SU1123021A1 - Device for object program control having k-step stop - Google Patents

Abstract

1. DEVICE FOR SOFTWARE CONTROL OF AN OBJECT WITH k -STOP STOPPING, containing a sensor, displacement, connected by an output to the input of a reversible counter, outputs (k + D-ro of the comparison unit are connected to the first inputs of the executive body, and outputs k of the comparison units are connected via a logical unit with the second inputs of the actuator, the input () -ro of the comparator unit is connected to the direct output of the reversible counter, and the second input - with the first output of the program input unit, characterized in that, in order to simplify the device, reliability of its operation, a commulator and an adder are entered into it, the inputs of which are connected to the first outputs of the switch, and the output are connected to the first (and the inputs of comparison units, the second inputs of which are connected via the switch to the second outputs of the star programm block, the inverse output of the reversible counter is connected to the third the input of the switch, and the direct one with the fourth input of the switch, the control inputs, which are connected to the outputs of the (to + 1) th comparison unit, the third input of the totalizer is connected to bus 1. 2. The device according to claim 1, characterized by that comm Tatorey comprises two groups mnogsfazr dnyh keys, control inputs mnogoie bit keys of both groups are connected to the control inputs of the switch knfsh outputs multibit klyucheyobedineny and connected to pervm and second outputs of the switch 9 and their data inputs connected to respective inputs of the switch.

Description

I The invention relates to the automation of production processes and can be used in various systems for controlling the movement of an object, for example, in systems for controlling the movement of an oxygen tuyere converter in machine tools with numerical program control in robots. A software control system is known, which contains a pulse generator, a displacement sensor connected to a reversible counter, and through it to a comparison device, the second input of which is connected to the unit: program input, the actuator and logic unit connected to the comparison device sensor movement, pulse generator, program input unit, pulse counter, and through it to the control unit to which the comparing device is connected. The disadvantages of such a system are complex the algorithm of operation, the impossibility of automatically returning the object to the zone of allowable stop in the event of overrun over this zone, the impossibility of correcting the task during the movement of the object. The closest in technical essence to the present invention is a pulse-counting device for programmed control of an object. to -steps at shutdown, containing 2 k reversible counters and 2k comparison blocks, 1) whose inputs through a logic block are connected to an operating unit, the first inputs are connected and connected to the output of the program input block, the second inputs are connected to the outputs of the reversible counters, counting inputs to the second ones are combined and connected to the output of the displacement transducer, serially connected pulse generator, pulse counter, and a block for setting initial states of reversible counters 2. The disadvantages of the known device are The considerable complexity of its circuit implementation, respectively, lack of reliability, as well as the impossibility of changing the size of control zones. The purpose of the invention is to simplify the device, increase reliability in 1I operation and expand its functionality. This goal is achieved by the fact that the device for programmed control of an object with a k-step stop, containing a displacement sensor, connected by an output to the input of a counter counter, outputs (k-H) of the middle block are connected to the first input of the executive unit, and outputs k. Comparison units are connected via the logic unit with the second inputs of the executive body, the first input k .- "- 1) -ro of the comparison unit is connected: to the direct output of the reversible counter, and the second input is connected to the first output of the programmer input unit, the switch and the adder are entered The inputs of which are connected to the first outputs of the switch, and the output is connected to the inputs fc of the comparison units, the second inputs of which are connected via the switch to the second outputs of the software input unit, the inverse output of the reversible counter, and my g with the fourth input of the controller; the control inputs are connected to the outputs (k.) of the comparison unit; the third input of the summator mat is connected to the bus 1. In addition, the switch contains two groups of multi-bit keys, the controls of the multi-key keys of both groups are connected to the control inputs of the switch, the outputs of the multi-bit switches are combined and connected to the first and second outputs of the switch, and their information inputs are connected to the corresponding inputs of the switch. On. FIG. 1 shows a block diagram of the device; at 4 mg, 2 - relative position of the zones of operation of the control commands of the executive organ of the device; FIG. 3 is a switch diagram}; FIG. 4 is a program input unit. Device for programmatically controlling an object with k. -step stop contains blocks 1,. .. comparison, adder 2, switch 3, program input block 4, reversible counter 5, displacement sensor 6, logic block 7, actuator 8, bus 9 digits 1. Logic block 7 co

toit from the elements OR 10,, ..., 10 (,, and from the r-elements And 11, 11 j,.,.,

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In the device for software control of an object with a k -stop, the first inputs of the block. In 1, the comparisons are combined and connected to the output of the adder 2, the first and second inputs of which are under-. connected respectively to the first and second outputs of the switch 3, the information inputs of which are connected respectively to the outputs of the program input block 4 and to the outputs of the reversing counter 5. The output of the movement sensor 6 is connected to the counting input of the reversing counter 5, the first output of which is connected to the first input of the comparison unit, the second input of which is connected to the first output of block A of the input program, and the first and second outputs are connected to the first and second control inputs of switch 3. The outputs of logic unit 7 are connected to input and output Odam of the executive body 8, the first and second control inputs of which are connected respectively to the first and second outputs of block 1 (4 comparisons.

Switch 3 consists of multi-bit keys,, 14-17. The program input unit 4 consists of digital sensors 18, 19, -19jfc and a block of 20 inverters.

A comparison of blocks 1, 1 j ..., 1 q of the comparison is a known comparison device, at the first output the signal 1 is greater than if the first code input contains a number code greater than the number code present at its second input. If the ratio of mezvidu numbers opposite to the specified, then the signal 1 is not present on the first, but on the second output Less. In case of equality of numbers, signal 1 is present on the third edition of Equality.

Adder 2 is any of the known binary combiners of the combinatorial type, which has two inputs for each digit and three inputs for the first bit. Adder 2 is designed to calculate the modulus of the difference between the T code and the ID code.

From the operation of switch 3 it follows that in case of T., the input of adder 2 receives the code Nd (the inverse code obtained by inverting each bit of the HO code separately), and the first is T.

In this case, for binary codes, C T -I-HO + 1 T - HO T - HO

In the case when T N ,, the code T arrives at the first input of the adder, and HQ comes to the second, in this case

С Т + .HO + 1 HO- Т (Т -HO)

The switch 3, in the presence of signal 1 at its first control input at the outputs, contains information arriving at it through odd inputs. In the case of the presence of signal 1 at: the second control input of the commutator 3, its outputs receive information from its even-numbered inputs. Switch 3 is a well-known state of, for example, a third-party array of keys ;.

Programming input unit 4 is intended to set a breakpoint with the coordinate H and to set (see Fig. 7) the distances A, ..., A and B ,. .., B, from the stopping point HO to the boundaries of the control zones (each of the control zones has its own speed V., V /, f, ..., V | c |). Modification of binary codes Nd, A, .., A |; ,, B,. “, B) (perhaps simultaneously or independently of one another, this must be in accordance with the conditions of Ar Ap (BP).

Reversible counter 5 is a binary reversible counter, at the first output of which the direct code T of the current position of the object is present, and at the second output an inverse code T of

Logic block 7 is a combinational circuit consisting of the elements of the TEMP and AND, designed to form, at one of its outputs, 1, corresponding to a certain speed value. Due to the fact that the object cannot physically be located simultaneously in several control zones (Fig. 2), signal 1 can only be received at one output unit 7, depending on which control zone it is located at. object. If an object is above a given breakpoint Nd, but no further than H o + A ,,, or below the low point, but no further than H + B, i.e. in the dead zone, signal 1 will not be present on any output of logic unit 7. Acting authority 8 may be, for example, a relay circuit designed to form a command to move an object at a certain speed in the corresponding direction in the case. when the signal 1 arrives at one: To the inputs of the executive body 8 from the logic block 7 (these are determined by the speed rating) and at the same time the signal 1 is received at (K + D) -th or (R + 2) -and input executive organ 8 on the side of unit 1 of the comparison. (this determines the direction of the velocity). If information about the required speed rating is not received by the executive authority 8 (the object is located in the dead zone) or the executive authority 8 is not received information about the speed direction (T But), the command for movement by the executive authority 8 is not issued (the drive is disconnected). The device works in the following way. During the movement of the object from the sensor 6 of the movement, pulses arrive at the input of the reversible counter 5, the outputs of which contain direct T and inverse codes of the object coordinate. As a result of comparing the T code with the But code, setting a stop point at one of the outputs of the block, a signal 1 is formed, which determines the direction of the object moving to the HQ point. Depending on the sign of the inequality between a given and the current position of the object, the codes of T and I or T are received from the output codes of the reversible counter 5 and the program input block 4 through the switch 3 to the cerv and the second inputs of adder 2. (T -), i.e. the code of the value of the distance between the object and the specified stopping point (the magnitude of the error). 21 From the outputs of the program input unit 4 through the switch 3, the distance codes between the breakpoint point H and the corresponding boundaries of the control zones are sent to the second inputs of the comparison unit 1. In the case of, for example, a vertical movement of the object, distance codes between the given point H (Fig. 2) and points Ap or Bp are received depending on the sign of the relation between the T and HO codes -m correspondingly above or below the LD point. Depending on the location of the object in relation to the point of the given stop Hj, signal 1 may be present either only at the first output; Comparison unit 1 (this is typical for the case when C AC. (Bj (), or at the same time on the second and third outputs of the comparison block 1p) and on the first output of the comparison block 1.pi (this is typical for the case when Ap-i (B |, -i) C $ Ap (BP). If the object is located (FIG. 2) above the point with the coordinate HO “A., since in this case (T is HO) T is Hg, then with but because T v H + A, then T.-, i.e. C Aq, in this case, since x H from the first output of block 1, the Descent command comes to the input of the executive body 8, and from the first signal of block 1 comparisons to executive authority 8 through logical block 7 receives a signal V) t. As a result, the object is descended at speed V. At that moment, when the object approaches the point with coordinate H, + A1, signal 1 at the first output of the block .. the comparison disappears and the second output ( Since in this case C A, then signal 1 is also present at the first output of block l. As a result. From the output of element I, the signal V comes to the input of actuator 8, i.e. the descent continues, but at the speed of V ,. Transition to other capabilities when an object enters other control zones is done in the same way. When an object comes to

7

the point with the coordinate HА, then the signal 1 at the first output of the comparison unit 1 will disappear (i.e., the signal V will be removed), and since in this case there will be no other signals from the outputs of the logic unit 7, the electrical output the object is turned off and the inertia insensitive position moves, approaches the point LD, (the distance A — the inertia mean free path — is predetermined and depends on various technological reasons: inertia of the object, mass of the object, speed rating, V ,,.. .- - (V- / - If the object is below the exact and with the coordinate HQ + B, then the speed change control is similar, but a Shader signal at the third output of the block appears. Comparison (T HO), C (T - HO) HP T, and instead of the distances Bc are used (they are shown in Fig. 2: Below the RO point). When the object is under the lower limit of the insensitive zone (stop zone), the point with coordinate Nd is B.

230218.

Thus, when T # H and

the object is not located in the dead zone, the inputs of the executive body 8 receive information 5 about the nominal value and direction of the required speed of movement of the object.

The proposed device has a simple operation algorithm. In view of the fact that, in addition to the reversing estimator, all the remaining blocks are combinational schemes, the proposed device has high reliability, and by means of application.

15 of smaller reversible meters and comparison units, it is more reliable than the known ones. The application of the proposed device allows not only Nro-Z20 to drive the reverse movement of the object (in case of its accidental run-up beyond the stop zone) and to change the coordinate of the given stopping point both when stationary and

25 movable object, but also allows changing the size of control zones of both the 1FI mobile and stationary object, i.e. Allows you to change the program completely at any time.

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Claims (2)

, 1. DEVICE FOR SOFTWARE CONTROL OF THE OBJECT WITH K-STEP STOP, containing a sensor, displacements connected by the output to the input of the reversing counter, the outputs of the (+ 1) -th comparison block are connected to the first inputs of the actuator, and the outputs to the comparison blocks are connected through a logical block with second inputs of the executive body, the input of the (k + 1) -th comparison block is connected to the direct output of the reversing counter, and the second input is connected to the first output of the program input block, characterized in that, in order to simplify the device, increase reliability of its operation, a switch and an adder are introduced into it, the inputs of which are connected to the first outputs of the switch, and the output is connected to the first inputs of K comparison units, the second inputs of which are connected through the switch to the second outputs of the program input unit, the inverse output of the reverse counter is connected to the third input switch, and a straight line with the fourth input of the “switch, control inputs · which are connected to the outputs of the (to + 1) -th comparison unit, the third adder input is connected to bus 1”. 2. The device according to claim 1, characterized in that the switch contains two groups of multi-bit keys, the control inputs of multi-bit keys of both groups are connected to the control inputs of the switch, the outputs of multi-bit keys are connected and connected to the first and second outputs of the switch, and their information inputs are connected to the corresponding inputs of the switch.