correct the posture. In this way, the remote control spotlight 2 described above can easily realize complicated processing such as posture correction, which is impossible with analog servo control.

Next, referring to FIG. 3, another embodiment will be described.
The remote control spotlight 3 will be described. Remote control spot
The lite 3 enables 4-axis control and communication
Interface 30, central processing unit 31, pulse width
Modulation signal output circuit 32 and drive circuit 33_e,33_f,33_g,
33_hAnd a DC motor 34 corresponding to the actuator _e,
34_f,34_g,34_hAnd the movable lamp body 35 corresponding to the posture_e,
35_f,35_g,35_hAnd a potentiometer equivalent to a position sensor
Meter 36_e,36_f,36_g,36_hAnd the A / D converter 3
7 and 7.

The pan rotation mechanism E is composed of a drive circuit 33 _e to the DC motor 34 _e and the movable lamp body 35 _e, the tilt rotation mechanism F drive circuit 33 _f and the DC motor 34 _f and a movable lamp body 35 _f The focus adjustment moving mechanism G includes a drive circuit 33 _g , a DC motor 34 _g, and a movable lamp 35 _g . The color changer mechanism H includes a drive circuit 3 _g.
3 _h , a DC motor 34 _h, and a movable lamp 35 _h .

The remote control spotlight 3 is different from the above-mentioned remote control spotlight 2 in that it is characterized by 4 points.
A pulse width modulation signal output circuit 32 capable of outputting four independent pulse width modulation signals having different duty ratios under the control of the axis control mechanisms E, F, G, H and the central processing unit 31, and the central processing unit 31. Under the control of, the A / D conversion unit 37 that can convert four independent analog values into digital values respectively is included.

Although the flowchart for explaining the operation of the remote control spotlight 3 is omitted, the flowchart shown in FIG. 2 for explaining the operation of the remote control spotlight 2 described above exists for each axis. is doing.

In the remote control spotlight 3 described above, like the remote control spotlight 2 described above, the central processing unit can operate the central processing unit efficiently without much idle time. Complex processing such as posture correction can be easily realized, and since position gain and velocity gain are numerical values as software, position gain and velocity gain are adjusted so that smooth movement is possible during posture control. It is easy to make fine and variable settings.

[0042]

Since the remote control spotlight of the present invention is configured as described above, the invention of claim 1 is to replace the conventional servo control of the analog operation configuration with the servo of the digital operation configuration. Since the control is performed, the size and weight can be reduced, and the control gain can be finely adjusted for each mounting state or each axis, and the smooth posture control can be performed regardless of the use state. In this case, in addition to the above-mentioned effect, the play period of the central processing unit is shortened, so that the operation efficiency of the central processing unit can be improved. In addition to the above effects, the present posture may deviate from the target posture due to some external force. There also can be returned again current attitude to target attitude, no orientation deviation, an effect called can provide superior remote spotlight.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating a drive control configuration of an embodiment of a remote control spotlight according to the present invention.

FIG. 2 is a flowchart illustrating the operation of the above embodiment.

FIG. 3 is a block diagram illustrating a drive control configuration of another embodiment of the remote control spotlight according to the present invention.

FIG. 4 is a block diagram illustrating a drive control configuration of a conventional remote control spotlight.

FIG. 5 is a circuit diagram illustrating an outline of a conventional remote control spotlight servo control circuit.

FIG. 6 is an operation conceptual diagram of a servo control circuit of a conventional remote control spotlight.

FIG. 7 is a perspective view illustrating an outline of the appearance of a remote control spotlight.

[Explanation of symbols]

20 Communication Interface 21 Central Processing Unit 22 Drive Circuit 22a Pulse Width Modulation Signal Output Circuit 23 Actuator 24 Posture 25 Position Sensor 26 A / D Converter A Remote Control Unit S11 Posture Deviation Detection Means 30 Communication Interface 31 Central Processing Unit 32 Pulse Width Modulation Signal output circuit 33 _e Drive circuit 33 _f Drive circuit 33 _g Drive circuit 33 _h Drive circuit 34 _e Actuator 34 _f Actuator 34 _g Actuator 34 _h Actuator 35 _e Posture 35 _f Posture 35 _g Posture 35 _g Posture 35 _h Posture 36 _e Position sensor 36 _f Position Sensor 36 _g Position sensor 36 _h Position sensor 37 A / D converter

Claims (4)

[Claims] 1. A remote control spot that moves to a target posture by causing a drive circuit to output a drive current to an actuator based on a posture deviation between a target posture and a current posture, which is a command received from a remote control unit via a communication interface. In the light, a position sensor that detects a current attitude and outputs an analog value according to the attitude, and an A / D conversion unit that converts the analog value output by the position sensor into a digital value,
Controls the communication interface and the A / D conversion unit, and controls a drive circuit by calculating a posture deviation from a target posture received via the communication interface and a digital value output from the A / D conversion unit. A remote control spotlight, which is provided with a central processing unit that operates. 2. The remote control spot according to claim 1, wherein the central processing unit monitors a target posture which is a command from a remote operation unit via a communication interface during a free time of control of the drive circuit. Light. 3. The remote control spotlight according to claim 1, wherein a pulse width modulation signal output circuit for outputting a plurality of channels of pulse width modulation signals based on the attitude deviation calculated by the central processing unit is provided, and each channel is provided with the pulse width modulation signal output circuit. Remote control spotlights, each equipped with a drive circuit. 4. The central processing unit comprises attitude deviation detection means for detecting a deviation between the current attitude and the target attitude even when the current attitude reaches the target attitude and the actuator is braking. The remote control spotlight according to claim 1.