JPS59220811A - Positioning controller - Google Patents

Abstract

PURPOSE:To perform positioning control accurately by storing pieces of information on movement in two normal and reverse directions of a moving body which moves in two directions and also storing information before the pieces of information vary, and comparing those pieces of information by comparing means. CONSTITUTION:A pulse generator 9 which detects a rotating speed is fixed on the rotating shaft of a motor 8 which moves in two positive and negative directions, and a pulse generator 10 which generates positive and negative pulses is connected to the generator 9. The positive and negative directional output pulses of the generator 10 are inputted to a microcomputer through 16-bit down counters 11 and 12. Then, the extents of movement in the positive and negative directions are stored in the 1st and the 2nd storage means 13 and 14 of the computer. Then, a positive and a negative directional value before the movement varies are stored in the 3rd and the 4th storage means. The values of the means 13 and 15, and 14 and 16 are compared with each other by the 1st and the 2nd comparators 17 and 18 and processed by a computing element 19 to perform the positioning control accurately.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a positioning control device for creating a current position, which creates a current position based on the amount of movement from an initial state when performing positioning control.

1 shows the specific structure of a conventional current position generating device. In Fig. 1, reference numeral 1 indicates the output of a pulse generator 6 which is mechanically connected to the motor 5 and generates pulses proportional to the rotation angle, and the output of a pulse generator 6 which generates movement pulses in the forward and reverse directions. This is an up/down counter that counts outputs in two opposite directions as amplifier pulse input and down pulse input, respectively. 2 is a first flip knob that is set by the carry output of the up/down counter 1 and reset by the output of the arithmetic unit 4.

3 is a second flip-flop which is similarly set by the borrow output of the up/down counter 1 and reset by the output of the arithmetic unit 4.

Further, the arithmetic unit 4 is connected to the output of the up/down counter 1 and the outputs of the first flip-flop and the second flip-flop.

The operation of the conventional current position creation device configured as described above will be specifically described below.

First, the pulse generated by the pulse generator 6 during forward and reverse rotation of the motor 5 is divided by the pulse generator 7 into two pulses in the forward and reverse directions. When the motor 5 rotates in the forward direction, a pulse proportional to the rotation speed is generated by the pulse generator 7 and inputted to the up-pulse input of the up-down counter 1. Similarly, when the motor 5 rotates in the opposite direction, it is input to the down pulse input of the amplifier/down counter 1. Depending on the rotation angle of the motor, the up/down counter 1 generates a carry output or a borrow output,
The first or second flip-flop will be set. The arithmetic unit 4 inputs the output of the up/down counter 1 as needed, and at the timing set by the first flip-flop 2 and the second flip-flop 3, inputs the output of the upper counter owned by the arithmetic unit. Add 1 to or subtract 1 from the value. At the same time, flip-flop 2 and flip-flop 3 are reset. By repeating the above operations, the computing unit 4 synthesizes the value of the up/down counter 1 and the upper value of the counter owned by the computing unit, and determines the amount of movement of the motor 5 from the initial state as the current value. It will be created.

Here, the operation of the arithmetic unit 4 will be explained in more detail with reference to FIG.

FIG. 2 is a diagram showing the contents of calculations within the calculator.

The value directly input from the output of up/down counter 1 in Figure 1 is the up/down counter value, and the value created by inputting the output signals of the first and second flip-flops in Figure 1 is This is the upper value of the counter in the arithmetic unit. This 2
Upper and lower data.

If they are combined as two, the amount of movement of the motor 6 in FIG. 1 from its initial state will be created as the current position.

Ru.

However, in the conventional current position generating device configured as described above, since an up/down counter is used, a borrow output or a carry output occurs, and a flip-flop is set and reset by the arithmetic unit. When the motor stops near the position where it performs a series of operations and performs minute forward and reverse rotations, the arithmetic unit must always reset the flip-flop Cff7 and perform the original calculation. It gets to the point where you can't do anything. Furthermore, if the flip-70 knob malfunctions due to noise or the like, the current position may become incorrect, which is a major problem in the means for realizing this.

OBJECTS OF THE INVENTION In view of the above drawbacks, the present invention provides a positioning control device that is reliable and easily realizable.

Structure of the Invention The present invention provides a means for storing forward and reverse movement information detected by a moving object capable of moving in two directions, and a means for storing information before the change when the information changes. It consists of a means for comparing the information before and after the change, a means for comparing the stored information in the forward and reverse directions, and an arithmetic means for calculating these information, greatly improving reliability and realizing Since this can be done easily, it has the effect of reducing costs.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 3 is a block system diagram of an embodiment of the current position creation method according to the present invention. In the figure, reference numeral 8 denotes a motor that can move in two directions, forward and reverse, and a pulse generator 9 for detecting the rotation angle is attached and fixed to its rotating shaft. A pulse generator 1o is connected which generates forward and reverse pulses proportional to the amount of movement. The forward Hals output of the pulse generator is connected to a 16-bit down counter 11, and the reverse output is connected to the clock input of a 16-bit down counter 12.

The microcomputer 3 is connected to input the outputs of the 16-bit down counter 1 and the 16-bit down counter 2, and performs calculations to create the current value. FIG. 4 shows the flowchart. In addition,
13 is a first storage means, 14 is a second storage means, 16 is a third storage means, 16 is a fourth storage means, 17 is a first comparator, 18 is a second comparator, 19 is a It is a computing device.

An example of the operation of the current position creation method configured as described above will be described below.

1. When forward and reverse direction pulses proportional to the forward and reverse rotation angles of the motor 4 are inputted from the pulse generator 6 to the 16-bit down counters 1 and 2, each counter counts down and value. micro·
The computer 3 causes the 16-bint down counters 1 and 2 to rotate once by the rotation of the motor 4. In other words, the computer 3 starts counting down from a certain value, outputs a borrow output, and counts down at least 1 count down until it reaches the same value again. At this time, the values of the 16-bit down counters 1 and 2 are input. Now, the microcomputer 3 reads the outputs of the 16-bit down counters 1 and 2, and uses the values from the previous time stored in the microcomputer. If each value is smaller than the previous input value, the upper counter value in the microcomputer is left as is. 1 is added to the value, and if the backward pulse is larger than the previous input value, 1 is subtracted from the upper counter value. Further, the value obtained by subtracting the reverse direction pulse from the forward direction pulse is set as the lower counter value. As described above, the current position is created by combining the upper counter value and the lower counter value.

As described above, the positioning control device according to this embodiment stores the movement amount data of the motor in the forward and reverse directions from the pulse generator in two down counters, and compares the previous value with the current value. , create an upper counter value by adding and subtracting the upper counter created in a microcomputer, which is an arithmetic unit, and create a lower counter value by comparing the values of two directly input down counters, Since the current value is created by combining the upper and lower counter values, there is no need to carry up the upper counter using a flip-flop, and this has the effect that a reliable current position can be created.

In the embodiment shown in FIG. 3, the 16-bit down counters 1 and 2 are determined from the relationship between the rotational speed of the motor and the calculation processing time of the microcomputer, and the down counters count down from a certain value. Any number of bits may be used as long as the microcomputer can input one or more times before starting, issuing a borrow signal, and returning to the same value again. You can still use an up counter,
In this case, the addition/subtraction operation of the upper counter in the calculation within the microcomputer is performed when the current value is smaller than the previous value.

Effects of the Invention As described above, the present invention provides a means for storing forward and reverse movement information detected by a moving body capable of moving in two directions, and a means for storing movement information in two directions, when the information changes, It is composed of a means for storing information, a means for comparing information before and after a change, a means for comparing stored information in forward and reverse directions, and a calculation means for calculating these information, and it is possible to accurately determine the current position. It has the effect that it can be created, and because it is easy to realize, it has a great practical effect.

[Brief explanation of the drawing]

FIG. 3 is a no-flock diagram of a positioning control device according to an embodiment of the present invention, and FIG. 4 is a flowchart of processing within the same computing unit. 13...First storage means, 14...Second storage means, 16...Third storage means 1.1
6...Fourth storage means, 17...First
Comparator, 18... Song second comparator, 19...
Arithmetic unit. Name of agent: Patent attorney Toshio Nakao et al.
@ Fig. 2 (0-), b) (Fig. 3, Fig. 4)

Claims (1)

[Claims] A device for storing the amount of movement of a moving body in the forward and reverse directions based on detection pulses obtained from the means for detecting the amount of movement of the moving body in the forward and reverse directions. a first storage means, a second movement storage means for storing the movement amount in the reverse direction, and a movement amount of the forward and reverse persons of the moving body stored by the first and second movement amount storage means; a third storage means for storing the amount of movement in the forward direction of the moving body before the change; a fourth storage means for storing the amount of movement in the reverse direction; and the first and third storage means. a first comparator that compares the movement amounts stored by the second and fourth storage means, and a second comparator that compares the movement amounts stored by the second and fourth storage means;
A fifth storage means for storing the outputs of the first and second comparators and a comparison operation between the outputs of the first and second storage means and the result and the output of the sixth storage means. A positioning control device that has a computing unit that performs calculations, and the result of the calculation is the amount of movement of the moving body.