SU272415A1 - Interpolator - Google Patents

Description

one.

The invention relates to the field of computer technology, in particular, to software management systems of schools.

Known interpolators are linear, coordinate, containing a random-access memory, blocks of speeds and accelerations, an arithmetic unit, a block of phase transducers, and a recording device.

The proposed interpolator is characterized in that it comprises a punched tape input device, random access memory analyzers, a control device, a parcel forming unit and a block of control counters; a punched tape input device is connected with a random access memory connected through valves connected to a control device and an arithmetic unit on binary multipliers whose outputs are connected to a control meter; a memory device is connected to random-access memory analyzers, the outputs of which are connected to the speed unit and the section formation unit. This allows you to mechanize the preparation of input information. The use of analyzers in the interpolator eliminates the recording on the punched tape of unchanged, repeating speed and braking parameters in subsequent frames, which increases the reliability of the interpolating system, reduces the consumption of punched tape and shortens the information preparation cycle.

FIG. 1 shows the functional scheme of the interpolator; FIG. 2 - a frame of input information recorded with punched tape; in fig. 3-diagram analyzer random access memory device.

Interpol torus contains: photo-readable

device 1; input device made on the decoder 2, the scheme 3 shift and switchgear 4; random access memory 5; valves 6; arithmetic on binary

multipliers x, containing coordinate registers 7 - //, match schemes 12-16, assemblies 17-21, recorder on circuits 22-37, trigger 38, divergence cell 39, generator 40, prohibition cell 41, single parcel allocation circuit 42, valve 43, assembly 44, toggle switches 45-49, buttons 50, 51, lamp 52, speed unit containing register 55, comparison circuit 56, reversible counter 57, analyzer 58, inverter 59, coincidence circuit 60, assembly 61, circuit coincidence 62, acceleration unit, containing coincident circuit 63, generator 64, divider 65, assembly 66, counter 67 and amplifier 68, unit formed and a plot containing register 69, a divider circuit 72, an analyzer 73, a trigger 74 and an inverter 75, a block of control counters 76. The design of the Interguller provides for the possibility of programming tool movement with an irregular line. In case of curvilinear movement, during programming piece linear approximation. All initial information about the technological process is recorded on a punched telegraph paper tape in a binary-octal code. Since the technological process can always be divided into a number of elementary processes, the reading of initial information in the interpolator is carried out by the zones in which the information of the corresponding elementary processes is recorded. Reading information recorded in one of the zones of punched tape, occurs every 20 times after working out the information of the previous zone using the input device. This information is recorded in random access memory and stored there until the previous zone is completely processed. 25 After processing the information in the previous zone, the central control device in schemes 38-44 produces an Iowuls Yako characterizing the end of the elementary technological process. This impulse gives the resolution to all the interpolator devices to read the information stored in the random access memory, and to write into it the information of the next punched tape zone. The initial information is processed by binary multipliers 7–21, which allow to obtain, through five independent channels, a different number and frequency of Yauk pulses, respectively, depending on the 40 numbers copied from the random access memory of the RAM to its registers, and the Yiwu impulse frequency at its input from a central control device. The Joup pulses are the control signals of 45 working parts of the equipment. Such a pulse — a pulse of a unitary code — causes the working member to move by an elementary step, the magnitude of which can change when the technological equipment 50 is changed. In order to ensure the necessary mode of the entire technological process, it is necessary to be able to set different speeds of movement of the workers of the equipment 55 bodies at different sites. Therefore, the speed unit is designed so that the frequency of the Yak pulse can be set, depending both on the number rewritten via random access memory from the punched tape to the corresponding trigger, and on the switch located on the control panel. The design of the interpolator provides for the possibility of a smooth change in the frequency of the immersion of the 35–5 th technological process, i.e., in necessary cases: smooth acceleration or deceleration. The magnitude of the acceleration is set by a switch, which is located on the left. The design provides the possibility of obtaining a constant and exponential acceleration. The magnitude of the brake process is recorded on a punched tape. Since two types of software systems for controlling technological equipment are known - phase and pulse, it is necessary to convert unitary code pulses either into phase-modulated signals for phase systems, or into pulses of the required duration and amplitude for pulse systems. These conversion operations in the interpolator are performed by special devices included in the recorder. The converted signals are recorded onto magnetic tape using a recording and monitoring console for impulse systems and a tape recorder for phase systems. The interpolator includes a block 76 of control counters, which makes it possible to check and monitor the recording of output information and the operation of individual devices during debugging and interpolator operation. When recording a program for technological equipment, it is necessary to break the entire technological process into several elementary processes, each of which characterized by its initial information recorded in separate zones (frames) of punched tape. To set the displacement equipment-along a straight line in space in an arbitrary manner, it is necessary to set the values of the direction cosines for five coordinates with their signs, the length of the linear section, the tool movement speed, the stopping distance, In fig. 2 shows one frame of information consisting of seven sub-frames. Each subframe has its own characteristic. The first subframe: the D5 parameter is the length of the linear portion; 16 bits, feature code 00001; Second subframe: If parade. v, where / is the stopping distance; 8 binary bits; v - speed; 8 binary bits Both parameters have a common feature code 01001; Third subframe: direction cosine on the x coordinate; 16 binary bits and a character, feature code 00101; Fourth subframe: direction cosine along the y coordinate; 16 binary bits and a character, feature code 01101; Fifth subframe: direction cosine along the z coordinate; 16 binary bits and sign,

Sixth subframe: direction cosine along the coordinate φ; 16 binary bits and a sign, the code of the sign 11011;

Seventh subframe: directional cosine along the coordinate f; 16 bits and a sign, feature code 10111, frame boundary code 11111, mark code "minus 11010. The absence of a mark code is perceived as a" ilus sign.

The information for the interpolator is prepared on the Minsk-2 electronic computer. It is easiest to check the non-tape tape on the same machine. In order to make this possible, the frame is built with machine instructions. Under the codes of signs, ten spaces are involved. Border and character codes remained machine. Additional machine commands are entered into the frame: address, transmission of the address, records necessary for entering information into the Minsk-2 computer, but not perceived by the interpolator. The information in the frame is arranged as it descends, starting with the most significant bit. Flexibility in duration is possible in the frame, i.e., the increment is perforated not from the 16th bit, but from the most significant one. If the increment is a vowel, then it is thrown, and the zeros are not perforated. Flexibility is excluded only in the second subframe, since it contains two parameters. Here flexibility is possible only at the expense of the first parameter. The second parameter, regardless of its value, always takes eight binary bits.

The operation of the interpolator in the automatic mode is carried out in the following way (see Fig. 1).

A photo tape is inserted into the photo reader. The toggle switch 46 is set to the position “Program. If the speed is set from the console, then the toggle switch 47 is set to one of the odd positions, the toggle switch 45 to the position Automatic. The toggle switch 48 is set to the position corresponding to the selected acceleration value; The position “toggle switch 48 corresponds to uniform acceleration, and the position“ Exp - to exponential acceleration. The toggle switch 49 is set to the position required by the program, for example, to the position “Constant.

Button 5 / "Start. The pulses with a frequency of 30 kHz, produced by the generator 40, are fed to a single parcel extraction circuit 42, which produces one pulse, which comes in at the input of the coincidence circuit. At its second input, pulses are received from the generator 40, passing through the divergence cell 55. The valve 43 outputs a pulse, P1, which emits a pulse to the end of the section to Yak. This impulse, passed through the assembly 44, will go to the photo-reading device / and will force it to punch the tape one frame. The signals from the photodiodes through the matching cascades are fed to the descrambler 2 coordinates and switchgear 4. The signals from the sync path come

on scheme 3 shift. The decoder 2 coordinates, depending on the feature code, opens the nodes of the distribution device 4, which pass signals from the photo-reading device / to the corresponding registers of the random access memory 5.

Random access memory is seven shift registers (by the number of subframes) with a counting input. The information shift inside the RAM registers is carried out using the shift signals produced by the shift circuit 5. Signal

“The stop produced by the two positioner decipher goes to the block of control counters for counting the number of processed frames on the prohibition cell 41 and on the trigger 38. Passing the prohibition // cell, this signal is

The impulse of the YAK through the assembly 44 enters the valves 6, allowing the registers of the interpolator to read information from the random access memory 5, will erase the information stored previously in the operational

the storage device 5, and starts the photo-reading device /, thus entering the next frame. The pulses generated by the trigger 38, triggered from the signal “stop, arrive at the prohibiting entrance of the prohibition cell 41, thus terminating it. The formation of pulses from the Yaku signals "stop. Thus, after pressing the button, the Start Interpolator will be in the following state:

1) in the random access memory 5 the information of the second frame of the punched tape is stored;

2) information of the first frame of a punched tape is stored in the registers of all interpolator devices. Interpol can work with:

a) normal mode - the speed of movement of the equipment tool does not change;

b) a uniform acceleration mode — on the initial section of the elementary process, the speed increases from 0 to 1) 2 with a constant acceleration set by the toggle switch 45;

c) non-uniform acceleration — in the initial part of the elementary process, the speed increases from Y to V2 with acceleration varying exponentially, where the initial acceleration is not set by the toggle switch 48;

d) the mode of uniform braking - on

final plot / elementary process

scrapping decreases from V2 to ultrasound with a constant

the acceleration set by the toggle switch 48;

e) non-uniform braking mode -

in the final part of the If elementary process, the speed decreases from 09 to UZ by an exponential law, where the initial acceleration is set by the toggle switch 48. Consider the operation of the intertolator when

After the arrival of the second pulse, the information of the first frame of the punched tape, recorded in the random access memory 5, will be overwritten into the registers of the interpolator. The increments of the coordinates are listed in the coordinate registers of binary multipliers in schemes 7-21. The speed is stored in speed block register 55 in circuits 53-62. The stopping distance is transcribed to register 69 of the section formation unit. The length of the area being processed is overwritten into counter-divider 72 of the section formation unit.

So, the speed code was written to register 55. In the comparison circuit 56, a comparison is made for equality of the contents of the register 55 and the reversible counter 57. In the initial state, the reversible counter 57 is empty. There is no signal at the output of the comparison circuit 56. This means that at the output of the inverter 59 there will be a pulse, which through assembly 61 will prepare to pass a matching circuit 62, to the second input of which the signals from the output assembly of the counter-separator 72 are input. The assembly of all the digits of the counter-divider is connected to this assembly. Since the second impulse to Yaku recorded in the counter-divider 72 information about the length of the section being processed, the output will necessarily contain a signal. This signal, having passed the coincidence circuit 62, will go to the input of the coincidence circuit 60, passing incoming pulses through the toggle switches 48 and 49 from the divider 65 pulses. These pulses will begin to fill the reversible counter 57, which, by the very first impulse of Yak, was set to summing mode. As soon as the contents of the reversible counter 57 and the register are compared, the comparison circuit 56 will generate a comparison pulse, which, when inverted on inverter 59, closes the coincidence circuit 62 and stops filling the reversible counter 57.

The contents of the reversible counter 57 are constantly compared with the contents of the divider 65 filling from the generator 64.

Comparison pulses with a frequency determined by equal bits come from matching circuits 63 through assembly 66 to counter 67 to generate exponential acceleration codes and through a matching circuit 71 to counter-divider 72.

. Signals from the output assembly of counter 72 are stored at the second input of the matching circuit 71, therefore, if some information is recorded in counter 72, then the matching circuit 71 is prepared for transmission. Counter-divider 72 operates in a mode of (subtraction. Yak’s pulse records the length of the processed line in it, and the signals coming through the coincidence circuit 71 are subtracted from the recorded value.

assembly 66 will obviously increase with an acceleration determined by the selected value. As soon as a number equal to the speed code recorded in register 55 is recorded in the reversible counter 57, the filling of the reversible counter will stop, and from the assembly 66 the pulses will go at a constant frequency. The same will happen with the counter-divider 72.

Subtraction will occur at an increasing rate, which will become constant when the programmed value is reached. The contents of the splitter counter 72 are constantly compared with the contents of register 69 where the stopping distance If is recorded

In comparison, 12 older digits of the counter-divider 72 are involved. The four lower digits are neglected, since

From the viewpoint of technological requirements, the error introduced by dropping the four minor bits of the length of the linear section being processed during the formation of the deceleration section is not critical.

From the very beginning of operation, the pulses from the counter-divider 72 arrive at a bit on the coincidence circuits of 12–16 blocks of binary multipliers. The output signals of the coincidence circuits 12-16 pass through the assemblies 17-21 and, in the form of pulses of the unitary Yauk code, go to the control meter block 76, to the removable switch 35 of the recorder for the impulse software control systems, to the scaling circuits 22-26

phases, from where the signals go to phase shifters 27-31 and then to the recorder for the phase systems of the software control of the machines. As soon as the contents of counter divider 72 compare with the contents

register 69, the comparison circuit will generate a comparison pulse. setting the reversible counter 57 to the subtraction mode and launching the trigger 74, the pulses from the output of which through the assembly 61 will open the matching circuit 62. This

the circuit, in turn, pulses from the output assembly of the counter-divider 72 will open the circuit 60 to match, skipping to the reversible counter 57 pulses of acceleration I

Since the reversible counter 57 works

Now in subtraction mode, speed reduction will begin. This reduction will occur with the selected acceleration. The frequencies arriving from the coincidence circuit 63 via the assembly 66 and the coincidence circuit 71 to the counter separator 72 will begin to decrease, i.e., the subtraction of information from the counter-divider 72 slows down.

As soon as the contents of counter divider 72 become zero, the absence of a signal at its output assembly closes the coincidence circuit 71, stopping the arrival of the Yiwu speed pulses to the counter-divider 72; will close the coincidence circuit 62, thereby closing the coincidence circuit 60 and terminating the receipt counter 57 and, having passed the inverter 75, will go to assembly 44 in the form of a pulse at the end of the section to Yak. This impulse YAKU will launch a photocamp for entering the next frame, erase the contents of the coordinate registers 7-11 of the binary multipliers block, write to the interpolator devices the frame information stored in the random access memory 5. Then clear it, set the phase shifters to Yu, plus triggers the trigger 74 and arrives - on the analyzer 58 on speed and analyzer 73 on the braking section. In various technological processes the following options are possible: 15 speed V and braking distance / (: 1) and 1 (-ism it from the previous frame; 2) V m If - to keep in the same form as that in the previous frame; March 20) V edit / save in the same form. as in the previous frame; 4) If change, v save in the same form as in the previous frame. For convenience of programming, the following is provided in the interpolator. In the first of these cases, the interpolator works in the normal manner. In the second case, the speed and stopping distance are not perforated. Zeros are written in the corresponding registers of the RAM. In this case, the analyzers 58 and 73 of the random access memory of 1- and /, will not miss the corresponding registers 55 and 59 of the pulse and they will contain 35 information from the previous frame. In the third case, the tape is perforated in the usual manner. In the fourth case, If is perforated, and V is not perforated. Then, in the speed register of the operative jamming device 40, zeros will sweep, and the speed memory analyzer 58 will not miss the pulse of the end of the segment to the speed register 55, Thus, in the speed register 55, the speed code 45 of the previous frame will remain. In this case, the speed code is punched first on the punched tape, and then the stopping distance code. Such is the work of the interpolator in automatic mode. When the speed is set from the console, the bollard-50 lehr 46 is set to the "From the console, and the toggle switch 47 is in one of the even positions. The pulses generated by the generator 39 arrive at the prohibiton entry of the inhibit cells 41, stopping the flow of information from the random access memory 5 to the speed register, and the pulses from the toggle switch 47, depending on its position, arrive for a certain bit of the speed register. Consider the work of the interpolator in single mode. In this case, the toggle switch 45 is set to the “Single. By pressing the start button 51, we generate a pulse to the Yak, which through the toggle switch 45 enters the tape drive mechanism of the photo reader device / for pulling a punched tape for one frame. The information of the first frame will be recorded in the operational device 5. By a second pressing of the button 51, the information of the first frame is copied from the operative memory 5 to the interpolator device, the photo reader / retracts the frame one more frame, sending the information to the second frame in the memory. As soon as the interpolator arrives in the device, it is received from the operational G10, the miner unit 5. The interpolator begins processing the frame. After the frame processing is completed, the impulse from the assembly 44 erases the information from the interpolator registers. Press the button 51 to enter the next frame information into the random access memory 5 and rewrite the previous frame information into the device. At the end of the program, the button 50 "Reset. Interpolator linear, coordinate, containing random access memory, blocks of speeds and accelerations, arithmetic unit, block of phase transducers, ptroytroystvo records, characterized in that mechanization of the preparation of input information, it contains an input device from a punched tape, analyzers of operative storage device, a control device, a unit formed by a plot and a block of control counters, and the input device from a punched tape is connected with operational ominayuschim device connected through gates connected to a control device and an arithmetic device for binary tnozhitel y x, the outputs of which are associated with the control unit counters; A memory device is connected to a random access memory analyzer, the outputs of which are connected to the block and form the speed and segment. B; 5 b 31: