KR20160135061A - Synchronized motion method of pld motion control module - Google Patents

Synchronized motion method of pld motion control module Download PDF

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KR20160135061A
KR20160135061A KR1020150068125A KR20150068125A KR20160135061A KR 20160135061 A KR20160135061 A KR 20160135061A KR 1020150068125 A KR1020150068125 A KR 1020150068125A KR 20150068125 A KR20150068125 A KR 20150068125A KR 20160135061 A KR20160135061 A KR 20160135061A
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position data
external device
external input
synchronous
external
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KR1020150068125A
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Korean (ko)
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최우창
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엘에스산전 주식회사
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/13—Plc programming
    • G05B2219/13063—Synchronization between modules

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Programmable Controllers (AREA)

Abstract

A synchronous operation control method of a PLC motion control module according to an embodiment of the present invention includes a step of receiving position data from an external device by a synchronous master, The method comprising the steps of: predicting data; calculating position data to be transmitted to the synchronous slave by the synchronous master using the predicted position data; and performing the positional control using the position data received from the synchronous master . Therefore, when performing synchronous operation with the main data of the position data received from the external device in the PLC, the position data to be received next from the external device is predicted and the position data to be transmitted to the synchronous slave set on the vertical axis is calculated and provided There is an advantage that the viewpoint between the main axis and the vertical axis can be matched.

Figure P1020150068125

Description

[0001] The present invention relates to a synchronous operation control method for a PLC motion control module,

Embodiments of the present invention relate to a synchronous operation control method of a PLC motion control module.

2. Description of the Related Art In recent years, automation systems for obtaining a large amount of production with a small manpower have been used in industrial fields due to development of various electronic, communication, and mechanical technologies. PLC (Programmable Logic Controller) has been introduced in many fields as technology for this purpose.

The PLC has the autonomy to replace the functions of relays, timers, and counters in the control panel of the conventional system with semiconductor devices such as ICs and transistors so that the program can be controlled by adding numerical calculation functions to the basic sequence control functions. It is a high control device.

1 is a conceptual diagram for explaining a control system using a general PLC. 1, the PLC controller 110 receives a command for the operation of the conveyor belt 160 driven by the inverter 180 from the encoder 140. Then, the PLC controller 110 transmits a position control command to the servo drives 120a, 120b, and 120c through the transmission line 130. [

The servo drives 120a, 120b, and 120c perform position control according to the position control command received from the PLC controller 110. [ For example, the servo drives 120a, 120b, and 120c operate the robot 170 as a result of performing position control to perform operations on the workpiece 150 on the conveyor belt 160. [

2 is a timing chart for explaining a general synchronization operation. 2, in order to control one servo drive among a plurality of servo drives in a PLC system, a PLC controller is set as a synchronization master 200 and a plurality of servo drives are connected to the synchronization slaves 201_1, 201_2 and 201_3 Setting. At this time, some of the synchronous slaves 201_1, 201_2, and 201_3 are set as the main axis 201_1 and some of them are set as the vertical axes 201-2 and 201_3.

When the synchronization master 200 receives the position data as shown by reference numeral 210, it performs position control using the position data and then calculates the position data as shown in reference numeral 220 and outputs the position data to the synchronous slave 201_1, And synchronous slaves 201_2 and 201_3 set on the vertical axis.

Thus, the synchronous slave 201_1 set to the main axis and the synchronous slaves 201_2 and 201_3 set to the vertical axis perform position control using the position data, such as the reference numerals 230a, 230b and 230c.

Since the synchronous slave 201_1 set to the main axis and the synchronous slaves 201_2 and 201_3 set to the vertical axis perform position control simultaneously with the reference numbers 230a 230b and 230c, the synchronous slaves 201_1, 201_2 and 201_3 There is no error between the positions.

However, when the PLC controller receives position data from an external device in the PLC system, the position of the synchronization master 200 is not directly controlled. Hereinafter, a process of synchronizing the synchronization master and the synchronization slave when the PLC controller receives position data from an external device in the PLC system will be described with reference to FIG.

3 is a timing chart for explaining a process of performing a synchronous operation using an external device as a main axis. In the embodiment of FIG. 3, the main axis of the synchronous operation is set to the encoder value of the external device, and the synchronous slaves 301_1, 301_2, and 301_3 are all set to the vertical axis.

When the synchronization master 300 receives position data from an external device such as a reference numeral 310, it performs position control using the position data and then outputs the synchronous slaves 301_1, 301_2, 301_3 and transmits them to each of the synchronous slaves 301_1, 301_2, 301_3.

The synchronous slaves 301_1, 301_2 and 301_3 set on the vertical axis respectively receive the position data from the synchronous master 300 as indicated by reference numerals 330a, 330b and 330c and position their respective positions on the basis of the received position data .

In this case, a time point 310 at which the synchronization master 300 receives the position data from the external device, such as the reference number 340, and a time point at which the position data is calculated and transmitted to the synchronization slaves 301_1, 301_2, and 301_3 The error between the actual position of the synchronous master 200 and the actual position of the synchronous slaves 301_1, 301_2, and 301_3 is generated.

2, when synchronous operation is performed by setting the synchronous slaves 201_1, 201_2 and 201_3 as the main axis and the subordinate axis, the synchronous master 200 receives the position data from the external device and outputs the synchronous slave 201_1, The position data to be transmitted to each of the synchronous slaves 201_2 and 201_3 set to the vertical axis is calculated 220 and the position data is simultaneously transmitted to the synchronous slave 201_1 set to the main axis and the synchronous slaves 201_2 and 201_3 set to the vertical axis The synchronization between the main axis and the subordinate axis is maintained.

However, when the synchronous operation is executed by setting the position data received from the external device as the main axis and setting the synchronous slaves 301_1, 301_2 and 301_3 as the vertical axes as shown in FIG. 3, An error occurs between the time of receiving 310 of the synchronization master 300 and the time of computing 320 the position data to be transmitted to the synchronization slaves 301_1, 301_2 and 301_3 set to the vertical axis, An error occurs between the actual positions of the first and second optical fibers 301_1, 301_2, and 301_3.

For example, in FIG. 3, a difference 340 between the time when the synchronization master 300 receives the position data from the external device and the time when it calculates and transmits the position data to be transmitted to the synchronization slaves 301_1, 301_2, and 301_3 Occurs. As a result, the synchronization between the main axis and the vertical axis, which is not directly controlled by the PLC controller, is not maintained in the PLC system, resulting in a problem that the accuracy of the synchronous operation is lowered.

The present invention proposes position data to be received from an external device next when the synchronous operation is performed with the position data received from an external device as a main axis in the PLC system and calculates and supplies position data to be transmitted to the synchronous slave set in the vertical axis, And synchronizing operation of the PLC motion control module is performed so that the accuracy of the synchronous operation is improved and the position control can be performed precisely.

In addition, the present invention calculates and transmits position data to be transmitted to a synchronous slave only when there is enough sample data to generate reliable predicted data, thereby minimizing time delay and operation error, and performing accurate and precise control through real time control And to provide a synchronous operation control method for a PLC motion control module that enables the execution of a PLC motion control module.

Further, in the present invention, if there is minimum sample data for generating predictive data, prediction data is generated by utilizing the data only after confirming whether the sample data is reliable data in consideration of the speed change of the sample data as well as the acceleration variation And it is an object of the present invention to provide a synchronous operation control method of a PLC motion control module which can improve the accuracy of prediction data.

The problems to be solved by the present invention are not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by those skilled in the art from the following description.

Among the embodiments, a synchronous operation control method of a PLC motion control module includes: a step in which a synchronous master receives position data from an external device, and the synchronous master predicts position data to be input next from the external device using the position data Calculating the position data to be transmitted to the synchronous slave using the predicted position data, and performing the position control using the position data received from the synchronous master by the synchronous master do.

The details of other embodiments are included in the detailed description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

According to the present invention, when performing synchronous operation with the main data of the position data received from the external device in the PLC system, the position data to be received next from the external device is predicted and the position data to be transmitted to the synchronous slave set on the vertical axis is calculated So that the timing of the main axis coincides with the time axis of the vertical axis, thereby improving the accuracy of the synchronous operation and precisely controlling the position.

According to the present invention, only when there is enough sample data to generate reliable predicted data, the position data to be transmitted to the synchronous slave is calculated and transmitted, thereby minimizing the time delay and operation error, and realizing accurate and precise control Can be performed.

According to the present invention, if there is minimum sample data for generating predictive data, not only the velocity change of the sample data but also the acceleration change are taken into account to confirm that the sample data is reliable data, Therefore, the accuracy of prediction data can be improved.

1 is a conceptual diagram for explaining a control system using a general PLC.
2 is a timing chart for explaining a general synchronization operation.
3 is a timing chart for explaining a process of performing a synchronous operation using an external device as a main axis.
4 is a timing chart for explaining a synchronous operation control method of a PLC motion control module according to an embodiment of the present invention.
5 is a flowchart illustrating a PLC motion control module synchronous operation control method according to an embodiment of the present invention.
6 is a flowchart for explaining a process of predicting location data to be input next from an external device according to the present invention.

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

4 is a timing chart for explaining a synchronous operation control method of a PLC motion control module according to an embodiment of the present invention. In the embodiment of FIG. 4, the main axis of the synchronous operation is set to the encoder value of the external device, and the synchronous slaves 401_1, 401_2, and 401_3 are all set to the vertical axis.

Generally, an error occurs between the time at which the synchronization master 400 receives the position data from the external device and the time at which the position data to be transmitted to the synchronization slaves 401_1, 401_2 and 401_3 set at the vertical axis are calculated, An error occurs between the actual position and the actual position of the synchronous slave.

In order to solve such a problem, when the synchronization master 400 receives the position data from the external device such as the reference number 410, the synchronization master 400 uses the position data, such as the reference number 420, . The process by which the synchronization master 400 predicts position data to be input next from an external device will be described in more detail with reference to FIG.

The synchronization master 400 then calculates the position data to be transmitted to the synchronization slaves 401_1, 401_2 and 401_3 set to the vertical axis using the predicted position data such as the reference number 430 and outputs the position data to the synchronization slaves 401_1, 401_2, 401_3.

The synchronous slaves 401_1, 401_2 and 401_3 set on the vertical axis respectively receive the position data from the synchronous master 400 as indicated by reference numerals 440a, 440b and 440c and position their respective positions on the basis of the received position data .

In this manner, the synchronization master 400 predicts position data to be input next from the external device, calculates position data to be transmitted to the synchronization slaves 401_1, 401_2, and 401_3 set on the vertical axis by using the predicted position data, The difference between the major axis and the major axis may be reduced as shown at reference numeral 450.

5 is a flowchart illustrating a PLC motion control module synchronous operation control method according to an embodiment of the present invention.

Referring to FIG. 5, the synchronization master receives position data from an external device (step S510). The synchronization master predicts position data to be input next from an external device using the position data (step S520). Generally, an error occurs between the time at which the synchronous master receives the position data from the external device and the time at which the synchronous master sets the position data to be transmitted to the synchronous slave set to the vertical axis, so that the actual position of the synchronous master and the actual position of the synchronous slave An error will occur. To solve this problem, the synchronization master predicts position data to be input next from an external device, calculates position data to be transmitted to the synchronous slave using the predicted position data, and provides the position data to the synchronous slave (step S530) .

In this manner, when the synchronization master predicts position data to be input next from the external device and calculates and provides position data to be transmitted to the synchronization slave using the predicted position data, the synchronization slave acquires the position data received from the synchronization master To perform position control (step S540). This makes it possible to match the viewpoints between the main axis and the vertical axis.

Hereinafter, referring to FIG. 6, a process of predicting location data to be input next from an external device using the location data will be described in more detail.

6 is a flowchart for explaining a process of predicting location data to be input next from an external device according to the present invention.

Referring to FIG. 6, when the synchronization master receives position data from an external device, it checks whether previously predicted position data exists (step S610). If there is previously predicted position data (step S610), the synchronization master compares the position data received from the external device with previously predicted position data to determine whether the prediction is successful (step S611).

In one embodiment of the step S611, the synchronization master may determine that the prediction is successful if the value of the position data received from the external device is predicted using the previously estimated change value of the position data. For example, when the previously predicted position data is 1, 2, 3, 4, or 5, the change value is 1. Therefore, when the value of the position data received from the external device is 6, It can be determined that the prediction is successful because the predicted position data is similar. However, if the value of the positional data received from the external device is 10 while the value of the change is 1, it can be determined that the prediction failed because the positional data received from the external device is not similar to the previously predicted positional data.

If the position data received from the external device is not similar to the previously predicted position data (step S611), the synchronous master deletes the previously stored position data (step S650) and outputs the position data received from the external device (step S660 ).

On the other hand, if the position data received from the external device is similar to the previously predicted position data (step S611), the synchronous master stores the position data received from the external device (step S620).

Then, the synchronization master checks whether the number of previously stored position data is equal to or greater than a specific number (step S630). Here, the number of pre-stored position data means the minimum number of samples for generating predictive data. The reason why the synchronous master confirms the number of pre-stored position data is that reliable prediction data can not be generated even if pre-stored position data is used by using a small number of samples when generating the predicted data.

That is, since the number of pre-stored position data is determined according to the number of times of successful prediction of external data, the number of stored position data is checked to determine whether to generate predictive data using the position data.

The fact that the number of pre-stored location data is small means that the number of times of successful prediction of external data is small and reliable prediction data can not be generated even if the corresponding data is utilized. In this case, even if the synchronization master predicts the position data using the pre-stored position data, there is a high probability that the predicted position data is not similar to the position data received from the external device. Accordingly, in the present invention, if the number of pre-stored position data is less than a specific number, pre-stored position data is deleted and position data received from an external device is output.

On the other hand, the fact that the number of pre-stored positional data is large means that reliable prediction data can be generated even when the corresponding data is used because the number of times of successful prediction of the external data is large. In this case, when the synchronization master predicts the position data using the pre-stored position data, the probability that the predicted position data coincides with the position data received from the external device is relatively high. Therefore, in the present invention, pre-stored position data is utilized only when the number of pre-stored position data is more than a specific number.

To this end, the synchronization master checks whether the number of previously stored position data is equal to or greater than a specific number (step S630). If the number of pre-stored position data is equal to or more than the predetermined number, the synchronization master calculates an external input speed for the pre-stored position data (step S631), and calculates the external input acceleration for the pre-stored position data using the external input speed (Step S632). The reason why the synchronous master calculates the external input acceleration for the pre-stored position data is to calculate the external input speed change with respect to the pre-stored position data. Further, the synchronization master calculates a change in the external input acceleration (step S633).

The synchronization master determines whether the external input acceleration for the pre-stored position data is constant (step S640). At this time, the reason why the synchronous master judges whether or not the acceleration of the pre-stored position data is constant is to judge whether or not the velocity change with respect to the pre-stored position data is constant.

The synchronization master predicts position data to be input next by using the external input speed and the external input acceleration when the external input acceleration for the pre-stored position data is constant (step S680), and outputs the predicted position data (step S690) . For example, the synchronous master can predict that the position data to be input next will be received after one minute if the speed change of the position data is constant for one minute.

As described above, since the synchronous master predicts the position data to be inputted next by using the velocity change of the pre-stored position data only when the number of pre-stored position data is equal to or larger than the minimum number of samples for generating the predicted data, Can be generated.

On the other hand, if the external input acceleration is not constant (step S641), the synchronous master checks whether the change of the external input acceleration is constant (step S641). If the change of the external input acceleration is constant (step S641), the synchronization master predicts the external input acceleration using the change of the external input acceleration (step S670). The synchronization master predicts position data to be input next (step S680) using the external input speed and the predicted external input acceleration (step S680), and outputs the predicted position data (step S690). As described above, since the present invention takes into consideration not only the velocity change of pre-stored position data but also the acceleration change, the predicted data is generated by utilizing the data only after confirming whether the previously stored position data is reliable data, have.

If the change in the external input acceleration is not constant (step S641), the synchronization master deletes the previously stored position data (step S650) and outputs the position data received from the external device (step S660).

As described above, according to the present invention, if the velocity change of pre-stored position data is not constant, it is checked whether the acceleration change is constant. If the acceleration change is not constant, the pre-stored position data is judged not to be reliable data, It is possible to prevent in advance the generation of inaccurate prediction data by utilizing data that is not reliable when generating predictive data next.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

Claims (7)

A synchronous operation control method for a PLC motion control module having a main axis of position data of an external device,
The synchronization master receiving position data from an external device;
Predicting position data to be input next from the external device using the position data;
Calculating position data to be transmitted to the synchronous slave using the predicted position data; And
And the synchronous slave performing position control using position data received from the synchronous master
Synchronous operation control method of PLC motion control module.
The method according to claim 1,
The step of predicting location data to be input next from the external apparatus
Confirming whether the synchronization master has previously predicted position data;
Comparing the position data received from the external device with the previously predicted position data to determine whether the prediction is successful, if the previously predicted position data exists as a result of the checking; And
And storing the position data received from the external device if the previously predicted position data does not exist as a result of the checking
Synchronous operation control method of PLC motion control module.
3. The method of claim 2,
Wherein the step of comparing the position data received from the external device with the previously predicted position data to determine whether the prediction is successful
Storing location data received from the external device if the location data received from the external device is similar to the previously predicted location data; And
If the position data received from the external device is not similar to the previously predicted position data, deleting the previously stored position data and outputting the position data received from the external device
Synchronous operation control method of PLC motion control module.
3. The method of claim 2,
The step of storing location data received from the external device
Checking whether the number of previously stored position data is equal to or greater than a specific number;
Deleting previously stored position data and outputting position data received from the external device when the number of previously stored position data is less than a specific number; And
And calculating a change in an external input speed, an external input acceleration, and an external input acceleration with respect to the pre-stored position data if the number of pre-stored position data is a predetermined number or more
Synchronous operation control method of PLC motion control module.
5. The method of claim 4,
The step of calculating the change of the external input speed, the external input acceleration, and the external input acceleration with respect to the previously stored position data
Estimating location data to be input next using the external input speed and the external input acceleration when the external input acceleration is constant; And
And determining whether the change in the external input acceleration is constant if the external input acceleration is not constant
Synchronous operation control method of PLC motion control module.
6. The method of claim 5,
The step of checking whether the change of the external input acceleration is constant
Estimating an external input acceleration using a change in the external input acceleration when the change in the external input acceleration is constant;
And predicting location data to be input next using the external input speed and the predicted external input acceleration
Synchronous operation control method of PLC motion control module.
6. The method of claim 5,
The step of checking whether the change of the external input acceleration is constant
Deleting the pre-stored position data if the change in the external input acceleration is not constant; And
And outputting the position data received from the external device
Synchronous operation control method of PLC motion control module.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10571885B2 (en) 2018-05-03 2020-02-25 Lsis Co., Ltd. Method for controlling motor driving by PLC

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10571885B2 (en) 2018-05-03 2020-02-25 Lsis Co., Ltd. Method for controlling motor driving by PLC

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