JPH09252590A - Suspension drive controller for stage setting - Google Patents

Abstract

PROBLEM TO BE SOLVED: To conduct a synchronous position control of suspensions which are driven by a plurality of variable speed motors respectively. SOLUTION: The positions of suspensions which are provided with respective variable speed motors are detected by position detectors 11-1N. The outputs of the position detectors 11-1N are given to present position calculating sections 21-2N to calculate the present positions of the suspensions. When a synchronous position operation command signal is detected by an operation command input detector 4, the positions of the suspensions calculated by the present position calculating sections 21-2N are stored as operation start positions. Then, the movement amounts of the suspensions are calculated from the present positions and the operation start positions of the suspensions by movement amount calculating sections 61-6N respectively. The maximum values and the minimum values of the movement amounts are detected by a movement amount maximum value and minimum value detector 7 for one suspension after another and an average movement amount is calculated by a movement amount average calculating section 8. Deviations of the movement amounts of the suspensions from the average value and calculated by deviation calculating sections 91-9N respectively. Then, a correction amount to a speed standard is calculated based on the deviations and then is given to a feedback control system of each of the speed variable motors.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art As a conventional hanging mechanism for a stage mechanism,
A configuration as shown in FIG. 2 is known. The conventional suspended operation control device for a stage mechanism includes position detection means 11 to 1N for detecting the current position of each suspended object which is driven up and down by an arbitrary number of motors, and each of these position detectors 1.
Current position calculation units 21 to 2N that calculate the current position of the hanging object from the outputs of 1 to 1N, a rising detector 4 that detects the rising timing of the position synchronous operation command signal 3 from the outside, and a current position Operation start position storage units 51 to 5N that store the current position obtained by the position calculation units 21 to 2N at the rise timing of the position synchronization operation command signal detected by the rise detector 4, and position synchronization operation by the rise detector 4. After the rising timing of the command signal is detected, each output of the current position calculation units 21 to 2N is compared with the operation start position stored in each of the position storage units 51 to 5N at regular time intervals, and each suspended object is compared. Of actual movement amount calculation unit 61 to calculate the movement amount of
And 6N.

Further, the speed reference and the position-synchronized operation command set by the master device are input, and the theoretical movement amount calculation unit 8 for obtaining the theoretical movement amount of the hanging object at regular intervals, this theoretical movement amount calculation unit The deviation calculation units 91 to which the theoretical movement amount obtained in 8 and the movement amounts of the respective hanging objects obtained in the actual movement amount calculation units 61 to 6N are compared at regular time intervals to obtain movement amount deviations. 9N and each of these deviation calculators 9
1st to Nth based on the movement amount deviation obtained in 1 to 9N
Speed reference correction amount calculation units 101 to 10N for obtaining the correction amount of the speed reference of the variable speed motor of the suspension.

In such a conventional hanging operation control apparatus for stage equipment, the current position of each of the first to Nth hangings is calculated by the position calculating units 21 to 2N, and the position detected by the rising detector 4 is calculated. The position storage units 51 to 5N store the current positions of the first to Nth suspended objects calculated by the position calculation units 21 to 2N according to the rising timing of the synchronous operation command signal 3 as operation start positions.

In the movement amount calculating units 61 to 6N, the position detectors 5 to 5 are arranged at regular intervals after the rising detector 4 detects the rising timing of the position-synchronized operation command signal 3.
Based on the position of each suspended object at the start of operation stored in N, the movement amount to the actual current position calculated by the current position calculation units 21 to 2N is calculated and added to the deviation calculation units 91 to 9N, respectively.

On the other hand, the theoretical movement amount calculation unit 8 obtains the theoretical movement amount of the hanging object from the speed reference set in the master device and the position-synchronized operation command signal 3 at regular time intervals, and the deviation calculation units 91 to 9N. Enter each in.

In each of the deviation calculation units 91 to 9N, the movement amount to the actual current position calculated by the current position calculation units 21 to 2N and the theoretical movement amount calculated by the theoretical movement amount calculation unit 8 are calculated for a predetermined time. The movement amount deviations are obtained by making a comparison with each other and added to the speed reference correction amount calculation units 101 to 10N, respectively.

In each of the speed reference correction amount calculation units 101 to 10N, not shown, which drives the first to Nth suspended objects obtained on the basis of the movement amount deviations obtained by the deviation calculation units 91 to 9N, respectively. It is output as a correction amount based on the speed of the variable speed motor.

The correction amount of the speed reference of each variable speed motor thus obtained is added to or subtracted from the speed reference from the speed reference generator of the speed control system of each variable speed motor to obtain a normal speed reference. Feedback control of the variable speed motor is performed.

[0010]

However, such a conventional suspension operation control device for a stage apparatus cannot operate the suspended object as corrected even if speed correction is performed due to variations in weight suspended on the suspended object. In some cases, the vehicle may be operated later than the correction amount even though the correction is being performed.

The present invention has been made in view of the above circumstances, and provides a hanging operation control apparatus for a stage apparatus capable of synchronizing and controlling the variable speed motors for driving the respective hangings. The purpose is to

[0012]

In order to achieve the above object, the present invention constitutes a suspended operation control device for a stage apparatus by the following means. The invention according to claim 1 is a hanging operation control device for a stage apparatus, which controls the positions of respective hanging objects attached to a plurality of variable speed motors while synchronously operating, and is attached to each of the variable speed motors. Position detecting means for respectively detecting the suspended object position, current position calculating means for calculating the current position from the output signal of this position detecting means, and operation command input detecting means for detecting the input of a position synchronization operation command signal from the outside. And a drive start position storage means for storing the position of the suspended object obtained by the current position calculation means as a drive start position when the position synchronization drive command signal is detected by the drive command input detection means, and the current position calculation The position-synchronized operation command signal is input from the current position of the suspended object obtained by the means and the operation start position of the suspended object stored in the operation position start position storage means. A moving amount calculating means for calculating a moving amount of the suspended object moved from time to time, a moving amount maximum and minimum value detecting means for detecting a maximum value and a minimum value of the moving amount from respective outputs of the moving amount calculating means, and Maximum and minimum value storing means for storing the maximum and minimum values of the moving amount obtained by the moving amount maximum and minimum value detecting means, and the maximum value of the moving amount stored in the maximum and minimum value storing means And a moving amount average value calculating means for calculating the average value of the minimum value, and a deviation between the moving amount of each hanging object obtained by the moving amount calculating means and the average value obtained by the moving amount average value calculating means. A deviation calculating means for calculating, and a speed reference correction amount calculating means for calculating a speed reference correction amount on the basis of the deviation obtained by the deviation calculation means and giving the correction amount to a feedback control system of the variable speed motor. Equipped with.

In the hanging operation control device for a stage apparatus having such a structure, when the position detecting means detects the position of the hanging object attached to the plurality of variable speed motors, the present position calculating means indicates the present position. When the position is calculated and the position-synchronized operation command signal from the outside is detected by the operation command input detection means, the suspended object obtained by the current position calculation part when the position-synchronized operation command signal detected by the operation command input detection means is input. The position is stored in the operation start position storage means as the operation start position.

Then, the moving amount calculating means moves the hanging object from the output of the present position calculating means and the operation starting position of the hanging object stored in the operation starting position storing means from the time when the position synchronous operation command signal is input. The moving amount is calculated, the maximum value and the minimum value of the moving amount of each suspended object are calculated, and the deviation between the average value of these moving amounts and the actual moving amount of the suspended object is determined by the variable speed motor at the synchronous operating speed. A speed reference correction amount required for each variable speed motor so that the hanging object is operated is calculated and given to the speed control system of each variable speed motor. Therefore, the position-synchronized operation control of the suspended object operated by the plurality of variable speed motors can be realized by the speed control system for each variable motor.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration example of a suspended operation control device for a stage apparatus according to the present invention. The same parts as those in FIG.

As shown in FIG. 1, position detectors 11 to 1N for detecting the current position of each suspended object which is driven up and down by an arbitrary number of motors, and these position detectors 11 to 11N, respectively.
Current position calculation units 21 to 2N that calculate the current position of the hanging object from the output of 1N, a rising detector 4 that detects the rising timing of the position synchronous operation command signal 3 from the outside, and a current position calculation The operation start position storage unit 5 that stores the current position obtained by the units 21 to 2N at the rising timing of the position-synchronized operation command signal detected by the rising detector 4.
1 to 5N, and after the rise detector 4 detects the rise timing of the position-synchronized operation command signal, the outputs of the current position calculation units 21 to 2N and the operation start position storage units 51 to 5N are stored at regular intervals. The moving amount calculation units 61 to 6N that calculate the moving amount of each hanging object by comparing the running start position
And

Further, the substantial movement amount of each hanging object obtained by the movement amount calculation units 61 to 6N is respectively inputted,
Of these movement amounts, the movement amount maximum and minimum value detector 7 for detecting the movement amount of the maximum value and the minimum value, and the maximum value movement amount and minimum value detected by the movement amount maximum and minimum value detector 7. A maximum value storage unit 11 and a minimum value storage unit 12 that store the movement amounts, respectively, and an average value of the maximum value movement amount and the minimum value movement amount that are stored in the maximum value storage unit 11 and the minimum value storage unit 12 are calculated. A moving amount average value calculating unit 8 and a deviation calculating unit that calculates a deviation between the moving amount of each hanging object obtained by the moving amount calculating units 61 to 6N and the average value obtained by the moving amount average value calculating unit 8. 91-9N and this deviation calculation unit 91-
Based on the deviation obtained by 9N, the speed reference correction amount of each variable speed motor of each suspended object is determined, and the speed reference correction amount calculation units 101 to 10 are given to the feedback control system of the variable speed motor.
Equipped with N.

Next, the operation of the suspended operation control device for the stage apparatus configured as described above will be described. Now, when the position detectors 11 to 1N detect the position of each hanging object attached to a plurality of variable speed motors, the output signal thereof is taken into the current position calculating units 21 to 2N, and each hanging object is detected. The current position is required. At this time, when an external position-synchronized operation command is input to the position-synchronized operation start-up detector 4, the position-synchronized operation start-up detector 4 detects the start-up timing of the position-synchronized operation command signal, and the operation start position storage unit 51 ~ 5
The operation start position of each suspended object is stored in N.

In the movement amount calculation units 61 to 6N, the position of each suspended object at the start of operation stored in the operation start position storage units 51 to 5N and the current position calculation units 21 to 21 at a constant time after the start of operation. 2N is compared with the current position obtained, and the amount of movement of each suspended object from the operation start position is calculated.

Further, each of these movement amount calculation units 61 to 6N
The movement amount from the operation start position obtained in step S1 is taken in by the movement amount maximum value and minimum value detector 7, and the maximum value movement amount and the minimum value movement amount are detected from these movement amounts, The maximum value storage unit 11 and the minimum value storage unit 12 respectively store them.
Then, the maximum value and the minimum value of the movement amount stored in the maximum value storage unit 11 and the minimum value storage unit 12 are respectively taken into the movement amount average value calculation unit 8, and the average value is calculated here. .

On the other hand, in the deviation calculation units 91 to 9N, the deviation between the movement amount from the operation start position obtained by the movement amount calculation units 61 to 6N to the present time and the average value obtained by the movement amount average value calculation unit 8 is calculated. Are calculated respectively, and the deviations thereof are respectively taken into the speed reference correction amount calculation units 101 to 10N. The speed reference correction amount calculation units 101 to 10N calculate the speed reference correction amount required for each variable speed motor so that each suspension is driven by the variable speed motor at the synchronous operation speed, and control the speed of the variable speed motor. Give to the system.

Therefore, even if the amount of movement differs due to variations in the weight of the suspended object, the average value of the maximum value movement amount and the minimum value movement amount of the hanging object is calculated, and this is calculated as the actual movement amount. Since the deviation is used as the speed correction amount, the control can be performed in a state in which the positions of the suspended objects driven by the variable speed motor are synchronized.

[0023]

As described above, according to the present invention, the maximum movement amount and the minimum movement amount of each suspended object from the operation start position are detected and the average value thereof is obtained, and the average value and the substantial movement amount are calculated. The deviation of is determined as the correction amount of the speed reference of each variable speed motor,
Since this is given to the feedback control system to control the speed of each variable speed motor individually, the suspended object operation control device of the stage apparatus capable of synchronously controlling the position of the suspended object operated by each variable speed motor. Can be provided.

[Brief description of drawings]

FIG. 1 is a block circuit diagram showing a configuration example of an embodiment of a suspended operation control device for a stage apparatus according to the present invention.

FIG. 2 is a block circuit diagram showing a configuration example of a conventional hanging operation control device for a stage apparatus.

[Explanation of symbols]

 11-11N ... Position detector 21-2N ... Position calculation unit 3 ... Position-synchronized operation command signal 4 ... Position-synchronized operation start-up detector 51-5N ... Position storage unit 61-6N ... Movement amount calculation unit 7 ... Movement amount maximum and minimum value detection unit 8 ... Movement amount average value calculation unit 91 to 9N ... Difference calculation unit 101 to 10N ... Speed correction amount calculation unit 11 ... Maximum value storage unit 12 ... Minimum value Memory

Claims (1)

[Claims] 1. A hanging operation control device for a stage apparatus, which controls synchronously the respective suspended positions attached to a plurality of variable speed motors, wherein the suspended position attached to each of said variable speed motors. Position detecting means for respectively detecting the current position, current position calculating means for calculating the current position from the output signal of the position detecting means,
A driving command input detecting means for detecting an input of a position synchronizing driving command signal from the outside, and a position of the hanging object obtained by the current position calculating means when the position synchronizing driving command signal is detected by the driving command input detecting means. From the driving start position storage means for storing as a driving start position, the current position of the hanging object obtained by the current position calculating means, and the driving start position of the hanging object stored in the driving position starting position storage means. A moving amount calculating means for calculating the moving amount of the suspended object after the input of the synchronous operation command signal, and a moving amount maximum and minimum for detecting the maximum value and the minimum value of the moving amount from each output of the moving amount calculating means. A value detecting means, a maximum value and a minimum value storing means for storing the maximum value and a minimum value of the moving amount obtained by the moving amount maximum and minimum value detecting means, and a maximum value and a minimum value storing means. A moving amount average value calculating means for calculating an average value of the maximum value and the minimum value of the stored moving amount, a moving amount of each suspended object obtained by the moving amount calculating means, and an average value of the moving amount Deviation calculation means for calculating a deviation from the obtained average value, and a speed reference correction amount is calculated based on the deviation obtained by the deviation calculation means, and this correction amount is fed to the feedback control system of the variable speed motor. A hanging operation control device for a stage apparatus, comprising: a speed reference correction amount calculating means for giving.