SU877476A1 - Device for technical process program control - Google Patents

Description

(54) DEVICE FOR PROGRAM MANAGEMENT OF TECHNOLOGICAL PROCESSES

one

The invention relates to automation and computer technology and is intended for use in manipulators and other objects when creating robotic complexes.

A device for software process control tl is known.

However, this device does not contain feedbacks to the controlled object, which limits its scope.

Closest to the proposed technical entity is a device for software control of technological processes, which contains a memory block and a code converter connected to the first input of the device, connected by an output to one input of comparator I.

This device allows you to control various types of single objects (for example, manipulators), but it does not provide simultaneous

GO controls a group of objects and does not have a bus connection with technological equipment. This limits the functionality of the device and limits its scope.

The invention is an extension of the field of application of the device.

This goal is achieved by the fact that a code converter connected to the first input of the device and a code converter connected to the one input of the comparator are connected to the device for software process control, which are connected to the one input of the comparator,

IS decoder, zero - indicator, pulse generators, counter and keys connected to the outputs of the device outputs in the inputs - to the output of the first block of registers connected to another input

20 of the comparator, the output of the first pulse generator connected by the input to the first inputs of the first block of registers, the memory block, the second generator of the IMPUL1: X.: OA and CMOTII-IKil, V lOpl-O) |. a memory unit connected to the second input of the first block of registers and one input of the switch connected to another input to the second input of the device through the second register block, another input of which is connected to the third input of the first block of registers, another input of the code converter, the third input of the block pam The output of the second pulse generator, whose third input through zero is the indicator and the third pulse generator is connected to the output and the third input of the counter, respectively. FIG. 1 shows a functional diagram of the device: in FIG. 2 shows a command format; in FIG. 3, control sync pulses. The device comprises a bus 1 for communication with an external equipment, a second block 2 of registers (input register), a switch 3, the register 2 and a switch 3 constituting the block 4 for communicating with external equipment, a bus 5 of control actions, keys (they also amplifiers) 6, the first pulse generator 7 (driver of the duration of control actions), the first block of 8 registers (output registers), the amplifiers 6, the generator 7 and registers 8 constitute the block of control actions 9, block 1O of memory, block 11 control consisting of a second generator 12 and pulses (sync pulses), zero-indicator 13, counter 14, third (low-frequency) generator 15 pulses and decoder (commands) 16, bus 17 communication with sensors, code converter (communication unit with sensors) 18 and comparator 19. Block 4, communication with external equipment is intended for receiving and analyzing signals of the state of external equipment with which control objects interact and which itself can be a control object. The external equipment is connected to the input of the device via bus 1, the signals from the equipment are fixed on the input register 2 in block 4 and then through the switch 3 of this unit are connected to the input of the memory block 10, where the status of these signals is analyzed. The other input of the switch 3 is connected to the output of the memory block 10. This input is used to specify the number of the external input, the state of which is to be fed to the input of memory block 10. The control unit 9 poo.-ichi-tygi gedivononon for storage, shaping the duration, amplification and issuance of control actions on the control objects that are connected to the block via bus 5. The block consists of a number of output registers 8 (according to the number of control objects ), amplified by the amplifiers 6 and the driver 7 for the duration of the control actions. The information inputs of the registers 8 are connected to the output of the memory block 1O. The control inputs of the amplifiers 6 are connected to the output of the generator 7, the input of which, as well as the control inputs of the registers 8 are connected to the corresponding outputs of the decoder (commands) 16 in the control unit 11. Keys 6 provide galvanic isolation and amplification of control signals. Memory block 10 is designed to store the control program, select and issue commands to blocks 9, 4, and 11. The block contains standard memory elements: an address counter, a memory device, and an output register. The output of the block is connected to the inputs of blocks 4, 9, and 11, the first control input is connected to the output of block 4, and the second to the output of the decoder 16 commands in block 11. The last input to the memory block receives the counter change signals (program branch). Unit 11 is designed to control the operation of all components of the device using operation signals and sync pulses, as well as for sampling programmable time delays. The block consists of a decoder 16 commands, a generator 12 clock pulses, zero - indicator 13, counter 14, low frequency, generator 15. The counter input of counter 14 is connected to the output of low frequency generator 15, the control input of which is connected with the output zero - indicator 13, whose input is in turn connected to the output of counter 14. The control inputs of counter 14 and generator 12 of clock pulses are connected to the corresponding outputs of the decoder 16 commands. Output zero - indicator 13 is connected to the control / generator input of 12 clock pulses; . - At this input, the clock pulses are blocked in the absence of zero on the counter 14, the second control input of the clock generator 12 is the input of the unit for connection to the comparator output 10 sec io 1.k. blocking of clock pulses in the presence of an incomparable signal. The decoder 16 commands with the corresponding outputs are connected to blocks 10 and 9. The outputs of generator 12 are connected to the synchronization inputs of all blocks. 1 The operation signals from the decoder output and sync pulses from generator 12 control the operation of the trigger circuits (registers) in all blocks of the device. The sensor communication unit 18 is designed to receive signals from the position sensors of the control objects, convert them to binary code and output it to the first input of the comparator 19 (the current position of the control objects), the second input of which is connected to the output registers 8 of the block 9. The compiler 19 is connected to the control input of the generator 12 clock pulses in block 11. Comparator 19 compares the current position of the control objects with this one. The device works as follows. It is designed to execute a group of commands for controlling the output registers of block 8 (at least eight commands); conditional skip commands on the state of one of the inputs of bus 1; unconditional branch commands; commands for setting programmable timeouts; conditional posture commands based on the state of one of the bus 1 inputs; stop commands. Other types of commands can be implemented. The command (Fig. 2) has two fields: the QC command code field, and the address field. The command code is converted into signals of separate operations by the decoder 16. The operation signals are controlled by entering the address part of the command into the output registers of block 9, counter 14. The order of selecting commands from a memory device is sequential over the address counter and can be changed using conditional and unconditional branching commands by storing the address from the output register of memory block 10 into the address counter of this block. When the device is started up in block 11, a group of control sync pulses begins to be generated (Fig. 3). Pulse I1 fetches a command from the memory of the memory block 10. The T1O pulse I2 occurs with the fixation of the states 1 and 6 6 17 on the registers in blocks 4 and 18. By the pulse I4 the address in the memory unit is increased by one. The impulse FROM is the execution of commands. According to the output control commands 8, information from the address part of the command register is entered into one of the registers 8 of the block 9. Information from the upper batch of the register 8 is fed to the input of the amplifier 6, where it is gated with a signal from the output of the generator 7 (for example, a one-shot) and delivered along the splint, 5 to the control object, which begins a corresponding movement in space. Due to the fact that the position of the object coordinates specified at the output of the register 8 compared to the current position of the coordinates at the output of block 18 has changed, then at the output of the connector 19, the signal of comparison is $ 19. This signal is fed to the input of the generator 12 and blocks the generation of pulses and the execution of the next command until the comparison of the set and current coordinates. Blocking is enabled only after the last command from this group of control commands by a signal from a command from the command 16 or by one of the address bits in the command. Due to the fact that the time of sampling and executing a group of control commands for objects is much less than the time spent on working out control actions by these objects, it can be said that control actions are issued simultaneously to a group of control objects. The conditional skip command contains in the command address the number of the input on bus 1. This number from the output of register 2 is passed through switch 3 and is fed to the input of the counter in block 1O. If this signal is equal to one, then the address counter should be incremented by one pulse FROM and then, as usual, with another pulse I4, otherwise the state of the counter can be changed only by pulse I4. This ensures that the next command is skipped if the desired signal is present at the device's input. By an unconditional jump command, the address from the output of memory block 10 is added to the address counter of the same block. . Upon the command of the setting time, the delay value indicated in the command address is entered into counter 14. Since the state of counter 14 was different from zero, then zero — indicator 13 allows the generator 15 to operate and at the same time blocks the generation of sync pulses. Signals from generator 15 sequentially subtract units from counter 14. As soon as its state becomes zero, zero — indicator 13 turns off generator 12 and allows the generation of clock pulses and the execution of the next command. In the conditional delay command, the input number is specified in the address part. on bus 1. As a result, the state of this signal is fed through block 4 to the input of block 10. If the specified signal on the communication bus is zero, then an increase in the count of the address by an I4 pulse is blocked by the operation signal. Since the address of the memory cell has not changed, then this command will be selected and re-executed until the interrogated signal is received at the input of the device. The stop command resets the start trigger in the generator 12 and stops the operation of the device. Thus, the presence of a communication unit with external equipment and a control action shaping unit make it possible to simultaneously control a group of different types of objects, including technological equipment. The possibility of branching on signals from external equipment allows building flexible control programs. A programmable timer allows a wide range of shutter speeds to be set; time when working with the equipment, not AND feedback for the device, -, It expands the functional capabilities of the device. The proposed design principle of a device makes it easy to change its configuration by reserving the number of control channels. The device can be used in the automation of production processes for controlling a manipulator and associated technological equipment. The use of devices in robotic complexes based on a group of manipulators is especially effective. In this case, one proposed device can replace. a number of individual control devices for manipulators and related equipment. In addition, the device can exchange signals on buses 1 and 5 not only with control objects, but also with similar devices, dispatcher consoles or GWM. The ego allows using the device not only in separate RTKs, but also in automated systems controlled by GWM. . The advantages of using the proposed device are that it allows you to manage a group of different types of objects and replace a group of individual control devices, in combination with the proposed command system to build more flexible control programs, allows communication with a control computer, control rooms or. similar devices for the purpose of synchronization and transmission of individual messages and can be calculated for a variable number of control objects. In addition, thanks to the timer, the conditional delay command, and the communication unit with external equipment, it allows you to control a large number of processing equipment that has a wide variation of duty cycles with and without distinction of signals: feedback. Claims An apparatus for programmed process control comprising a memory unit and a code converter connected by one input to the first input of the device, connected by an output to one comparator input, characterized in that in order to expand the field of application of the device by controlling a group of objects along a closed loop it contained units of registers, a switch, a decoder, a zero indicator, a pulse generator, a counter, and keys connected to the outputs of the device and the inputs from to the first block of registers connected to the other input of the comparator, and the output of the first pulse generator connected to the first inputs of the first block and registers, the memory block, the second pulse generator and the counter, and through the decoder to the second counter input and the output of the memory block TI connected to the second input of the first block of registers and one input of the switch connected to the second input to the second input of the device. Through the second block of registers, the other input of which is connected to the third input of the first block s, the other input of the code converter, the third input MAHB memory and output of the second pulse generator, the third input of which is a zero - the indicator and the third pulse generator connected respectively to the output and input of the third counter.

fig 1

I - Sources of information taken into account in the examination

1. USSR author's certificate

No. 472332, class G-05, 19/08, 1974.

2. USSR author's certificate number 596912, cl. G O5 19/08, 1976 (prototype).

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Claims (2)

Claim A device for software control of technological processes, comprising a memory unit and a code converter connected to the first input of the device by one input to the first input of the device, characterized in that, in order to expand the scope of the device by controlling a group of objects in a closed loop? it contains blocks of registers, a switch, a decoder, zero - an indicator, a pulse generator, a counter and keys connected by outputs to the device outputs and inputs - with the output of the first block of registers connected to another input of the comparator, and the output of the first pulse generator connected to the first by the input the inputs of the first block and registers, the memory block, the second pulse generator and counter, and through the decoder to the second input of the counter and the output of the memory block connected to the second input of the first block of registers and one input comm Ator connected to another input of the second input device via the second register file, another input of which is connected to the third input of the first block of registers another vho877476 ⁹ do code converter, the third input of the storage unit and output of the second pulse generator, the third input of which is a zero - the indicator and the third pulse generator is connected respectively to the output and the third input of the counter. 10 _f Sources of information taken into account in the examination 1. USSR author's certificate 472332, cl. & 05 On 19/08, 1974. 2. Copyright certificate of the USSR 596912, cl. G (prototype). In the 19/08, 1976 FIG. 1 QC Figure 1 P............... ·. P_ Fig.Z