JPS62131310A - Driving control device for movable body - Google Patents

Abstract

PURPOSE:To attain a positioning with inexpensive and high accuracy by measuring in advance a motion inertia quantity in a driving system, such a motor, etc., and performing an automatic correction on an individual. CONSTITUTION:A pulse from a rotary encoder 7 (position signal generation means) is counted, and the present position K of a movable body 2 is stored in order at a present position storage means 21. When the movable body 2 approaches to an object position T, a bit of driving quantity information L becomes zero, and the driving signal of a driving motor 6 is cut, and the movable body 2 advances to the neighborhood of the object position with the inertia and is terminated. The number of times N of operations in the driving system is counted, and is stored at a storage means 22, and also, the fluctuation inertia quantity M of a difference between the object position T and the present position K is measured, and it is added on a storage means 23, and is stored as an add inertia quantity Ms. At every time when the movable body 2 is ceased, or when the number of times N of operations reaches at a prescribed number of times, an average inertia quantity M' is calculated by dividing the Ms with the N with an arithmetic means 24, and a new bit of inertia information M is calculated using the M', and the next bit of driving information can be calculated based on the M.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a drive control device for positioning a movable body such as a document rack or a lens rack of a copying camera to a target position with high precision, and in particular, to and 0-9') in combination with an incremental encoder such as an encoder.

Conventional Technology> There is a method using a stepping motor to position the above-mentioned moving object at a target position with high precision, but it is generally not used because the drive circuit is complicated and, first of all, the cost is high. The encoder of the above type is often used.

When using this encoder, even after the motor drive signal is turned off, there will be some additional movement due to the inertia of the motor and the moving means, so the moving object cannot be accurately positioned if it is not used.I/) .

Therefore, in order to improve positioning accuracy, the following method is usually used.

(b) When the number of pulses from the rotary encoder reaches the +X value, an electrical or mechanical braking force is applied to the motor so that the motor stops instantly.

(b) If an induction motor is used as the drive motor, the rotation speed is changed stepwise, or if a servo motor is used, the speed is changed continuously until the number of pulses from the rotary encoder reaches the target value. The motor's rotational speed is reduced to a very low speed at the front, and the motor drive signal is turned off when the target value is reached.

(c) For example, as disclosed by the applicant in Japanese Patent Publication No. 57-13859, the pulse count value is forcibly reset to a predetermined value every time a moving object passes a reference point, and the cumulative error is automatically reduced. What if the method for correcting (I) is used in conjunction with (a) or (b) above?

<Problems to be solved by the invention> However, the former (a) requires an electrical or mechanical braking device and has the disadvantage of applying shock to the moving body during braking; ), a motor speed control device is required, making the control system complex and expensive. In addition, in any of the cases (a), (b), and (c), due to variations in each component, assembly and i1i! Even after alignment, the amount of movement due to inertia between devices is not uniform, and the amount of movement due to inertia itself will fluctuate, especially in devices that are used for a long period of time. unable to maintain.

The present invention has been made in view of the above circumstances, and its purpose is to eliminate the need for a special braking device or speed control device, and to eliminate the need for a special braking device or speed control device, even if the inertia of the drive system of the motor or moving means is not uniform or fluctuates. It is an object of the present invention to provide a drive control device for a movable body that enables inexpensive and highly accurate positioning over a long period of time by individually and automatically correcting it.

Means for Solving the Problems> In order to achieve the above object, the present invention provides a moving means for moving a moving body in a predetermined direction, a drive motor for driving the moving means, and a drive motor interlocked with the moving means. It consists of a position signal generating means for generating a pulse signal from the position signal generating means, a reference position input means provided within the movement area of the moving body, a target position setting means, an arithmetic processing means, and a motor drive circuit. In a drive control device for a movable body configured to accurately position and control the movable body to a target position based on the above, an arithmetic processing unit counts pulse signals from a position signal generating means and stores current position information of the movable body. current position storage means for counting and storing the number of actuations of the drive system; additional inertia amount storage means; calculation means; inertia amount storage means for storing inertia information of the drive system; drive amount storage means for storing drive amount information corresponding to the rotational drive amount of the motor, and the calculation means includes target position information from the target position setting means, current position information from the current position storage means, Drive amount information is generated from the inertia information from the inertia amount storage means, and based on this drive amount information, the motor drive circuit is controlled and when the moving body moves toward the target position and stops. Calculate a fluctuating inertia amount based on current position information, add the fluctuating inertia amount, store the added inertia amount in the added inertia amount storage means, divide the added inertia amount by the number of operations to calculate an average inertia amount, The present invention is characterized in that new inertia information is deleted by including the average inertia amount, and this new inertia information is stored in the inertia amount storage means.

<Function> The function of the above means will be explained below with reference to FIG.

The current position storage means 21 counts pulse signals from the position signal generation means (rotary encoder) 7 interlocked with the moving means 4, and the current position information t[lK It is stored sequentially as

In the drive amount information storage means 26, position information LP for cutting off the drive signal of the drive motor 6 before the target position and drive amount information are calculated by the calculation means 24, which will be described later, and are stored in memory. As the moving body 2 approaches the target position set by the target position setting means, the drive amount information decreases, and when the drive amount information becomes zero, the drive signal for the drive motor 6 is canted off. Thereafter, the movable body 2 advances to the vicinity of the target position due to the inertia of the drive system and stops.

Every time the drive system operates, the number of operations N is counted and stored in the operation number storage means 22, and each time the moving body 2 stops, the variable inertia amount ΔM is measured based on the current position information K. For example, in FIG. 5, this fluctuating inertia amount ΔM is expressed as the difference between the current position information and the drive-off position information Lp,
Also, in FIG. 8, it is expressed as the difference between the target position information T and the current position information.

This variable inertia amount ΔM is added each time the moving body 2 stops, and the added inertia HMs is stored in the storage means 23.

Then, each time the moving body 2 stops, or the moving body 2
Each time the number of operations N reaches a predetermined value n, the inertia amount M
The average inertia amount M is calculated by dividing s by the number of operations N or n. New inertia information M is calculated using this average inertia amount M, and the next drive amount information is calculated based on this new inertia information M.

When a new target position is set by the target position setting means 27a and an instruction is given to move, for example, in the same direction as the previous time, the calculation means 24 calculates the drive 1 by subtracting the current position information K and emotional information 11ki from this target position information T. Based on this drive amount information, the drive motor 6 is driven via the motor drive circuit 29, and when the moving body 2 reaches the desired position of the target position of the hand Rjj, the motor drive signal is turned off. The robot then reaches the target position by inertia. From then on, each time the target position information T is given, the drive amount information is calculated from the target position information T, the current position information, and the inertia information M as described above, and the moving body is driven toward the target position. be done. As a result, high positioning accuracy can be maintained for a long period of time.

<Example> The present invention will be described below based on an example in which the present invention is applied to a copying camera.

FIG. 2 is a block diagram showing an outline of the embodiment. In this figure, numeral 1 is a copying camera, and 2 is an original image 2a.
A document rack 12 is a lens rack equipped with a lens 11. These document racks 2 and lens racks 12 are driven by a drive control device, which will be described later, and are positioned at a required copying magnification, and original images illuminated by a light source 9 are positioned at a desired copying magnification. 2a image through lens 1
A focusing surface 10 on which a photosensitive material such as a film is placed via 1
It is configured to form an image.

The drive control device includes feed screws 4 and 14 that respectively move the document rack 2 and lens rack 12, which are movable bodies, drive motors 6 and 16 that rotate the feed screws 4 and 14 in a predetermined direction, and rotary encoders 7 and 17 connected to the cables 4 and 14; reference position input means 8 and 13 having detectors such as microswitches provided within the movement areas of the respective moving bodies 2 and 12; A processing device 20;
It is configured to accurately position the document shelf 2 and lens shelf 12 at respective required optical positions by counting and controlling pulse signals from the rotary encoders 7 and 17. has been done. In addition, numerals 3 and 13 are drive nuts fixed to 6 frames, respectively, and 5 and 15 are drive motors 6 and 16 and feed nut 4, respectively.
- A power transmission belt for interlocking with 14; 27 is an operation panel having magnification setting means 27a; 19 is an input interface 7 input; 28 is an output interface.

The arithmetic processing unit 20 is a micro combinatorial unit, and consists of a central control unit (hereinafter referred to as CPtJ) 20a, a ROM 20b for storing programs, and a memory gRAM 20c for storing information signals, etc., as shown in FIG. The arithmetic processing unit a20, whose configuration is shown in the main figure, is configured to process according to program flowcharts shown in FIGS. 3, 4, 6, 7, and 9, which will be described later.
This is to perform characteristic drive control according to the present invention.

That is, the arithmetic processing device 20
The current position information IK of the mobile object 2 is obtained by counting the pulse signals from the
a current position storage means 21 for storing the current position; and an operation number storage means 22 for counting and storing the number of times N of the drive system including the drive motor 6, the drive means 4, and the moving body 2; An additional inertia amount storage means 23 that adds a fluctuating inertia amount ΔM that will slightly fluctuate and stores the added inertia iMs, and an average inertia amount! from the added inertia amount Ms! uM is calculated, this average inertia information M is included to calculate new inertia information M, and the target position information N given by the magnification setting means 27a of the operation panel 27 and the current position information t are calculated.
A calculating means 24 for calculating drive amount information MiL etc. from IIK and the new inertia amount tljM, an inertia amount storage means 25 for storing the above-mentioned inertia information M, and a rotational drive amount corresponding to how much the drive motor 6 should be rotated. drive amount storage means 26 for storing drive amount information.

Then, drive control of the mobile body 2 is performed based on a program installed in advance in the ROM 201 of the arithmetic processing unit 20. Figures 3 and 4 are $1 wA! I.J.
3 is a flowchart illustrating a control mode.

When the power to the machine board 27 is turned on, in the first step S1, the drive motor 6 is driven to rotate, and the movable body 2 is moved to the reference position.
By detecting the arrival of , the drive signal for the drive motor 6 is turned off. Predetermined reference position information A written at the same time as this detection of the moving object 2 is inputted from the reference position storage section 8b of the reference position input means 8 to the current position storage means 21.

As shown in FIG.
This is the pulse count value a corresponding to the distance AO. As mentioned above, even if the drive signal for the drive motor 6 is turned off,
In reality, the moving body 2 stops at a position Pok after advancing by Mo (corresponding to the pulse count value Δa) due to inertia.

Therefore, the current position information of the stop position Pok is = a + △
It is a.

Next, in the second step S2, the calculation means 24 calculates -A, and the pulse count value Δa is inputted to the inertia amount storage means 25 as the inertia amount tlIM, and the current position storage means 21 after the power is turned on is inputted to the inertia amount storage means 25. The initial value input to the inertia amount storage means 25 is completed.

Note that in this second step S2, the additional inertia amount storage means 2
3 stores the inertia information M as the oil body inertia iM, and 1 is stored in the operation number storage means 22 as the number of operations N.

In the third step S, the magnification setting means 27a of the operation panel 27
By inputting a required copying magnification into , the target position information i1T is provided to the calculating means 24, and then the stat switch is turned on.

In the fourth step S, from the 0 mark position information T to the inertia information M
The drive-off position information L13 obtained by subtracting the current position information Lp and the drive amount information obtained by subtracting the current position information K from the drive-off position information Lp are calculated and stored in the drive amount storage means 26, respectively. Each time the fft4 step S4 is passed, the number of times N of drive system operation is incremented by one and input into the number of operation storage means 22.

Thereafter, the drive motor 6 rotates based on the drive amount information, and the moving body 2 is moved in a predetermined direction.

Simultaneously with this movement of the moving body 2, the fifth step, Step S.

The presence or absence of a pulse signal from the encoder 7 is determined by smell, and if there is a pulse signal, the process goes to the sixth step S6, and if there is no pulse signal, the process goes to the seventh step S.

The sixth step S6 is as shown in FIG.
This is a subroutine that executes arithmetic processing for each pulse from . That is, in @1 sub-step B1, the rotation direction of the drive motor 6 is cut off, and if the rotation is forward, 1 is added to the current position information K in the second sub-step B2, and if it is reverse rotation, the current position information is added to the current position information K in the third sub-step B. K Gara 1 is destroyed.

Then, in the fourth sub-step B4, the driving amount information I of the first and second drives is subtracted by 1 as the 1st and 12th approaches, and in the fifth sub-step B, the result is determined. If the resulting drive amount information is 0, a motor stop command is output in the 6th substep B, and the presence or absence of the stop command output is determined in the 7th step S7 of the main 70-chart, and the drive 1 information is 0. If not, steps 81 to B6 are repeated again in the subroutine.

In the eighth step S8, in response to the motor stop command issued in the sub-step B, the drive signal of the drive motor 6 is turned off before the target position, and the moving body 2 receives the drive signal as shown in FIG. It moves from the cut-off position PL to a position PK very close to the target position PT by the inertia of the drive system and stops.

In this first control mode, the amount of movement due to inertia of the movable body 2, which will fluctuate each time the drive system operates, is determined by the amount of inertia Δ
regulated as M, and the fluctuating inertia amount ΔM is ΔM ” K 1
-1]. K and Lρ are respectively the above positions P
This is position information corresponding to K and PL.

This fluctuating inertia amount ΔM is reduced as the drive system operates and stops, and its additional inertia amount N (s is the additional inertia amount storage means 2
3, and the added inertia amount −l ↓ M−
Zhang 11μ41 ``1 1! -riA stuffy--
Misaki 1kura t Muro 1 mouth τ- is calculated. This average inertia amount M is replaced with the previous inertia information M used to calculate the drive amount information of which drive system and is stored in the inertia amount storage means 25 as the 0th drive amount information. will be calculated based on this new inertia information M.

In the ninth step S, it is determined whether or not the work is to be continued, and unless the work is finished, the process goes to step S3.

Returning to step S, the above-mentioned third step S to ninth step S9 are repeatedly executed.

FIG. 6 shows the second control according to the present invention! ! 70-chart of program processing illustrating the example of FIG. In this example of tIS2, each time the number of actuations N of the drive system reaches a predetermined value n (for example, 10 times), the average inertia of the fluctuating inertia amount ΔN1 is calculated and the conventional inertia information M is replaced with this average inertia fiM. I decided to do so.

For this purpose, in step 9 in FIG. 6, it is determined whether the number of times N of operation of the drive system has reached a predetermined number n. l] and after n times of operation, measure the average inertia quantity at the 0th step, and convert the previous inertia quantity 1 to this new average) At 444h/+
J4kA I-M is +y-t +-++
++Taketsuna-F-1\A and the number of operations Nll are cleared. For the following 0 times, the drive amount information will be calculated based on this new inertia information M.

FIG. 7 is a 70-chart of program processing illustrating the third control mode according to the present invention. In this third example,
@8 As shown in Figure 8, the excess or deficiency of the stop position PK of the movable body 2 relative to the target position PT, which will fluctuate each time the drive system operates, is defined as the fluctuating inertia amount ΔM, and the fluctuating inertia amount ΔM
is calculated as ΔM=T-. T is position information for the two target positions.

Then, each time the drive system starts and stops, the inertia information M of the drive system is corrected by adding or subtracting the excess or deficiency ΔM.

For this reason, in the eighth step in Figure PJ7, knob S8, each time the drive system stops, the fluctuating inertia amount ΔM is calculated, this fluctuating inertia amount ΔM is added to obtain the additional inertia amount M5, and this additional inertia amount M5 is calculated. Ms is stored in the storage means 23, and the added inertia 31M is divided by the number of operations N to calculate the average inertia fiM, and the previous inertia information M is corrected by adding or subtracting the average excess or deficiency M.

The new inertia information M after the correction is stored in the inertia amount storage means 2S. The next drive amount information is this new inertia amount II
It will be calculated based on IM.

FIG. 9 is a 70-chart of program processing illustrating the fourth control mode according to the present invention. In the third example above, the inertia information M is corrected each time, whereas in the second fourth example,
In the example, as in the second example of Iij, the number of actuations of the drive system N
Each time n reaches a predetermined number of times, the inertia amount MM is corrected by the amount of excess or deficiency.

In the above embodiment, the reference position input means 8 is operated only when the initial value is input after the power is turned on. Every time the device 8a detects the moving object 2, the current position information K is replaced with a predetermined value al:
It can also be input into the current position storage means 21.

<Effects of the Invention> As explained above, the present invention measures information regarding the inertia of the drive system every time, averages the measured values each time or every predetermined number of operations, and takes the average value. The inertia information of the drive system is corrected, the drive system is controlled based on the corrected inertia information, and the drive signal is canted off when the moving object reaches the target position of 1,000 m. Because of this structure, it has the following excellent effects.

B. Even if the inertia of the drive system consisting of the motor and the moving means is not uniform between devices, there is no need to adjust them individually.

Even if the inertia of the drive system changes due to environmental temperature changes or changes over time, the inertia is automatically corrected (+1), making it possible to maintain high positioning accuracy over a long period of time.

Also, there is no need for any special braking device or all-in-one control device, so the entire drive control device is I81!
Simple, low cost; can be powerful.

4 Mji no Na lit? , -3Muro 11 Fig. 1 is a main diagram of the present invention, Fig. 2 is a block diagram showing an embodiment in which the present invention is applied to one copying camera, and Figs. 3 to 9 are driving by the control device of the present invention. 3 is a flowchart showing the first control mode, FIG. 4 is a 70-chart illustrating the subprogram of the sixth step in the plS3 diagram, and FIG. 5 is a flowchart showing the first control mode. An explanatory diagram showing the relationship between the moving position of the moving object and the position information corresponding to the figure, FIG.
7 is a flowchart showing the third control mode, FIG. 8 is an explanatory diagram showing the relationship between the moving position of the moving body and position information corresponding to FIG. 7, and FIG. 9 is a flowchart showing the third control mode. It is a flowchart which shows a 4th control aspect.

2... Moving body, 4... Moving means, 6... Drive motor, 7... Rotary encoder, 8... Reference position input means, 8a... Reference position detector, 20...
- Performance processing device, 21...Current position storage means, 22
...Work count storage means, 23.Additional inertia amount storage means, 24.Performance means, 25.Inertia amount storage means, 26.Driving amount storage means, 27a..Target position. Setting means (magnification setting means), 29
...Motor drive circuit.

Patent applicant: Dainippon Screen Mfg. Co., Ltd.
Person Hisashi Kitatani r Figure 3 Figure 4 Figure 7 Figure 8

Claims (1)

[Claims] 1. A moving means for moving a moving body in a predetermined direction;
A drive motor that drives the moving means, a position signal generating means interlocked with the moving means, a reference position input means provided within a moving area of the moving object, a target position setting means, an arithmetic processing device, and a motor. In a drive control device for a movable body configured to control the positioning of the movable body to a target position based on pulse signals from the position signal generation means, the arithmetic processing unit is configured to control the positioning of the movable body to a target position based on pulse signals from the position signal generation means. Current position storage means for counting and storing current position information of the moving object; Operation number storage means for counting and storing the number of actuations of the drive system; Additional inertia amount storage means; Calculation means; Inertia of the drive system an inertia amount storage means for storing information;
It is equipped with drive amount storage means for storing drive amount information corresponding to the rotational drive amount of the drive motor, and the calculation means stores target position information from the target position setting means and current position information from the current position storage means. , calculates drive amount information from the inertia information from the inertia amount storage means, controls the motor drive circuit based on this drive amount information, and calculates current position information when the moving body moves toward the target position and stops. The fluctuating inertia amount is calculated based on the fluctuating inertia amount, the fluctuating inertia amount is added, the added inertia amount is stored in the added inertia amount storage means, the added inertia amount is divided by the number of operations to calculate the average inertia amount, and the average inertia amount is calculated. A drive control device for a moving object 2, characterized in that the new inertia information is calculated by taking into account the new inertia information, and the new inertia information is stored in the inertia amount storage means, the drive amount storage means receives the drive signal of the drive motor. The drive control device 3 for a movable body according to claim 1 stores drive-off position information to be cut-off, current position information when the variable inertia amount stops at the movable body, and current position information when the movable body stops. Claim 2 provides that an average amount of inertia is calculated each time the moving object stops, which is the difference from the drive-off position information before the moving object stops, and new inertia information is replaced with this average amount of inertia. In the drive control device 4 for a moving body described above, the variable inertia amount is the difference between the current position information when the moving body stops and the drive-off position information before the moving body stops, and the number of actuations of the drive system is The drive control device 5 for a moving body according to claim 2, which calculates the average inertia amount each time a predetermined value is reached, and replaces new inertia information with this average inertia amount. This is the difference between the position information and the current position information when the moving body stopped, and each time the moving body stops, the average amount of inertia is calculated, and the new inertia information is obtained by adding or subtracting this average amount of inertia from the previous inertia information. In the driving control device 6 for a moving body according to claim 1, the variable inertia amount is a difference between target position information and current position information when the moving body has stopped, According to claim 1, an average inertia amount is calculated every time the number of operations of the moving body reaches a predetermined value, and the new inertia information is corrected by adding or subtracting this average inertia amount to the conventional inertia information. Drive control device for moving objects