SU1472873A1 - Device for electric motor control - Google Patents

Abstract

The invention relates to automation, in particular to positioning elements of a stepper drive, and can be used in software systems for controlling machine tools. The purpose of the invention is to expand the scope. The device for the electric motor contains a control unit, synchronous triggers, RS - trigger, code-frequency converter, AND elements, OR elements, pulse generator, reversible pulse counters, acceleration code setter, maximum speed code setter, code match blocks, pulse counter, block gating, one-shot, shapers of reverse acceleration of the blocking signal, inverters, triggers. 4 hp ff, 5 ill.

Description

The invention relates to automation, in particular to positioning elements of a stepper drive, and can be used in software systems for controlling machine tools.

The purpose of the invention is to expand the field of application of the device.

Figure 1 is a block diagram of a device for controlling an electric motor; 2 is a block diagram of a control unit; FIG. 3 shows the schemes of the first and second shapers of the acceleration reverse pulse and blocking signal, respectively; Fig. 5 is a timing diagram of the signals associated with the change of state of the second reversible counter 7.

A device for controlling an electric motor (Fig. I) contains a control unit 1, synchronous triggers 2

and 3, code-frequency converter 4, AND 5 element, pulse generator 6, reversible pulse counter 7, accelerator code setting unit 8, code matching unit 9, AND 10 element, OR element 11, reversing pulse counter 12, synchronous trigger 13, RS - trigger 14, block 15 matches the codes, unit 16 of the maximum speed code.

The control unit 1 (Fig. 2) contains a pulse counter 17, a gating unit 18, an OR 19 element, a single vibrator 20, a shaper of an acceleration reverse and a blocking signal, an OR 23 and 24 element, an inverter 25.

A shaper 21 of an acceleration reverse pulse and a blocking signal (FIG. 3) contain elements And 26 and 27,

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element OR 28, trigger 29, element AND 30.

The shaper 22 of the acceleration reverse pulse and the blocking signal (Fig. 4) contains a trigger 31, elements AND 32.33, a trigger 34, inverters 35 and 36.

Fig. 5 shows time diagrams of signals associated with a change in the states of a reversible counter 7: a - at the first output of the generator 6 pulses; b - at the second output of the generator 6 pulses; in - at the third output of the generator 6 pulses; d - at the output of synchronous trigger 3 | d - at the output of the device for controlling the electric motor; e - pulses of change of state of the reversible counter of 7 pulses; W - at the output of the element OR 11 (counting pulses of the reversible counter 12 pulses); h - at the overflow output, when counting for subtracting a reversible counter, 12 pulses.

Roman numerals denote: I — time interval defined by the current state of the reversible counter 12 pulses; II - pulses recalculated to the position by a reversible counter of 12 pulses, the quantity is determined by the setting code 16 of the maximum speed code; III - pulses recalculated for addition by a reversible counter of 7 pulses after blocking the element AND 10 with a signal from the output of the block 15 of coincidence codes; IV - pulses recalculated for subtraction by a reversible counter of 7 pulses after resetting the synchronous trigger 13; V - pulses recalculated for subtraction by a reversible counter of 12 pulses,

The diagrams e and x show the state of reversible counters of 7.12 pulses, respectively, after the next recalculating pulse. The diagrams reflect the case of testing a given movement with an output at maximum speed. h

Pulse generator 6 is a multi-phase clock generator, generating pulse sequences at the outputs, the pulses at the second and third outputs being separated in time from each other and relative to the fronts of the pulses at the first output and occurring for each half period

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and the pulse sequence at the first exit.

The device for controlling the electric motor works as follows.

In block 1 of control, the code of the specified movement is set on the information bus when the pulse passes.

10 recordings coming from the line Recording the data of the device for controlling the motor by the falling edge of the recording pulse is set to synchronous trigger 2, which causes the synchronous trigger 3 to be set to the leading edge of the next pulse from the output of the 4 code-frequency converter, which arrives through element 5 on the output of the device for controlling the electric motor, causing the drive unit to move one discrete movement, as well as the control unit 1 arriving at the first input, where the quantity and the pulses of testing a given displacement and the formation of control signals at the outputs of the control unit 1 by means of pulse sequences from the outputs of the generator 6 pulses;

A reversible pulse counter 7, from which, after the synchronous trigger 3 has been set, a reset signal is taken, counts the pulses from the second

35 of the output of the generator of 6 pulses, over a time interval determined by the sensor 8 of the acceleration code and with the help of a block 9 of codes, the output of which through the second

40 input element And 10, the second input element OR 11 is fed to the first reset input of the reversible counter of 7 pulses, forms a pulse arriving at the counting input.reverse

45 of the pulse counter 12, which is also freed from the reset signal after the synchronous trigger 3 is installed. The initial state of the synchronous trigger 13 and the RS flip-flop 14 is set so that the recalculation of the addition of the reversible counters 7, 12 pulses is implemented.

The increase in the state of the reversible counter 12 pulses leads to

5 to a proportional increase in the frequency of the output pulses up to the maximum value, if the control unit 1 has not generated signals for this moment of time leading to reversal ;, acceleration of the electric drive. The state of the reversible pulse counter 12, corresponding to the maximum speed of the electric drive, is determined by the block 15 of match codes using the maximum speed code setpoint 16. The output signal of the code matching unit 15 is fed to the first input of the element AND 10 and blocks the formation of counting pulses for the reversing pulse counter 12, while the reversing counter of 7. pulses continues to recalculate the pulses for addition without overfilling, which is ensured by its corresponding bit.

After the reversal of the acceleration, which corresponds to the reversal of the counting direction of the reversible counters of 7.12 pulses, the previously accumulated pulses of the reversible counter of the pulses 7 are counted before the appearance of the pulse at the overflow output when the subtraction counts are received through the first

the input of the element OR 11 to the first input of the reset of the reversible counter of 7 pulses and the counting input of the reversible counter of 12 pulses and the falling edge of the synchronous trigger 13, the output signal of which again sets the counting direction of the reversible counter of 7 pulses - addition. The state of the reversible counter 12 pulses decreases to zero, the appearance of a pulse at its output overflow when counting for subtraction, which is a sign of the end of testing a specified movement, results in the reset of synchronous triggers 2,3 and blocking the passage of the output pulses of the converter 4 code - frequency through the element And 5 to the output device.

The code of the specified movement by the data recording pulse is received in the control unit 1 of the pulse counter 17, which performs the recalculation of the pulses from the second and third outputs of the generator 6 of pulses, which coincide with the output pulses of the device, which is provided by the gating unit 18. A pulse from the overflow output of the pulse counter 17 is a sign of working out half of the specified movement if the code of the specified movement reduced by one is entered into the pulse counter 17. Therefore, the counting input of the counter 17

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pulses through element 5

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five

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5 0 5

blunt impulse from oscillator 20 when installing synchronous trigger 3.

The need for communication between the output of the synchronous trigger 3 and the second input of the control unit 1 arises in the case when in the pulse counter 17 it is possible to record only the code of the specified movement without decreasing by one. Then the installation of the synchronous trigger 3 causes the one-shot 20 to form a pulse arriving through the OR element 19 at the counting input of the pulse counter 17, reducing its state by one before the arrival of the counting pulses from the output of the gating unit 18. An overflow pulse, which is a sign of the end of acceleration, is fed to the inputs of the formers 21,22 of the acceleration reverse pulse and the blocking signal, the output signals of which are fed to the corresponding outputs of the control unit 1 through the OR elements 23,24, respectively. Switching on one or another generator to work determines the signal on the line mode connected to the second control inputs — the generator 21 of the acceleration reverse pulse and the blocking signal through the inverter 25, and the generator 22 of the acceleration reverse pulse and the blocking signal directly.

In the accelerator reversal pulse former 21 and the blocking signal, an overflow pulse arrives at the first inputs of the elements 26, 27, respectively, by which an odd or even counting input pulse from the output of gating unit 18 is caused by the formation of an overflow pulse by the counter 17. In the first case, the pulse overflow, coinciding with the pulse at the second output of the generator 6 pulses, flows through the element OR 28 to the first output of the driver 21 of the acceleration reverse pulse and the blocking signal. In the second case, the overflow pulse sets the trigger 29, which is discharged by the pulse from the output of element 30 And during the next output pulse of the device.

For a given displacement, expressed by an even number, the acceleration end impulse and the acceleration reverse impulse coincide, but if the specified displacement is expressed by an odd number, then

these pulses are spaced apart and are transmitted to adjacent output pulses of the motor control device, while the trigger 29 blocks the recalculation to the addition of a reversible pulse counter 7, which allows to obtain a time diagram of a change in the states of a reversible pulse counter 7, symmetrical with respect to the middle of the time interval between the end pulse acceleration and acceleration reverse impulse. The overflow output pulse, when counting the subtraction of the reversible pulse counter 12, occurs after the last movement of the output pulse of the motor control device specified for the test and is a sign of the end of the development of the specified movement. This pulse is fed to the reset inputs of synchronous triggers 2 and 3, blocking the further formation of the output pulses of the device.

The mode of operation of the device in which the start of braking of the electric motor is regulated not by a specified movement, but by a signal along the line Braking is realized when there is a signal 1 on the line Mode blocking elements AND 26,27.

In this mode, the code that is rewritten into the pulse counter 17 prior to the start of displacement determines the maximum speed to which the engine is accelerated, as well as the acceleration and deceleration path values. An overflow pulse from the output of pulse counter 17 sets the trigger 31 and, if the braking signal by this time is not wired, the output signal of the AND 32 passes to the second output of control unit 1, blocks the recalculation of the reversing pulse counter, while the drive speed is constant .

In the case when the signal O is present on the line, the setting of the trigger 31 is blocked, the control signals at the first and second outputs of the control unit 1 are formed from the accelerator reverse impulse generator 21 and the blocking signal, and the start of deceleration is determined by the values of secret movements.

When a signal appears on the line, the Deceleration signal is blocked from the second output of the control unit 1

is removed, and at the element AND 33 and the trigger 34 a pulse is generated, which is equivalent to the action of the acceleration reverse pulse.

Claims (4)

1. A device for controlling an electric motor, containing a pulse generator, the first output connected to the synchronization input of the converter is frequency, the first reversible pulse counter, counting input connected to the output of the RS flip-flop, and the output to the input of converter code-frequency and first the input of the first block of code match, the second input of the maximum speed code connected to the master, and the output. with the first input of the first element l, the second input of the second matching block connected to the output, the first input of which is connected to the output of the acceleration code setter, characterized in that, in order to expand the scope of application, a second reversible pulse counter, control unit , three synchronous triggers, the second element AND, the element OR, the control unit of the first and second gating inputs, the synchronization input connected to the first, second and third outputs of the pulse generator, information strokes - with the information bus of the device for controlling the electric motor, the recording input and the initial setting - with the signal line of the recording data of the control device, to which the inputs of the RS-flip-flop and the first synchronous flip-flop and the synchronous input of the second synchronous flip-flop are also connected, the first input is connected to the control the output of the second element And, which is the output of the device for controlling the electric motor, the first and second control inputs, respectively, with the Mode and Braking lines, the blocking input — with RS-flip-flop output, the first output - with the reset inputs of the RS-flip-flop and the first synchronous trigger, the second output - with the input of the account lock to add the second reversible pulse counter, the input of the account lock and the counter input of the second reversing the imputuses counter are connected respectively to the first and second outputs of the pulse generator, the counting input input to the outputs of the first synchronous trigger, the output to the second input of the second code matching unit, the overflow output of the subtraction counting to the synchronous input of the first synchronous trigger and the first input of the OR element, second the input of the OR element is connected to the output of the first element AND, and its output to the counting input of the first reversible pulse counter and the first reset input of the second reversible pulse counter, second the second reset input of the second reversible counter, the reset input of the first reversible counter and the first input of the second element I are connected to the output of the third synchronous trigger, the reset inputs of the second and third synchronous triggers are connected to the overflow output when counting for the subtraction of the first reversible counter, the output of the second synchronous trigger is connected to D-input of the third synchronous trigger and the second input of the second element And, the output of the converter code - frequency is connected to the synchronous input of the third synchronous trigger and the third in House second element I. 2. The device according to any one of the preceding claims is that the output of the third synchronous trigger is connected to the second input of the control unit. 3. The device according to claims 1 and 2, whether or not the control unit contains a pulse counter, a gating unit, the first and second accelerator reverse impulse and blocking signal drivers, three OR elements, an inverter, a single vibrator, a block input The gating and the first control input of the first reverse pulse generator and the blocking signal are connected and are the first input of the control unit, the first gate input of the gating unit, the first gates inputs of the first and second accelerator reverse pulse generator and signal The blocking inputs are connected and are the first gating input of the control unit, the second gating inputs of the gating unit and the first generator of the reverse pulse and blocking signal are connected and are the second input of the gating control unit 72873 0 In this case, the one-shot input is the second input of the control unit, the information inputs of the nmile counter are information inputs of the control unit, the pulse counter recording input and the initial installation input of the second reverse pulse generator and blocking signal are input and control, the pulse counter reset input is the lock input of the control unit, the inverter input and the first control input 15 of the second reverse pulse shaper and the lock signal oedineny and are the first control input of control unit, second control input and a synchronization input vtorog The 20th reverse pulse shaper and blocking signal are the second control input and the synchronization input of the control unit, respectively; the outputs of the first and second OR elements are respectively the first and second outputs of the control unit; the pulse counter overflow output is connected to the inputs of the first and second pulse shapers reverse and blocking signal, counting input - with the output of the third element OR, the first input of which is connected to the output of the gating unit, and the second input - with the output, o, 5 of the vibrator, the first element OR two inputs are connected respectively with the first outputs, and the second element OR - with the second outputs of the reverse and signal pulse shapers 4Q blocking, the inverter output is connected with the second control input of the first 4 reverse pulse shaper and blocking signal. 4. The device according to p. 3, tl and 45 is alternate - the first shaper of the acceleration reverse pulse and the blocking signal contains three elements AND, a trigger, an element OR, the first inputs of the first and second elements I are connected and are the input the former, the second inputs of the first and second elements AND are connected and are the first control input of the former, the third inputs of the first and its second And elements are respectively the first and second gating inputs of the driver, the first input of the third element is the second control input of the driver, the output of the OR element is the first output of the driver, the trigger output is connected to the second input of the third AND element and is the second output of the first the first driver, the outputs of the first and second elements AND are connected respectively to the first input of the OR element and the input of the trigger installation, the reset input of the trigger is connected to the second input of the OR element and the third output its element is And, the third entrance of which is connected to the third entrance of the first element I. 5, The device according to p. 3, tl and the fact that the second accelerator reversal pulse shaper and the blocking signal contain two triggers, two elements And two inverters, the installation input and the installation input of the installation of the first trigger are respectively input and the first control input, the reset input of the first trigger and the setup input of the second trigger are connected and are the input of the initial installation, the first and second inputs of the first element And are respectively the synchronization input and the gate input, the third input of the first element Both And and the input of the first inverter are connected and are the second control input, the output of the second inverter is the first output of the second generator, the output of the second element And is the second output of the second generator, the first input of the second element And is connected to the output of the first trigger, the second input of the second element And connected to the output of the first inverter, the reset input of the second trigger is connected to the output of the first element And the output of the second trigger connected to the fourth input of the first element And the input of the second inverter. 1 initial installation Information faofo / food second entrance first entrance c / npofa wSww / 3 / 77O0OU b / od c / 7 00 & №OS0M #. 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