JPS61182104A - Controller for traveling object - Google Patents

Abstract

PURPOSE:To control automatically the braking position of a traveling object in response to the performance variation of a braking device, by storing the error data on the stopping position of the traveling object after correcting it braking position. CONSTITUTION:An arithmetic unit 13 delivers the number of generated pulses and the data on the working manipulator to a correcting calculator 17 and produces the overrun pulses N equivalent to the distance overrun. These pulses are stored in a data storage 16. Then the next braking position of a traveling object is calculated by an equation I from the stored working direction D, working frequency S, braking position deltai of this time and the minimum resolution physical quantity P of a position detector. This calculated braking position is delivered to the arithmetic unit 13. The calculator 17 calculates the average overrun degree phi by an equation II from the overrun frequency (n) and the overrun extra pulses ND of each working direction as an allowable degree. Thus an alarm signal is delivered to the unit 13 if the overrun degree exceeds said allowable value.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device used to control the position of a moving object such as a crane or a robot.

[Conventional technology]

Conventionally, when a control device of this virtue requires position control using a traveling device using an electric motor as a drive source or an articulated manipulator, as shown in Figure 3, a target value AI manipulator set by a target setting device 1 is used. The current position data B obtained from the position detector 3 of No. 2 is inputted to the calculation device 4, and the current position data B is calculated from the target value to the current position data B. If there is a difference, control is performed in the direction corresponding to the positive or negative sign of the difference. The driving device (lie) of the manipulator 2 is driven and controlled via the device 5. In this case, the manipulator 2
While driving, the current position data B is obtained from the position detector 3 every time the minimum detection resolution unit changes by one, and the current position B is
A comparison calculation is made between the target value A and the target value A, and based on the difference stored in advance in the arithmetic unit 4, an operation command for a speed V and a short distance is obtained, for example, as shown in FIG. The timing of this operation command is set to a predetermined state after examining the inertia at the time of stop and the characteristics of the braking device before operation.

[Problem that the invention seeks to solve]

However, due to the configuration of the above control device, if the function of the braking device deteriorates due to long-term operation, the target position C will change to the braking position determined before operation, as shown in Figure 5. Even when braking is performed, there is a problem in that the target position and the actual stopping position E do not match in the stopped state.

[Means and effects for solving the problem] The present invention has been made in view of the above circumstances, and includes a target setting device for setting a target position of a moving object, and a target setting device attached to the moving object to detect the current position. a position detector, a drive device for the moving object, a calculation device that calculates a target position and a current position based on a signal from the target setter and a signal from the position detector, and a control device for the drive device based on the signal from the calculation device. A correction calculation device that is connected to the calculation device and performs correction calculations on the braking position, and a data storage device that accumulates error data at the time of stopping, thereby responding to changes in the performance of the braking device. to automatically control the braking position [
It is an object of the present invention to provide a control device for a moving object that can promote improvement in stopping accuracy and can contribute to improvement in durability as much as possible.

〔Example〕

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

Figure 1 shows a control device for a moving object according to the present invention, and 10 in Figure 1 is a manipulator provided with a position detector 11 and a drive device 12. This manipulator 10
The position detector 11 generates an electric signal (pulse) every time the minimum detection resolution changes by one unit, and outputs the current position data B, and its output terminal is connected to one side of the arithmetic device 13, which is a computer device, etc. connected to the input end of the This calculation circuit 13 calculates the difference between the current position data B from the position detector 11 and the target value A from the target setting device 14 connected to the other input terminal. It is connected to the driving device @12 of the manipulator 10 via a control device 15 that controls work/stop commands. Further, a correction calculation device 17, which is connected to a data storage device 16 that stores error data at the time of stopping and is connected to the calculation device 13, is connected to a correction calculation device 17, which is made of, for example, a computer device, and which performs a correction calculation for the braking position.

In the above configuration, the arithmetic unit 13 always corrects the number of generated pulses and the manipulator operating direction (direction in which the detected position value increases or decreases) data as shown in Fig. 2.
7, and an extra pulse N is generated for the distance that the manipulator 10 overruns when it reaches the target position C and does not stop within the resolution range of the position detector.

(However, N1 = 0 when it matches the target value A.) Therefore, the correction calculation device 12 outputs this data to the data storage device 16i and stores it therein. , the number of operations S, the current braking position δi1, the minimum resolution physical quantity P of the position detector, and the next braking position δ is calculated using the formula. Then, the value of the next braking amount δ(D) i + 1 obtained by equation (1) is output to the arithmetic unit 13 for correction as the braking position for the next operation, and is also stored in the data storage device 16. be done.

At this time, the correction calculation device 17 extracts only the pulse data corresponding to the overrun, and calculates the average amount of over 2 pulses ψ from the number of over runs n and the extra pulses ys ND when overruns occur in each direction of operation. calculate. Then, this correction calculation device 17 compares and considers the average overrun amount ψ with the preset overrun allowable value for each operating direction, and calculates the above when the allowable overrun amount ψ (D) - or more. An alarm signal is output to the device 13.

It should be noted that the present invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

〔Effect of the invention〕

As detailed above, according to the present invention, a target setting device sets a target position of a moving object, a position detector attached to the moving object detects the current position, a driving device for the moving object, an arithmetic device that calculates a target position and a current position based on a signal from the target setter and a signal from the position detector;
vJ includes a control device that controls the drive device based on the signal from the calculation device, a correction calculation device that is connected to the calculation device and performs a braking position correction calculation, and a data storage device that accumulates error data at the time of stopping. Therefore, the braking position is automatically controlled in response to changes in the performance of the braking device, promoting improvement in stopping accuracy, and improving the durability of moving objects as much as possible. A control device can be provided.

[Brief explanation of drawings]

Figure 1 is a configuration explanatory diagram showing a control device for a moving object according to an embodiment of the present invention, and Figure 2 is a flowchart shown to explain the operation of Figure j-1. Figure 3 is a configuration explanatory diagram showing a conventional moving object control device;
Figure 4 is a diagram showing 11 patterns of the manipulator in Figures 1 and 3, and Figure 5 is a detailed diagram of the drive pattern of the manipulator shown to explain the problem of Figure 1. 10... Manipulator, 11... Position detector, 1
2... Drive device, 13... Arithmetic device, 14... Target setter, 15... Control device, 16... Data storage device, I7... Correction calculation device. Applicant Sub-Agent Patent Attorney Takehiko Suzue Figure 4 Figure 5

Claims (1)

[Claims] a target setting device for setting a target position of a moving object; a position detector attached to the moving object to detect the current position; a driving device for the moving object; a signal from the target setting device; and a signal from the position detector. a correction calculation device connected to the calculation device and configured to perform correction calculations on the braking position; 1. A moving object control device comprising a data storage device that accumulates time error data.