RU1815620C - Device for control of working head by two coordinates - Google Patents

Abstract

The invention relates to the field of automation and computer technology, in particular, to control devices for programmed machine tools, thermal metal cutting machines. The purpose of the invention is to improve the operational characteristics of the device by stabilizing the speed of movement of the working body to improve the quality and accuracy of the workpiece. A device for two-coordinate control of a working body, comprises a switching unit, an interpolator, the group of information inputs of which is connected to the first group of information outputs of the code setter, a register and a drive in each control channel, a digital-to-analog converter, the group of information inputs of which are connected to the corresponding group of information outputs of the first switching unit, the first group of inputs of the comparison unit is connected to the corresponding group of information outputs of the interpolator. What is new in the device is that a motion feedback sensor, a stop unit, a trigger, an AND element, an OR element, an adder and sine and cosine memory units are introduced into each channel. 7 ill. (L C

Description

The invention relates to the field of automation and computer technology, in particular to control devices for programmed machine tools, thermal metal cutting machines,

The purpose of the invention is to remedy this drawback.

Figure 1 presents a structural diagram of a device; figure 2 is a functional diagram of the first switching unit; Fig. 3 is a functional diagram of a second switching unit; Fig. 4 is a functional diagram of a third switching unit: Fig. 5 is a functional diagram of a comparison unit; on the

6 is a block diagram of an interpolator with a stop unit; Fig. 7 is a functional diagram of a matching circuit.

The device (Fig. 1) contains in each of the channels X and Y a drive 1, a digital-to-analog converter 2, a comparison unit 3, a feedback circuit 4, including a displacement feedback sensor 5 and a reverse counter b, an actuator 7. The device also includes an interpolator 8, a code generator 9, a stop unit 10, a switching unit 11, a sine memory unit 12, a cosine memory unit 13, a second switching unit 14, an adder 15, a register 16, a third

ate about

switching unit 17, element AND 18, element OR 19, and trigger 20.

The memory blocks of the sines 12 and cosines 13 are constructed according to the standard scheme of a constant memory and are implemented on 556PT5 microcircuits.

Register 16 is constructed according to the standard data register register with clocked triggers, the output buffer amplifiers of which have a third Z-state, and is implemented on K555IR23 microcircuits.

The switching unit 11 (figure 2) contains inverters 21, 22, 23 and a group of elements 24 2-ZI-OR. The number of elements in the group is twice as large as the bit size of the device; Fig. 2 shows 6 elements.

The second switching unit 14 (Fig.Z) contains inverters 25, 26, 27 and a group of elements 28 2-ZI-OR. The number of elements in the group matches the size of the device. 3, 3 elements are shown.

The third switching unit 17 (figure 4) contains inverters 29, 30, 31 and element 32 2-ZI-OR.

Comparison unit 3 (Fig. 5) comprises an adder 33, the bit of which matches the bit of the device, and a multi-input element 34 NAND, the number of inputs of which is equal to the bit of the adder 33.

Interpolator 8 (Fig. 6) is constructed according to the standard linear interpolator scheme according to the principle of digital differential analyzers and contains, for each coordinate, an input register 35, the bit of which coincides with the bit of the device, the adder 36, the bit of which at least two bits higher than the bit of the device, the output register 37, the bit of which coincides with the bit of the adder 36. The information from the outputs of the higher bits is supplied to the first and second groups of information outputs of the interpolator 8 output register 37, the third and fourth group of information outputs of the interpolator 8 is supplied with the output information corresponding to input register 35. The number of bits in the group of information outputs .Each interpolator coincides with a width of the device.

The stop unit 10 (Fig. 6) contains two identical matching circuits 38 and 39, and a switch that includes an inverter 40 and a 2-2-AND-OR element 41. The first and third groups of information outputs of the interpolator along the coordinate X are connected respectively to the third and first groups

the information inputs of the stop unit 10 and the inputs of the match circuit 38, and the second and fourth groups of information outputs of the interpolator along the Y coordinate are connected to the fourth and second groups of information inputs of the stop unit 10 and the inputs of the match circuit 39, respectively.

Matching circuit 38 (Fig. 7) contains a group of EXCLUSIVE OR elements 42 and a multi-input NOT-AND element 43. The number of elements 42 is the same as the device size. The number of inputs of element 43 coincides with the size of the device.

Before the sine 12 and cosine 13 memory blocks are installed in the device for two-coordinate control of the working body, codes 0 of numbers proportional to the sine and cosine of the angle, the tangent of which determines the address of these cells, are entered into the cells of these blocks.

To do this, perform the following actions:

5 The values of each of the values are calculated. in the range from 0 to 1:

That TL .... Ti-i.Ti, ..., Tn; where T0 is 0. Tn 1, TI Tr1 + 1 / n, n is the number of memory cells in the ROM (for a 0 556PT5 chip having bit organization, n 512);

the arctangent values (Tj) of each of the values are calculated:

Bi arctg (Ti);

5 find the sine and cosine values for each Bi:

Si sin Bi, ooCi cos Bi;

determine the proportionality coefficient K, based on the bit R of the digital-to-analog converters of the device:

K 2R-1;

for each Si and Ci, 5 SINUSinCOSINUSI values are determined:

SINUSi Bi, COSINUSi K COSBi; translating the values of i, SINUSi and COSINUSi obtained as a result of computations into binary code;

for each I, using binary I as the ROM address, the corresponding SINUSi value in binary code is entered into the sine memory block, and the 5 COSINUSI value in binary code is entered into the cosine memory block.

The device operates as follows. In the initial state, the signal from the output of the trigger 20 reversible counters b are kept in the zero state, the first

the switching unit 11 and the second switching unit 14 are closed, as a result of which a zero code is supplied to the first group of inputs of the adder 15 and to the information inputs of the digital-to-analog converters 2 of both control channels, which prevents the movement of the actuator 7. The signal from the output of the trigger 20 also disables the outputs of the register 16 from the address inputs of the blocks. in memory of sines 12 and cosines 13, while the address inputs of the memory blocks 12 and 13, as well as the second group of information inputs of the adder 15 are connected to the corresponding group uppe outputs setter codes 9.

Consider the case where the interpolation segment makes an angle less than 45 degrees with the X axis.

When the command to move the executive body 7 along the interpolation segment is entered, codes X and Y are entered into the interpolator 10 from the code generator 9, where X and Y are the coordinates of the end of the interpolation segment. Through the second group of information inputs of the adder 15 to the register 16 by the signal from the output of the element or 19, the first input of which receives the Start signal from the start output of the code setter 9, the tangent of the slope of the segment relative to the axis X A1 tg and Y / X is recorded. The Start signal from the code setter 9, received at the S-input of the trigger 20, puts it in a single state. In this case, the information outputs of the register 16 are connected to the address inputs of the memory blocks of the sines 12 and cosines 13. At the information outputs of the memory blocks 12 and 13, the information appears is proportional to the sine and cosine of the angle a and, respectively, received through the first switching block 11 by the following systems Y and X, respectively, cause the movement of the actuator 7. The movement of the actuators on XO and YO discretion, respectively, leads to the appearance of XO and YO pulses at the outputs of the motion feedback sensors 5. Pulses XO and YO stumbles to the inputs of the reversible counter 6 of canals of respective. Moreover, when the actuator is moved in the positive direction, the pulses are fed to the clock input of the counter 6 for counting to decrease, and when moving in the negative direction, to the clock input of the counter 6 for counting to increase. In this case, the number accumulating in the reversible counter 6 and corresponding to the position of the executive body 7 is obtained in an additional code. From the output of the reversible counter 6, an additional code corresponding to the position of the executive body 7 on this axis. arrives at the second group of information inputs of the comparison unit 3. the first group of information 5 inputs of which receives a code from the corresponding group of information outputs of the interpolator 8. At the same time, a number code appears on the group of information outputs of the comparison unit, giving the value

0, the position of the actuator 7 from the coordinate of the next reference point specified by the interpolator 8. If the position of the actuator 7 completely coincides with the coordinate specified by the interpolator 8, a single signal appears at the signal output of the comparison unit 3, a signal of zero deviation the input of the third switching unit 17.

Y code y-axis deviation

0 through the second switching unit 14 is supplied. to the first group of information inputs of the adder 15. Record in the register 16 a new, corrected value of the slope tangent code tg from tg "t-i + d Y, where

5 tg is the t-tangent of the new angle of inclination, tg u - is the tangent of the previous angle of inclination, is produced at the moment of the appearance of the signal of zero deviation along the X axis. This signal through the third switching unit 17 and element 19

0 is supplied to the input of the register register 16, as well as to the clock input of the interpolator 8, as a result of which the codes corresponding to the X and Y coordinates of the new interpolation reference point appear on the first and second groups of information outputs of the interpolator 8. If the X coordinate of the new reference point coincides with the coordinate of the end of the interpolation segment, then at the output of stop block 10, a single

0 is a signal that enables the reset of trigger 20 through element And 18. Trigger 20 is reset upon arrival of the zero deviation signal along the X axis from the output of the third switching unit 17. After resetting trigger 20, the device returns to its initial state.

If the interpolation segment is oriented like this. that relative to the X axis makes an angle a of more than 45 degrees, then, according to the Start signal, from the code generator 9 to register 16

0, the code of the number A2 tg (/ 2- ") is written, the code generator 9 generates a command, according to which the first switching unit 11 sends signals from the information outputs of the sine block 12 to the group

5 information inputs of the digital-to-analog converter of channel X. and signals from the information outputs of the cosine block 13 to the group of information inputs of the digital-to-analog converter of channel Y.

By the same command, the second switching unit 14 connects to the first group of information inputs of the adder 15 the group of information outputs of the comparison unit 3 of channel X, and the third switching unit 17 passes a signal of zero deviation from the comparison unit 3 of channel Y to the input of the register 16. the device does not differ from the described case for an angle of less than 45 degrees.

The first switching unit 11 (figure 2) works as follows. If a high level voltage is applied to the input of the inverter 23, then the elements 24 are also closed at their outputs, which means that a low voltage is present at the information outputs of the switching unit 11, regardless of the state of the remaining inputs. The low voltage at the inputs of the inverters 23 and 24 allows the passage of data from the group of information outputs of the sine memory block 12 to the outputs of the elements 24 connected to the group of information inputs of the digital-analog converter of channel Y, and the data from the group of information outputs of the cosine memory block 13 to the outputs elements 24 connected to the group of information inputs of the digital-to-analog converter of channel X. The low voltage at the input of the inverter 23 and the high level at the input of the inverter 24 allows the passage of data output from the group of information outputs of the sine memory block 12 to the outputs of the elements 24 connected to the group of information inputs of the digital-analog converter of the channel X, and the data from the group of information outputs of the memory block of cosines 13 to the outputs of the elements 24 connected to the group of information inputs of the digital-to-analog converter of channel Y .

The second switching unit 14 (Fig.Z) operates as follows. If a high level voltage is applied to the input of the inverter 27, then the elements 28 are closed and a low level voltage is present at their outputs regardless of the state of the remaining inputs. The low level voltage at the inputs of the inverters 27 and 25 allows the data to pass from the information outputs of the comparison unit 3 of channel Y to the outputs of the elements 28, i.e. the first group of information inputs of the second switching unit is connected to its group of information outputs. The low voltage at the input of the inverter 27 and the high voltage at the input of the inverter 25 allows the data to pass from the information outputs of the comparator 3 of channel X to the outputs of the elements 28, i.e. the second group of information inputs of the second switching unit is connected to its group of information outputs.

The third switching unit 17 (figure 4) works as follows. If a high level voltage is applied to the input of the inverter 31, then the element 32 is closed and a low level voltage is present at its output, regardless of the state of the rest

0 inputs. The low voltage at the inputs of the inverters 31 and 29 allows the signal to pass from the signal output of the comparison unit 3 of channel X to the output of element 32. The low voltage at the input of in5 of the inverter 31 and the high level at the input of the inverter 29 allows the signal to pass from the signal output of the comparator 3 channels Y to the output of element 32.

Comparison unit 3 (Fig. 5) operates as follows. A low voltage is always applied to the transfer input of the adder 33. To the second group of information inputs of AO, A1. ..., AN of the adder from the group of outputs of the reversible counter 6

5, the data comes in an additional code. about the true position of the executive body 7. On the first group of information inputs BO, B1, ..., BN of the adder b with the corresponding group of information

The 0 outputs of interpolator 8 provide the coordinate of the next reference point in the forward code. At the output of the adder, a code appears corresponding to the difference of the coordinate specified by the interpolator 8 and the true coordinate of the executive body 7, which is fed to the information outputs of the comparison unit 3 and to the inputs of the element 34. When the given and true coordinates coincide at all outputs of the adder 33

0, a low level voltage appears and a high level signal is generated at the output of element 34, which indicates a zero deviation of the true coordinate from the given one and is supplied to the signal

5 output of comparison unit 3.

Upon the arrival of a pulse from the output of element or 19 to the clock input of multiplexer 8 (Fig. 6), the codes corresponding to the coordinates of the next reference point of interpolation appear at the outputs of its output registers 37. In the input registers 35 of the interpolator 8 are stored codes corresponding to the coordinates of the end of the interpolation segment,

5 If the codes on the outputs of the registers 35 and 37, which are respectively pairwise connected to the matching circuits 38 and 39 (Fig. 7), match, the outputs of all elements 42 EXCLUSIVE OR receive a low voltage, as a result of which the output of the multi-input element DOES NOT - And 43 appears high.

The low voltage at the input of the inverter 40 allows the signal to pass from the output of the matching circuit 38 to the output of the 2-2I-2 OR 41 element of the stop unit. The high voltage at the input of the inverter 40 allows the signal to pass from the output of the matching circuit 39 to the output of the element 41.

Thus, since the pairs of control actions introduced to the inputs of the following systems of both coordinates are proportional to the sines and the braids of the same angle of inclination specified by the value of the current tangent tg, the resulting speed of movement of the working body at any time is constant and is equal to:

Up V Ux 2 + Uy 2 Ki VUX2 + Uy2

Ki a -f cos2 a - Ki K2 const, where Ki, K 2 are proportionality coefficients.

Ux KixUx,

Uy KixUy,

Uy K2XSina,

Ux K2xcos a.

In turn, stabilization of the speed of movement of the working body increases the accuracy of processing and the quality of the resulting parts, which allows them to be used in assembling units without additional processing.

Claims (1)

SUMMARY OF THE INVENTION A device for two-coordinate control of a working body, comprising a switching unit, an interpolator, a group of information inputs of which are connected to a first group of information outputs of a code setter, a register, and in each control channel, a drive, a digital-to-analog converter, the group of information inputs of which are connected to the corresponding group of information outputs of the first switching unit, the first group of inputs of the comparison unit is connected to the corresponding group of information outputs in terpol torus, characterized in that. with the aim of improving performance by stabilizing the speed of movement of the working body to improve the quality and accuracy of the machined parts in each a displacement feedback sensor has been introduced, the first and second outputs of which are connected to the corresponding inputs of a reversible channel counter, the 5-bit outputs of which are connected to the second group of information inputs of the comparison unit. as well as the second and third switching blocks, a stop block, a trigger, an AND element, an OR element, an adder and sine memory blocks, and 0 cosines, the groups of information outputs of which are connected to the corresponding groups of information inputs of the first switching unit, the first control input of which is connected to the control 5 input of the second and third switching units, the stop unit and the control output of the code setter, the start output of which is connected to the first input of the element OR and to the trigger installation input, input 0 reset of which is connected to the output of the AND element, the first input of which is connected to the output of the third switching unit and to the second input of the OR element, the output of which is connected to the input of the register record and to the clock input of the interpolator, the third and fourth groups of information outputs of the interpolator are connected respectively to the first and second groups of information inputs of the stop block, the third and fourth groups of information inputs of which are connected respectively to the first and second groups of information outputs of the interpolator, and yhod- to a second input of the AND, the first and second groups 5 information inputs of the second switch are connected to the output groups of the comparison unit of the corresponding channel, and the output group is connected to the first group of inputs of the adder, the second group of inputs of which 0 is connected to the corresponding group of outputs of the code setter, address inputs of the sine and cosine memory blocks and to the corresponding register outputs, the inverse trigger output is connected to 5 to the control enable input of the second and third switching units, to the reset inputs of the channel counters, to the register enable input and to the enable control input of the first switching unit 0. tion, the output of each digital-to-analog converter is connected to the drive. the corresponding channel connected to the feedback sensor, and the first and second information inputs of the third block 5, the switching is associated with the signal outputs of the comparing units of the respective channels. 1815620 From the third fiutxockt Sdvirc / rume / 9 t cmps / rjbsso b / move bschis / w teld d swb / move mpu & tpy 2O ofnpefapcuSHOZQ counter ff Figure 4 from the interpolator torus q J3 fa Jt SL Fi & .5 Fig. E . to the element MI 73 l ytoromi & loki xoflifitufnat- u / i to the third neither olshu fcm / fy / TTtr C and C P Go to block and coordinate X From the third .. From the output of Vykhoza, the Computer 9 calculator :) 6 To block cp # not / a / 1 KOD /} dV // ff / 7X / Y