SU1130833A1 - Device for program control of object having k-step stop - Google Patents

Abstract

A DEVICE FOR SOFTWARE CONTROL OF AN OBJECT WITH K-STEPPED STOP, contains a displacement sensor connected to the first and second outputs respectively to the summing and subtracting inputs of the reversible pulse counter, the comparator unit connected by the first and second outputs to the first inputs of the first and second elements of the pulse connected by outputs to the corresponding control inputs of the actuating element and to the inputs of the element OR NONE, and the second inputs to the outputs of the first and second elements, respectively in OR, associated with inputs respectively with first and second outputs

Description

1I

This invention relates to the field of

automation of production processes and can be used in various object motion control systems, for example, in motion control systems of moving elements of industrial robots and ancillary equipment of robotic complexes, as well as oxygen tuyere movement control systems in converters.

A pulsed device for programmatically controlling an object with a K-step stop is known, comprising a series-connected pulse generator, an i-pulse counter and a block for setting the initial states of reversible counters ;, 2K reversible counters, the counting inputs of which are combined and connected to a pulse displacement sensor, the information installation inputs of the reversible counters are connected to the outputs of the block specifying the initial states of the reversible counters, 2K comparison blocks, the first inputs of which are combined The second inputs of the comparison blocks are connected to the outputs of the reversible counters, respectively, and the outputs of the comparison blocks are connected to the logic block connected to the actuator. ,

The drawback of the device is the relative complexity of its circuit implementation.

The closest technical solution to the invention is a device for programmatically controlling an object with a K-step stop, containing 2K reversing pulses connected to the counter and inputs to the output, a displacement sensor, and the installation inputs to the corresponding outputs of the source data source block, connected information outputs with the first inputs of the comparator unit, (2K 1) channel distributor w-pulse connected to the clock input to the output of the pulse generator, the setting input to the control unit input outputs, and outputs, starting with the first one, to the corresponding control inputs of the switch connected by information inputs to the outputs of the reverse pulse counters, and outputs to the second inputs of the comparison unit connected first and

08332

the second outputs to the first inputs of the first and second AND elements, respectively, connected by the outputs through the OR-NOT element to the control input of the pulse generator and the second and third inputs of the final element, respectively, and the second inputs to the outputs of the first and second elements OR, respectively ,

Q connected by the inputs to the outputs of the pulse distributor, respectively, from the first to the K-th channel outputs and from (to + l) -ro on the 2K-th channel outputs zj. .

A disadvantage of the known device is the relative complexity of its circuit implementation, as it takes 2K reversible meters and a switch to build a device with a multi-stage (K-step) stop.

The aim of the invention is to simplify and improve the reliability of the device.

The goal is achieved by the fact that in a device for programmed control of an object with a K-, step stop ;, containing a motion sensor connected to the first and second outputs, respectively to the summing and to the subtracting inputs of the reversible counter, the comparison unit 5 is connected by the first and second outputs with the first inputs of the first and second AND elements, respectively, connected by the outputs to the corresponding control inputs of the actuating element and to the inputs of the OR-NOT element, and the second inputs to

the outputs of the first and second elements OR, respectively, associated with the inputs respectively with the first 1-1and and the second outputs (2K-l) of the step one. the pulse distributor connected by the setup input to the control output of the input unit, and the clock input to the output of the pulse generator connected by the control input with the output of the OR-NOT element,

sum-mash and encoder connected by inputs to the first and second outputs (2K + G) of the step distributor, pulses, and output, respectively. mi - to the first inputs of the yummator, which are connected by the second inputs to the information output of the input block, and the output to the first input of the comparison block j of the common BTopb i input to the 3th output of the reversible pulse counter. FIG. 1 is given a block diagram of the proposed device; in fig. 2 - zones of operation of control commands of the K-step stop device. The device contains a displacement sensor 1, a reversible counter 2 pulses, a block 3 of comparison, the first and second elements AND 4 and 5, the first and second elements OR 6 and 7, the distributor 8 pulses, the actuating element (actuator) 9, the element ORINE 10; pulse generator 11, adder 12, input block 13, encoder 14 As a pulse displacement sensor 1, any known sensor with a pulse shaping circuit on the tires (-}) and (-) can be used depending on the direction of displacement of the object. Comparison unit 3 is intended for comparing an n - bit code N, + Xj (N - X) coming from the output, adder 12 with a n - bit code T, coming from the outputs of the reversible counter 2, where N is the coordinate of the breakpoint. the object (Fig. 2); X is the number corresponding to the distance from the specified breakpoint to the point at which the conversion is made from speed V to speed V. j T is the coordinate of the current position of the moving object. At T Wo-t-X; CT No-X.) Signal 1 is present at the first output (Greater) of comparison unit 3, and at T i NP + X; (T t NO -. X–) signal 1 is present at the second output (Men. Comparison block 3. T2K + 1) - channel distributor 8 has. (2K + 1) output and can be, for example, any known counter , having (2K + 1) steady states, to the outputs of the trigger of which the decoder is connected with (2K + 1) outputs (O, 1.2 ..., 2K). The zero output of the distributor is not used. The arrival of pulses and a clock input of the distributor, when signal 1 is installed at its installation input, leads to a successive run of signal 1 at its outputs (from 0th to 2Kth, again from 0th to 2K-TH, etc.) . If the signal O is present at the distributor installation input, signal 1 is present at the zero output of the distributor, and at all other outputs of the distributor there are signals O regardless of the pulses arriving at the clock input of the distributor, Actuator 9 (for example, a drive) gives the appropriate control action to the control object, if at the output of element I4 or at the output of element I5) there is a signal I (which is for the vertical movement of the object by the command Descent or respectively Doi rise) and if the sig-nal 1 is present on one of the outputs (2K - 1) - channel distributor (except the 0-th output) that determines the amount of movement. Adder 12 is any of the known combiners of the combinatorial type and performs continuous summation of the coordinate code of the specified breakpoint (N) received from the information outputs of the input unit 13 to the first inputs of the adder 12, and the codes of the XJ number, respectively; distance from a given breakpoint to the point at which the conversion is made from speed V to speed. from the information outputs of the encoder 14 to the second inputs of the adder 12, and for points Nj, .., N located above the breakpoint N (Fig. 2), the code of the corresponding number X ,, ... , X, and for the points N, located under the breakpoint N, the code of the corresponding number Xjj is subtracted from the coordinate code of the breakpoint N. .. This is ensured by the fact that the second inputs of the adder 12 are X,. .., X from the encoder 14 comes in the forward binary code, and the number X |. .... in the reverse binary code with the addition of 1. The encoder 14 may be a two-dimensional coordinate matrix containing 2K vertical tires (sampling buses) and horizontal buses (information code buses). By setting, for example, diodes, in the corresponding nodes of the coordinate grid formed by the intersection of (-th vertical Ainu (i -th sample bus) with horizontal information buses, the number X is coded, and ... D is carried out in the binary code, and the coding of the numbers X ,,,. ,,, X / in the reverse binary code with the addition of 1. This provides in the adder 12 the summation for points N located above the stop point and the subtraction NQ - X; for points N., , ..., N2, located below the breakpoint Ng, the device operates as follows. izhen and is for example, at the point T Sfig-h) A; the contents of the reversible counter 2 unambiguously correspond to the code of the current position of the object (the code of the TQ point). Setting a breakpoint (program input) has not been done yet. Both the information and the control outputs of block 13 contain signals O. Signal 1 is present at the zero output of the distributor 8. Signals O are received at all inputs of the executive element 9, i.e. the control object is not affected. Then the program is entered. The code for the set stop point NQ is received from the information outputs of the input unit 13 to the first inputs of the torus 12. At the control output of the input unit 13, the signal O changes by 1, resulting in a pulse from the generator 11 output to the clock input of the distributor 8, translates the last one from the zero position to the unit position (at the 1st output of the distributor 8, signal 1 appears, at all other outputs, signal O is indicated). A single signal from the 1st output of the distributor 8 posts to the first bus of the sampler of the encoder 14, as a result of which the output (information buses) of the encoder 14 forms a n-bit direct binary code of the number X arriving at the second inputs of the adder 12. At that at the outputs of the adder 12, we have the sum code (N-X) which is compared in block 3 of the comparison with the code of the current position of the object (T). If T NQ +, we have the command Descent at speed V, (signal 1 is present at the output of the element AND 4 and at the I-th output of the distributor 8) "At the same time, at the output of the element OR-NOT 10 there is a signal O, which causes the generator 11 to stop . If T is not greater than N + X, then the next pulse received from the output of the generator 11 to the clock input of the distributor 8 transfers the latter to the second position (the signal is already present at the output of the distributor). Comparison unit 3 already compares T with N + X ". While signal 1 is present at the 2nd output of the distributor 8 (figure 1), then (if UiiK) signal 1 comes from the output of the element OR 6 to the input of the element AND 4. If this is the code of the current position of the object T N, + X, then at both inputs of the AND 4 element, we have signals 1, which leads to the presence of signal 1 at the output of the AND 4 element (Run command). If signal 1 is present on the l output of the distributor 8 (in this case) then signal 1 comes from the output of the IL 7 element to the input of element AND 5. If this is the case with the current position code for the object -X, then we have signals 1 at both inputs of AND 5 which leads to the presence of signal 1 at the output of AND 5 (command Rise). While the signal 1 arrives one of the inputs of the OR-NOT 10 element, from the output of this element, the signal O is fed to the input of the generator 11, prohibiting: the operation of the generator 11. Thus, the presence, for example, of the Descent command leads to the descent of the control object at a speed, the nominal value of which is determined by the i-ro number of the output (1 i i K) of the distributor 8, on which the signal 1 is present. V is produced until + X-. At the moment of passing an object past the point N j N (j + X, the code of the current position Tj, which is located in the reverse counter 2, receives notables ... Cig., NN X. reading N, the fuel 1 disappears at the output More than 3 comparison block, which leads to The appearance of the signal O at the output of the AND 4 element (at the output of the element 5 and there is already a signal O, since), the occurrence of the signal 1 at the output of the element OR NOT 10 triggers the start of the generator 1. The arrival of a pulse from the output of the generator 1I to the clock input of the distributor 8 leads to the transition to the distributor 8 of signal 1 from the output t to the output i + i ,. If, then (due to the fact that T: 7N + Xj ,.), the command J appears again. i да yes Descent, but already at speed V At the moment when the object (Fig. 2) goes down past the point Hz (disconnect point motor leading in descent (inequality + X) is replaced by equality T N + X and then, as a result of movement, by inequality X). The object enters the stop zone in which. This zone is characterized by the fact that while the control object is within its limits, neither the output of the AND 4 element nor the output of the AND 5 element of signal 1 appears. This is due to the fact that in this zone T NQ + Hz at. and T, N.o-X with K + Uii: 2K. Thus, if the object is in the stop zone, since none of the matching schemes on elements 4 and 5 are assembled, regardless of the position of the distributor B, there is no command to move. If during descent the object slips the stop zone, i.e. falls below the POINT Ni2vi then the object returns to the stop zone for the following reasons. At the moment when the object is in the stop zone, there is no longer the Descent command and there is no ascent command yet. As a consequence, the presence of the signal H at the output of the OR-NOT 10 element allows the generator to generate pulses, the arrival of which at the clock input of the distributor 8 leads to a sequential run of the signal 1 at the outputs of the distributor 8 (k, K -f 1, ..., 2K , 0,1,2, ..., K, K, ..., 2K, 0,1, ..., etc.). If at the moment when, for some reason, the object still, by inertia, goes beyond the stop zone, Gt. descends below point H, and distributor 8 has a signal I at its i-th output (ic2K), TO will have a successive run of signal 1 from the output of the гоth to the 2K output and distribute the bodies 8. At the moment when signal 1 through Wits at the 2K output will distribute l 8, block 3 of the comparison starts comparing the code of the current position of the object T, coming from the outputs of the reversible counter 2, and the code of the point Nj Njj - Xjj, coming from the outputs of the adder 12. Since at this moment T Ng-Xji (i.e., signal 1 at the output is Less than block 3 of comparison, and there is signal 1 at the output of the element-OR 7, then at the output signal 5 and the signal 1 is injected (the command Rise) and is raised at the speed V. At the same time, since the output of the OR-NOT JO element has the signal O, the generator 11 is inhibited. When the object is raised (returning to the stop zone ) at the moment of passage. past the point of engine shut-off point ahead of rise) the inequality -Xj is replaced by the equality T NQ-X2j. and then due to movement to the inequality -Xj ,,. As a result, the Rise command disappears, since at the output Less than the comparison unit 3, the signal 1 changes to 0. From this moment the generator 11 causes the distribution. the divider 8 changes its position, but while the object is in the stop zone, the executive authority 9 does not have a controlling influence on the control object, i.e. the motor is disconnected - in this case, with lifting control, the proposed device, having a simple operation algorithm, allows, in addition to a multi-stage stop, to reverse the movement of an object if it accidentally overshoots outside the stop zone, and also allows you to enter a new task and during movement object. Compared to limestone device having 2K reversible counters according to the initial conditions setting scheme, the proposed device has only one reversible counter. Therefore, the circuit implementation of a combinational adder and an encoder based on a diode array is simpler than the realization of (2K - 1) reversible counters, a code switch and a block for setting initial states of reversible counters in a known device, therefore, the proposed device is simpler than the known one.

Claims (1)

A DEVICE FOR SOFTWARE CONTROL OF AN OBJECT WITH A K-STAGE STOP, containing a displacement sensor, ground by the first and second outputs, respectively, to the summing and subtracting inputs of a reversible pulse counter, a comparison unit connected by the first and second outputs to the first inputs of the first and second elements And connected respectively outputs to the corresponding control inputs of the actuating element and to the inputs of the OR-HE element, and second inputs to the outputs of the first and second elements OR, connected inputs with the first and second outputs (2K + 1) of the stepwise pulse distributor, connected by the installation input to the control output of the input unit, and the clock input - to the output of the pulse generator connected to the control input with the output of the OR-HE element, characterized in that , in order to simplify and improve the reliability of the device, the adder and are introduced in ijero; g an encoder connected by inputs to the first and second outputs (2K + 1) of the stepwise pulse distributor, and outputs, to the first inputs of the adder, connected by the second inputs to the information output of the input unit, and the output to the first input of the comparison unit, connected by the second input to output of a reversible pulse counter. 113083 With 1 from