KR101826766B1 - Stage control system with an auto backup control means and a manual control means - Google Patents

Abstract

The present invention relates to a shaft control system for a stage, which comprises a shaft controlling console part for a stage (100), a memory part (120), a hub (130), a shaft controlling unit part (140), an inverter part (150), a driving part (160), a backup switch (backup SW), and a manual control switch (190). Therefore, in the shaft control system for a stage with an auto backup control means and a full manual control means, the console part and the hub are configured in a dual mode for main and backup, thereby immediately replacing a main part with a backup part when the main part fails.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a stage dedicated control system including an automatic backup and a fully manual control,

The present invention relates to a stage dedicated french control system including automatic backup and full manual control.

Generally speaking, a variety of genres, such as musicals, operas, plays, dances, and concerts

The theater where the art is performed consists of the stage where the performance is performed and the audience seats where the audience seats to see the performance on this stage.

As the stage is equipped with various lighting, sound equipment, event devices and stage devices, the stage device is controlled by using a console equipped with a large number of switch devices for controlling the stage device.

These stage devices can be controlled manually by using a stage device control system, which lists dozens of switches on the console, or a console with a program called MMI (Man Machine Interface) sold for factory automation, or a PLC Program Logic Controller) while controlling the stage device. Data communication between PLC and console A stage device control system is provided to save vast amount of data collected from PLC through intermediation server, to provide it to console, and to convert the control signal of console and transmit it to PLC to improve data processing speed. As shown in FIG. 1, the stage device control system includes a PLC 20, a data communication relay server 30, and a console 40. FIG.

1, an upper PLC 22 for controlling a plurality of upper stage devices and a lower PLC 24 for controlling a plurality of lower stage devices are driven by a data communication relay server 30 and an optical network, The upper stage devices 10_T1 to 10_Tn at the corresponding positions and the lower stage devices 10_B1 to 10_Bn are integrally controlled at the same time by the upper PLC 22 and the lower PLC 24, respectively. A database 32 is a database and a switching hub 50 is a switching hub for connecting the wireless LAN 52 and the console 40 to the data communication relay server 30. (46) is a portable console. This is because it takes much time to write different programs in the upper PLC 22 and the lower PLC 24 and thus a longer operation period in the field during the operation. When a fault occurs in the upper PLC 22 or a fault occurs in the lower PLC 24, There is always a difficulty in smooth performance due to the fact that the entire machine can not be operated and the performers are not able to take immediate action.

In addition, there is a problem in that, when the initial test run or the control means fails, the operation can not be performed manually.

An object of the present invention is to create a control program in a main server and configure a corresponding axis control unit for each of the upper and lower drive units at a ratio of 1: Axis control unit is integrated and controlled, it is possible to shorten the time due to one trial operation and sudden momentary interruption during the performance. Switching to the emergency inverter due to inverter failure or failure of the inverter. The current position value is detected by the axis control unit, The server has a main server and a backup server so that the position control can be smoothly performed. In case of a server failure, the server automatically switches to perform a smooth performance. System.

Another object of the present invention is to provide a stage-specific fencing system including an automatic backup and a fully manual control in which a console and a hub are configured for dual use for main and backup, .

Another object of the present invention is to provide an automatic back-up control system capable of fully manual control by adding a manual control switch to the board connecting the axis control unit, the inverter and the drive unit when the corresponding axis control unit of the axis control unit unit becomes faulty or inoperable And a fully manual control system.

It is another object of the present invention to provide a system and basic operation of a machine that can be operated by a manually operated manual switch of a worker when only a board connecting a shaft control unit, an inverter and a drive unit, And to provide a stage-specific fancy game system including automatic backup and full manual control.

To this end, the stage-specific festival control system of the present invention

A console for console control for the stage;

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

A hub receiving a command from the console unit and connecting to the address;

A shaft control unit unit connected to the hub and having a designated address and recognizing whether or not the corresponding axis is operated and includes an axis control unit and a backup axis control unit;

An inverter unit including an inverter and a backup inverter for controlling corresponding drive units in accordance with each axis control unit command of the axis control unit unit;

An absolute encoder for transmitting a drive motor connected to each of the inverters, an absolute drive position of each drive motor and an abnormality of the drive motor to the corresponding axis control unit, A drive unit composed of a reference encoder;

A backup switch for selecting and driving the corresponding drive motor to the backup axis control unit and the backup inverter in place of the failed inverter in the corresponding axis control unit by a console command when one of the inverters fails; And

And a manual control switch operable in a manual mode in conjunction with a manual operation selection manual selector switch added to a line or a board connecting the axis control unit unit, the inverter unit, and the driving unit;

The output of each inverter drives the corresponding drive motor via the switch SW in the normal turn-on state, and any failed inverter turns off the corresponding switch SW through the terminal of the corresponding axis control unit , The backup switch (backup SW) which is normally turned off at the same time is also turned on by the command through the other terminal of the corresponding axis control unit, and the drive motor is selected as the backup inverter output to be alternatively driven.

In the present invention, one control program is created in the main server, and a corresponding axis control unit is constituted in a one-to-one correspondence with each of the driving units, and each axis control unit is integrally controlled and managed by one control program of the main server. In case of sudden power outage or failure of inverter, switch to emergency inverter. In case of operation, the current position value is detected by the axis control unit so that position control is smooth even during emergency operation. The control unit is connected to the Ethernet (TCP / IP) communication line to enable system maintenance such as system check and upgrade of the main server and each axis control unit using the Internet network in other areas than the field. And to provide a dedicated festival language system.

The present invention enables the console unit and the hub to be dual-operated for main and backup so that if one fails in the main or sub configuration, the console unit and the hub can be used immediately.

In the present invention, an absolute encoder (for absolute position recognition) is directly connected to each axis control unit to confirm the current position of the corresponding driving unit, so that the axis control unit senses the current position of the corresponding driving unit in real time, (Speed synchronous, proportional synchronous) between the axis control units by sharing the position value and speed value between each axis control unit and making it possible to check the current speed of the drive motor. An encoder is installed to feed back the current speed of the drive motor to the inverter to enable accurate speed control in the inverter.

In the present invention, all of the wiring control methods of each axis control unit are of the connection connector type, and it is possible to smoothly perform the performance by replacing them easily and quickly even if it is not a specialist in trouble or maintenance.

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 an axis control unit block of the present invention,
4 is a diagram showing an example of connection between the axis control unit, the encoder, the sensing unit and the inverter of the present invention,
5 is a specific 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 relates to a stage-specific axis control console unit (100);

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

A hub 130 receiving a command from the console unit 100 and connecting to the corresponding address;

And an axis control unit unit 140-2 including a shaft control unit 140-1 to 140-n and a backup axis control unit 140-0, which are connected through the hub 130 and have a designated address, (140);

The inverters 150-1 to 150-n and the backup inverters 150-n are controlled to control the corresponding driving units 160 according to the command of the axis control units 140-1 to 140-n of the axis control unit unit 140, 0);

The drive motors 160-1 to 160-n connected to the inverters 150-1 to 150-n and the absolute drive position and the position error of the drive motors 160-1 to 160- N to the control units 140-1 to 140-n, and the absolute speed and speed abnormality of the respective drive motors 160-1 to 160-n, A plurality of incremental encoders 180-1 to 180-n for transmitting the data to the first to Nth transmission lines 150-1 to 150-n, respectively;

If one of the inverters 150-1 to 150-n fails, the console control unit 140-1 (140-0 to 140-n) (Backup SW) for selecting and driving the corresponding drive motors 160-1 to 160-n to the backup inverter 150-0; And

The manual operation mode is operated in a manual mode in conjunction with a manual operation selection manual selector switch attached to a line or a board connecting the axis control unit unit 140, the inverter unit 150, and the drivers 160-1 to 160-n And a manual control switch 190.

The console unit 100 includes a main console 110, a backup console 110a, a sub console 112 and a portable console 114. The memory unit 120 includes a main server 122, And a hub 130. The hub 130 includes a main hub 130-1 and a backup hub 130-2.

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

An example of each of the axis control units 140-1 to 140-n and the backup axis control unit 140-0 constituting the axis control unit unit 140 includes a 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,

And a modem 147 that receives a command from the console unit 100 through the hub 130-1 and transmits the command to the central processing unit 141. [

The manual control switch 190 of the present invention is installed on the board to which the driving unit 160, the inverter 150 and the axis control unit unit 140 are connected in a circuit so that the axis control unit 140 recognizes automatic manual selection An automatic selector switch 192 and a manual selector switch 194;

A manual up-down magnet switch 196 for directly supplying commercial power to the driving unit 160 when the manual selector switch 194 is operated; And

And a manual up-down switch 198 installed on the front side of the substrate so as to be manually operated when the manual selector switch 194 is selected. (199) is a Maxnet switch interlock contact in which the contact is turned on during automatic operation.

The console unit 100 of the present invention configures the Ethernet communication network with the Ethernet control unit 140 and the Ethernet line via the hub 130 and transmits the Ethernet communication network to the inverter unit 150 and the driving unit 150, (160), and the address system may exemplify a 32-bit or 128-bit scheme. It is possible to create and operate operation signals and backup data such as related data, position, speed, and timing for driving the driving motors 160-1 to 160-n, to grasp the state of the system, Management.

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 processes all communication between the user interface and the position control system and controls the axis control units 140-1 to 140-n and the backup axis control unit 140-0) are connected through a port.

The axis control unit unit 140 and the inverter unit 150 of the present invention control the drive unit 160 to be driven by the IP designated by the console unit 100. The axle control unit unit 140 and the inverter unit 150 control the drive unit 160, The control unit 140 receives and controls the absolute drive position value and the position anomaly that are sensed by the incremental encoder 170-1 to 170-n of the drive unit 160. The absolute encoder 180-1 to 180- The present speed and speed of the corresponding drive motors 160-1 to 160-n are transmitted to the corresponding inverters 150-1 to 150-n so that the constant speed is maintained, . Further, the axis control units 140-1 to 140-n constituting the axis control unit unit 140 and the backup axis control unit 140-0 can perform synchronous control with each other, thereby realizing more accurate control.

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

5 is a block diagram of the system block, and the operation state of the present invention will be described on the basis of FIG. 4. Data and programs for the overall system control of the present invention are stored in the main server 122 and the backup server 122a, and instructs the Ethernet communication line via the main console 110 and the backup console 110a. 3) of the corresponding axis control unit (for example, 140-1) constituting the axis control unit unit 140 through the main hub 130-1 and the backup hub 130-2 constituting the hub 130. [ The address and data are connected to the corresponding axis control unit 140-1 via the terminal P6 shown in FIG. 6A, and the central processing unit 141 recognizes the data commanded by the console unit 100. FIG.

The central processing unit 141 drives the corresponding inverter 150-1 of the inverter unit 150 operating in analog or digital value on the output device 143 of the input / Here, the drive of the inverter 150-1 outputs the drive motor 160-1 so as to drive the drive motor 160-1 to a set value, for example, instructing the braking down or up position.

In this case, the drive value of the drive motor 160-1 is transmitted to the input / output unit 146-1 of the axis control unit 140-1 via the terminals P1, P2, and p3 via the ABSOLUTE encoder 170-1 , This value is converted into a digital value by the input device 142 and is recognized by the central processing unit 141. [ As a result, an output instruction through the output device 143 is confirmed through the input device 142 as an input value, so as to check whether there is an abnormality in real time.

Accordingly, in the present invention, for example, when one inverter 150-1 fails, the driver 160 immediately checks whether the inverter 150-1 of the corresponding address is abnormal with the recognition value through the input / output unit 146 And informs the main console 110 that there is an error in the main console 110. The function of the notification is that the main console 122 and the backup server 122a, which store data in real time and control programs, 110 to inform the display screen or alarm sound that the emergency action can be immediately performed. In this case, when the backup inverter control unit 140-0 and the backup inverter 150-0 are replaced with the standby backup control unit 140-0 shown in FIG. 2 and FIG. 5 instead of the failed inverter in the present invention, P2, and P3 of the corresponding axis control unit 140-1 shown in FIG. 6A, the values received at that time are supplied to the backup axis control unit 140-0 And is replaced with a connection through the backup inverter 150-0 shown in FIG. 5, so that it is convenient to use it in real time. Of course, in this case, in order to grasp the position, the driving unit 160 should directly use the output value of the corresponding increment encoder that provides information so that the current state value can be immediately known.

4 and 5, for example, when the inverter 150-1 is broken, it is determined whether or not the inverter 150-1 has failed, based on the sensing value of the ABSOLUTE encoder 170-1, from the corresponding axis control unit 140-1 And notifies the main console 110 of the information. Then, the console unit 100 instructs the backup axis control unit 140-0 to be selected in place of the corresponding axis control unit 140-1 by the set program routine.

The switch SW on the output terminal P10 of the inverter 150-1 is turned off by the output signal through the terminal P7 of the axis control unit 140-1 shown in FIG. , And also turns on the backup switch (backup SW) in the turn-off state with an output signal through the terminal P8 of the axis control unit 140-1.

Therefore, the drive motor 160-1 is driven by turning on the backup switch (backup SW) of the backup inverter 150-0. In this case, although the output of the inverter 150-1 is applied to the drive motor 160-1 by the turn-off of the switch SW, the output of the ABSOLUTE encoder 170-1 is output to the conventional axis control unit 140-1 To the backup shaft control unit 140-0 via the Ethernet network line to the hub 130 via the backup inverter 150-0 so that the accurate position control of the drive motor 150-1 .

The characteristics of each encoder used in the present invention at the same time will be described.

The incremental encoders 180-1 to 180-n have output lines of A-phase, B-phase, and Z-phase.

Depending on the specifications, resolution and output method (line drive output method, open collector output method, etc.) are different. The increment is literally an incremental type and the output signal itself can not tell the encoder's rotation position. For example, when using an increment encoder with a resolution of 400 pulses, 400 pulses are output on phase A during one rotation of the rotary encoder There are literally 400 pulses per revolution, and the phase A and phase B have a phase difference of 90 degrees. That is, when the forward rotation is performed, the A phase is output first, the B phase is output from the 1/2 position on the A phase, and the Z phase outputs only one signal when the rotary encoder rotates once. .

Assuming that the absolute encoder 170-1 to 170-n is an encoder having an output of, for example, 8-bit resolution, it is possible to illustrate that eight signal output lines are outputted as shown in Table 1 below.

When the ABSOLUTE encoder rotates in a rotary manner, the above signals are output, which means that absolute position values of the ABSOLUTE encoder are output. In other words, the increment encoder only outputs pulses with phase differences of A and B phases, while the ABSOLUT encoder functions to know the absolute position values of the current encoder on multiple strands, such as the number of bits.

Therefore, the present invention can perform position control using the increment encoder and the absolute encoder at the same time, and can replace the backup inverter 150-0 when one of the inverters 150-1 to 150- The absolute position and the current speed using the backup motor control unit 140-0 and the backup inverter 150-0 are used to drive the corresponding selected motor in the drive motors 160-1 to 160- It functions so that it can be used immediately without returning to the initial state again during operation.

In addition to the automatic backup function, the present invention can use the manual control switch 190 shown in FIG. 2 to FIG. 5, and normally, when the automatic selector switch 192 is turned on during an emergency or initial test, When the switch 194 is turned on, the automatic selector switch 192 is turned off at the same time, and the manual operation down switch 194 is operated for the desired manual up-down. For example, if the manual up-down switch 194 is operated to the up position (UP SW) of the switch position having two up and down operating points for up operation, a manual up-down magnet switch The up switch contact (for example, the right contact of FIG. 4) of the motor 196 is turned on to apply the power source R, S, T to the corresponding drive motor (for example, 160-1) .

On the other hand, when the manual up-down switch 194 is operated to the down position (DOWN SW) of the manual up-down switch 198 while the manual select position 194 is turned on, The down switch contact (e.g., the left contact of FIG. 4) of the manual up-down magnet switch 196 that is interlocked with the drive motor (for example, 160-1) So that a down operation is performed.

Of course, when the manual selector switch 194 is operated, the automatic select position 192 is turned off, so that all automatic modes are stopped, thereby preventing malfunctions safely.

A main console 110, a backup console 112, a sub console 114, a portable console 120, a memory unit 122, a main memory 122a, a sub memory 130, a hub 130-1, a main hub 130-2, a backup hub 140, A control unit unit 140-0, a backup axis control unit 140-1 to 140-n, an axis control unit 150, an inverter unit 150-0, backup inverters 150-1 to 150-n, an inverter 160, a manual selector switch 194, a manual selector switch 196, a magnet switch 198, a manual up-down switch 190, Switch 199; magnet switch interlock contact

Claims (4)

A stage-dedicated axis control console unit 100;
A memory unit 120 for storing stored data of the console unit 100;
A hub 130 receiving a command from the console unit 100 and connecting to the corresponding address;
And an axis control unit unit 140-2 including a shaft control unit 140-1 to 140-n and a backup axis control unit 140-0, which are connected through the hub 130 and have a designated address, (140);
The inverters 150-1 to 150-n and the backup inverters 150-0 are controlled so as to control the corresponding drive units in accordance with the command of each axis control unit 140-1 to 140-n of the axis control unit unit 140 An inverter unit 150 configured to generate an output voltage;
The drive motors 160-1 to 160-n connected to the inverters 150-1 to 150-n and the absolute drive position and the position error of the drive motors 160-1 to 160- N to the control units 140-1 to 140-n, and the absolute speed and speed abnormality of the respective drive motors 160-1 to 160-n, A plurality of incremental encoders 180-1 to 180-n for transmitting the data to the first to Nth transmission lines 150-1 to 150-n, respectively;
When one of the inverters 150-1 to 150-n fails, the console control unit 140-1 (140-0 to 140-n) (Backup SW) for selecting and driving the corresponding drive motors 160-1 to 160-n to the backup inverter 150-0; And
The manual operation mode is operated in a manual mode in conjunction with a manual operation selection manual selector switch attached to a line or a board connecting the axis control unit unit 140, the inverter unit 150, and the drivers 160-1 to 160-n A manual control switch 190;
The outputs of the inverters 150-1 to 150-n drive the corresponding drive motors 160-1 to 160-n via the switch SW in the normal turn-on state. To 150-n turn off the corresponding switch SW by a command through the terminals of the corresponding axis control units 140-1 to 140-n, and at the same time, a backup switch (backup SW) which is normally turned off N through the other terminals of the corresponding axis control units 140-1 to 140-n to select the corresponding drive motors 160-1 to 160-n as the output of the backup inverter 150-0, ;
The manual control switch 190 is installed on a board to which the driving unit 160, the inverter 150 and the axis control unit unit 140 are connected in a circuit, so that the axis control unit 140 can automatically A selector switch 192 and a manual selector switch 194;
A manual up-down magnet switch 196 for directly supplying commercial power to the driving unit 160 when the manual selector switch 194 is operated; And
And a manual up-down switch (198) installed on the front surface of the substrate so as to be manually operated when the manual selector switch (194) is selected.

delete The image processing apparatus according to claim 1, wherein incrementing encoders (180-1 to 180-n) and absolute encoders (170-1 to 170-n) are respectively configured in a drive output shaft of the driving motors (160-1 to 160- And the outputs of the increment encoders 180-1 to 180-n are supplied to the corresponding inverters 150-1 to 150-
And the outputs of the ABSOLUT encoders (170-1 to 170-n) are fed back to the axis control units (140-1 to 140-n).
The apparatus of claim 1, wherein each of the axis control units (140-1 to 140-n) and the backup axis control unit (140-0) constituting the axis control unit unit (140) comprises a central processing unit (141)
An input / output unit 146 for outputting the output of the central processing unit 141 to the inverter 150-1 and for receiving the sensing value of the soccery unit 160-1,
And a modem (147) for receiving a command from the console unit (100) through the hub (130-1) and transmitting the command to the central processing unit (141).

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