KR101372528B1 - Axis control system for stage machinery - Google Patents

Abstract

The present invention relates to an axis control system for a stage comprising an axis control console unit (100) for a stage; a memory unit (120) storing stored data of the console unit (100); a hub (130); an axis control unit part (140) comprising axis control units (140-1-140-n) and a backup axis control unit (140-0); an inverter unit (150) comprising inverters (150-1-150-n) and a backup inverter (150-0) to control a driving unit acting according to a command of each axis control unit (140-1-140-n) of the axis control unit part (140); the driving unit (160) comprising a driving motor (160-1-160-n) individually connected to each inverter (150-1-150-n); an absolute encoder (170-1-170-n), and increment encoders (180-1-180-n); and a backup switch (backup SW) driving one of the driving motors (160-1-160-n) when the inverter (150-1-150-n) is malfunctioned. [Reference numerals] (110) Main console; (110a) Backup console; (112) Sub-console; (114) Mobile console; (122,122a) SERVER main server; (130-1,130-2) ETHERNET main hub; (140-0) Backup axis control unit; (140-1) Axis control unit 1; (140-N) Axis control unit n; (150-0) Backup inverter; (150-1) Inverter 1; (150-N) Inverter n; (160-1) Driving motor 1; (160-N) Driving motor n; (AA,BB) Ethernet line; (CC,DD) Backup

Description

Axis control system for stage machinery}

The present invention relates to a stage-only festive fish system.

In general, a performance hall where various genres of art such as musicals, operas, plays, dances, and concerts are performed is composed of a stage where performances are performed and seats where the audience is seated to watch the performances performed on the stages.

As the stage is equipped with various lighting, sound equipment, event equipment, and stage equipment, the stage equipment is controlled by using a console in which a large number of switch devices are installed to control the stage.

These stage devices can be controlled manually by listing dozens of switches on the console through the stage control system or by using a console or self-developed program equipped with a program called MMI (Man Machine Interface), which is sold for factory automation. It communicates with the Program Logic Controller to control the stage device and determine its status. Between the PLC and the console, a stage device control system that saves the vast amount of data collected from the PLC through the data communication relay server and provides it to the console and converts the control signal of the console to the PLC to improve the data processing speed. Developed by Korean Patent No. 10-1047175, the stage control system as shown in FIG. 1 includes a PLC 20, a data communication relay server 30 and a console 40.

In the conventional method as shown in FIG. 1, an upper PLC 22 controlling a plurality of upper stage devices and a lower PLC 24 controlling a plurality of lower stage devices are driven by an optical network with the data communication relay server 30. The upper stage apparatuses 10_T1 to 10_Tn and the lower stage apparatuses 10_B1 to 10_Bn at corresponding positions are simultaneously integratedly controlled by the upper PLC 22 and the lower PLC 24, respectively. Reference numeral 32 is a database, and 50 is a switching hub for connecting the wireless LAN 52 and the console 40 with the data communication relay server 30. 46 is a portable console. This takes a lot of different program creation and on-site commissioning periods for the upper PLC 22 and the lower PLC 24, respectively, and in case of failure of the upper PLC 22 or failure of the lower PLC 24, the entire upper machine or lower machine. There is always a difficulty in smooth performance as the whole is inoperable and the venue managers are unable to take immediate action.

The present invention is to solve this, an object of the present invention is to create one control program in the main server to configure the axis control unit corresponding to 1: 1 for each drive unit of the upper and lower and through the console as a control program of the main server, respectively By controlling and managing the axis control unit of the controller, it is possible to reduce the time caused by one test run and to switch to the emergency inverter due to sudden power failure or inverter failure during the performance. Even if the position control is possible smoothly and the server is configured to the main server and backup server, if any one of the server failure to provide a stage-only festival system to enable smooth performance progress.

Another object of the present invention is to provide a stage-only festival control system that can be configured to replace the console unit and the hub for the main and backup dual backup immediately if the main failure.

To this end, the stage-only festival fish system of the present invention

Stage dedicated axis control console;

A memory unit for storing stored data of the console unit;

A hub receiving the command of the console unit and connecting to the corresponding address;

An axis control unit unit connected to the hub and having a designated address, recognizing whether the corresponding axis is in operation, and including an axis control unit and a backup axis control unit;

An inverter unit comprising an inverter and a backup inverter to control a corresponding driving unit according to each axis control unit command of the axis control unit unit;

A drive motor connected to each of the inverters, an absolute encoder position of each drive motor, and an absolute encoder that transmits an abnormality to the corresponding axis control unit, respectively; A drive unit made of a rement encoder;

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If one of the inverters fails, the controller includes a backup switch that selects and drives the corresponding drive motor as the backup axis control unit and backup inverter instead of the inverter that failed in the axis control unit.

The present invention creates one control program on the main server to configure an axis control unit corresponding to 1: 1 for each driving unit, and one control program of the main server to control and manage each axis control unit in one trial run. Due to shortening of time and sudden power failure during performance or switching to emergency inverter due to inverter failure, the current position value is detected by the axis control unit during operation, so that the position control can be performed smoothly even during emergency operation. The control unit is connected to the Ethernet (TCP / IP) communication line to enable system maintenance such as checking for abnormality of the main server and each axis control unit and system upgrade using the Internet network in other areas than the site. It is to provide a dedicated festival system.

The present invention allows the console unit and the hub to operate in duplicate for the main and backup, so that if one in the main or sub configuration fails, it can be immediately replaced.

The present invention connects an absolute encoder (for absolute position recognition) directly to each axis control unit to check the current position of the drive unit, and detects the current position of the drive unit in the axis control unit in real time to smoothly position during emergency operation. It is possible to control and share position and speed value between each axis control unit to enable synchronous control (speed synchronous, proportional synchronous) between axis control units, and also to check the current speed of the drive motor. By installing an encoder, the speed of the current driving motor is fed back to the inverter to enable accurate speed control in the inverter.

According to the present invention, all wiring methods of each axis control unit are connected connector types, and can be easily and quickly replaced even in the event of failure or maintenance, thereby enabling smooth performance.

1 is a block diagram of a conventional stage control system;
2 is a block diagram of the present invention;
3 is a block diagram of the axis control unit of the present invention,
Figure 4 is an example of the connection of the axis control unit and encoder and the sensing unit and the inverter of the present invention,
5 is a detailed block diagram of the present invention.

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

The present invention is a stage dedicated console control unit 100;

A memory unit 120 for storing stored data of the console unit 100;

Hub 130 for receiving the command of the console unit 100 to connect to the corresponding address;

An axis control unit unit connected through the hub 130 and having a designated address and recognizing the operation and state of a corresponding axis, and including an axis control unit 140-1 to 140-n and a backup axis control unit 140-0. 140;

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Inverters 150-1 to 150-n and backup inverters 150- to control the corresponding drive unit 160 according to the axis control unit 140-1 to 140-n commands of the axis control unit unit 140. An inverter unit 150 formed of 0);

Absolute drive position and position abnormality of drive motors 160-1 to 160-n and respective drive motors 160-1 to 160-n respectively connected to each of the inverters 150-1 to 150-n Absolute encoders 170-1 to 170-n to be transmitted to the control units 140-1 to 140-n, and current speeds and speed abnormalities of the respective drive motors 160-1 to 160-n, respectively. A driving unit 160 made up of incremental encoders 180-1 to 180-n respectively transmitted to 150-1 to 150-n; And

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If one of the inverters 150-1 to 150-n has failed, the backup unit control unit 140-0 instead of the inverter failed at the axis control units 140-1 to 140-n by the console unit 100 command. And a backup switch (backup SW) for selecting and driving the drive motors 160-1 to 160-n to the backup inverter 150-0.

The console unit 100 includes a main console 110, a backup console 110a, a sub console 112, and a portable console 114, and the memory unit 120 includes a main server 122 and a backup server. It comprises a (122a), the hub 130 is configured to be dual so that the backup to the main hub (130-1), the backup hub (130-2).

The main hub 130-1 configures the axis control unit 140 and the main communication line, and the backup hub 130-2 configures the axis control unit 140 and the backup sub communication line in the form of an Ethernet line. .

As an example of each axis control unit (140-1 ~ 140-n) and the backup axis control unit (140-0) constituting the axis control unit unit 140, as shown in Figure 3 and the central processing unit (141),

An input / output unit 146 which outputs the output of the central processing unit 141 to the inverter 150-1 and receives the sensing value of the driving motor 160-1;

It comprises a modem 147 to receive the command of the console unit 100 through the hub 130-1 and transmit it to the central processing unit 141.

The console unit 100 of the present invention configures the Ethernet communication network with the axis control unit 140 and the Ethernet line through the hub 130, the corresponding inverter unit 150 and the driver unit in the IP address system by the TCP / IP protocol It is configured to control the 160, the address system may exemplify a 32-bit or 128-bit method. It is possible to make or operate operation signals and backup data such as related data, position, speed, timing, etc. for driving the drive motors 160-1 to 160-n, and to check the status of the system and check the system for errors. Manage.

The console unit 100 of the present invention includes a main console 110, a backup console 100a, a sub console 112, and a portable console 114.

The hub 130 of the present invention handles all communication between the user interface and the position control system, and constitutes the axis control unit 140 and each axis control unit 140-1 to 140-n and a backup axis control unit ( 140-0) connects through the port.

The shaft control unit 140 and the inverter unit 150 of the present invention are controlled to drive the drive unit 160 by the IP specified by the console unit 100, the absolute encoder 170-1 ~ of the drive unit 160 Absolute drive position value sensed by the 170-n) and whether the position abnormality is received and controlled by the corresponding axis control unit 140, provided by the incremental encoder (180-1 ~ 180-n) of the drive unit 160 The current speed and the speed of the drive motor (160-1 ~ 160-n) is sent to the inverter (150-1 ~ 150-n) to maintain the constant speed, so that it can be confirmed in the console unit 100 . In addition, each axis control unit 140-1 to 140-n and the backup axis control unit 140-0 constituting the axis control unit 140 can be synchronized with each other to implement more accurate control.

3 is a block diagram of one axis control unit 140-1 of the present invention,

4 is a diagram illustrating an actual wiring, and FIG. 5 is a system block diagram.

Data and programs for controlling the entire system of the present invention are stored in the main server 122 and the backup server (122a), and in use when the command to the Ethernet communication line via the main console 110 and backup console (110a) do. Such a command is illustrated in FIG. 3 of the corresponding axis control unit (for example, 140-1) forming the axis control unit 140 through the main hub 130-1 or the backup hub 130-2 forming the hub 130. The address and data are connected to the corresponding axis control unit 140-1 through the terminal P6 shown so that the central processing unit 141 recognizes the data commanded by the console unit 100.

The central processing unit 141 drives the inverter 150-1, for example, of the inverter unit 150 that operates with an analog or digital value in the output device 143 of the input / output unit 146 based on this. In this case, the drive of the inverter 150-1 outputs the corresponding drive motor 160-1 to be driven at a set value. For example, the inverter 150-1 commands a falling or rising position of the barton. In this case, the driving value of the driving motor 160-1 is the input / output unit 146 of the axis control unit 140-1 via the terminals P1, P2, and p3 of the current driving state through the absolute encoder 170-1. ), This value is converted into a digital value by the input device 142 to be recognized by the central processing unit 141. As a result, the output instruction through the output device 143 checks the input value through the input device 142 and acts to confirm the abnormality in real time.

Therefore, according to the present invention, for example, when one inverter 150-1 fails, the driving unit 160 immediately checks whether the inverter 150-1 of the corresponding address is abnormal as a recognition value through the input / output unit 146. This is notified that there is an error in the main console 110, the function of this notification is the main console (storage) immediately through the main server 122 or the backup server (122a) to store data in real time and drive the program control 110) to be notified by the display screen or the alarm sound, so that emergency measures can be promptly taken. In this case, when the present invention replaces the failed inverter with the backup axis control unit 140-0 and the backup inverter 150-0, which are shown in FIGS. Since the state is authorized by the memory unit 120 through the terminals P1, P2, and P3 of the corresponding axis control unit 140-1, the authorized value at that time is transferred to the backup axis control unit 140-0. At the same time, since the backup inverter 150-0 shown in FIG. 5 is replaced with a connection, it is convenient to use in real time. In this case, of course, the driver 160 should use the output value of the corresponding incremental encoder that provides information so that the current state value can be immediately known.

4 and 5, in detail, for example, when the inverter 150-1 fails, it is determined by the corresponding axis control unit 140-1 based on the sensing value of the absolute encoder 170-1. Recognizes and informs the main console (110). Then, the console unit 100 instructs to select the backup axis control unit 140-0 instead of the corresponding axis control unit 140-1 by the set program routine.

To this end, the switch SW of the output terminal P10 of the corresponding inverter 150-1 is turned off with the output signal through the terminal P7 of the shaft control unit 140-1 shown in FIG. In addition, the backup switch (backup SW) is turned on in the turn-off state as an output signal through the terminal P8 of the shaft control unit 140-1.

Therefore, the driving motor 160-1 is driven by the backup inverter 150-0 being turned on by the backup switch (backup SW). In this case, the output of the inverter 150-1 to the driving motor 160-1 is blocked by turning off the switch SW, but the output of the absolute encoder 170-1 is the existing axis control unit 140-1. By transmitting to the backup axis control unit (140-0) through the Ethernet network line to the hub (130) via), precise position control of the drive motor 150-1 even using the backup inverter (150-0) Make it possible.

The characteristics of each encoder used simultaneously in the present invention will be described.

Incremental encoders 180-1 to 180-n have an output line of A phase, B phase, and Z phase.

The resolution and output method (line drive output method, open collector output method, etc.) vary depending on the specifications. The increment is literally increased and the output signal itself cannot know the rotational position of the encoder. For example, when using an incremental encoder with 400 pulse resolution, 400 pulses are output from phase A to phase B during one rotation of the rotary encoder. Literally, 400 pulses come out in one rotation, and A and B phases have a 90-degree phase difference. That is, A phase is output first at the forward rotation, B phase is output at 1/2 position of A phase, and Z phase outputs only one signal when the rotary encoder rotates once, so Z phase is the reference signal when searching for mechanical origin. Used as.

If the absolute encoders 170-1 to 170-n are encoders having an output of 8-bit resolution, for example, 8 signal output lines can be illustrated as follows.

When the absolute encoder rotates in a rotary manner, the above signals are generated, which causes the absolute position values of the absolute encoder. In other words, the incremental encoder only outputs pulses with the phase difference between A and B phases, whereas the absolute encoder functions to know the absolute position values of the current encoder on the lines of the strands as the number of bits.

Therefore, the present invention controls the position by using the incremental encoder and the absolute encoder at the same time, and when two of the inverters (150-1 to 150-n) is replaced by a backup inverter (150-0) two encoders Using the backup axis control unit 140-0 and the backup inverter 150-0, the absolute position and the current speed can be directly driven by driving the corresponding selection motor among the drive motors 160-1 to 160-n. Even during operation, it can be used immediately without returning to the initial state.

100; console 110; main console 110a; backup console 112; sub console 114; mobile console 120; memory 122; main memory 122a; sub memory 130; hub 130-1; main hub 130-2; backup hub 140; shaft Control unit 140-0; Backup shaft control unit, 140-1 to 140-n; Axis control unit 150; Inverter unit 150-0; Backup inverter 150-1 to 150-n; Inverter 160; Drive unit 160-1 to 160 -n; Drive motor 170-1 to 170-n; Absolute encoder 180-1 to 180-n; Increment encoder

Claims (4)

Stage dedicated console control unit 100;
A memory unit 120 for storing stored data of the console unit 100;
Hub 130 for receiving the command of the console unit 100 to connect to the corresponding address;
An axis control unit unit connected through the hub 130 and having a designated address and recognizing the operation and state of a corresponding axis, and including an axis control unit 140-1 to 140-n and a backup axis control unit 140-0. 140;
Inverter 150-1 to 150-n and backup inverter 150-0 to control the corresponding drive unit in accordance with each axis control unit 140-1 to 140-n command of the axis control unit unit 140. Inverter unit 150 made of;
Absolute drive position and position abnormality of drive motors 160-1 to 160-n and respective drive motors 160-1 to 160-n respectively connected to each of the inverters 150-1 to 150-n Absolute encoders 170-1 to 170-n to be transmitted to the control units 140-1 to 140-n, and current speeds and speed abnormalities of the respective drive motors 160-1 to 160-n, respectively. A driving unit 160 made up of incremental encoders 180-1 to 180-n respectively transmitted to 150-1 to 150-n; And
If one of the inverters 150-1 to 150-n fails, the backup shaft control unit 140-0 instead of the inverter that failed in the axis control units 140-1 to 140-n by the console unit 100 command. And a backup switch (backup SW) for selecting and driving the drive motors 160-1 to 160-n to the backup inverter 150-0;
The outputs of the inverters 150-1 to 150-n drive the corresponding driving motors 160-1 to 160-n via the switch SW in a normal turn-on state. -1 to 150-n turn off the corresponding switch SW with a command through the terminals of the corresponding axis control units 140-1 to 140-n, and at the same time, the backup switch (backup SW) ) Is also turned on by the command through the other terminal of the corresponding axis control unit 140-1 to 140-n, and the corresponding drive motor 160-1 to 160-n is selected as the backup inverter 150-0 output. Festival-only festival system, characterized in that configured to alternate drive. delete The drive output shafts of the drive motors 160-1 to 160-n respectively include incremental encoders 180-1 to 180-n and absolute encoders 170-1 to 170-n. The incremental encoders 180-1 to 180-n are output to the inverters 150-1 to 150-n, and the absolute encoders 170-1 to 170-n are output to the axis control unit 140-1. Festival-only festival system characterized in that it is configured to feed back to ~ 140-n). According to claim 1, wherein each axis control unit (140-1 ~ 140-n) and the backup axis control unit 140-0 constituting the axis control unit unit 140, the central processing unit (141),
An input / output unit 146 which outputs the output of the central processing unit 141 to the inverter 150-1 and receives the sensing value of the soccer player 160-1;
Festival-only festival system characterized in that it comprises a modem (147) for receiving a command from the console unit 100 through the hub (130-1) and transmits to the central processing unit (141).

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