JPH10198430A - Positioning controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generate a smooth speed pattern by correcting moving distance data stored in a storage means based on the remaining moving distance data subtracting the position data of start point in a deceleration area from stop position data to correct a quantization error through the calculation of decelerating point in the stop operation of mobile object. SOLUTION: An MPU 1 successively calculates the speed pattern at every time so as to perform smooth acceleration based on inputted information during an acceleration period and controls a motor so as to provide the calculated speed pattern. In this case, the moving distance data are found from the speed pattern and moving time and saved in a saving table storage part 4. At the time of deceleration, a positioning command arithmetic part 5 operates speed for every arithmetic of position data while including a correction value from the position data saved in the saving table storage part 4, and a guantization error arithmetic part 6 corrects the quantization error, which occurs when the decelerating spot is found, each time the position data are operated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning control device for controlling a moving position of a moving body.

[0002]

2. Description of the Related Art The moving distance of a moving body can be calculated by multiplying a moving time by a speed pattern generated by a positioning control device and indicating a moving speed of the moving body. Then, based on the calculation result, the positioning control device controls the position where the moving body stops. At this time, the positioning control device does not immediately start moving the moving body at the predetermined speed. First, the positioning control device sequentially increases the speed and accelerates until the speed of the moving body reaches a predetermined constant speed. Then, the positioning control device moves the moving body at a predetermined constant speed set by the operator, and decelerates and stops near the target stop position as in the case of acceleration.

That is, the positioning control device generates a speed pattern for moving the moving body in a trapezoidal shape. However, when the speed pattern output by the positioning control device is trapezoidal, when the moving body starts and stops,
Due to the inertia of the moving body, the moving body receives a shock, and an error occurs in which the moving distance set by the operator cannot be controlled. Therefore, in order to control the start and stop with high accuracy, the positioning control device uses an S-shaped or other stage acceleration change as shown in FIG. 4 as a gentle acceleration pattern so as to minimize the shock due to inertia. Output speed pattern with.

However, since the speed pattern is generated at a constant period and the moving distance is calculated, the control becomes a discrete value. Therefore, a deceleration point for decelerating the moving body with respect to the target stop position is obtained in a calculation cycle for generating a speed pattern. However, the deceleration point at time tm shown in FIG. 4 obtained in this calculation cycle is shifted from the deceleration point at time ts shown in FIG. 4 obtained from the acceleration / deceleration time and the speed pattern specified in advance. That is, the time t based on the calculation cycle for the moving distance
A quantization error occurs due to the moving distance between s and time tm. For this reason, there has been a problem that the stop position deviates from the designated value.

Therefore, there is a method of generating a speed pattern from a given predetermined speed and acceleration / deceleration time, and sequentially calculating a moving position. The remaining distance to the designated stop position is obtained from the moving distance obtained every time the speed pattern is generated. After a deceleration point at which deceleration is started is detected from the remaining distance to the stop position, a moving distance required to stop from this deceleration point is obtained. Then, in order to correct the quantization error generated in the calculation cycle, the positioning control device finely adjusts the speed pattern obtained in each calculation cycle according to the remaining distance to the stop position in each calculation cycle. A method of moving while performing and stopping at a specified stop position is used.

[0006]

However, in the above-described positioning control device, the calculation of the speed pattern when the moving body is decelerated becomes complicated, and addition / subtraction to the speed pattern is performed even when the final speed pattern is generated. Therefore, there is a disadvantage that the quantization error in the position control cannot be completely corrected. The present invention has been made under such a background, and provides a positioning control device capable of completely correcting a quantization error by calculating a deceleration point of a stop operation of a moving body in position control and generating a smooth speed pattern. The purpose is to do.

[0007]

According to the first aspect of the present invention,
An acceleration region for accelerating the moving speed of the moving body to a predetermined value,
In a positioning control device that decelerates the moving speed of the moving body from a predetermined value and adjusts the speed of the moving body in a deceleration area where the moving body is stopped at a specified stop position, and controls the moving position of the moving body, First calculating means for calculating first speed data indicating a moving speed of the moving body,
The second calculating means for calculating moving distance data indicating the distance moved by the moving body from the first speed data obtained by the first calculating means, and the moving distance data obtained by the second calculating means Storage means for storing, and correction for correcting the movement distance data stored in the storage means based on remaining movement distance data obtained by subtracting position data of a moving body at a start point of the deceleration area from the stop position data. Means.

According to a second aspect of the present invention, in the positioning control device according to the first aspect, the first calculating means calculates the speed data in each period obtained by dividing a predetermined period by a predetermined interval. Features. The invention according to claim 3 is
3. The positioning control device according to claim 2, wherein the speed data, which is a moving speed of the moving body, is based on a specified time and a specified distance until the speed data reaches a specified constant speed. , Calculated for each cycle and accelerated. According to a fourth aspect of the present invention, in the positioning control device according to any one of the first to third aspects, the second calculation means integrates a moving distance of the moving body during a period in which the moving body is accelerated for each of the cycles. Is calculated. The invention according to claim 5 is
The positioning control device according to any one of claims 1 to 4, further comprising a relational table between the moving distance data and a correction coefficient for correcting the moving distance, which is used for the correction obtained empirically, based on the relation table. The correction means corrects the moving distance data stored in the storage device.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a positioning control device according to one embodiment of the present invention.
In this figure, 1 is an MPU (Micro Process)
sor Unit). Reference numeral 4 denotes an evacuation table storage unit for evacuation of the position data of the moving object at every operation cycle of the position data when the moving object is accelerated.

Reference numeral 5 denotes a position command calculation unit which performs a speed calculation including a correction value for each position data calculation from the position data saved in the save table storage unit 4 during deceleration. Numeral 6 denotes a quantization error calculation unit which corrects a quantization error generated when a deceleration point is obtained by using a predetermined graph shown in FIG. 3 every time position data is calculated. FIG. 3 shows a correction value of the moving distance data, which will be described later in detail. Reference numeral 7 denotes a motor control device for starting, stopping, and controlling the number of rotations of the motor 8 based on a signal from the MPU 1.

Next, the operation of the above embodiment will be described with reference to FIGS. 1, 2 and 3 and the timing chart of FIG. FIG. 2 is a diagram illustrating the configuration of the evacuation table storage unit. FIG. 3 is a diagram showing the relationship between the correction coefficient A of the quantization error generated when the deceleration point is obtained and the number obtained by normalizing the error of the moving distance. In this figure, the horizontal axis is obtained by normalizing the error of the moving distance caused by the quantization error. First, the operator sets predetermined constant speed data,
The acceleration / deceleration time and the movement distance are input to the positioning control device. In the acceleration period from time t0 to time tk, the MPU 1 sequentially calculates speed pattern calculations at each time t1 to tk based on the input information so that smooth acceleration is performed.

Then, the MPU 1 transmits a control signal to the motor control device 7 to control the motor 8 so that the speed of the calculated speed pattern is obtained. Here, the integrated value P of the moving distance data is obtained based on the speed pattern and the moving time.
[k] is obtained as P [k] = P [k−1] + T × (Vk−Vk−1) / 2 (1) Here, Vk (k is a natural number) is speed data at time tk calculated as a speed pattern, Vk-1 is speed data at time t-1, and T is a time between each time. Width.

First, the MPU 1 stores the value of the initial value P [0] of the integrated value of the moving distance data in the area 2 of the evacuation table storage unit 4.
0 is stored. This is '0'. And MP
U1 is based on the obtained speed pattern, and the movement amount data P [1] from time t0 to time t1 and time t0 by the equation (1).
Moving amount data P [2] from time t0 to time t2
The integrated value of the movement amount data up to 3, tk-2, tk-1 and tk is calculated, and the areas 21, 22, 23, 2
4, 25 and 26 respectively.

At time tk, the speed of the moving object becomes the value Vk of the speed data designated by the operator. Next, the MPU 1 accumulates the moving amount of the moving object at the speed Vk at each calculation time, and sets the time when the condition of θR−Rc ≦ P [k] is satisfied as the deceleration point. I do. here,
θR is a target value of the moving distance, and Rc is the current position of the moving object. After the deceleration point is detected, deceleration is performed, so that a speed pattern at each time is not obtained from the deceleration period and the stop time tm + k at each periodic time as performed during the acceleration period. .

That is, the amount of movement at each time is obtained based on the integrated value of the amount of movement at each time saved in the evacuation table storage unit 4. That is, from time tm
The movement amount Dm + 1 up to tm + 1 can be obtained by Dm + 1 = P [k] -P [k-1] (3). However, at the point in time when the deceleration point is determined at time tm, from time t0, which is the acceleration region,
It is rare that the integrated value of the movement amount between tk and the time tm to tm + k which is the deceleration area becomes the same distance. That is, the moving distance from time ts to time tm shown in FIG. 4 is a quantization error in the deceleration region.

In the above case, the integrated value of the moving amount in the deceleration region is smaller than the integrated value of the moving amount in the acceleration region, and the reduced moving amount value is the moving amount error Δθ = Rc due to the quantization error. + P [k] −θR (4) This quantization error appears most prominently at time tm + k, and when it is attempted to correct it between time tm and tm + 1, the speed changes rapidly, so that the moving speed of the moving body smoothly decreases. Is not done. Therefore, the correction of the error Δθ of the movement amount is performed during the time tm to tm + k−1 which is the deceleration area.

Correction of each movement value in the deceleration region is performed by using a correction coefficient A generated from an empirical value corresponding to a point obtained by normalizing each position in FIG. [k] = P [k] −A [k] × Δθ (5) P '[k-1] = P [k-1] −A [k-1] × Δθ・ (6) is required.

The amount of movement from time tm to time tm + 1 is calculated by the position command calculation unit 5 from the formulas (5) and (6) as follows: D'm + 1 = P '[k] -P' [k-1 ] = P [k] −P [k−1] − (A [k] −A [k−1]) × Δθ (7) and the travel distance is recalculated with the correction value at each time. .

Next, the position command calculating section 5 outputs operation data to the motor control device 7 to move the moving body to the motor 8 at the time tm to tm + 1 and the corrected moving distance D'm + 1. . Then, the motor control device 7 drives the motor 8 to move the moving body by the moving distance D′ m + 1 in the time width T.

By performing the above operation at each time, the MP
U1 obtains necessary moving distance data at each time until the moving object stops based on the moving amount error Δθ and the correction coefficient A. Correction of travel distance data is performed at time tm + k-1
End by That is, the correction coefficient A at P [0] is “0”. Then, at time tm + k, the moving distance of the moving body becomes “0”, so that the speed becomes “0” and the moving body stops.

[0021]

According to the first aspect of the present invention, an acceleration region in which the moving speed of the moving body is accelerated to a predetermined value, the moving speed of the moving body is reduced from the predetermined value, and the moving speed is reduced at the designated stop position. In the positioning control device that controls the moving position of the moving body by adjusting the speed of the moving body with the deceleration area to be stopped,
In the acceleration region, first calculating means for calculating speed data indicating a moving speed of the moving body, and moving distance data indicating a moving distance of the moving body from the speed data obtained by the first calculating means. Second calculating means for calculating, storage means for storing the moving distance data obtained by the second calculating means, and the remainder obtained by subtracting the position data of the moving body at the start point of the deceleration area from the stop position data. And a correcting means for correcting the moving distance data stored in the storage means based on the moving distance data, so that the stop position of the moving body calculated by the calculation is calculated without error. Thus, the effect that the moving body stops smoothly can be obtained.

According to the second aspect of the present invention, since the first calculating means calculates the speed data for each period obtained by dividing a predetermined period at regular intervals, a multi-step speed pattern is created. Thus, an effect that smooth acceleration and deceleration operations of the moving body can be obtained. According to the third aspect of the present invention, the first calculation means calculates the speed data, which is the moving speed of the moving object, based on a specified time and a specified distance until the speed data reaches a specified constant speed. , Is calculated and accelerated in each of the above-mentioned periods, so that the effect of smoothly accelerating and decelerating the moving body can be obtained. According to the fourth aspect of the present invention, the second calculating means integrates and calculates the moving distance of the moving body during the period in which the moving body is being accelerated for each cycle, so that the moving distance is corrected in the same cycle in the deceleration section. By subtracting the moved distance, an effect that a smooth deceleration operation can be performed can be obtained. According to the fifth aspect of the present invention, there is provided a relational table between the moving distance data used for the correction empirically obtained and the correction coefficient for correcting the moving distance, and based on the relational table, the correction unit is configured to execute the storage device. In order to correct the moving distance data stored in the calculation unit, the predetermined distance assigned for each calculation cycle is corrected, so that the moving body can be smoothly stopped at the specified stop position.

[Brief description of the drawings]

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

FIG. 2 is a diagram illustrating an evacuation table storage unit in a storage device of constituent blocks according to an embodiment of the present invention.

FIG. 3 is a diagram illustrating a relationship between a correction coefficient of moving distance data and a normalized number of moving distance errors used in an embodiment of the present invention.

FIG. 4 is a timing chart showing acceleration / deceleration according to an embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 MPU 4 Evacuation table storage unit 5 Position command calculation unit 6 Quantization error calculation unit 7 Motor control device 8 Motor 20, 21, 22, 23, 24 area 25, 26 area

Claims (5)

[Claims] 1. A speed of a moving body in an acceleration region in which the moving speed of the moving body is accelerated to a predetermined value, and a deceleration region in which the moving speed of the moving body is reduced from the predetermined value and stopped at a specified stop position. In a positioning control device for performing adjustment and controlling the moving position of the moving body, a first calculating means for calculating speed data indicating a moving speed of the moving body in the acceleration region, Second moving means for calculating moving distance data indicating a moving distance of the moving body from the speed data obtained, storing means for storing moving distance data obtained by the second calculating means, and from the stop position data. Correction means for correcting the movement distance data stored in the storage means based on remaining movement distance data obtained by subtracting the position data of the moving body at the start point of the deceleration area. Positioning control device, characterized in that. 2. The positioning control device according to claim 1, wherein said first calculating means calculates said speed data in each period obtained by dividing a predetermined period at regular intervals. 3. The method according to claim 1, wherein the speed data, which is a moving speed of the moving object, is set by the first calculation means based on a specified time and a specified distance until the speed data reaches a specified constant speed. 3. The positioning control device according to claim 2, wherein the position is calculated and accelerated. 4. The apparatus according to claim 1, wherein said second calculating means calculates a moving distance of the moving body during a period in which the moving body is being accelerated by accumulating the moving distance every period. Positioning control device. 5. A storage device according to claim 1, further comprising a relation table between movement distance data and a correction coefficient for correcting the movement distance, wherein said correction means is stored in said storage device based on said relation table. The positioning control device according to any one of claims 1 to 4, wherein the movement distance data is corrected.