SU1003019A1 - Cycle program control device - Google Patents

Description

The invention relates to automation and computing and can be used to create cyclic control systems for manipulators for various purposes.

A known cyclic control system comprising a clock pulse generator, an AND circuit, a pulse distribution unit, a plug-in plug field, a trigger unit, an amplifier unit, a manipulator actuator unit, a time relay 11.

The closest technical solution to the present invention is a device comprising sequentially connected instruction generation unit (instruction distribution unit), unit. output, control object, control device (position sensors and time lapse block), comparison block (logical conditions block).

The disadvantage of these devices is low speed. This is explained by the fact that the time spent on working out a given program frame is not limited, since the condition for setting a new program frame is only the presence of a signal about the execution of a given program frame.

The purpose of the invention is to increase the speed of the device.

The goal is achieved by the fact that in a device for cyclic program control, comprising a pulse generator, a first pulse counter connected by an output to the information input of a memory unit connected by an output to

10, the first input of the comparator unit connected by the second input to the output of the position sensor unit, a pulse shaper, a time interval adjuster, the first trigger, two I elements, a second pulse counter and a second trigger connected with the first input to the pulse former, are entered pulses with the control input of the second pulse counter, and the output with the first input of the first element I, connected by the second input to the output of the pulse generator, and the output to the counter input of the second counter Single pulses associated mounting input to an output of temporary invariant setpoint. the output and the output with the first input of the second trigger, connected by the second input to the Start bus, and the output to the second input of the first trigger, to the control input of the memory block and to the first input of the second element AND connected to the second input the output of the comparison unit, and the output with the input of the pulse former. The pulse shaper is made in the form of a single vibrator. In the drawing, a functional diagram of the device is given. The device comprises a memory block 1, an output block 2, a control object 3, a position sensor block 4, a comparison block 5, the first counter 6 pulses, the first trigger the first element and 8, the second counter 9 pulses, the second trigger 10, pulse generator 11, time interval setting unit 12, second ale 13, pulse generator 14, command driver 15, sequential code generator 16, command distribution block 17, timer 18, start bus 19. Command driver 15 is started to form control commands detecting stirring executor GOVERNMENTAL bodies and the control object 3 is composed of 16 serial-shaper unit 17 and the distribution of the commands in a memory unit 1 and the counter 6 is connected to the block of memory. The second element, And 13, is designed to control a pulse generator (one-shot) 14, which generates an output signal in the form of a negative pulse of a given duration. The memory unit 1 is designed to store control commands and operates in the storage and reading mode. The output unit 2 is designed to strengthen the control commands. The block of 4 position sensors generates signals about the actual position of the control object 3. Comparison unit 5 is intended for comparing the predetermined position of the executive body of the control object 3 with its actual position; when they coincide, it generates an enable signal to the input of the second element And 13. Timer 18 is designed to set the time interval required for moving the actuators of the control object 3, which is determined experimentally from the optimal operating conditions of the object 3. The device works as follows. If there is a comparison from block 5. allowing signal to the second input of the second element And 13, if there is a signal on the bus, the start of the second trigger 10 is set to one. The output signal from the second trigger 10, arriving at the control input of the memory unit 1 and the first input of the second element 13, sets the read mode in memory 1 and generates a signal at the output of the element 13 that triggers the pulse shaper (one-shot) 14. the output of the latter appears a negative pulse. The negative pulse of the one-shot 14 writes to the counter 9 the contents of the time interval setter 12, sets the first trigger 7 to one and increments the contents of the counter b by one, which ensures the input of the next frame of the program of memory 1 (the first frame is original and corresponds to the zero code on the output counter 6). In accordance with this frame, the executive bodies of the control object 3 are set in motion and at the output of the comparison unit 5 a low level of the error signal appears. The unit at the output of the first trigger 7 connects, via the first element 8, the output of the pulse generator 11 to the second (counting) input of counter b, which operates in the subtraction mode. The time it takes for the counter 9 to be reset, and determines the time interval required to complete a specified program frame. If the working out of the specified program frame occurs before the moment of zeroing the counter 9, then the high level at the output of the comparison unit 5 restarts the one-shot 14, which forms a negative pulse, and the further work cycle proceeds as described above. If the counter 9 is reset before the testing of the specified i-ro program JIH program, then a negative pulse at the output of counter 9, formed at the moment of its zeroing, sets the second trigger of 10 G to zero. The zero signal from the output of the second trigger 10 sets to zero the first trigger 7, which blocks the passage of pulses from the pulse generator 11 to the second (counting) input of the counter 9 and the launch of the one-shot 14, switches the memory block 1 to the storage mode and signals the deviation of the control object 3 from the optimal mode of operation. In this case, counter 6 goes into the storage mode of the code of the address of the i-ro frame of the program, during the processing of which the failure occurred. After eliminating the reasons for the failure, the further operation of the system is similar, with the difference that it begins with setting the (i + 1) -ro program frame.

The application of the invention allows to significantly improve the performance of the serviced equipment by means of constant monitoring, due to the progress of the optimal mode of program development.

Claims (2)

1. A device for cyclic program control, comprising a pulse generator, a first pulse counter connected by an output to an information input of a memory block connected by an output to a first input of a comparison unit connected by a second input to an output of a position sensor block, characterized in that the device speed, the pulse shaper, the time interval master, the first trigger, two AND elements, the second pulse counter and the second trigger connected by the first input with the output are entered into it pulse generator, with the input of the first pulse counter and with the control input of the second pulse counter, and the output with the first input of the first element I connected to the second input to the output of the impulse generator, and the output to the counting input of the second pulse counter connected by the installation input with the output of the time interval setter, and the output with the first input of the second ; a trigger connected by the second input to the Start bus, and output to the second input of the first trigger, to the control input of the memory unit and to the first input of the second element I, connected by the second input with the output of the comparison unit, and the output - with the input of the pulse former. 2. The device according to claim 1, of which is implied by the fact that the pulse shaper is designed as a single vibrator ..  Sources of information taken into account in the examination Industrial robots. Collection of ed. Pn Belnina. M., Mechanical Engineering, 1975, p. 211. 2. Ibid., P. 216. // f-zz: / P : / LJrzL-znri. / j cij I ; / Ci / gW fl / Jff ff - // y: - bd ; 27 .J ffffC / f fff