JPS6252603A - Equipment controller - Google Patents

Abstract

PURPOSE:To concentrate control information on a main processor and to unify controls by replacing an analog action with a microcode processor and controlling it according to a microinstruction from the main processor. CONSTITUTION:A controller 30 has plural analog channels and executes a scan input. An analog input port 32 has a magnitude discriminating function. When an input exceeds the prescribed range, said port 32 applies an internal interruption to the main processor 37, which checks input data and an interruption channel at the time of interruption. According to the checks result, the main processor 37 gives a specific microinstruction to the microcode processor 36, which is caused to speedily calculate a control amount with respect to the input data so that an amount to be controlled can be kept at a target value, and outputs the calculated result to a PWM output port 34, for instance.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device control device, and more particularly to a device control device that centrally controls a plurality of analog operating components through digital processing by a high-speed microcoat processor.

[Prior Art] In recent years, the progress of electronics in all industrial fields including OA, FA, and LA has been remarkable. It can be said that this is the result of skillful fusion of electronics and mechanism. Needless to say, the basis for this depends largely on the remarkable progress in flat conductor concentration technology and the synergistic effect of computer technology. This is because it is advantageous to implement LSI systems in order to spread things out in large quantities. However, there are still many gaps in the mechanism, especially in the interface between the analog operating components and the digital control electronics. In other words, at present, most digital control electronics only perform so-called 0N10FF control on analog operating components, so analog operating components still have their own complex control systems (e.g. feedback control systems), and this It cannot be said that the functions of digital control electronics are fully demonstrated in the contact area. Therefore,
It is considered that the user is bearing extra costs for this contact portion.

Currently, such digital control electronics are microcomputers or microcontrollers (memory,
This is largely due to the L-chip microcomputer (including Ilo). Conventionally, for the purpose of controlling such analog operation components, an A/D converter/heater was built into a single chip CP.
There is something on-chip inside U. In addition to the CPU and memory, conventional controllers also include counters/timers,
Some devices have been announced that incorporate an A/D controller, a PWM output, and a display device interface (for example, an LCD interface driver). However, these are merely convenient combinations of conventional configurations (CLSI), and due to problems with processing speed and control complexity, in reality, many operating components still have their own dedicated control units. As mentioned above,
It does not effectively eliminate waste, especially at the interface between analog operating components and digital control electronics. Therefore, it can be said that devices including analog operating components are becoming more expensive.

FIGS. 8(a) to 8(C) are block diagrams of an example of a conventional control device called a sequencer.

Although not specifically illustrated, typical analog and digital operating components, such as those controlled by a typical sequencer, are shown along with the controller.

For example, three five-phase pulse motors (PM) 101 to 103
performs three-axis (x, y, z) positioning and travel control of the moving body 116, and the CCD l18 detects the precise position of the moving body 116 in the x-y directions. Further, on/off control of the actuators 112 of various mechanical parts, temperature control of the heater, light amount control of the lamp, etc. are controlled substantially simultaneously or sequentially. A personal computer 123 is also connected to be used as a monitor if necessary. As the number of controlled components increases in this way, current one-chip microcomputers (for example, Intel 80
51) One cannot be fully processed.

For this reason, the configuration shown in FIG. 3 uses two conventional one-chip microcomputers, and in order to establish a control relationship between the computers, communication between the computers 100 and 124 is possible.

However, in the conventional configuration, the pulse motors 101 to 1
Dedicated controllers 104 to 1 respectively to control 03
06 is required. This is because the processing speed of microcomputers is not as fast as that of microcomputers, and because no active consideration has yet been given to replacing control in this field with microcomputers. Therefore, the microcomputer MC1 simply outputs the amount and direction of rotation of the pulse motor to the controllers 104-106, and the details of the five-phase control are left exclusively to the hardware control of the controllers 104-1o6. The same applies to the servo motors 107 and 108.

The rotation detection signals of the servo motors 107 and 108 are fed back to the controllers 109 and 110, and so-called PLL control is performed exclusively within the controllers 109 and 110. Therefore, in this case as well, the microcomputer MC1 merely gives start/stop commands to these controllers in accordance with the control sequence. On the other hand, the sequence control actuator 112 receives on/off signals from the microcomputer MC to operate the corresponding components as the sequence progresses. At first glance, such control seems to be a simple on/off control, but in reality, this is not the case; a time-limited operation for turning on/off for a fixed period of time is also required. In this case, a timer/counter in the microcomputer MCI may be used if available, but this has not been sufficient in the past. For example, the Intel 8051 does not have enough 16-bit counter/timer for two channels. However, in the case of a sequencer, many counter and tie 1 functions are used, so if you need 10 channels, for example, you need to create a dedicated program for it, add a new microcomputer, or create it externally using hardware. There was nothing better than that. microcomputer MC
Items under the control of No. 2 include heaters and lamps.

Both heaters and lamps are important analog operating components, for example when controlling a copying machine. Therefore, conventionally, a temperature controller 125 and a light source controller 126 of an automatic control system have been used as shown in FIG. 8(b). In order to keep the heat of the heater constant, the temperature controller 125 feeds back the output from the temperature sensor to the OP amplifier, calculates the difference between the feedback value and the standard market value, and controls the lighting angle of the SCR based on the difference. ing. Light source controller 12
The same applies to 6. Therefore, in this case as well, what the microcomputer MC2 does is simply control on/off of the heater or lamp. In addition, the movable body 116
A CCD sensor 118 is used for positioning, and the shadow of the movable body 116 is detected through a short focus lens array 117 when the movable body 116 moves. The video output is A/D converted by an A/D converter 119 to 1, for example, 1
The moving body 116 is positioned with an accuracy of reading a position change of several gm. Furthermore, an external personal computer (P
C) If it is necessary to connect to 123, a communication interface is required. In this case, place something like Intel 8251 as the I10 chip 121,
It interfaces with the personal computer 123 using a general-purpose interface R5232C or a Centronics interface. Also, Fig. 8(C) is D
C power supply system is shown.

The load of the heater and lamp is taken directly from ACl 00V, and the +24VDC load is taken, for example, as a pulse motor, servo motor, renoid, clutch, etc. D.C.
12V is used as a power supply for analog signals, for example, for temperature, light intensity, and various sensors, and +5VDC is used for the digital circuit.

Increasing the number of operating components in this manner requires a greater number of real-time operations. In order to fully satisfy this requirement depending on the purpose and performance of the device, conventionally it was necessary to control the device using a multi-microcomputer system with a large number of microcomputers, or to leave much control to an external dedicated controller. do not have. Figures 8 (a) to (C) can be said to be an example of a system that achieves this balance.
It can be said that a moderate amount of individual and external dedicated controllers are provided. However, even with this, several dedicated controllers are placed externally.

There is still a lot of waste in terms of cost and equipment size. Further, in order to organically operate the two microcomputers MCI and MC2 arranged in the same line, a system program for that purpose, ie, O5 is required. Creating such a program requires considerable effort and extra memory, not to mention the time (overhead) used by the O5 while the device is operating.

[Objective] The present invention has been made in view of the above-mentioned drawbacks, and its object is to collectively control a plurality of analog and digital operating components using a simple digital control structure with a unified control concept. The object of the present invention is to provide a control device for controlled m-.

[Example] Hereinafter, an example of the present invention will be described in detail with reference to the accompanying drawings. 1 to 7 relate to detailed explanation of the present invention, and FIG.
The figure is a block configuration diagram of the control device 30 of the embodiment. In figure 0, 31 is a digital signal input port, 32 is an analog signal input port, and a scanner that scans eight analog input channels AD0 to AD7 at high speed. and,
It includes an A/D converter and an interface, 33 is a digital signal output port, and 34 is a pulse width modulation signal FW.
The output ports 35 of MO, PWMI, . . . are ROMs storing, for example, the control program of the embodiment in FIG.
36 is a macro code processor that executes microinstructions equivalent to several hundred bytes in 1 to 2 psec, and 37 is a general-purpose microprocessor. 38 is a PLL output loop that outputs a fooslock droop (PLL) signal as a control signal for the servo motors 107 and 108, and 39 is for data communication with an external device. It is a communication device interface.

The main processor 37 has INT as an external interrupt channel.
'0. There is lNTl,... The main processor 37 operates at approximately several hundred n5ec/instruction. Furthermore,
It has a register bank consisting of a plurality of registers, and can access the input/output I10 port in bit units. Furthermore, the main processor 37 has 16 channels of 16-bit timers/counters, that is, it has a timer array.
Timer processing associated with zero cross point detection can be performed effectively. The main function of the main processor 37 is to judge the control procedure as a sequencer of the equipment and to operate the macro code processor 36 at a suitable time for the purpose of analog control.

The analog IN of the analog input port 32 has eight channels, and the scan priority can be changed by scanner control data sent from the main processor 37. For example, analog IN of channels O to 7 can be connected to channel O
When inputting scans in order up to 7, and channel 0
This can be changed such that only channels 4 to 4 are sequentially scanned and input, or only channels 4 to 7 are sequentially scanned and input. In the interface of the analog input board 32, there is a data storage RAM corresponding to each analog IN channel, and it is possible to determine the magnitude between a preset reference value and a preset reference value without the intervention of the processor 36, 37. Upper and lower limits are set, and it is possible to detect whether or not the range has been exceeded. In this way, if the result of the size determination deviates from a certain range, an internal interrupt is issued to the main processor 37. Therefore, when sampling and detecting a certain external analog quantity, an internal interrupt can be applied to the processor 37 only when there is a change exceeding a threshold value, so the processor 37 checks the input data and interrupt channel at the time of the interrupt. Then, according to the check result, a specific macro instruction is sent to the macro code processor 3.
6, a control amount that maintains the controlled amount at a target value is calculated at high speed for the input data, and the calculation result is outputted to, for example, the PWM output port 34. These series of feedback controls, ie, [A/D conversion interrupt manual input of the controlled variable → interrupt check by the main processor 37 → calculation by the macro code processor 36 → output of the controlled variable from the PWM output port 34'' are as follows. It can be done within about 2p, sec. Therefore, for example, the analog controlled quantity may be the light intensity of the lamp, the temperature of the heater, the speed of the servo motors 107, 108, the DC
Even in the case of stabilizing the output of a power supply 60, by defining macro instructions for each and preparing a corresponding microinstruction set in the macro code processor 36, the main processor 37 can immediately execute each macro instruction. The macro code processor 36 provides control information for each analog operating component (PWM, PLL
) is obtained, and in the end, the main processor 37 has several tens of Ji, se
Control services for all operational components can be performed within c. This is sufficient response time for each of the operational components mentioned above.

The main (movement) of the macro code processor 36 is the so-called PWM, which was conventionally performed by an operational amplifier and its attached circuits.
This is to replace feedback control, PLL feedback control, etc. with software control by executing a microinstruction set. For example, the amplified output dA of the difference d by a conventional operational amplifier is replaced by execution of a microinstruction set that multiplies the threshold d at which the interrupt occurred by a predetermined number A. Furthermore, for complex functional operations, input data is used as address input variable X, and a pre-prepared operation result y is read out from the provided high-speed ROM. By doing this, some typical conventional controls (P
WM, PLL) will be wrapped in a unified microinstruction set (macro code) based on the ;υIyJ concept.

That is, for example, if an analog operating component
When it comes to power supplies, no matter how many there are, they can be unified and controlled by one microinstruction set by selecting appropriate parameters.

In this way, the configuration of the present invention centralizes the control of a plurality of analog operation components, and the control circuit in each analog operation component is integrated into one hardware (
Not only does it have the effect of replacing it with the macro code processor 36), but it also has an even more important meaning. One is that the controlled quantities of several important analog operating components are centralized in the processors 36, 37. Thereby, for example, the main processor 37 can know the amount of operation between a plurality of analog operation components in relation to each other. This is particularly useful, for example, when controlling a copying machine.9 For example, the main processor 37 knows that the control of all other analog operating components is normal, while only the control of the high voltage generator is malfunctioning. It's easy to know. Therefore, the main processor 37 can accurately and early enough know the cause of image quality deterioration before it becomes fatal, and can also issue a warning to the operator if necessary. Another problem is that not only the controlled quantities of several important analog operating components are centralized in the processor 36, 37, but also
It is possible to actively change the control amount for this. This is also particularly useful in copying machines. For example, even if the cause of the image quality deterioration as described above is accurately identified, if possible, the main processor 37 can easily perform control to compensate for the image quality deterioration by changing the amount of control of other analog operating components. This is because it can be done. The control amount can be controlled by, for example, giving an appropriate offset to the A/D conversion output data before the main processor 37 gives the data to the macro code processor 36.

The communication device interface 39 is called LouLAN (MicroLAN) and is equipped with a communication method using a globally standardized protocol, and is capable of 64KBPS communication, allowing this controller to be used as an INS terminal. ing.

Figure 2 shows the control device (microcontroller) 3 of the embodiment.
FIG. 2 is a block configuration diagram of the device when 0 is used. 8th
It is better compared to the conventional systems shown in Figures (a) to (C). still,
Components that are the same as those shown in FIGS. 8(a) to 8(C) are given the same reference numerals, and description thereof will be omitted. The controller is one microcontroller 30, and there is no need for a dedicated external controller for each component as in the past.For example, the pulse motors 101 to 103 are five-phase, and one motor line and 10 phase pulses are required. When controlling the 3 axes of x, y, and z, a total of 30 lines are required, so an expansion I10 chip 113 is required.
use. This I10 chip 113 has a built-in RAM, and the controller 30 stores a pulse pattern in advance on the RAM of the I10 chip 113.
When a start signal is generated from the controller 30, a control pulse and its pattern are output from the RAM. Therefore, X from the controller 30.

Pulse patterns for the three motors y and Z are stored in RAM in advance.
Just write it above. The servo motors 107 and 108 use the PLL output of the controller 30 as is. The encoder pulses are input to CLKz and CLK2, respectively, and are counted by interworking the main processor 37.

The output of the positioning CGD 118 is input to the A/D o via the receiver 115, and the main processor 37 takes action when there is a change in the density of the video signal.
A video clock VCLK for COD transfer is output from the controller 30. As mentioned above, the actuator 112 can make full use of the 16-channel timer/counter and use its output as is. Temperature and light intensity are controlled externally using only switching elements 127 and 128 and sensors, and all control functions, detection signal processing, and control are performed within the controller 30.
The case where the phase of the power of the halogen lamp is controlled manually using 00V will be described later. The DC power supply for DC24V and DC12V is P.
Controlled by WMo output, external driver 1
14 and the composite high frequency transformer circuit 60 alone can constitute a so-called switching regulator circuit. In order to keep the DC voltage constant, the external (secondary side) smoothed voltage vS is input to the A/D 3, and the controller 30 performs monitoring to predict load fluctuations in advance and detect voltage vS.
If S deviates from a predetermined value, the controller 30 intervenes and immediately changes the PWM duty ratio to respond to load fluctuations.

FIG. 3 is a circuit diagram of the composite high frequency transformer circuit 60.

This is a chopper type low voltage power supply. DC48V
The input power is switched by the driver NPN using the PWWMO output.

It generates DC24V and DC12V. Channel O of the PWM output port is used for switching control. P
The duty of WM is 30 to 50KH2. D
R□ from the output end of C24V.

The monitor output divided by R2 is the comparator CMP.
It is used as an overvoltage protection circuit. At the time of overvoltage, the CMP output becomes O level, and the antgame hA
The output of ND is stopped. The other monitor output is input to AD3 of the analog input port 32 in the control device 30.
The data is provided to macro code processor 36.

The macro code processor 36 calculates the difference between the input data and a predetermined reference value, and calculates the PWM setting value so that a constant value of 24 V is obtained at the output of the DC power supply. The result of this operation is P
It is set in the corresponding register in the WM output boat 34.

In the case of sequence control that operates at a predetermined timing, such as in a copying machine, the control device 30 can predict load fluctuations, so it is possible to set PWM m in advance.In this example, DCI2v is set at a constant value of DC24V. controlled by relationships. Incidentally, in FIG. 3, abnormal voltage values can be checked digitally via the analog manual boat 32, but by providing such a protective combiner CMP, even in the event of a failure of the control device 30, there will be no trouble. We have taken double safety measures to prevent this.

FIG. 4 is a block diagram showing one channel of the PWM output port 34 of the embodiment. PWM output port 3
4 resolution is determined by the decrement period of the free run down counter, and this is decremented by the 2 division period of the clock CLK input. That is, it is expressed as PWM resolution=l/(clock frequency/2).

The LOW period and HIGH period of the PWM output are expressed as: LOW period: resolution X (256 to W) (O≦W255), HIGH period 2 resolution×W (0≦W255), where W is the set value of the pwM width register.

As shown in FIG. 4, the configuration for one channel of the PWM output port 34 consists of a PWM width register, a PWM reference register, a free run down counter, and a comparator. Free run down counter is clock CL
It is always decremented at the frequency divided by 2 of the K period, and 2
A value between 55 and 0 (FRDC) is output to the B input of the comparator.

The principle of operation is shown in FIG. When the value of the down counter changes from 00 to 255, the set value of the width register is loaded into the reference register via gate G.
Therefore, writing a new value to the width register at any time has no effect on the current cycle, and an output waveform based on the new set value will appear from the next cycle. The comparator compares the value of the reference register and down counter,
When [Reference register output PWMRR] > [Town counter output FRDC], output terminal A > B becomes HI.
The GH level is output, and this becomes the output waveform of the PWM output port. At reset, the reference register and width register are cleared to O, so the PWM output port remains at the LOW level until a value other than 0 is written to the width register.

FIG. 6 is a block diagram for controlling an AC (halogen) lamp. The function used by the control device 30 here is zero-cross detection (not shown) of external AC input.
, analog input port 32, counter, and one-shot trigger. The zero-cross detector detects the intersection of the input signal and o2 when the input signal is an alternating current signal, and since the main body of the control device 30 is powered by a single power source, an external compensation circuit is required. The compensation circuit will be omitted. When a zero-crossing pulse is detected, the counter of the main processor 37 is activated, and first a predetermined count value (AC50
In the case of H2, the period is 10 m 5eC1 half year 5m5ec)
An internal interrupt occurs when the A of the analog input port is reached.
/Start the D converter. Another action is
A predetermined halogen lamp phase control amount is calculated based on the data previously converted by the A/D converter, and based on the calculation result, the one-shot trigger is activated to energize the triac. Therefore, the operation of zero-cross pulse detection → counter coefficient → A/D start and one-shot trigger is performed in parallel with the control amount 2i30.
For pseudo-effective value calculation, as shown in Figure 6, the waveform detected from both ends of the halogen lamp is rectified by a diode bridge BR, and then the modulus is generated analogously by a voltage divider circuit of resistors R1 + R2. Lead the value to the input of the A/D.

FIG. 7 is a flowchart showing lamp control. These processes are activated and controlled by the microcode processor 36 as needed under the control of the main processor 37, depending on the processing speed requirements. Step S21
Then, it is detected whether the frequency is 60H2 or not. Step S
22 and 23 are 50H2/60H2, respectively, according to the determination.
Set the counter value to . In step S24, zero crossing is detected. In step S25, the coefficients of the counter start counting. In step S26, a predetermined value (in this case AC
Input peak value, in case of 50H2, 5m5ec is detected)
The program then proceeds to step S27 and starts the A/D. In step S28, A/D data is set in the register. In step S29, the amount of variation in AC input is calculated in line 1. X, calculate its phase control amount. Step S30
Now let's test the one-shot tricatine mink to trigger the tochiatsuku. This control is performed in step 3
This is done in parallel with the start of the A/D converter with the coefficients of the counter from 26. However, since the previous A/D conversion is performed and the one-shot trigger time is calculated based on the calculation result, the one-shot trigger starts one tempo later than the A/D converter at the initial time. In step S30, a one-shot trigger is issued. In this way, this operation is continued.

[Effects of the Invention] As described above, according to the present invention, by centralizing the control of a plurality of analog operating components, the control circuit in each analog operating component can be controlled by one piece of hardware (macro code processor 36). In addition to being replaced, it is possible to centralize the management of control information and unify and unify control. Therefore, the device configured according to the present invention can be made more modular, more compact, and more multifunctional than conventional devices.

[Brief Description of the Drawings] Fig. 1 is a block diagram of a control device 30 of the embodiment, and Fig. 2 is a control device (microcontroller) 3 of the embodiment.
3 is a circuit diagram of the composite high frequency transformer circuit 60, FIG. 4 is a block diagram showing one channel of the PWM output port 34 of the embodiment, and FIG. 3 is a timing chart for explaining the operating principle of the PWM output port 34. Fig. 6 is a block configuration diagram for controlling an AC (halogen) lamp, Fig. 7 is a flowchart showing lamp control, and Figs. 8 (a) to (C) are blocks of an example of a conventional control device called a sequencer. FIG. In the figure, 31... input boat, 32... analog input boat, 33... output boat, 34... PWM output boat, 35... main memory, 36... macro code processor, 37... ...Main processor, 38...PL
L output port, 39... Communication equipment interface.

Claims (1)

[Claims] A control device for a device including an analog operating component includes a main processor that manages a control sequence of a plurality of components, and an A/D that converts an analog quantity detection signal of the analog operating component into a digital signal.
a conversion means, a sub-processor that executes a predetermined group of instructions specified by the main processor with respect to the A/D conversion signals generated from the plurality of analog operation components, and a sub-processor that executes a predetermined instruction group specified by the main processor, and converts the operation result output of the sub-processor into the plurality of analog operation components. 1. A control device for equipment, comprising a plurality of control amount converting means for converting each operating component into a corresponding control amount.