200817596 九、發明說明： 【發明所屬之技術領域】 儒ίϊ明尤指其提供—種在軸控制雜設位置不變及在同-Ν-ρ令下，可設定驅動控制器之控制型態 令運動方向之可雙向控制之舰馬達鶴控繼。>改&制〒 【先前技術】 ，的操作習慣不同，或是操作㈣的改變辦==位 使設定運動的方向與操作的預期運動1^位3, ⑦呆作上的混亂；如相同兩個伺服馬 二 =分職設於兩個舉升臂上時，則在相同的控制下以相對 ΐ二，，達驅動控制器在許多的操控經驗中，由於使 .的改 造成 相對 使得兩舉升^二;二運2兩 ;運動時，則須改變其中一_匕=動ϊ :才能符合操作者之需求，而改變飼服馬達5 器裝ί位置，二改控制命令或改變驅動控制 ‘ ，將會連帶影響到—連•軟硬體設計的 擾。…&曰a面所致生的複雜度，亦將造成設計者相當大的困 於制择ί國二二第578577號專利案’其電動跑步機之馬達正反轉 iC 係猎由控制介面之插接位置變化來改變馬達運動方 3介面轉介碰制正轉，狀細介面插於反 200817596 形齒輪及片體，使蓋板鎖固於哕 、， 2一驅動裝置，其中，該驅動i置係售接 電路驅動馬達呈反轉，將蓋板予 士 =片開關，使控制 經驗有=前事發與製作 自動修改控制命令之運動方向，細:1餘制的方式 為本發明之設計宗旨。 9 y 。目刖之缺弊，此即 【發明内容】 設定的方式連結至轉向控制單元，而由H硬部=硬體 控制單元接收馬達運動型態改變之訊 1^體§又疋’使轉向 ； #,b ^ 同控制命令時，可自動修改控制命令 t,收相 設計及操作之目的。 卩7之獅方向，進而達到易於 本發明之另一目的係提供一種可雜 制器，其中’於該伺服馬達之輸出軸:端3 一 動控 命令之設定轉⑽度的訊號與依據 】署==乍 "SirJ ^ ^ 凊參閱第1圖，本發明位置控制器係 實現調控’其模糊控制曲線係依據經驗法則由輸:端月來 200817596 ifHi·動曲線與輸出端脈波度⑽）變化曲線之乘積所200817596 IX. Description of the invention: [Technical field to which the invention belongs] Confucianism, especially in the case of the axis control miscellaneous position, and under the same-Ν-ρ command, the control type of the drive controller can be set. The direction of motion can be controlled by two-way control of the ship motor crane. >Change & 〒 [Previous technique], the operating habits are different, or the operation (4) changes do == bit to make the direction of the set movement and the expected movement of the operation 1 ^ 3, 7 stay confused; When the same two servo horses are divided into two lifting arms, they are in the opposite control under the same control, and the driving controller is in many handling experience, because the transformation is made to be relative Two lifts ^ two; two transports two two; during exercise, you must change one of them _ 匕 = dynamic ϊ: in order to meet the needs of the operator, and change the position of the feeding motor 5 device, change the control command or change the drive Controlling ' will affect the interference of the software and hardware design. The complexity caused by ...&a face will also cause the designer to be quite trapped in the choice of ί 二 二 2,578,577 patent 'the motor of the electric treadmill is reversing the iC system by the control interface The position of the plug is changed to change the motor movement, and the interface is inserted into the anti-200817596 gear and the body to lock the cover to the 哕, 2 drive device, wherein the drive The i-sold-selling circuit drive motor is reversed, and the cover plate is given to the shi=chip switch, so that the control experience has the direction of the previous event and the automatic modification of the control command, and the fineness: 1 mode is the invention Design tenet. 9 y. The shortcomings of witnessing, this is the content of the invention. The setting method is connected to the steering control unit, and the H hard part=hardware control unit receives the signal of the motor motion type change, and the steering is made. , b ^ With the control command, the control command t can be automatically modified to achieve the purpose of phase design and operation.卩7 lion direction, and then achieve another object of the present invention is to provide a miscellaneous device, wherein 'the output shaft of the servo motor: end 3 a dynamic control command set to turn (10) degrees of signal and basis] =乍"SirJ ^ ^ 凊Refer to Figure 1, the position controller of the present invention implements regulation 'the fuzzy control curve is changed according to the rule of thumb from the input: 200817596 ifHi·dynamic curve and output pulse wave degree (10)) Product of the curve
線料細细⑽猶比對參Y 齒輪ίίΓ第^服馬達1 ◦之轉軸連結- 度感測器Ϊ 3 至外部的作動機構，後端則設有—角 的;號經由轉換電路角度，並將感蜊 及轉 ；ί^ =二 1=?=1?==控制單元 τ，服馬達 號傳輪至“電路冗 訊號，會依據經驗法則建構之位置模糊控角度 ^咣半速的輪出使調整至 %Μ步的輸丨辨）’在獲致適當的脈貞 °。至70〜8〇 整器1 9將會依據脈波頻寬的 見的H，—，制力調 測’並將調變後所感測的訊號傳=置:c進行感 的脈波咖敝，#__彻心 200817596 持定位於設定範_，進而達到精密定位之目的。 本發明由於驅動控㈣内設有轉向控制單 以硬體设定的方式連結至轉向控制單元 並；卜β 設定，使轉向控制單元17接收轉向*定°由外部之硬體 達1 〇之運動型態，此即可在驅服馬 :接收相同控制命令時，可自動修改以 綜上所述，本發明可大幅改善習式之 ’十生，絲見有相同之產品及刊物公開=性及 睛要件，爰依法提出申請。 付务月專利申 【圖式簡單說明】 第2圖 弟3圖 第1圖：本發日服據織法贼構之 本發明之控·構圖。 侧獅曲線圖。 本發明之控制流程圖。 【主要元件符號說明】 本發明部份： 0 6 伺服馬達 角度感測器 設定叙 控制力調整器 11:齒輪組 12 1 4 :轉換電路 丄5 1 7 :轉向控制單元 18 輸出軸 位置控制器 轉換電路 8The wire material is thinner (10) than the reference Y gear ίίΓ 服 马达 motor 1 ◦ shaft connection - degree sensor Ϊ 3 to the external actuation mechanism, the rear end is provided with an angle; the number is converted by the circuit angle, and Will feel and turn; ί^ = two 1 =? = 1 === control unit τ, service motor number to the "circuit redundancy number, will be based on the rule of thumb to construct the position of the fuzzy control angle ^ 咣 half-speed round Make the adjustment to % Μ 的 ) ) ' 在 在 在 在 获 获 获 获 获 获 获 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至 至After the modulation, the signal transmitted by the modulation = set: c for the pulse wave curry, #__心心200817596 is positioned in the setting range _, and thus achieves the purpose of precise positioning. The present invention has a steering in the drive control (four) The control unit is connected to the steering control unit in a hardware setting manner; and the β setting is set so that the steering control unit 17 receives the steering type of the steering body* by the external hard body up to 1 ,, which can be used to drive the horse. : When receiving the same control command, it can be automatically modified. In summary, the present invention can greatly improve the practice of the tenth, silk see There are the same products and publications public = sexual and eye-catching requirements, 提出 apply in accordance with the law. Paying for the month of patent application [simple description of the map] Figure 2 Figure 3 Figure 1: This is the basis of the woven thief Control and composition of the invention. Side lion curve diagram. Control flow chart of the present invention. [Main component symbol description] Part of the invention: 0 6 Servo motor angle sensor setting control force adjuster 11: Gear set 12 1 4 : Conversion circuit 丄 5 1 7 : Steering control unit 18 Output shaft position controller conversion circuit 8