JPS60171510A - Servo device - Google Patents

Abstract

PURPOSE:To decrease the software manufacturing rocesses and to attain the high-speed processing by using a digital servo circuit consisting of a multiplexer, an arithmetic circuit and an access enable memory. CONSTITUTION:A computer 11 calculates a target position and writes it to a memory 27 of a servo circuit S. Then the computer 11 writes the gain of a D/A converter 23 at an optional level. Thus the circuit S supplies the speed data (v), the position data P and the motor current data (i) to a multiplexer 20a, calculates a transmission function according to a coefficient written to the memory 27 and delivers the data on said transmission function to power amplifiers 6-1 and 6-n to control motors M1 and Mn. The circuit S holds a state where a manipulator is set at its target position in a conventional servo system as long as the new target position data or arithmetic coefficient data is not written from the computer 11. Therefore it is just required for the computer 11 to write the angle of each shaft of the manipulator to the circuit S asynchronously with the circuit S. This simplifies greatly the software structure and also increases the data processing speed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a servo device that controls, for example, a multi-joint manipulator in combination with a total of xi.

[Technical background of the invention and its problems]

Manipulators (robots) that perform simple tasks on behalf of humans have been put into practical use mainly in manufacturing factories. Especially recently, manipulators (robots) that perform simple tasks on behalf of humans have been put into practical use (such as robots that perform two tasks on behalf of humans). In this case, the robot is required to perform complex operations, and in response to this requirement, we have developed articulated manipulators that combine multiple motors, angle sensors, speed sensors, contact sensors, and proximity sensors. This multi-joint manipulator can be used in multiple IIJs to perform unspecified tasks in unspecified locations.
IJ? I11 Control of objects, a. Rough handling (1) A control circuit composed of a combination of an excellent computer and a servo circuit is considered to be optimal and has been developed for practical use (twice).

Figures 1 and 2 show the two sides in which conventional manipulator control is performed by a combination of calculation and servo circuits. In both figures, an actual manipulator requires multiple servo systems. In the servo circuit shown in Fig. 1, 1 is a motor, 2 is a speed sensor, 3 is a position sensor, 4a is a resistor for motor current detection, 6 is a magnetic amplifier, ?, 8 .9.10 is an operational amplifier, Jl is a calculator. Also, 4b, 4c
, 4d * 4e + 4h + 4g and 4f are resistors, and 5 is a capacitor, respectively, to arbitrarily determine the transfer function of the servo circuit. The feedback signal V is applied to two 4ft resistors, and the position feedback signal e is applied to an analog-to-digital converter 12.
Through the operational amplifier 10 (two people are powered.

In addition, in the servo circuit shown in FIG. are input to the calculation J 11 through the analog-to-digital converter 12, and the output of the computer 11 is output to the peeping force amplification circuit 6 through the digital-to-analog converter 16.

In the servo circuit shown in FIG. 1, the circuit is composed of 111 hardware, and when the computer 11 outputs target position data to the servo circuit, the servo circuit controls the motor 1 to reach the target position (2). In this case, the transfer function of the servo system is the servo circuit (= arbitrary resistors 4a to 4h, capacitor 5
It is determined by taking the In addition, in the servo circuit shown in Fig. 2, the servo system is performed by computer software, and the computer 11 is a digital (two-converted speed motor V
, input position data p and motor current data i-,
The motor 1 is controlled by outputting a control signal corresponding to the motor current.

However, since the servo circuit shown in Figure 1 uses node hardware, it is necessary to determine the optimum resistance and capacitor values for each motor 1 to be used. Also, if you want the transfer function to have nonlinear characteristics, the servo circuit becomes complicated and reproducibility becomes a problem.Also, in the servo circuit shown in Figure 2, the servo system is configured by software, so the y! Determining the nonlinear transfer function (one answer is sufficient for two), but in the case of an articulated manipulator, the number of input/output points increases, so the software processing time becomes a problem.In order to speed up the processing, the computer Although it is possible to use a plurality of 11, the problem arises that the 12 is expensive and requires a large space.

[Purpose of the invention]

The objects of the present invention are to provide a servo device with fast servo response, reduce the burden of computer software development, and significantly shorten processing time. It is on offer.

[Summary of the invention]

A servo device according to the present invention is characterized in that a digital servo circuit is constructed using a multiplexer, an arithmetic circuit, and an accessible memory.

[Embodiments of the invention]

The present invention will be described below with reference to the embodiment ζ shown in FIG. 3≦2. FIG. 3 shows a case in which a servo device S according to the present invention is used as a control circuit 62 for motors Mt + M6 of an articulated manipulator. A case is shown in which 'I'GI, TG, and position sensors PI-P= are directly connected.

The servo circuit S which is the king configuration of the servo device according to the present invention (=
In Figure 3, 20a and 20b are multiplexers with peak hold circuits, and 21 is an analog multiplexer.
A digital converter, 22 is an arithmetic circuit, and phantom is a digital converter.
1 is an analog converter, 5 is a trigger controller, 5 is an address controller, 27 is an accessible memory, and 6-1 and 6-n are idlers. Data bus d, address bus a and control signal C are sent and received from computer 11 to memory 27 and address controller 5, and velocity feedback signals 'Vl, v, l and position feedback signals P1+Pn of motors M, , M, 20a (Two people are working.

The multiplexers 20a, 20b, the analog/digital converter 21, the arithmetic circuit 22, and the digital/analog converter operate in synchronization with the trigger signal from the trigger controller row. device n is memory n
(= Bias and gain are set. It performs calculations using data.

A memory 27 c, an address controller 25 (2) writes data from the computer 11 or outputs data to the computer 11;
■ Writing and outputting data to and from the computer 11 are performed in synchronization with the trigger No. 11 of the trigger controller 24.The memory 27 is addressed in the same manner as the internal memory of the computer 11, It is possible to write to or read from the memory 27. Also, for writing and reading from the computer 11, the address control in which 1 inputs the j control signal C stops writing of arithmetic processing data, etc. 11
writes to the memory 27 (2) of the servo circuit S at any time.

It becomes possible to read.

Next, the operation of the servo device according to the present invention will be explained.

First, from the computer 11 to the memory 27 of the servo circuit S (for two, the analog-to-digital converter 212 and the digital
The gain of the analog converter and the calculation multiplier of the calculation circuit 22 are subtracted. The gain of the digital-to-analog converter is written so that the output of the digital-to-analog converter becomes 0 until the manipulator's JJ <n starts. Calculator 1 calculates the position data P of the manipulator.
1 (2) Read in. Calculation (11) calculates the target position, saves it to the memory of the servo circuit S, and calculates the target position.
Write the gain of the analog converter to the desired gain.

As a result of this operation, the servo circuit S inputs the multiplexer 20a (=speed data V, direct current data P, and motor current data i) as shown in FIG.
7 (=incorporated coefficients (D)) Therefore, the transfer function is calculated and the data is output to the mental force amplifier 6-1.G-n to control the motor &+M (2).

If new target position data and operation coefficient data are not written from the computer 11, the servo circuit S is the conventional servo system, and the controller maintains the target position (N state).

Therefore, since the computer 11 only needs to write the angle of each axis of the manipulator to the servo circuit S(2) asynchronously with the servo circuit S, the software is very simple (==. Data writing and reading only require memory write and memory read instructions, so the writing and reading time is only a few microseconds.
It ends with. Since the processing time of the servo circuit S is also processed by hardware, target position data is input from the computer 11, a transfer function is calculated, and the transfer function is transferred to the motor F1! It takes several tens of microseconds to supply the flow, which is extremely fast.

In addition, in the embodiment shown in the drawing (= the case where the servo device according to the present invention (2) is used in the motor servo system of a multi-joint manipulator (the theory is 1), it is possible to use any servo control target other than this embodiment ( Of course, both can be used.

〔Effect of the invention〕

As described above (in the second invention), control of a controlled object is performed by a combination of a port circuit and a computer, and the servo circuit is digitally / The configuration of the servo circuit reduces the amount of software required for the machine and enables high-speed processing.

In addition, the transfer function can be changed simply by loading data into the memory of the servo circuit, making adjustment extremely easy.

[Brief explanation of drawings]

Figure %51 and Figure 2 are block diagrams showing a servo circuit using a conventional computer, Figure 3 is a circuit diagram showing an embodiment of a servo device according to the present invention, and Figure 4 is a circuit diagram showing an embodiment of a servo device according to the present invention. FIG. 3 is a data transfer diagram of the servo device. NI+ + IvIn...Motor (controlled object) S
...Servo circuit 6-1.6-n...Semi-force booster adjustment circuit Ja, 21J
b...Multiple flexor 21...Analog-to-digital converter n...Arithmetic circuit...Digital-to-analog converter row...Trigger controller 25...Address controller a-Clock oscillator 27...
・Memory 11... Computer (8733) Agent Patent attorney Yoshiaki Inomata (and 1 others)
Figure 1 Figure 2 Figure 4

Claims (1)

[Claims] (1) A servo system that controls an object to be controlled by a combination of a servo circuit and a computer (2) The servo circuit is capable of processing 1 ton of speed data, position data, etc. of the object to be controlled.
an input side multiplexer that receives input of ilJ control data and selectively outputs it in a time-sharing manner; an analog-to-digital converter that digitizes the output data of this multiplexer; A memory that stores target data, control methods, calculation coefficients, etc. and can be accessed directly from the computer for calculations, and a memory that stores the control methods written in this memory (= written control methods (both of which are the various data in the memory). An arithmetic circuit that calculates control command data from the object to the controlled object and stores it in memory, and a digital-to-analog converter that outputs the control command data that is the calculation result of this arithmetic circuit and converts it into analog. A servo device comprising an output side multiplexer that selects control command data output from an analog converter and outputs a control system for a corresponding controlled object. 1 (2) Target 1 The servo device according to claim 1, wherein the object is a motor of a multi-joint manipulator.