JPS59201116A - Equidisplacement controller - Google Patents

Abstract

PURPOSE:To exercise control so that two traveling objects have the same operation with high accuracy by giving for correction the difference of displacement degree between both traveling objects to the input of one of these two objects so as to minimize the relative displacement of these two traveling objects. CONSTITUTION:The operation command signals given from a signal generator 1 are separated to servo amplifiers 2a and 2b of sides A and B respectively. These amplifiers use the output signals sent from displacement meters 5a and 5b as the feedback signals and supply the signal quantity obtained by subtracting the feedback signal from the input signal to servo valves 3a and 3b respectively. If the displacement XA at the side of a device A is faster than the displacement XB at the side of a device B, a difference signal of XA-XB is supplied to a difference detector 11. While a signal obtained by adding said difference signal to a command signal is supplied to the valve 3b of the device B. Thus the valve 3b works faster than the valve 3a. When both devices A and B have the same displacement degree, the difference XA-XB is set at zero. Then the input to each servo valve is set at zero when both devices move up to their target positions.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an equal displacement control device that controls two moving bodies so that they make the same operating sound.

2. Description of the Related Art Conventionally, there have been known control devices that control both parts of a robot such as a robot having two arms or a traveling trolley that moves using two drive wheels so that they perform the same operation. Many of the above-mentioned control devices use two devices with the same structure and the same detection device, and are controlled by giving the same signal input to both devices. There is also a control method that calculates the transmission relationship between the two devices and corrects the respective input signals of both devices.

FIG. 1 is a block diagram showing a conventional displacement control device. In the figure, 1 is a signal generator, and 2a.

2b is a servo amplifier, 3a and 3b are servo valves, and 4a.

4b is an actuator, and 5a and 5b are displacement meters.Next, the operation shown in FIG. 1 will be explained. First, an operation command signal is outputted from the signal generator 1, separated into two systems, and used as input signals for each of the servo amplifiers 2a and 2b of both devices. In each servo amplifier 2a, 2b,
As respective feedback signals, there are displacement meters 5a and 5b that convert the amount of displacement of each device into an electric signal, and each displacement meter 5a.

A signal obtained by subtracting the displacement signal from 5b from the input signal of each device is input to each servo valve 3a, 3b. Each servo valve 3a, 3b opens each valve by an amount proportional to each input signal to allow fluid to flow. As a result, each actuator 4a, 4b is displaced, and each feedback signal proportional to the changing displacement is returned to each servo amplifier 2a + 2b by each displacement meter 5a, 5b, where an amount equal to the command value is returned to each servo amplifier 2a + 2b. When the feedback amount reaches , each of the actuators 4 a and 4 b stops.

Note that a hydraulic device that is a driving source for each actuator 4a, 4b is not shown.

Since the conventional displacement control device is configured as described above,
Even if the feedback amount is the same for the amount of input signal to the sub-device, the opening amount of each servo valve 3a, 3b may not be completely the same, and even if the final target displacement amount is the same, Since the operating speeds differ during the operation, relative displacement may occur during the operation. In order to solve this problem, a method has been considered in which the transfer function of the output signal to the input signal is determined and the input signal is inputted as a correction signal tailored to the characteristics of each device, but even in this case, Since it differs depending on each load, there is a drawback that it is very difficult to accurately set the relative displacement of the sub-device to the full rotation.

This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and uses two moving bodies, each of which has two moving bodies.
In a device that can freely move within coordinates in which two reference orthogonal coordinate systems are arranged in parallel, the difference in displacement of each of the two moving bodies is determined, and this difference is input to one of the moving bodies. Provided is an equal displacement control device which has a configuration in which the relative displacement of the two moving bodies is controlled to be minimized by correcting the above, and is capable of controlling the two moving bodies so that they perform the same operation. It is intended to.

An embodiment of the present invention will be described below with reference to the drawings. Second
The figure is a block diagram showing a uniform displacement control device which is an embodiment of the present invention, and the same parts as in FIG. In the figure, 11 is a difference detector, 12 is an adder, and the other configurations are similar to those of the conventional device shown in FIG. 1 above.

Next, the operation shown in FIG. 2 will be explained. An operation command signal is outputted from the signal generator 1 without being switched, and this is separated into two systems and used as an input signal to the servo amplifier 2a of one device (A side). Servo amplifier 2b of the other device (B side)
In this case, the input signal is obtained by adding the difference between the output signals from each displacement meter 5a and 5b to the input signal described above. Each servo amplifier 2a.

2b, the output signal from each displacement meter 5a, 5b is used as a feedback signal, and the signal amount obtained by subtracting the feedback signal from each input signal is sent to each servo valve 3a, 3b.
Enter. Initially, since the displacement amount of both the sub-devices (A side and B side) is 0, each servo amplifier 2a, 2b outputs an output signal with the same amplification amount. At this time, if the displacement XA of one device (A side) is fast and the displacement Xn of the other device (B side) is late, a displacement XA-XBO difference signal is input to the difference detector 11, and the displacement The servo valve 3b on the (B side) receives a signal in which the displacement As a result, servo valve 3b operates faster than servo valve 3a.

When the auxiliary device (Aflll, B side) becomes the same amount of displacement, the above-described displacement
side, B side) move by a target amount of 1, each input signal and feedback signal become the same amount, and each servo valve 3
The inputs to a and 3b are 0. In the above example,
Although the case of the hydraulic servo system for controlling the servo valves 3a and 3b has been described, it can also be used for speed control and displacement feedback of a DC motor and a speed generator, etc., and produces the same effect as the above embodiment. .

As described above, according to the equal displacement control device of the present invention, the difference between the displacement amounts of each of the two moving bodies is determined, this difference is applied to the input of one of the moving bodies to correct it, and the difference between the two moving bodies is corrected. Since the structure is controlled so that the relative displacement of the moving objects is minimized, compared to conventional devices of this type, it is possible to ensure that two moving objects perform the same movement with greater precision. This has the excellent effect of being controllable.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a conventional displacement control device, and FIG. 2 is a block diagram showing a uniform displacement control device according to an embodiment of the present invention. In the figure, 1... signal generator, 2a, 2b... servo amplifier, 3a, 3b... servo valve, 4a, 4b...
...Actuator, 5a, 5b...Displacement meter, 11.
. . . difference detector, 12 . . . adder. In addition, in the figures, the same reference numerals indicate the same or equivalent parts. Agent Masuo Oiwa Figure 1 0

Claims (1)

[Claims] In a device that uses two moving body sounds and can move freely within coordinates in which the two reference orthogonal coordinate systems are arranged in parallel, the difference in the amount of displacement of each of the two moving bodies is calculated. and correct it by applying this difference to the input of one of the 9 moving objects,
An equal displacement control device, characterized in that the device performs control so that the relative displacement of the two moving bodies is minimized.