JPS58172709A - Automatic variable speed controller - Google Patents

Abstract

PURPOSE:To detect a deceleration point easily by equalizing the time constant of an acceleration area to that of a deceleration area, and using the same pulse so that acceleration waveform is equal to deceleration waveform. CONSTITUTION:The output of a binary rate multiplier 21 increases in frequency gradually, a CPU is informed that a counter 15 attains a specific velocity, and the control reaches a constant-speed point 31. At a deceleration detection point 32, the output decreases in frequency to start deceleration. This deceleration point is detected by allowing a preset type down counter 24 to count the number of turns of a motor from the set number of pulses. For this purpose, the number of pulses corresponding to the movement distance from the acceleration start to the deceleration end is set and in case of acceleration, the number of pulses in the deceleration area is counted by a signal of frequency twice the output frequency of a binary rate multiplier 19 to allow the down counter to attain ''0'' at the deceleration point, thus detecting the deceleration point.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is a single-motion acceleration control system for controlling the acceleration and speed of a motor such as a numerical control device or a robot.

Place the numerical control device, etc., and perform interpolation by 1ilS.
9/16 uses an NC motor, and 9/16 uses a pulse motor. When starting and stopping these motors, if they are suddenly accelerated or decelerated, an excessive impact will be applied to the mechanical system. To avoid this, acceleration and deceleration must be performed with a time constant that matches the machine system. As described above, in a numerical control device or the like, it is necessary to set a path for controlling acceleration and deceleration.

The above-mentioned strategy, reduction of 4 tons? ! III How to control (
There are various ways to think about the circuit, but there is a simple way to think about linear acceleration/deceleration time, one-piece deceleration custom-made two-way time T4, and nine circuits with varying time constants. Requires.

The present invention solves the above-mentioned problems, and aims to provide an automatic acceleration/deceleration circuit that can arbitrarily select the time constant of acceleration/deceleration.

19. The object of the present invention is to obtain an arbitrary acceleration/deceleration time characteristic; for example, positioning can be performed using linear acceleration/deceleration, and interpolation can be performed using curved acceleration/deceleration.

Hereinafter, an example of the present invention will be described.

FIG. 1 is a boot diagram showing an example of automatic acceleration/deceleration control according to the present invention. First, each component will be explained. 0νυ11 is a rounding central processing circuit that controls the entire circuit. The ROM 12 is a circular memory tg1tm in which control programs are written and stored, and the RAM 15 is a memory that stores data for creating tables.

The real-time clock generation circuit 14 sets the data latch: U@2Q every - time.
4) 9, the counter 15 indicates the specified speed KI.
A is to be generated automatically to notify i0Pυ that it is appropriate. The pass line 16 consists of cpul 1 data, address, and various control # signals.
”' The Kutsk signal for speed command in this circuit is 1, CP
The signal of the basic clock generation 1 circuit 17 obtained from the Waramoto Yu 1y signal, which is also used for drive signals such as H, is obtained as a signal. In other words, in this case, it is a return to the program of the speed SM command! 1! ! A clock signal is supplied from the basic clock generation la circuit 17 to the binary rate multiplier 19 and the real-time clock generation circuit @14.

Command speed data is set in the data latch 4-way 18, and based on this data, a signal of R wave number (/s) corresponding to the command speed is generated in the binary rate multiplier 19. On the other hand, the data of the annihilation is set in the data latch path 20, and based on this data, the first frequency (2fs) that is in conflict with the annihilation and annihilation is outputted to the binary rate multiplier 21.

The Noriragfrog 22 divides the frequency output from the binary rate 1 multiplier 21 into 1/2.
Dust, multiplex 925 is at 1 o'clock, and stationary bottle 9 is at deceleration...l2Il! The preset type down counter 24 is used to set the number of pulses applied to the moving distance. This is an overview, but next we will discuss the method of controlling the present invention.

・Figure 412 shows the relationship between time l and speed IIl:v. In the acceleration region, acceleration occurs with a time constant, but since the speed is determined by the frequency, in this case The output of the evil binary rate multigzier 21 gradually changes to a higher wave number, the optimum point 3 for filtration.
1, the counter 15 of 41- informs tCPυ that the speed has been reduced, and shifts to constant speed. When reaching the deceleration point detection point s2, the frequency changes to mt. This deceleration point is determined by the number of pulses set in the 11th filter counter 24.
1-Detect by counting the number of rotations (traveling distance 111). In other words, set the number of pulses for the travel distance when acceleration starts and deceleration ends, and when accelerating, double the number of pulses! Ii
In order to count the number of pulses in Mekurin Ryouha by the signal of Hakyo (2/,), and in order to count the number of pulses in Netsurin Ryouha, in Kamo Rinki I set Dauji/counter t') to %01 in 11 ''). It was originally 16゜ when Rokuri Junrin was inspected, and @s'<r-x
This is a case where the speed suddenly changes from an acceleration range to a range tilt, and the deceleration point detection point is reached during acceleration.

As shown in FIGS. 2 and 5 used in the above explanation, the time in the acceleration region and the time in the low/end region are set to be equal. In other words, the time constant at no Jo speed and the Q time constant ij at no speed! i is short.

This is done using a table of time constant setting t and acceleration/deceleration data, but the FXtv point will be explained below.

Figure 4 is a graph for explaining a table 1 composition of 1-filter data in the shelf area, in which 1 degree r at each time is set at intervals of Δi6. This .DELTA.O is the interval K111m between the generation of ITALO 11 in the real-time clock generation circuit 14 of FIG. 1, and a clock pulse is counted by the counter 15 every .DELTA.l. Hesitance is ∆ K '+ + 'K+' l
'... When it accelerates to 9% and meets the command speed, the counter 15 reaches 0νa and informs the command temple of the destination. Of course, the speed is determined by the 14 wave numbers, and the speed is determined by the 14 wave numbers.

'Is... Set so that I4 wave corresponding to 4 V% is generated.

Figure 5 shows the table of nine cases O instigation data shown in Figure '-44.
Let the Sa error corresponding to 4 & live, craftsman - 0j
When the L ridge τ is raised and ΔA is ν, a circumferential straight ridge τ axis is generated that reverberates to -1.

In the queen's FQ vc, the distance Q setting can be done according to the 11ζ of the table creation for the direct Uben IC, but also for the 4-wheel that accelerates like 1ffl-. It's a monkey. In addition, shaving can be done not only once, but also infrequently by shaving on this table. In other words, KIN this - one bull O day voice in the opposite direction! If we extract the wave number and convert it, the fIA is applied.In this way, the same chi flies 141m, accelerates and decelerates, so the time constant of the notification acceleration in the fIi period is the time constant of the deceleration. be the same as the number.

To summarize the above explanation, in the present invention, a table of acceleration/deceleration data is created according to arbitrary acceleration/deceleration characteristics, and acceleration and deceleration are performed according to the data of this table. Then, when the counter detects that the specified speed fK@ has been reached, the break point is detected by the preset type down counter/-ni-nitsu) Ll pulse number. The frequency of the binary rate multiplier for designation 4# is divided to generate 4 waves IIL of the binary rate 1 multiplier for acceleration/deceleration designation.

Next, l! according to the present invention! The processing in the 4IElI warehouse deceleration control circuit will be explained according to Figure '46 and subsequent figures.

FIG. 6 shows a negative acceleration of 1, and the data latch circuit 18 in FIG. 4
Figure, in figure 45? Set 1. Kara/ri15
To do this, take (-t-1) by seven times, and! The lunar plexer 2s selects a signal with twice the R wave number that does not pass through the flip-flop 22. The moving distance is set in the preset type down counter 24 according to the number of pulses. Note that data latch circuit 1
In addition to setting the number of times W & 17 for the basic Kutsuku occurrence, the number of times W&17 is set is set. The above processing generates basic tarokku.

In the self@addition/subtraction system #marriage according to the present invention, three interruptions occur. The first is an interrupt for detection of specified speed*arrival, and the second is an interrupt for changing data during acceleration/deceleration.

The fifth is an interruption for detection of a crash.

As shown in Figure 47, these interrupts are handled by first determining whether or not the above-mentioned O-interruption 1 is necessary for the fourth interrupt in which the -interruption occurs, and if so, processing of the first -interruption is performed. I'm here. If this is not the case, it is determined whether there is a third interruption, and if so, the third interruption is made. 41 and $5
If it is not one of the interrupts, the second interrupt is processed.

, FIG. 8 shows the interrupt processing routine of 81 fe,
4.l). When an interrupt occurs from counter 15 in figure f41, 1. An interrupt that changes the value, that is, an interrupt of $2. Then, set the signal corresponding to the data latch opening 2 OK command Rinhin t7, and
Select nine frequencies using the flip-flop 22.

FIG. 9 shows the second interrupt processing routine. When an interrupt occurs, it is determined whether or not acceleration is being performed, and if acceleration is being performed, the zeinter of the data table is incremented by 1, and a value corresponding to the contents of the table is added to the data latch circuit 20 of FIG.

-10,000, and for 4 & during deceleration, decrement the data table pointer by 1. If the previous pointer is reached, the deceleration ends here, but if not, the contents of the table to be added to the pointer are transferred to the data latch circuit 20.

Acceleration takes place, and in the latter case deceleration takes place.

Figure 4110 shows the S-th interrupt processing routine.・When the third interrupt occurs from the preset type Dakun counter 24 in the hemp 1 diagram, it is determined whether or not txJ is in progress, and if it is accelerating, it changes the table pointer in the direction of θ, and if it is not accelerating, it stops. p15K(''-1) is 4).

Now, if the second interrupt is enabled, data 11 will be changed accordingly and the range will be changed. In the case of m persons,
This is a case where the speed changes from an acceleration region to a deceleration region as shown in FIG. S, and the latter case shows a case where the speed changes from a constant speed region to a deceleration region.

Through the above-described processing, the desired operation is performed using predetermined data settings, pulse numbers, etc., and changes in the data table written in the RAMK can be made aesthetically pleasing. Fly with a hawk.

Book#! According to A@, it is configured so that the /J14 annihilation and annihilation territory O time fixed ridges are the same, and the number of pulses is also controlled so that the deceleration waveform is the same as that of the Utsuwaha cedar.

From this, in order to detect the deceleration point, all you have to do is set the travel distance in the number of pulses on the Dakun counter.

Beforehand, we have set the acceleration/deceleration voice tape in various W breaking waves:: Cedar in advance, so the cp in the acceleration and deceleration areas can be adjusted in advance.
It is possible to reduce the burden on the driver, and the acceleration/deceleration area can be processed simply by moving the pointer on the table.

Inside, acceleration/deceleration is 11i! F, which determines the P constant, can be freely set with a capacity of λmm M above the time constant. The lower limit is subject to the above-mentioned restriction that Δl is determined by the processing time of CP[r.

In addition, according to the present invention, as mentioned above, it is advantageous in terms of the use of the 9th CPU, which performs most of the escape processing by interrupt processing, and since it has two binary rate multipliers, the speed is You can set it freely, and since the speed command notes are divided into acceleration and deceleration numbers, there is also the advantage that even if there is a program Z, the latter will not exceed the self-written one. .

[Brief explanation of drawings]

Fig. 1 is a block diagram of an example of an automatic acceleration/deceleration control circuit according to the present invention, Figs. 2 and 3 show acceleration/deceleration methods, and the 41st threshold 1 is the result of Table 1. , :Pa □＋(
. FIG. 51 is an explanatory diagram of the table, and FIGS. 6 to 10 are explanatory diagrams of the processing. 14... Real-time clock generation circuit. 15...Counter. 18.20... Data latch pull 119.21.
...Binary rate multiplier. 24...Preset Hina Mekunkakunta Patent Applicant Toko Co., Ltd. Kinsha 66 Go to Figure 7 Main Routing

Claims (1)

[Scope of Claims] A clock counter for setting movement distance data by the CPU, a rounding first latch circuit and a first minute circuit for generating specified speed data, and a rounding circuit for generating acceleration/deceleration data. The second latch circuit and the 20th minute w4 circuit, a switching path that selectively switches the frequency interval according to the command of CP1, and generates acceleration/deceleration data lll5! s. Friend's idiomatic source, notes of the signal source, kakunta for counting, Ki11111Bl path for storing data for creating a function generation table that determines addition/subtraction wave frequency, and data, address, IttIl11my number f: transmission An automatic acceleration/deceleration control circuit comprising a pass-phy/ for the acceleration/deceleration control and a rounding interrupt twin for acceleration/deceleration control.