JPS5944982A - Stopping method for encoder motor - Google Patents

Abstract

PURPOSE:To eliminate the complexity of altering a microcomputer with that which has different deceleration command pattern from the previous microcomputer in response to a mounted encoder by correcting the preset deceleration command pattern by the information of the pulse number of other encoder. CONSTITUTION:A microcomputer MPU1 accelerates an encoder motor to a command speed SC, then rotates the motor at the speed, decelerates and stops the motor according to the deceleration command pattern when the counted value COUNT of an up-down counter UDCNT for detecting the position reaches the deceleration starting position X1 (PC). When the pulse number of an encoder E alters from the reference pulse number EP1 to EPX, it is converted and corrected by the deceleration starting position X=(EPX/EP1), the speed command P of the deceleration command pattern=[Ktheta(EXP/EP1)] 1/2 (theta: the remaining) pulse number to the stopping position).

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of stopping an encoder mode, and in particular, to an encoder mode that is made to stop according to a corrected deceleration and stop pattern during deceleration when stopping position control. This relates to a method of stopping the system.

Conventionally, in position control using an encoder modele, the rotation angle of the modele to be moved is converted into encoder pulses, which is input to the instruction control unit as a position command, and the encoder pulse output as the modele rotates. A method is adopted in which the pulses are counted up or down by 1/1 depending on the direction of rotation, and are stopped at a point that coincides with the input position command.

This will be explained with reference to FIG. 1 in the case of a DC mode equipped with an encoder.

Here, FIG. 1 is a block diagram of a conventional DC mode control system.

That is, the DC mode M is a transistor QA(T).
IQA←), Qll (-1-), Q n (-)
are connected to the center of the full bridge type by four transistors, and the base of each of these transistors is connected to a resistor RA (T).
, a A(-).

It is connected to the microcomputer M1) U via rtn(-1-) and an(-).

Then, when the transistors QA (g), QA←) are turned on by the output of the microcomputer MPU, the DC moder M rotates forward, and the transistor QB (g).

When Qn← is turned on, the DC moder M is rotated in the opposite direction.

Further, an encoder E is directly connected to the shaft of the DC modele M, and as the DC modele M rotates, the encoder E generates an output φ4. φ
It outputs two-phase rectangular waves called B with different phases.

This output φ. , φB, ■) Depending on the direction of rotation of the C-mode M, the phase leading or slowing thereof is reversed. That is, D.C.
When the moder M rotates in the forward direction, the output φ6 advances, while when the moder M rotates in the reverse direction, the phase of the output φ8 advances.

Thus, the up/down counter circuit UDCNT outputs the output φ9. of the encoder E. As shown in the pulse FC of FIG.
1) According to the rotational direction of the C mode M, the quadrupled pulse FC is generated in the up-currency 1
~Or, count down and calculate the counter value COU
N'J'' is input to the microcomputer MPU as velocity and position information.

The up/down counter circuit UDCNT also outputs the output φ4. of the encoder E. Depending on the lead or lag of the phase of φB, the rotational direction signal of the DC moder M, that is, the rotational direction signal ROT in FIG. 2, is input to the microcomputer MPU with IT still at L.

INF is an interface circuit, and this interface circuit 1-E and the above-mentioned microcomputer MPU are related to an instruction control section. In addition, i
l and il are the right and left current force directions of I)C mode M.

With this configuration, when the speed command SC2 position command command 2 operation command CTL is input to the microcomputer MPU via the interface circuit INF, the microcomputer MJ] IJc, speed 9 position and time during position control are input to the microcomputer MPU through the interface circuit INF. As shown in FIG. 3, which is an explanatory diagram of the relationship between When it reaches the starting position X1, it decelerates and stops in accordance with the deceleration speed command pattern P1 shown in FIG.

Here, the speed command pl in the deceleration speed command pattern P1 is given as a function of l) l = VrT (K i'j: constant) f, the number of pulses remaining to the stop position θ, and as the stop position approaches , the speed command is also small as shown in the figure, and can be stopped without vibration.

However, in this stopping mode pattern, if the number of noculus of the encoder mounted on the DC moder M differs depending on the position, the deceleration characteristics of the DC modele M will change.

Now, in Fig. 4, if the pattern of decelerating with the speed command p1 at the deceleration speed command p1 from position X1 is set as the optimal pattern in the microcomputer MPU, then the When the number of pulses of the encoder is small, the number of remaining pulses follows the number of deceleration patterns from the same position, so the rotation angle of the DC mode M is such that the deceleration is apparently started from the far position X1''. When the vehicle starts, it slows down slowly and takes a long time to come to a stop.

In addition, if the number of pulses of the encoder installed in the DC moder M is large, the rotation angle of the DC moder M will similarly start decelerating from a position close to the position X+, and if it goes too far and repeats vibration. will also appear.

In order to prevent these problems, set the optimum pattern for each encoder according to the number of pulses of the encoder and use a separate stem configuration. Alternatively, set the optimum pattern for the high pulse encoder and set the optimum pattern for the low pulse encoder. In this case, there was no way to loosen the pattern of the deceleration mode so that it could be used.

In any case, if you are assuming a fixed number of encoder pulses, and you want to slowly decelerate from a farther position depending on the load condition, or
If you want to suddenly stop the vehicle from a closer position, you cannot change the deceleration mode.

Therefore, in the conventional technology, depending on the on-board encoder, the deceleration speed command pattern differs depending on the microphone. This method inevitably suffers from insufficiency in response to changes in deceleration and stopping characteristics.

Even if the T-7 controller mounted on the moder changes, the present invention does not require the complexity of changing microcontrollers with different deceleration speed command patterns or cause performance deterioration. The object of the present invention is to provide a method for stopping an encoder modele that always uses an optimal deceleration speed command pattern and also uses the same pattern as described above according to load requirements.

The method for stopping an encoder modele according to the present invention is to control a modele equipped with an encoder, input a stop position by the number of encoder pulses, and stop the modele according to a preset deceleration speed command pattern. This deceleration speed command pattern is corrected by inputting information on the number of other encoder pulses, and the corrected deceleration speed command pattern is used to cause the vehicle to stop.

In detail, the fact that the position information is given by the encoder and that the position to start deceleration is also determined by the number of remaining D pulses can be used to obtain the information of the encoder installed in the modele or the temporary Microcomputer M1? U is input, and the mode is decelerated from a position at the same rotation angle or from a specifically designated position.

Next, an embodiment of a method for stopping an encoder torque according to the present invention will be described, together with the configuration of a control/stem used for carrying out the method.

By the way, FIG. 5 is a block diagram of a control system used for implementing one embodiment of the present invention, and parts with the same reference numerals as those in FIG. 1 above indicate equivalent parts, MPU1 is a microcomputer, INFl is an interface circuit, and EP is an encoder pulse command.

In other words, in the illustrated configuration, an input port related to the encoder pulse command EP is added to the previous interface circuit INF' to form an interface circuit INFI, and information related to the encoder used is transmitted via this interface circuit INFI. The encoder pulse command EP is input to the microcomputer MPU1.

Furthermore, when the installed encoder to be used is determined and the aforementioned encoder pulse command EP related to that information is input, the microcomputer MPUI, based on the deviation, determines the deceleration mode in the preset deceleration speed command pattern. The system is configured such that the speed command is recalculated and corrected at the deceleration starting position b.

” With the configuration described above, the number of encoder pulses is now EP
If the position Xl at which deceleration starts and the deceleration speed command pattern P shown in FIG. X=X+
(EPX/EP1) Speed command p of deceleration speed command pattern = VK7 buy 1 plan Even if the on-board encoder used is different, it is possible to stop the machine with the optimum stop pattern for the load listed in 2.

It is possible to correct the pattern P1 "+P1"' of each deceleration mode shown in FIG. 4 to the deceleration speed command pattern P1 described above and to stop the motor.

As described above, according to the above embodiment, by inputting information on the number of pulses of the encoder mounted on the tower, even if the encoder used changes, the deceleration speed command pattern set in the microcomputer related to the instruction control section can be maintained. By changing the speed, it is possible to decelerate and stop at any time with the optimum stopping pattern without deteriorating its performance.

In addition, in the second embodiment, the DC motor was described, but it can also be applied to brushless models and others.
The same applies to the following examples.

Therefore, in the above embodiment, information on the number of pulses of the installed encoder is input so as to correspond to each encoder used. Another example of a method for stopping the engine may be illustrated as another example.

In other words, contrary to the above embodiment, even if the number of encoder pulses is correct, depending on the load condition, if you want to slowly decelerate from a farther position, or if you want to decelerate suddenly from a closer position. There are cases where you want to stop the machine.

To deal with this, in this embodiment, information on the number of temporary encoder pulses related to the above is inputted, and the pattern related to the deceleration mode is changed. That is, for example, as shown in FIG. The deceleration speed command pattern P1 shown in FIG. , it is possible to realize the desired stop.

In addition to the above, the present invention provides a method for stopping an encoder mode in which the encoder mode is stopped according to a corrected deceleration and stop pattern during deceleration when stopping position control. This invention can be said to have excellent practical effects.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a conventional DC mode control system, FIG. 2 is a phase diagram of each waveform, and FIG.
An explanatory diagram of the relationship between the speed 9 position and time during position control, FIG. 4 is a deceleration speed command pattern diagram, and FIG. 5 is a block diagram of a control system used to implement an embodiment of the present invention. It is a diagram. M...DC motor node E...Encoder, qA+
-+-). QA←), Qn(+), Qn←)...Transistor, 1% A (1-). RA (→, RB←), R++ (→...resistance, UDCN
T...Amplifier down count circuit, C0UNT...
Counter value, MPUI...Microcomputer'1
INFI...interface circuit, CTL/
...Operation command, SC...Speed command, l) C...Position command, EP...Encoder pulse command, ROT...
・Rotation direction signal, φ^, φB...Encoder output,
FC...Quadrupled pulse of encoder, X+,
Xt'', X, I+...Position to start deceleration, Pl,
P+'+ P+"...Deceleration speed command/turn. Agent: Patent attorney Kosaku Fukuda (and 1 other person) Condolences: Figure 3 - 427 - Continuation of 1st page 2) Inventor: Jun Inamura, Shibu, Hitachi City, Higashitaga Town 1-1-1 Hitachi, Ltd. Taga Factory (7th name Inventor: Shigeki Morinaga 3-1-1 Saiwai-cho, Hitachi City Stock% formula % Hitachi, Ltd. Hitachi, Ltd. 3-1-1 Saiwai-cho, Hitachi City Inside the research institute

Claims (1)

[Claims] 1. A preset deceleration speed command in a circuit that controls a modele equipped with an encoder, inputs a stop position by the number of encoder pulses, and stops the mode according to a preset deceleration speed command pattern. A method for stopping an encoder mode, characterized in that the pattern is corrected by inputting information on the number of other encoder pulses, and the pattern is stopped in accordance with the corrected deceleration speed command pattern. 2. In the encoder mode described in claim 1, the preset deceleration speed command pattern is corrected by inputting information on the number of pulses related to another used encoder. How to stop. 3. A method for stopping an encoder mode according to claim 1, wherein a preset deceleration speed command pattern is corrected by inputting information on the number of temporary encoder pulses.