JPS63143611A - Motion control method - Google Patents

Abstract

PURPOSE:To control rapid or highly oscillated motion by applying force or the moment of force in the reverse direction against speed when displacement is applied in the same direction as that of the speed. CONSTITUTION:When displacement (x) is applied in the same direction as the speed (v), a prescribed pulse voltage V for allowing current to flow so that force is applied in the reverse direction against that of the speed (v) is impressed to an electromagnet 22a. When a body 10 to be controlled is moved upward on the upper part of a reference position, a pulse voltage is impressed to the electromagnet 22a by a control circuit 18, current i1 is allowed to flow and an iron core 20 is sucked to the electromagnet 22a to apply down force P1 to the body 10 to be controlled. When the body 10 is moved downward on the lower part of the reference position, a pulse voltage is impressed from the control circuit 18 to the electromagnet 22b, current i2 is allowed to flow and the iron core 20 is sucked to the electromagnet 22a to apply upward force P2 to the body 10. Current is allowed to flow into horizontal electromagnets 22c, 22d similarly.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a force or a moment of force that returns a controlled body to its initial state when it is elastically supported and undergoes translational movement in a predetermined direction or rotational movement around a predetermined axis. motion control that reduces displacement from a reference position by applying a force or moment of force that acts quickly based on the state of motion of the controlled object, in addition to the force or moment of force It is about the method.

2. Description of the Related Art Conventionally, the state of motion of a controlled object or a vibrating body is measured, or from information regarding a vibration system, a control device calculates the force required to bring the state of motion to a state close to rest. This force is applied to the vibrating body to bring the motion of the controlled body into a nearly stationary state. The force applied to the controlled object is a force that changes from time to time or a combination of pulsed forces that change sequentially.

For example, by measuring the vibration state of a building during an earthquake, and using a hydraulic actuator to drive a weight to counteract this, a reaction force of the inertial force of that mass is applied to the building, thereby preventing the building from shaking during an earthquake. I have a suggestion.

In addition, the vibration of the floor surface caused by the vibration of the machine that is the source of vibration or the vibration generated by the machine is measured, and the force to cancel this is applied to the floor surface using an electronic circuit or a pneumatic actuator to make the floor surface. There is a proposal to make it still.

Problems to be Solved by the Invention The conventional techniques described above require quantitative physical quantities that change from moment to moment regarding the movement of a controlled object as information, and require complex electronic circuits or computers to process them. Furthermore, there is a problem in that the process must be completed and the force applied within an extremely short period of time.

This invention solves these problems and quickly calculates a force or a moment of force by using an extremely simple electronic circuit or a simple computer program using a minimum amount of information. The object of the present invention is to provide a motion control method in which the motion can be controlled.

Means for Solving the Problems This invention relates to a controlled object which is elastically supported and receives a force or a moment of force to return it to its initial state when a translational movement in a predetermined direction or a rotational movement about a predetermined axis is performed. A motion control method comprising: detecting a motion state based on translational motion or rotational motion of the controlled object; and a speed and displacement from a reference position that are greater than the detected value and/or a value obtained by processing this value. At least when the displacement is in the same direction as the speed, a signal is generated by a pulse voltage of approximately a predetermined magnitude in each direction in order to apply a force or a moment of force in the direction opposite to the speed. and a step of applying a force or a moment of force to a controlled object using this signal.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the apparatus used in the embodiment of the present invention shown in FIGS. 1 to 6, reference numeral 10 denotes a controlled body supported by a plurality of anti-vibration rubbers 13 on a pedestal 12, which stands still by preventing external vibrations, for example. It consists of equipment, etc. that is maintained in a state close to that of

Reference numeral 15 designates three control devices, which are provided on the bottom surface of the controlled object 10 as shown in FIG. 9, each of which is configured as described below.

That is, 16 is a frame fixed to the lower surface of the controlled object 10, and 17 is a detector that measures displacement using an accelerometer attached to this frame. 18 is a control circuit. 20
22 is an iron core that is fixed to the frame 12 and passes through the hole 21 of the frame 16, and 22 is four electromagnets that are fixed to the frame 16 and have one pair of magnetic poles at one end arranged toward the iron core 20 in the vertical and horizontal directions. , 22a, 22b, 22C, 22
It is represented by d. As shown in FIG. 6, the detector 17 includes an accelerometer 25 that detects acceleration a, an integrator 26 that integrates the output of this accelerometer to determine velocity V, and an integrator that integrates the output of this integrator to determine displacement X. It has an integrator 27 for determining the velocity (2) and the displacement X based on these accelerations a in two directions: the vertical direction and the horizontal direction.

The velocity V and the displacement X are input to the control circuit 18 and controlled by sending currents to the vertical and horizontal electromagnets 22 as described below. That is, when the displacement X is in the same direction as the velocity V, a pulse voltage V of a predetermined voltage is applied to the electromagnet 22 to cause a current to flow so as to apply a force in the opposite direction to the velocity V. In this case, if necessary, if the displacement X is zero, a pulse voltage may be applied to the electromagnet 22 so as to apply a force in the opposite direction to the velocity V. For example, when the controlled object 10 is moving upwardly above the reference position, a pulse voltage is applied to the stain magnet 22a by the control circuit 18, and a current indicated by IJ flows to the iron core 2.
0 and applies a downward force P1 to the controlled body 10, and when the controlled body 10 is moving downward below the reference position, the control circuit 18 and the stain magnet A pulse voltage is applied to 22b, and a current indicated by 12 flows, attracts the iron core 20, and applies an upward force P2 to the controlled body 10. horizontal electromagnet 2
In the same way, current begins to flow through 2C and 22d.

FIG. 7 shows that in the embodiment shown in FIGS. 1 to 6, when the pedestal 12 is displaced y (increase is assumed to be positive) as time t elapses, the controlled body 1° weighing 100 kg is subjected to natural vibration using anti-vibration rubber. It is supported so that the number is 5H2, and the damping ratio is 0.0.
3 and the pulse voltage V is set so that the time is 0.1 seconds. The dimensions are different from those of the frame. Figure 8 shows 1 under the above conditions.
The displacement X of the controlled body 10 in the case of a displacement y of the gantry 12 over a period of seconds and the displacement 2 of the controlled body 10 without the control according to the invention are shown. In this case, the displacement 2 becomes close to resonance and becomes large, but the displacement X becomes so small that it does not pose a problem at all.

If the natural frequency is changed to IHz by supporting it with an air spring, the controlled object 1 will not be controlled according to the present invention.
A displacement of 0 is as shown by 2'.

In such a case, the control pulse voltage V may be varied using, for example, a variable resistor and set so that the displacement X is minimized. Therefore, the controlling force may differ depending on the direction in which it is applied. In general, if velocity V is in the same direction as displacement X, or if displacement is zero, if an appropriate force is applied in the opposite direction to velocity V, displacement It is.

9 to 13 show a control device 15 used in a partially modified embodiment of the present invention. In this figure, 3
0 indicates a reference object such as a weight, and has an arm portion 31 and a protrusion 32 formed by protruding the end of this arm portion, and this protrusion is a support formed on a support post 33 provided on the pedestal 12. It is supported by two long helical springs 35 that are engaged with the joint portion 34 and suspended from the upper part of the support column 33. 36
is a screw that supports the upper end of the spring 35 so that its position can be adjusted. Therefore, the reference object 30 is supported at a low natural frequency and can be considered to be substantially stationary. 37 and 38 are non-contact displacement meters that measure displacement in the vertical direction and in the horizontal direction shown by arrows in Fig. 10, respectively.
Although the dielectric constant is used, a scale may be attached to the reference object 30 to read the displacement, and the detector 1
This constitutes the main part of 7. In this detector 17, in order to directly obtain the displacement X, a differentiator 39 shown in FIG. It is.

In another embodiment of the present invention shown in FIG.
0 via a plurality of air springs 42, and the controlled object 10 is supported on a floor surface 44 via a plurality of air springs 43. 15 is a plurality of control devices, and the controlled object 10
By detecting the movement of the object relative to its resting state, a force is applied to the vibrating object 40 to reduce the displacement of the controlled object, thereby significantly reducing the vibration of the vibrating object 40 exerted on the floor surface 44.

In another embodiment of the invention as shown in FIG.
This embodiment is a slight modification of the embodiment shown in FIG. 14, and when compared with the embodiment shown in FIG. The difference is that a weight 46 is operated and the controlled object 10 is controlled by its reaction force.

In another embodiment of the invention shown in FIG. 16, a plate-shaped controlled object 10, such as the deck of a ship, is fixed to a beam 48. A detector (not shown) of the control device 15 detects the movement state, and the output of the control circuit 18 causes the hydraulic actuator 45 to operate the weight 46, and the reaction force causes the weight 46 to move between the beams 48 of the controlled body 10. It is designed to reduce the displacement of vibration.

This case can be applied to vibrations in which the displacement distribution between the beams 48 is arcuate, with a large displacement at the center.

In another embodiment of the present invention shown in FIGS. 17 to 19, the laser beam generated by the laser generator 50 is
The irradiation is applied to a mirror 53 provided on the frame 52 of the controlled object 10 of No. 1, and the inclination angle of the mirror 53 is changed over time. For example, they perform tasks such as painting. This is a shaft that rotatably connects 5552. 17 is a detector designed to determine the rotational angle and rotational angular velocity of the frame 52 around the axis 56; 18 has a storage device; the other is fixed to the frame 52; they are attracted to each other by the output current of the control circuit 18; A repulsive force is applied to the frame 52, and the rotation angle around the axis 56 can be changed by the moment of the force applied to the frame 52. The storage device of the control circuit 18 stores the inclination angle θ1 of the mirror 53 as time t elapses as shown in FIG. The actual inclination angle changes as shown by θ2,
The pulse voltage V applied to the electromagnet 22 is shown in the figure.

In the present invention, the detected value may be directly input into a computer and integrated and differentiated without providing an integrator or differentiator in the detector. Further, the processing performed in the control circuit can be performed extremely easily by a computer. In such a case, one computer can be used for multiple detectors.

Effects of the Invention The present invention controls the controlled object 10 as described above, and since the device has a simple structure and is extremely easy to operate, the controlled object 10 can be controlled as desired. It is something. In particular, it has the advantage that the processing and calculations performed by electronic circuits or computers are extremely simple compared to conventional techniques, and the necessary signals can be generated in a short time, making it possible to control high-speed or high-frequency motion. be.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a control device used in an embodiment of the present invention in cross section approximately along the line AA in FIG. 2, and FIG. 2 is a sectional view approximately along the line B-B in FIG. 1. , FIG. 3 is a sectional view taken approximately along the line C--C in FIG. 2, and FIG. Fig. 5 is a bottom view with a part thereof removed, Fig. 6 is an explanatory diagram showing the detector and driving means, Figs. 7 and 8 are characteristic diagrams, and Fig. 9 is another embodiment of the present invention. Fig. 1O is a front view showing a control device used in Fig. 9 as a partial cross section;
Fig. 1 is a partially sectional side view showing the helical spring for supporting the reference object, Fig. 12 is a sectional view showing the state in which the reference object is held, and Fig. 13 shows the detector and driving means. Explanatory drawings, FIGS. 14 and 15 are front views showing apparatuses for implementing different embodiments of the present invention, and FIG. 16 is a partially sectional view for implementing other embodiments of the invention. FIG. 17 is a front view showing the device, and FIG.
FIG. 8 is a front view showing the main part, FIG. 19 is a partially sectional bottom view of the main part, and FIG. 20 is a characteristic diagram thereof. 10 is a controlled object, 13 is a vibration-proof rubber, 15 is a control device, 1
7 is a detector, 18 is a control circuit, and 22 is an electromagnet serving as a driving means. Agent Patent Attorney Akira Katsube Cho D O6Q OOe+ QI'r1
%+c1'' Figure 17 Figure 19 Figure 7r Figure 20, 11θ1

Claims (1)

[Claims] 1. Motion control of a controlled object that is elastically supported and receives a force or a moment of force that returns it to its initial state upon translational movement in a predetermined direction or rotational movement around a predetermined axis. The method includes the steps of detecting a motion state based on translational or rotational motion of the controlled object, and determining a velocity and a displacement from a reference position based on the detected value and/or a processed value of the detected value. In both cases, when the displacement is in the same direction as the direction of the velocity, a step of emitting a pulse voltage signal of approximately a predetermined magnitude in each direction in order to apply a force or a moment of force in the direction opposite to the velocity. and applying a force or a moment of force to a controlled object using the signal. 2. The method according to claim 1, characterized in that the reference position is a position that can be considered stationary in practical terms. 3. A method according to claim 1, characterized in that said method controls the movement of a vibration isolator. 4. The method according to claim 1, wherein the movement detection includes detecting movement states in three vertical directions and at least two horizontal directions surrounding the center of gravity of the controlled object, and A method characterized in that control is performed by applying force near the detection position. 5. The method according to claim 3, characterized in that the position of an object supported in vibration isolation is used as the reference position. 6. The method according to claim 1, characterized in that the reference position is changed over time by a command based on a program or other calculation.