RU2340925C2 - Multi-channel command device with electronic commutation - Google Patents

Abstract

FIELD: physics; communications.

SUBSTANCE: proposed invention pertains to electronics and automation and can be used for generating pulse control commands from actuating devices. The multi-channel command device with electronic commutation comprises, series-connected interface controller, decoder unit, command generating unit and a key block, the outputs of which are the outputs of the device. The device also has a pulse generator. The command generating unit is made from pulse counters, each of which has a complementing input, an inhibit input, reset input and a control output. The control output of each pulse counter of the command generating unit is connected to the inhibit input of its counter and the control input of the corresponding key of the key block. The reset input of each of the pulse counters of the command generating unit is connected to the corresponding output of the decoder unit. The output of the pulse generator is connected to the complementing inputs of all counters of the command generating unit.

EFFECT: faster operation due to provision for simultaneous generation of several pulse commands, thereby widening functional capabilities.

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Description

The invention relates to the field of electronic equipment and automation and can be used in control systems of executive bodies, in particular in robots, robotic lines, in control systems of spacecraft, etc.

Known multi-channel command devices (automatic machines), designed to implement a set of coordinated actions [1].

The disadvantage of these devices is the rigidity of the programs, which requires changing the material part of these automatic machines.

Closest to the claimed device is a multi-channel coordinated control of a group of objects that implements the method of such control according to the patent of the Russian Federation No. 2224278 G05B 11/14 [2]. The known device is made using nodes that perform almost the same functions as in the proposed device.

According to the essential features and functions performed, it can be recognized as a prototype. The device contains an interface controller connected in series (a requirements receiving unit and a prototype information storage unit), a decoder unit (a prototype queue forming unit), a command former block (a prototype action generation unit), a key block (local prototype control devices), the outputs of which are multi-channel outputs command apparatus.

The disadvantages of the prototype are the constant employment of the common part of the equipment directly by the formation of the output command and the inability to simultaneously issue two or more teams in connection with the established sequence of maintenance.

The objective of the proposed technical solution is to increase performance by providing the ability to simultaneously issue multiple impulse commands and thereby expand the functionality.

This problem is solved in that a multi-channel command apparatus with electronic switching, containing an interface controller connected in series, a block of decoders, a block of command shapers and a block of keys, the outputs of which are outputs of a multi-channel command apparatus, is equipped with a pulse generator, a block of command shapers is made on pulse counters, each of which contains a counting input, a prohibition input, a reset input and a control output, and the control output of each of the pulse counters of the driver unit th instruction input coupled to ban its counter and to the control input of the respective key block key, each of the unit pulse counter reset input of the commands is connected to the corresponding output of the pulse generator decoders unit, an output connected to the counting inputs of the counters command block formers.

The essence of the invention is illustrated using the drawing, which shows a block diagram of the proposed multi-channel command apparatus with electronic switching and connected to it the executive bodies of the product control system.

The drawing shows:

1 - interface controller;

2 - block decoders;

3 - block shapers teams;

4 - key block;

5 - block executive bodies;

6 - pulse generator;

E - bus power executive bodies;

0 - common bus (GND).

The device blocks are made as follows:

1 - interface controller: D - its input bus is simultaneously the input bus of the device as a whole, and also (hereinafter referred to as) D - input information of the device; A - the output of the interface controller and the address bus of the output command to turn on the executive body of the product control system; SI - synchronization output. All outputs of the controller 1 interfaces are connected to the inputs of block 2;

2 - block of decoders: D1 - decoder (decoders), A1 ... Ak - these are the individual names of address bus circuits A, SI - synchronization input, Y1 ... Yn decoder outputs (according to the number of n device output commands). All outputs of the decoder block are connected to the corresponding inputs of block 3. Structurally, the interface controller and the decoder block can be combined into one monoblock;

3 - block of command generators: D2.1 ... D2.n - pulse counters (by the number of n output commands of the device), C - counting input of each counter, V - inhibit input, R - counter reset input. The corresponding output of the decoder unit 2 is connected to the R-input of each counter. A certain output Q of each pulse counter is connected to the V inhibit input of the same pulse counter and to one of the inputs of block 4;

4 - key block: D3.1 ... D3.n - output keys of the block and the device as a whole (by the number of n output commands of the device); IN, OUT - respectively, the control inputs and power outputs of these keys, switching the GND bus - the common bus of the device and the control system with which the device is connected. For key D3.n (as an example), the switched bus is E;

5 - a block of executive bodies Rн.1 ... Rн.n of the product control system connected to the output keys D3.1 ... D3.n of the device, presented for simplicity in the form of resistive loads. In practice, these are the executive bodies of the robot, the payload of the spacecraft or its executive bodies, etc .;

6 - a pulse generator, the output of which is connected to the counting inputs From all pulse counters of the block of command shapers 3;

E - bus power executive bodies.

The device operates as follows.

The device is turned on as part of the product’s control system by supplying voltage to all its blocks, except for block 5 of the executive bodies (block 5 is turned on separately, does not apply to the features of the claimed device, which can serve several different blocks of the executive bodies, included at different times at different product operation modes). At the moment of switching on, due to the arbitrary state of the pulse counters D2.1 ... D2.n, they begin to count the pulses of the generator 6 at their inputs C until a signal appears on the output Q of each of them that prohibits further V input score. All counters become stable in no more than the time required for the regular formation of the longest team (determined by the conversion factor of each of the counters in the form in which these meters are turned on: the drawing conventionally shows that the conversion factor of each counter depends on which digit of the counter the output signal is taken; another solution is also possible). After all the counters D2.1 ... D2.n are installed in such a stable state, the device is ready for operation. Since command apparatuses usually generate short pulses to the actuators, the transition time of all counters to a stable state takes fractions of a second, rarely, a few seconds. Moreover, there are other circumstances requiring the sequential inclusion of a control system, which includes the command apparatus, and executive bodies. Namely, the control system after its inclusion must go through installation, self-testing, etc., which takes tens of seconds and even minutes. Therefore, the installation of meters in a stable state will always keep within the time while the control system as a whole passes the installation.

In this state, the device can be unlimited time, while the pulse generator 6 generates pulses continuously.

To generate the output pulse of the device (command to the block 5 of the executive bodies), the necessary information is supplied to the input D of the controller 1 of the interfaces. In the controller 1 of the interfaces, this information can be accumulated and / or immediately arrive via the A bus of the address to the inputs A1 ... Ak of the decoder unit 2 (only one decoder D1 is shown in the drawing, but in real devices there are usually several). Each new address at the output A of the controller 1 of the interfaces is accompanied by a synchronization pulse SI. The unit of decoders 2 decrypts the information from bus A and generates a pulse at one of its outputs Y1 ... Yn by the synchronization pulse at input SI.

Then the following happens. The counter that received a command at input R is reset, the inhibit signal is removed from its input V and it starts counting the pulses of the generator 6. At the same time, the state at the output of this counter changes to the control input IN of the key, turns it on and issues an OUT command to turn it on one of the executive bodies Rн.1 - Rн.n. The duration of this command will be determined by the pulse repetition period of the generator 6 and the number of pulses required to fill in the corresponding counter (or the corresponding part of the counter used to generate the specified output pulse duration on the switched channel). Thus, any of the n output commands embedded in the input information D of the device can be generated.

Such a management principle (“gave a command and forgot”) is simpler, functionally more reliable, requires half the number of commands: after giving a command after filling in the counter, it will automatically turn off the executive body, i.e. without submitting a special shutdown command for this.

Despite the fact that block 2 decoders cannot fundamentally issue more than one command at a time, the device as a whole allows several commands to be issued to the executive bodies at once. For this, when according to the operating conditions of the device as part of the control system it is required to issue several commands simultaneously, the process of their formation is carried out as follows. Block 1 at a fast pace according to the input information D, in turn, using the decoder 2, starts the necessary counters from the number D2.1 ... D2.n of block 3. Using the output signals of these counters, the selected keys from the number D3.1 ... D3 are opened. n block 4 and include the required executive bodies Rн.1 ... Rн.n, each for its own predetermined time. Since the speed of the electronics along the control signal path D - 1 - A - 2 - 3 - 4 is orders of magnitude higher than the response speed of the actuators of unit 5 and the duration of their operation, the specified actuators are turned on simultaneously (in fact, "almost simultaneously") and for quite a long time they can work together. Moreover, in order to extend the turn-on time of any (or several) of the already included executive bodies, it is enough to re-submit the necessary command (necessary commands) and the inclusion of the executive body (executive bodies) will continue from this point on for another predetermined period of time. The inclusion of any executive body in this way can be extended in the background, if necessary, at any time.

In specialized control systems, it is possible to organize a “wave flow” of switching on the executive bodies, when the next executive body is turned on against the background of those previously turned on, and the executive bodies are turned off against the background of those included later. Such an executive body can be, for example, a stepping multiphase electric motor, the windings of which can be connected to the keys of unit 4.

If necessary, not only the E bus, but also the GND bus can be switched, for example, as shown for the actuator R _Hn .

Based on the principle of the simultaneous formation of bipolar teams, the management of executive bodies included in the two-coordinate matrix, including a reverse executive body, can be ensured.

A set of features, similar to that considered by the author in this proposal, has not been met before to solve the problem and does not follow explicitly from the prior art, which allows us to conclude that the technical solution meets the criteria of "novelty" and "inventive step".

The considered multi-channel command apparatus with electronic switching will find application for controlling the executive bodies of various products. Currently, such a device is at the stage of preliminary design for one of the products of the enterprise. The blocks of the proposed device can be performed on integrated circuits of any type and degree of integration, as well as field-effect transistors of the required type of conductivity, including (preferably) with intellectual properties, namely, protection against various overloads, overheating, etc.

Literature

1. Artobolevsky S.I. Technological machines. M .: Mechanical Engineering, 1964, p. 152-173.

2. RF patent G05B 11/14 No. 2224278 (prototype).

Claims (1)

A multi-channel command apparatus with electronic switching, comprising an interface controller connected in series, a decoder unit, a command generation unit and a key block, the outputs of which are outputs of a multi-channel command apparatus, characterized in that a pulse generator is introduced into it, and a command former block is made on pulse counters, each of which contains a counting input, a prohibition input, a reset input and a control output, and the control output of each of the pulse counters of the shaper unit Mende connected to the input prohibition its counter and to the control input of the respective key block key, each of the unit pulse counter reset input of the commands is connected to the corresponding output of the pulse generator decoders unit, an output connected to the counting inputs of the counters command block formers.