SU1603346A1 - Device for controlling positioning - Google Patents

Abstract

The invention relates to the field of automation and computer technology and can be used in specialized computing devices designed to control positioning, in particular, the executive device of the machine. The purpose of the invention is to increase the reliability of the device by forming a dead zone between the fine stop zone and the boundary of the control zone. The goal is achieved by introducing a trigger, the first and second elements OR, the AND element, the first and second elements BAN, into the known device containing the processing unit and issuing motion control commands, the execution unit and the machine control unit. The introduction of new elements makes it possible to reduce the likelihood of the executing unit coming out of the control zone due to an increase in the moment of resistance and the elasticity of the drive when it is turned off. 2 Il.

Description

The invention relates to computing and can be used in specialized computing devices designed to control positioning, in particular, the executive device of the machine.

The purpose of the invention is to increase the reliability of the device by forming a dead zone between the fine stop zone and the boundary of the control zone.

Fig, 1 shows a functional diagram of the device; Fig. 2 is a diagram of the formation of commands at the outputs of the processing unit and the issuance of motion control commands.

The device (Fig. 1) contains the processing and outputting control commands 1, the executing unit 1, the unit 2, the control unit for the machine, trigger 4,; the first 5 and second 6 elements of I.TSh, the gold of And 7, the first 8 and second 9 elements of the BAN.

The device works as follows.

Before launching the device, using the keyboard of the block, enter in block 1 of the tamper & Ie measure of the workpiece (machine programs) and settings

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U1-U4 on the formation of K1-K4 commands on speed reduction and disabling the movement of executive unit 2 during positioning. The amount of movement of the executive unit 2 is monitored by the movement sensor of the executive unit 2, which is part of unit 1.

After the device is put into operation (block 1), comparing the difference between the required size of the meter (stored in the memory of block 1) and the coordinate of the executive block 2 (measured by the sensor) with the values of the settings, U1-U4 generates commands K1-K4, LD on its outputs , PD in accordance with FIG. 2. If the difference between the required size of the meter and the coordinate of the actuator U exceeds the set point U4 () Hai and the corresponding output of block 1, LD or AP commands are formed, depending on the desired direction of movement of the actuator 2 to the point position onirovani. In this case, the KI-K4 commands on the corresponding outputs of block 1 are disabled. The commands LD (PD) through the element BAN 9 (8) is fed to the corresponding input of the execution unit 2. JQ

The accelerated movement of the actuating unit 2 to the positioning point begins, the difference between the required measurement value and the coordinate of the actuator U decreases.

Under the condition of ultrasound ii 1 V4, at the output of block 1, a command K4 is formed, including the intermediate speed of movement of the actuator 2.

Under the condition of the ultrasound, the K4 command is turned off, and at the output 1.4 of block 1, a short-circuit command is generated, including via the OR 6 element the K7 command for the slowed speed of movement of the executive block 2;

Under condition Y, the short circuit command is turned off, and at the output 1.5 of block 1, a command K2 is formed, which through the element -OR 6 supports it. the on state, the K7 command, and through the OR element 5 sets the 4 level at the R input of the trigger. There is no change in the output state of the trigger 5 and the speed of movement of the execution unit 2.

Under the condition | B1, U1, at output 1.2 (or 1.3) of unit 1, the command is turned off.

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Yes, the choice of the LD direction (or PD), at output 1.5, is the K2 command, and at output 1.6, the K1 command activates trigger 4 on the S-input to state 1. At the same time, the K8 command (K9) at the output of the BAN 9 (8) is turned off and the movement of the executive unit 2 is stopped. At the output of the element And 7, a level 1 is set, which includes the command to end the positioning KB.

Thus, the shutdown of the execution unit 2 was performed when it was hit by the K1 command (setpoint D1).

If the execution unit 2 stopped in the zone I DI U2 when the movement was turned off (commands K1 or K2 are on), then it is in the control zone, trigger 4 is set to state 1 and commands K8 and K9 to move the execution unit 2 are disabled.

If at shutdown of movement due to overrun or rebound of the executive unit 2 I y | U2, commands K1 and .K2 are turned off and at the output of the element OR 5, the level O is set, resetting trigger 4 along the R-line to the state O. At this, through the element E7, the command KB about the end of positioning is disconnected and the blockage of passing the command LD (PD) through element BAN 9 (8). At the entrance of the Executive unit 2 receives the command K8 (K9). The operation of the device in this case is determined by the value of D and corresponds to the cases described above. In cases where) UZS or UZ IbU4 or.

Thus, the re-activation of the K8 (K9) command to move the execution unit 2 in the case of its exit from the control zone occurred when the K2 () command was disabled, i.e. the device at the exit of the executive unit 2 from the exact stop zone has a dead zone, see the difference between the settings of U1 and U2 for the formation of the K2 and K commands.

The proposed control algorithm for the positioning of the execution unit 2, which allows to form a dead zone between the exact stop zone and the boundary of the control zone, reduces the probability of the exit of the executive block 2 from the control zone due to an increase in the resistive moment and the elasticity of the drive when it is turned off. -: makes the actuator stop in the control zone when possible overruns.

Claims (1)

Invention Formula A device for controlling positioning, comprising a processing unit and issuing motion control commands, an execution unit and a machine control unit, characterized in that., In order to increase " j device reliability, a trigger, the first and second elements OR, the element AND, the first and second elements BAN, and the control output of the stop command of the processing unit and issuing motion control commands are connected to the first input of the first OR element and to the installation input of the trigger, my output of which is connected to the first input of the element I and to the inverse inputs of the first and second elements of the BANGE, the outputs of which are connected respectively to the control inputs of the right and left movement of the actuating unit conductive intermediate output processing unit speed command issuing control commands s movement is coupled to a control input of the intermediate speed execution unit, control outputs commands the left and right movement processing unit and issuing motion control commands are connected respectively to the direct inputs of the second and first elements of the BAN, the first control output of the slow speed command of the block processing and issuing control commands movement is connected to the first input of the second OR element and to the second input of the first OR element, the output of which is connected to the inverse reset input of the trigger and to the second input of the AND terminal, the output of which is connected to the control platoon of the positioning end of the machine control unit, the second control output commands for the slow speed of the processing unit and issuing motion control commands are connected to the second input of the second OR element, the output of which is connected to the slow speed control input of the execution unit. Phage.1 - and t t У2 ш О У1 У2 УЗ У4: Phage.2