JP6000652B2 - Pulse motor control device and pulse signal generation method - Google Patents

Description

  The present invention relates to a pulse motor control device and a pulse signal generation method for controlling a pulse motor with a pulse signal.

  2. Description of the Related Art A pulse motor control device (pulse generator) that generates a pulse signal for controlling a pulse motor (also referred to as a “stepping motor”) and controls the pulse motor is known (see, for example, Patent Document 1).

Here, the pulse motor is driven by a pulse signal generated from the pulse motor control device, and the pulse motor rotates at a rotation speed corresponding to a frequency that is an output interval in the pulse signal. Further, the pulse motor rotates by an angle corresponding to the number of pulses of the pulse signal, and this becomes the moving distance of the moving mechanism driven by the pulse motor.
Therefore, in order to control the rotation speed of the pulse motor (the speed of the moving mechanism) and the rotation angle of the pulse motor (the moving distance of the moving mechanism), the frequency of the pulse signal generated from the pulse motor control device (per unit time) And the number of pulses needs to be controlled.

  Usually, in pulse motor drive control, speed control with respect to time (that is, frequency control of a pulse signal) is performed as trapezoidal drive control (see, for example, FIG. 1 of Patent Document 2).

  Here, trapezoidal drive control will be described with reference to FIG. FIG. 13 is a graph for explaining trapezoidal drive control. FIG. 13A is a graph in which the horizontal axis represents time [s] (second) and the vertical axis represents speed [pps] (pulse per second). Is a graph with the horizontal axis representing time [s] and the vertical axis representing acceleration [pps / s].

  That is, as shown in FIG. 13B, first, by giving a constant positive acceleration (positive constant acceleration) from the time of starting the pulse motor, as shown in FIG. ) Is gradually increased to gradually increase the rotational speed of the pulse motor (acceleration section).

  Next, when the rotational speed of the pulse motor reaches the target speed, as shown in FIG. 13B, the acceleration is set to zero (acceleration = 0), and as shown in FIG. (Pulse signal frequency) is made constant, and the rotation speed of the pulse motor is made constant (constant speed section).

  Further, when the pulse motor is stopped, as shown in FIG. 13B, a constant negative acceleration is given (negative constant acceleration), so that the speed (frequency of the pulse signal) is obtained as shown in FIG. 13A. Is gradually reduced to gradually reduce the rotational speed of the pulse motor (deceleration section), and the pulse signal is stopped after reaching the target speed.

  Here, paying attention to the acceleration section of FIG. 13, the speed control in the acceleration section will be further described with reference to FIG. FIG. 14 is a graph for explaining an acceleration section in trapezoidal drive control. (A) is a graph in which the horizontal axis is time [s] and the vertical axis is speed [pps], and (b) is the time in the horizontal axis. It is a graph which made acceleration [pps / s] the vertical axis | shaft with [s].

  As shown in FIG. 14A, the initial speed is FL [pps], the speed arrival speed (target speed) is FH [pps], and the number of pulses until the speed reaches the speed FH is N. [P] (pulse), and the acceleration in the acceleration section is A [pps / s] as shown in FIG.

In general, the calculation at this time can be expressed by the following formula (1), where t _n [s] is the time required for the speed to reach the arrival speed FH from the initial speed FL.

  Here, in the drive by the pulse motor, since the moving distance for each pulse is always the same, the number of pulses N until the speed reaches the arrival speed FH from the initial speed FL can be expressed by the following equation (2). it can.

From these formulas (1) and (2), the following formula (3) is derived for the time t _n . The acceleration A is derived from the following equation (4). The derivation of Equation (3) and Equation (4) is disclosed in Non-Patent Document 1 and Non-Patent Document 2.

  The conventional pulse motor control device calculates the pulse generation timing or stores the calculation result in advance and reads the stored calculation result using the calculation formulas shown in the formulas (1) to (4). By using it, it is possible to control the rotational speed of the pulse motor.

  13 and 14, the speed control of the pulse motor control device has been described as performing trapezoidal drive control. In addition to the trapezoidal drive control, the speed control of the pulse motor control device uses a quadratic function or a trigonometric function or a combination of a plurality of straight lines as a control method for suppressing a rapid change in acceleration (for example, Further, there is a control method in which the acceleration section is driven and controlled by three straight lines of “low acceleration section, high acceleration section, and low acceleration section” to reduce a rapid change in acceleration).

JP-A-10-285997 Japanese Examined Patent Publication No. 61-035799

Naoki Mijo, Atsushi Sugawara, “Stepping Motor and Microcomputer Control”, General Electronic Publishing Company, 1994, p.151-155 Hisashi Takahashi, “Introduction to Motor Control in C Language: Programming and Control Techniques Learned with SH Microcomputers”, Denpa Shimbun, 2007, p.239-242

  However, in the case of the rotational speed control of the pulse motor by the above-described calculation, if all the calculations are performed in real time, the calculation is complicated and takes time, and it is difficult to respond appropriately to the high-speed operation of the pulse motor. There is a problem of becoming.

  Even if slow-up at low speed is not required, complicated calculations are performed, so it takes time to calculate and the operation time of the pulse motor takes time, leading to a reduction in the throughput of the entire system. There is a problem that cases arise.

  On the other hand, if the arithmetic expression is simplified in order to solve these problems, there is a problem that a cumulative calculation error may occur even if a calculation error correction calculation is added.

  In addition, in the method of storing the calculation result in a data holding unit such as a memory in advance and reading and using the stored calculation result, the capacity of the data holding unit increases as the number of necessary driving patterns and the driving time increase. There is a problem that it is increased and it becomes difficult to cope with the system.

  Therefore, it is desirable to employ a calculation method that can reduce the calculation load and has a small calculation error. Further, since the value of the required change in acceleration varies depending on the system, it is desirable that optimization can be selected for each system without making unnecessary low acceleration changes.

  Therefore, an object of the present invention is to provide a pulse motor control device and a pulse signal generation method that can reduce a calculation load with a small calculation error in calculation of pulse generation timing.

In order to solve such a problem, the present invention provides storage means for storing an initial value of jerk, acceleration and speed of the control section and an end condition of the control section for each control section; based on the termination condition of the stored said control section, and the change point detection means for detecting a changing point is that switches from the current control section to the next control interval, bounded arithmetic unit for outputting a pulse generation timing And pulse generation means for generating a pulse signal for controlling a pulse motor based on the pulse generation timing output from the bounded arithmetic unit, and the bounded arithmetic unit holds jerk Jerk value holding means, acceleration value holding means for holding acceleration, speed value holding means for holding speed, distance value holding means for holding distance, first 1/2 calculation means, second 1/2 calculation means And when the change point detecting means detects a change point, initial values of jerk, acceleration and speed of the control section are the jerk value holding means and the acceleration value holding means. When the change point detection means does not detect a change point, the jerk value held in the jerk value holding means and the acceleration held in the acceleration value holding means are input to the speed value holding means. A value obtained by adding the value to the acceleration value holding unit, the value obtained by processing the jerk value held in the jerk value holding unit by the first ½ calculating unit, and the acceleration value A value obtained by adding the acceleration value held in the holding means and the speed value held in the speed value holding means is input to the speed value holding means, and the jerk held in the jerk value holding means The value of the first ½ A value processed by the calculating means and the 1/3 calculating means, a value obtained by processing the acceleration value held in the acceleration value holding means by the second 1/2 calculating means, and held in the speed value holding means. When the value obtained by adding the speed value and the distance value held in the distance value holding means exceeds a predetermined threshold value, the pulse generation timing is output, and the threshold value is subtracted from the added value. A value input to the distance value holding means, a value obtained by processing the jerk value held in the jerk value holding means by the first 1/2 calculating means and the 1/3 calculating means, and the acceleration value A value obtained by processing the acceleration value held in the holding means by the second ½ calculating means, a speed value held in the speed value holding means, and a distance value held in the distance value holding means. , The value obtained by the addition operation is a predetermined threshold If the value is less than the value, the value obtained by the addition calculation is input to the distance value holding means .
Further, the present invention provides storage means for storing initial values of jerk, acceleration and speed of the control section and end conditions of the control section for each control section, and end of the control section stored in the storage means. Based on the conditions, a change point detecting means for detecting a change point that is a point to switch from the current control section to the next control section, a bounded arithmetic unit that outputs a pulse generation timing, and the bounded arithmetic unit output Pulse generation means for generating a pulse signal for controlling the pulse motor based on the pulse generation timing, and the bounded arithmetic unit holds jerk value holding means for holding jerk, and holds acceleration An acceleration value holding means for holding, a speed value holding means for holding a speed, and a distance value holding means for holding a distance, and when the change point detecting means detects a change point, the control section When initial values of jerk, acceleration, and speed are input to the jerk value holding means, the acceleration value holding means, and the speed value holding means, and the change point detecting means does not detect a change point, A value obtained by adding the jerk value held in the acceleration value holding means and the acceleration value held in the acceleration value holding means is input to the acceleration value holding means and held in the acceleration value holding means A value obtained by adding the acceleration value and the velocity value held in the velocity value holding unit is input to the velocity value holding unit, the velocity value held in the velocity value holding unit, and the distance value holding unit When the value obtained by adding the distance value held in is equal to or greater than a predetermined threshold value, the pulse generation timing is output, and the value obtained by subtracting the threshold value from the added value is input to the distance value holding means. When the value obtained by adding the speed value held in the speed value holding means and the distance value held in the distance value holding means is less than a predetermined threshold value, the value obtained by the addition calculation is the distance value. The pulse motor control device is characterized by being inputted to the holding means.

Further, the present invention provides storage means for storing initial values of jerk, acceleration and speed of the control section and end conditions of the control section for each control section, and end of the control section stored in the storage means. Based on conditions, a change point detecting means for detecting a change point that is a point at which the current control section is switched to the next control section, a jerk value holding means for holding jerk, and an acceleration value holding means for holding acceleration A speed value holding means for holding a speed, a distance value holding means for holding a distance, a first 1/2 calculation means, a second 1/2 calculation means, and a 1/3 calculation means, and a pulse generation A pulse motor comprising: a bounded arithmetic unit that outputs timing; and pulse generation means that generates a pulse signal for controlling the pulse motor based on the pulse generation timing output from the bounded arithmetic unit. A pulse signal generation method for a control device, wherein the bounded arithmetic unit detects initial values of jerk, acceleration, and velocity of the control section when the change point detecting means detects a change point. The acceleration value holding means, the step of inputting to the speed value holding means, the jerk value held in the jerk value holding means, and the acceleration value held in the acceleration value holding means are added and calculated. A step of inputting a value to the acceleration value holding means; a value obtained by processing the jerk value held in the jerk value holding means by the first 1/2 calculating means; and a value held in the acceleration value holding means. A value obtained by adding the acceleration value and the velocity value held in the velocity value holding means to the velocity value holding means; and the jerk value held in the jerk value holding means 1st 1 The value processed by the 2 calculating means and the 1/3 calculating means, the acceleration value held in the acceleration value holding means, the value processed by the second 1/2 calculating means, and held in the velocity value holding means When the value obtained by adding the calculated speed value and the distance value held by the distance value holding means exceeds a predetermined threshold value, the pulse generation timing is output, and the threshold value is subtracted from the added value. A value obtained by processing the jerk value held in the jerk value holding means by the first ½ computing means and the ３ computing means, and the acceleration. A value obtained by processing the acceleration value held in the value holding means by the second ½ calculating means, a speed value held in the speed value holding means, and a distance value held in the distance value holding means, The value obtained by adding the When the value is less than the value, the step of inputting the added value to the distance value holding means is executed .
Further, the present invention provides storage means for storing initial values of jerk, acceleration and speed of the control section and end conditions of the control section for each control section, and end of the control section stored in the storage means. Based on conditions, a change point detecting means for detecting a change point that is a point at which the current control section is switched to the next control section, a jerk value holding means for holding jerk, and an acceleration value holding means for holding acceleration A speed value holding means for holding the speed, a distance value holding means for holding the distance, a bounded arithmetic unit that outputs a pulse generation timing, and the pulse generation timing output by the bounded arithmetic unit A pulse signal generation method for a pulse motor control device comprising: a pulse generation means for generating a pulse signal for controlling the pulse motor, wherein the bounded arithmetic unit comprises: When the conversion point detecting means detects the change point, the initial values of the jerk, acceleration and speed of the control section are input to the jerk value holding means, the acceleration value holding means, and the speed value holding means; A step of inputting a value obtained by adding the jerk value held in the jerk value holding means and the acceleration value held in the acceleration value holding means to the acceleration value holding means; and A step of inputting, into the speed value holding means, a value obtained by adding the acceleration value held and the speed value held in the speed value holding means, the speed value held in the speed value holding means, When the value obtained by adding the distance value held in the distance value holding means exceeds a predetermined threshold, the pulse generation timing is output, and the threshold is subtracted from the added value. When the value obtained by adding the step of inputting to the distance value holding means, the speed value held in the speed value holding means, and the distance value held in the distance value holding means is less than a predetermined threshold value. And a step of inputting the value obtained by the addition calculation to the distance value holding means, and a pulse signal generation method for a pulse motor control device.

  According to the present invention, it is possible to provide a pulse motor control device and a pulse signal generation method that can reduce a calculation load with a small calculation error in calculation of pulse generation timing.

It is a block diagram of the configuration of the pulse motor control device according to the present embodiment for controlling the pulse motor. It is a functional block diagram which shows the structure of a bounded arithmetic unit. It is a graph explaining the S-shaped drive control, (a) is a graph with the horizontal axis as time and the vertical axis as speed, and (b) is the horizontal axis with respect to the acceleration interval of the S-shaped drive control, and the vertical axis. It is a graph made into acceleration. It is an example of the storage data stored in control information memory. It is an example of the storage data stored in control information memory. It is an example of the calculation progress of the bounded arithmetic unit in an acceleration area. It is an example of the calculation progress of the bounded arithmetic unit in a constant acceleration area. It is an example of the calculation progress of the bounded arithmetic unit in the decelerating section. It is a graph explaining the drive control in a straight line, (a) is a graph with the horizontal axis as time and the vertical axis as speed, and (b) is a graph with the horizontal axis as time and the vertical axis as acceleration. It is a functional block diagram which shows the structure of the bounded arithmetic unit which concerns on a modification. It is a block diagram of the pulse motor control apparatus which concerns on a modification. It is a flowchart which shows operation | movement of the pulse motor control apparatus which concerns on a modification. It is a graph explaining trapezoid drive control, (a) is a graph where the horizontal axis is time and the vertical axis is speed, and (b) is a graph where the horizontal axis is time and the vertical axis is acceleration. It is a graph explaining the acceleration area in trapezoid drive control, (a) is a graph with the horizontal axis as time and the vertical axis as speed, and (b) is a graph with the horizontal axis as time and the vertical axis as acceleration. . It is a graph explaining the change of the pulse production | generation timing in the acceleration area in trapezoid drive control, and is a graph which made the horizontal axis the time and made the vertical axis | shaft the speed. It is a graph which shows the change of the pulse production | generation timing in the acceleration area of S-shaped drive control, (a) is a graph which made the horizontal axis time, and made the vertical axis the speed, (b) is the vertical axis which made the horizontal axis time. Is a graph with acceleration as the acceleration.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as “embodiments”) will be described in detail with reference to the drawings as appropriate. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.

≪Pulse motor control device 1≫
A pulse motor control apparatus 1 according to this embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of a pulse motor control device 1 according to this embodiment for controlling the pulse motor 13.

  The pulse motor control device 1 can control the rotation speed of the pulse motor 13 and the rotation angle of the pulse motor 13 by generating a pulse signal for driving the pulse motor 13 and transmitting it to the drive circuit 12. It has become.

  The drive circuit 12 generates an excitation current of the pulse motor 13 based on a pulse signal generated by the pulse motor control device 1 (pulse generation means 11 described later) and outputs the excitation current to the pulse motor 13.

  The pulse motor 13 is rotated by the excitation current input from the drive circuit 12. In the case where a moving mechanism (not shown) that is driven by the pulse motor 13 (for example, a rotary linear motion mechanism that converts rotational motion into linear motion) is provided, the pulse motor control device 1 controls the pulse motor 13. Thus, the speed and moving distance of the moving mechanism (not shown) can be controlled.

Each part of the pulse motor control device 1 will be further described.
The pulse motor control device 1 includes a change point detection unit 2, a memory address generation unit 3, a control information memory 4, a calculation constant selection unit 5, a bounded arithmetic unit 6, a calculation value measurement unit 7, and a clock measurement. Means 8, external measurement means 9, pulse measurement means 10, and pulse generation means 11 are provided.

The change point detection unit 2 is based on various measurement information from the calculation value measurement unit 7, the clock measurement unit 8, the external measurement unit 9, and the pulse measurement unit 10 described later, and the measurement control value input from the control information memory 4. It is possible to determine whether or not it is a change point. Here, the change point refers to a point at which a certain control section is switched to the next control section in the speed-time characteristics (see FIG. 3 described later).
When the change point is determined to be a change point, the change point detection unit 2 outputs a condition satisfaction signal to the memory address generation unit 3 and the operation constant selection unit 5.

The memory address generation means 3 holds the memory address and outputs the memory address held in the control information memory 4.
Further, when the condition establishment signal is input from the change point detection unit 2, the memory address generation unit 3 adds “1” to the address stored in the memory address. The address value corresponds to one control section in the speed-time characteristic (see FIG. 3 described later).

The control information memory 4 stores measurement control values and calculation set values so as to correspond to addresses (control sections). Here, the measurement control value is a threshold value for determining that the change point detection means 2 is a change point. Further, the calculation set value is an initial value of calculation values (jerk B, acceleration A, speed V) in the control section corresponding to the address.
Further, the control information memory 4 outputs a measurement control value corresponding to the address input from the memory address generation means 3 to the change point detection means 2 and an arithmetic setting corresponding to the address input from the memory address generation means 3. The value is output to the operation constant selection means 5.

The operation constant selection means 5 selects either the operation setting value of the control information memory 4 or the operation result value of the bounded operation unit 6 and outputs it to the bounded operation unit 6.
Specifically, when the condition establishment signal of the change point detection unit 2 is input, the calculation set value of the control information memory 4 is output to the bounded arithmetic unit 6, and the condition establishment signal of the change point detection unit 2 is output. When not input, the calculation result value of the bounded computing unit 6 is output to the bounded computing unit 6.

The bounded arithmetic unit 6 performs a calculation at a calculation cycle (cycle of calculation clock) based on the value (calculation set value or calculation result value) input from the calculation constant selection means 5, and calculates the calculation result value as It is output to the calculation constant selection means 5 and the calculation value measurement means 7.
Further, the bounded arithmetic unit 6 outputs a pulse generation signal (an overflow signal described later) to the pulse measurement unit 10 and the pulse generation unit 11 by satisfying a predetermined condition.
The calculation in the bounded arithmetic unit 6 will be described later with reference to FIG.

  The calculation value measuring means 7 holds the calculation result value of the bounded arithmetic unit 6 and can output the calculation result value to the change point detection means 2 as measurement information.

  The clock measuring means 8 counts the clock (the number of operations in the bounded arithmetic unit 6) and can output the clock count to the change point detecting means 2 as measurement information.

  The external measuring means 9 acquires information outside the pulse motor control device 1 (for example, a detection signal of a sensor that detects that a moving mechanism (not shown) has moved to a predetermined position), and uses the external information as measurement information. The change point detection means 2 can be output.

  The pulse measuring means 10 measures the number of pulse signals generated by the pulse generating means 11 by counting the number of times the pulse generating signal (overflow signal) is input from the bounded arithmetic unit 6, and the generated pulse signal. Can be output to the change point detection means 2 as measurement information.

  The pulse generation means 11 can generate a pulse signal and transmit it to the drive circuit 12 by receiving a pulse generation signal (overflow signal) input from the bounded arithmetic unit 6.

<< Operation processing in the bounded arithmetic unit 6 >>
Next, the bounded arithmetic unit 6 included in the pulse motor control device 1 will be further described.

<Calculation formula>
First, an arithmetic expression used by the pulse motor control device 1 according to the present embodiment will be described.

  Taking the trapezoidal drive control described with reference to FIGS. 13 and 14 as an example, the pulse generation timing in the acceleration interval of the trapezoidal drive control will be further described with reference to FIG. FIG. 15 is a graph for explaining a change in pulse generation timing in the acceleration section in the trapezoidal drive control, in which the horizontal axis represents time [s] and the vertical axis represents speed [pps].

_If the pulse signal is output at time t ₀ , t ₁ , t ₂ ,..., T _n in the drive by the pulse motor, the moving distance for each pulse is always equal, so the speed shown in FIG. - area S _0, S _1, S ₂ at time characteristics, ···, S _{n-1 is, S 0 = S 1 = S} 2 = ··· = relation S _n-1 is satisfied.
In general, the relationship of speed = ∫acceleration dt and distance = ∫speed dt is established.

  Therefore, the pulse generation timing in the acceleration section of the S-shaped drive control will be described by taking the S-shaped drive control employing a quadratic curve as shown in FIG. 16 as an example. FIG. 16 is a graph showing changes in pulse generation timing in the acceleration section of the S-shaped drive control. FIG. 16A is a graph in which the horizontal axis is time [s] and the vertical axis is speed [pps]. b) is a graph in which the horizontal axis represents time [s] and the vertical axis represents acceleration [pps / s].

  That is, as shown in FIG. 16 (b), by giving a constant positive jerk and increasing the acceleration, as shown in FIG. 16 (a), the speed is gradually increased with a quadratic curve (acceleration). Acceleration section).

  Next, as shown in FIG. 16B, by making the acceleration constant by setting the jerk to zero, the speed is increased with a constant inclination as shown in FIG. 16A (constant acceleration). section).

  Then, as shown in FIG. 16 (b), by applying a constant negative jerk and reducing the acceleration, as shown in FIG. 16 (a), the speed is gradually reduced (decreasing) with a quadratic curve. Acceleration section).

  By performing S-shaped drive control in this way, it is possible to reduce rapid changes in acceleration at the start of the acceleration section and at the end of the acceleration section, as compared with trapezoidal drive control (see FIG. 13). . That is, it is possible to suppress a sudden change in the force applied to a moving mechanism (not shown).

Here, the distance (number of pulses) is d [p], the speed (frequency of the pulse signal) is v [pps], the acceleration is a [pps / s], and the jerk is b [pps / s ² ]. The relationship between the distance d _n , the speed v _n , the acceleration a _n , and the jerk b _n at a certain time t _n [s] can be expressed by the following equation (5).

From this equation (5), an arithmetic expression at a time t _{n + 1} [s] (that is, t _{n + 1} = t _n + Δt) when a specific time (Δt [s]) has elapsed is as follows: Can be expressed as

  Since the calculation is complicated with this formula (6), the calculation formula is simplified by setting a specific time (Δt) as a time corresponding to one clock frequency of the calculation clock, that is, “Δt = 1”. went. The simplified calculation formula is shown in the following formula (7). It should be noted that the acceleration a and jerk b in the simplified calculation formula (7) are values converted by a calculation clock.

  In the calculation formula (7), it is shown that the calculation result when n of each calculation formula advances by 1 corresponds to the change result for one clock. Here, since the moving distance for each pulse is equal, the timing at which the distance d exceeds a predetermined value (overflows) is the pulse generation timing.

  In this way, by applying the acceleration a and jerk b converted by the arithmetic clock to the arithmetic expression (7) and repeating the arithmetic in synchronization with the clock time, the pulse generation timing can be generated, and the complicated A pulse generation method that does not require computation becomes possible.

<Configuration of bounded arithmetic unit 6>
The configuration of the bounded arithmetic unit 6 that realizes the arithmetic expression (7) will be described with reference to FIG. FIG. 2 is a functional block diagram showing the configuration of the bounded arithmetic unit 6.
The bounded arithmetic unit 6 includes jerk value holding means 61, acceleration value holding means 62, speed value holding means 63, distance value holding means 64, adders 65a, 65b, 65c, 65d, 65e, 1 / 2 calculators 66a and 66b and a 1/3 calculator 67.

  First, among the values (calculation set values or calculation result values) input from the calculation constant selection means 5 (see FIG. 1), the jerk value is held in the jerk value holding means 61, and the acceleration value is the acceleration value holding means 62. The speed value is held in the speed value holding means 63, and the distance value is held in the distance value holding means 64.

  A value obtained by adding the jerk value held in the jerk value holding means 61 and the acceleration value held in the acceleration value holding means 62 by the adder 65a is input and held in the acceleration value holding means 62.

  In the velocity value holding means 63, a value obtained by processing the jerk value held in the jerk value holding means 61 by the ½ calculator 66 a, an acceleration value held in the acceleration value holding means 62, and a velocity value holding A value obtained by adding the speed value held in the means 63 by the adders 65b and 65c is inputted and held.

  In the distance value holding means 64, the jerk value held in the jerk value holding means 61 is processed by the 1/2 calculator 66a and the 1/3 calculator 67, and the acceleration value holding means 62 holds the value. A value obtained by adding the value obtained by processing the acceleration value by the ½ calculator 66b, the speed value held by the speed value holding unit 63, and the distance value held by the distance value holding unit 64 by the adders 65d and 65e. Input and hold.

  Further, when an overflow occurs, the adder 65e outputs an overflow signal indicating the occurrence of the overflow to the pulse measuring means 10 and the pulse generating means 11 as a pulse generation signal.

  The jerk value held in the jerk value holding means 61, the acceleration value held in the acceleration value holding means 62, the speed value held in the speed value holding means 63, and held in the distance value holding means 64. The calculated distance value is output to the calculation constant selection means 5 and the calculation value measurement means 7 as a calculation result value.

  In the bounded computing unit 6, the 1/2 computing units 66a and 66b are shifted by 1 bit, and the 1/3 computing unit 67 is output at a rate of once every 3 clocks. The necessary operation in 6 can be only addition.

<< Operation of pulse motor control device 1 (S-shaped drive control) >>
Next, in the case where the S-shaped drive control shown in FIG. 3A is performed, the operation of the pulse motor control device 1 according to the present embodiment will be described taking the acceleration control in the acceleration section shown in FIG. 3B as an example.

FIG. 4 is an example of stored data stored in the control information memory 4.
As shown in FIG. 3A, a series of operations from starting to stopping of the pulse motor 13 is divided into “control sections” each time control conditions such as speed, acceleration, jerk, and the like change. Then, initial values such as speed, acceleration, jerk and the like in each control section and the end condition of the control section (condition for shifting to the next control section) are obtained in advance and stored in the control information memory 4 as stored data. Yes.
Since the S-shaped drive control shown in FIG. 3A is composed of curves divided by control sections T _{S1 to} T _S8 , the stored data stored in the control information memory 4 is, for example, As shown in FIG.

The change point information selection condition stores which measurement information and measurement control value the change point detection means 2 determines whether to be a change point in the control section.
The calculation condition is that the calculation constant selection means 5 selects (overwrites) each initial value (speed, acceleration, jerk) output from the control information memory 4 and starts the next interval calculation, or Stored is a calculation condition as a selection flag indicating whether each calculation result value (speed, acceleration, jerk) output from the bounded arithmetic unit 6 is selected (inherited) and the next interval calculation is started.
Note that the change point information selection condition (selection condition) and the calculation condition may be managed by one flag as shown in FIG.

The measurement control value stores a threshold value for determining that the change point detection means 2 is a change point.
The calculation set value stores the initial value of the calculation value (the jerk B, the acceleration A, and the speed V) in the control section corresponding to the address.

For example, the input parameters in FIG. 3 are the initial speed FL in the acceleration section = 20000 [pps], the arrival speed FH100000 [pps] in the acceleration section, the control section T _S1 = 125 [μs], and the control section T _S2 = 32 [μs]. In the following description, it is assumed that the control section T _S3 = 55 [μs].
Further, the calculation cycle (calculation clock) of the bounded arithmetic unit 6 is calculated at a cycle of 1 [MHz], and the storage data shown in FIG. 5 is stored in the control information memory 4,
Further, it is assumed that the overflow determination occurs every time the distance D exceeds 1000000.

First, the memory address generation means 3 holds an address “0”. The control information memory 4 outputs the flag “0”, the clock set value “0”, and the pulse set value “0” (see FIG. 5) to the change point detecting means 2 based on the address “0”.
When the calculation is started, the change point detection unit 2 outputs a condition satisfaction signal to the memory address generation unit 3 and the calculation constant selection unit 5.

The memory address generation means 3 adds 1 to the memory address, holds the address “1”, and outputs the address “1” to the control information memory 4.
Based on the address “1”, the control information memory 4 outputs a flag “1” and a measurement control value (clock setting value “125”) (see FIG. 5) to the change point detection means 2. Further, the control information memory 4 outputs the calculation set values (the jerk B “5”, the acceleration A “0”, and the speed V “20000”) to the calculation constant selection means 5.
The flag “1” is a flag indicating that the change point is determined using the clock setting value among the measurement control values, and the jerk B, acceleration A, It is a flag indicating that the speed V is output.

The calculation constant selection means 5 receives the condition establishment signal from the change point detection means 2, and thus the calculation set values (the jerk B “5”, the acceleration A “0”, and the speed V “20000”) are bounded. To the device 6.
The bounded arithmetic unit 6 stores “5” in the jerk value holding means 61, “0” in the acceleration value holding means 62, and “20000” in the speed value holding means 63, and starts calculation. The bounded arithmetic unit 6 calculates the calculation result values (the jerk B “5”, the acceleration A “5”, the speed V “20005”, the distance D “20008”) as the calculation constant selection unit 5 and the calculation value measurement unit 7. To output.

  In the next calculation cycle, the calculation constant selection means 5 receives the calculation result values (the jerk B “5”, the acceleration A “5”, the speed V “20005” because the condition satisfaction signal is not input from the change point detection means 2. ”, Distance D“ 20008 ”) is output to the bounded arithmetic unit 6. The calculation is repeated until a condition satisfaction signal is input from the change point detection means 2 to the calculation constant selection means 5.

When the count measured by the clock measuring unit 8 reaches “125” (that is, the end of the control section T _S1 ), the change point detecting unit 2 outputs a condition satisfaction signal to the memory address generating unit 3 and the operation constant selecting unit 5. To do.

FIG. 6 shows an example of calculation progress of the bounded arithmetic unit 6 in the acceleration / acceleration section T _S1 . Since an overflow occurs every time the distance D exceeds 1000000, the value held in the distance value holding means 64 is the value obtained by deleting the seventh digit, but is marked in FIG.
Thus, the acceleration at the 125th clock reaches 625 and the speed reaches 59985, and it can be seen that four pulses are generated.

At the end of the control section T _S1, when the condition establishment signal is output, the memory address generation means 3 adds 1 to the memory address and holds the address “2”, and also stores the address “2” in the control information memory 4. Output.
Based on the address “2”, the control information memory 4 outputs the flag “2” and the measurement control value (clock setting value “32”) (see FIG. 5) to the change point detection means 2. Further, the control information memory 4 outputs the calculation set values (the jerk B “0” and the acceleration A “625”) to the calculation constant selection means 5.
The flag “2” is a flag indicating that the change point is determined using the clock set value among the measurement control values, and the jerk B and the acceleration A are set as calculation set values in the calculation constant selection unit 5. It is a flag indicating output.

  The calculation constant selection means 5 receives the condition establishment signal from the change point detection means 2, so that the calculation set value (the jerk B “0”, the acceleration A “625”) and the calculation result value (speed V “59685”). , Distance D “206042” (the seventh digit is deleted due to overflow)) is output to the bounded arithmetic unit 6. The calculation is repeated until a condition satisfaction signal is input from the change point detection means 2 to the calculation constant selection means 5.

When the count measured by the clock measuring means 8 reaches “32” (that is, the end of the control section T _S2 ), the change point detecting means 2 outputs a condition satisfaction signal to the memory address generating means 3 and the arithmetic constant selecting means 5. To do.

FIG. 7 shows an example of calculation progress of the bounded arithmetic unit 6 in the acceleration / acceleration section T _S2 . Since the overflow occurs every time the distance D exceeds 1000000, the value held in the distance value holding means 64 is the value obtained by deleting the seventh digit, but is marked in FIG.
Thus, the speed of the 32nd clock has reached 79985, and it can be seen that two pulses are generated.

At the end of the control section T _S2, when the condition satisfaction signal is output, the memory address generation means 3 adds 1 to the memory address and holds the address “3”, and also stores the address “3” in the control information memory 4. Output.
Based on the address “3”, the control information memory 4 outputs the flag “2” and the measurement control value (clock setting value “55”) (see FIG. 5) to the change point detection means 2. Further, the control information memory 4 outputs the calculation set values (the jerk B “−10” and the acceleration A “0”) to the calculation constant selection means 5.

  The calculation constant selection unit 5 receives the condition establishment signal from the change point detection unit 2, so that the calculation set value (the jerk B “−10”, the acceleration A “0”) and the calculation result value (speed V “7985”). ”And the distance D“ 455596 ”(the seventh digit is deleted due to overflow)) is output to the bounded arithmetic unit 6. The calculation is repeated until a condition satisfaction signal is input from the change point detection means 2 to the calculation constant selection means 5.

When the count measured by the clock measuring unit 8 reaches “55” (that is, the control section T _S3 ends), the change point detecting unit 2 outputs a condition satisfaction signal to the memory address generating unit 3 and the arithmetic constant selecting unit 5. To do.

FIG. 8 shows an example of calculation progress of the bounded arithmetic unit 6 in the acceleration / acceleration section T _S3 . Since the overflow occurs every time the distance D exceeds 1000000, the value held in the distance value holding means 64 is obtained by deleting the value above the seventh digit, but is marked in FIG.
Thus, it can be seen that the speed of the 55th clock has reached 100,000, and five pulses have been generated.

At the end of the control section T _S4, when the condition establishment signal is output, the memory address generation means 3 adds 1 to the memory address and holds the address “4”, and stores the address “4” in the control information memory 4 Output.
The control information memory 4 outputs the flag “3” and the measurement control value (pulse set value “5”) (see FIG. 5) to the change point detection means 2 based on the address “4”. Further, the control information memory 4 outputs the calculation set values (the jerk B “0”, the acceleration A “0”, and the speed V “100000”) to the calculation constant selection means 5.
The flag “3” is a flag indicating that the change point is determined using the pulse set value among the measurement control values, and the jerk B, acceleration A, This flag indicates that the speed is output.

  The calculation constant selection means 5 receives the condition establishment signal from the change point detection means 2, so that the calculation set value (the jerk B “0”, the acceleration A “0”, the speed V “100000”) and the calculation result value are obtained. (Distance D “526881” (deleted above the seventh digit due to overflow)) is output to the bounded arithmetic unit 6. The calculation is repeated until a condition satisfaction signal is input from the change point detection means 2 to the calculation constant selection means 5.

When the count measured by the pulse measuring means 10 increases by “5” from the start of the control section T _S5 , the change point detecting means 2 outputs a condition satisfaction signal to the memory address generating means 3 and the arithmetic constant selecting means 5.

  With these series of operations, the pulse motor control device 1 according to the present embodiment can perform operations specified by input parameters.

  Thus, according to the pulse motor control device 1 according to the present embodiment, by using the bounded arithmetic unit 6 (see FIG. 2) of the arithmetic expression (7), the above expressions (1) to (4) are obtained. Compared with a conventional pulse motor control device that performs control based on this, a divider circuit is not required and can be operated at high speed, so that there are few calculation errors and calculation load can be reduced.

  In addition, in the conventional pulse motor control device that controls based on the equations (1) to (4), the S-shaped drive control (second-order curve speed control), in which it is difficult to generate control pulses, is also included in this embodiment. Such a pulse motor control device 1 can be easily realized.

  Further, by eliminating the need for division, an arithmetic circuit that does not generate an accumulated error with respect to the distance can be obtained. Furthermore, since the calculation formula (7) is not limited in accuracy, it can be adjusted to the calculation accuracy required by the system by appropriately changing the calculation cycle and the calculation effective width.

≪Modification≫
The pulse motor control device 1 according to the present embodiment is not limited to the configuration of the above embodiment, and various modifications can be made without departing from the spirit of the invention.

  Although the change point detection means 2 has been described as an example of determining whether or not it is a change point based on measurement information (number of clocks) of the clock measurement means 8 or measurement information (number of pulses) of the pulse measurement means 10. The determination is not limited to this, but based on measurement information (calculated acceleration, speed, distance, etc.) of the calculation value measuring means 7 and measurement information (output value of a sensor not shown) of the external measurement means 9 Alternatively, it may be determined by combining these.

Further, the pulse motor control device 1 according to the present embodiment has been described as performing the S-shaped drive control shown in FIG. 3, but is not limited thereto. In the pulse motor control device 1 according to the present embodiment, by setting jerk b _n = 0, trapezoidal drive control (see FIG. 13) or drive control with three straight lines shown in FIG. It is also possible to apply control that reduces sudden changes in acceleration by performing “section, high acceleration section, and low acceleration section”.

The bounded arithmetic unit 6 has been described as having the configuration shown in FIG. 2, but is not limited to this. As shown in FIG. 10, the bounded arithmetic unit 6A includes jerk value holding means 61, acceleration value holding means 62, speed value holding means 63, distance value holding means 64, and adders 65a, 65c, 65e. It may be constituted by.
With this configuration, only the registers (the jerk value holding means 61, the acceleration value holding means 62, the speed value holding means 63, the distance value holding means 64) and the adders (65a, 65c, 65e) are bounded. Since the computing unit 6A can be configured, it can be configured at low cost.

  The bounded arithmetic unit 6 of the pulse motor control device 1 according to the present embodiment has been described as being configured with the hardware shown in FIG. 2, but is not limited to this, and can be similarly realized with software.

FIG. 11 is a configuration diagram of a pulse motor control device 1A according to a modification.
The pulse motor control device 1A is, for example, a computer device, and stores a CPU (Central Processing Unit) as a calculation unit, stored data (see FIG. 4 and FIG. 5), and various application programs as shown in FIG. Memory, Timer, and I / O which is an input / output unit, and each unit is connected by a bus line.

  The CPU functions as the change point detection means 2, the memory address generation means 3, the calculation constant selection means 5, the bounded arithmetic unit 6, the calculation value measurement means 7, and the pulse measurement means 10 by executing various application programs. It has become. Memory functions as the control information memory 4. The Timer functions as the clock measuring means 8. The I / O functions as the external measuring means 9 and the pulse generating means 11.

  FIG. 12 is a flowchart showing the operation of the pulse motor control device 1A according to the modification.

  In step S101, the CPU executes a bounded operation based on the above-described arithmetic expression (7).

In step S102, the CPU executes interval coefficient processing and condition processing.
Here, the section coefficient processing is processing of coefficients (for example, speed, acceleration, jerk, number of clocks, number of pulses) used when determining the end of the section or the end of driving (see steps S103 and S107 described later). Do. In addition, the condition process is performed, for example, when determining the end of a section or the end of driving based on external information (measurement information).

  In step S103, the CPU determines whether or not the section has ended. If the section has ended (S103 / Yes), the CPU proceeds to step S107. If the section has not ended (S103, No), the CPU proceeds to step S104.

In step S104, the CPU determines whether or not the distance D _{n + 1} calculated in step S101 is greater than a predetermined DPconst.
If the distance D _{n + 1} is greater than the predetermined DPconst (S104, Yes), the CPU proceeds to step S105. When the distance D _{n + 1} is not greater than the predetermined DPconst (S104 · No), the CPU proceeds to step S106.

In step S105, the CPU determines that the overflow has occurred, sets the distance D _{n + 1} to the distance D _{n + 1} −DPconst, and sets the pulse generation timing. Then, the processing of the CPU proceeds to step S106.

  In step S106, the CPU updates (inherits) the acceleration A, the speed V, and the distance D. Then, the CPU process returns to step S101.

  In step S <b> 107, the CPU determines whether the driving is finished. When the driving is finished (S107, Yes), the CPU processing is finished. If the driving has not been completed (S107: No), the CPU proceeds to step S108.

In step S108, the CPU acquires (overwrites) the initial value of the next section from the storage data of Memory (see FIG. 4 and FIG. 5).
Then, the processing of the CPU proceeds to step S104.

  Then, the CPU generates a pulse signal based on the pulse generation timing (see step S105) and outputs it from the I / O. Thus, the pulse motor control device 1 according to the present embodiment can be similarly realized by software.

DESCRIPTION OF SYMBOLS 1 Pulse motor control apparatus 2 Change point detection means 3 Memory address generation means 4 Control information memory 5 Operation constant selection means 6 Bounded arithmetic unit 7 Operation value measurement means 8 Clock measurement means 9 External measurement means 10 Pulse measurement means 11 Pulse generation means 12 driving circuit 13 pulse motor 61 jerk value holding means 62 acceleration value holding means 63 speed value holding means 64 distance value holding means 65a, 65b, 65c, 65d, 65e adders 66a, 66b 1/2 calculator (1/2 Calculation means)
67 1/3 calculator (1/3 calculator)

Claims (4)

Storage means for storing the jerk, acceleration, initial value of speed and end condition of the control section for each control section;
Based on the end condition of the control section stored in the storage means, a change point detection means for detecting a change point that is a point to switch from the current control section to the next control section;
And bounded arithmetic unit for outputting a pulse generation timing,
Based on the pulse generation timing output from the bounded arithmetic unit, a pulse generation means for generating a pulse signal for controlling a pulse motor , and
The bounded arithmetic unit is:
A jerk value holding means for holding jerk, an acceleration value holding means for holding acceleration, a speed value holding means for holding speed, a distance value holding means for holding distance, a first 1/2 calculation means, a second 1/2 calculating means and 1/3 calculating means,
When the change point detection means detects a change point,
Initial values of jerk, acceleration, and speed of the control section are input to the jerk value holding means, the acceleration value holding means, and the speed value holding means,
When the change point detection means does not detect a change point,
A value obtained by adding the jerk value held in the jerk value holding means and the acceleration value held in the acceleration value holding means is input to the acceleration value holding means,
A value obtained by processing the jerk value held in the jerk value holding means by the first ½ calculating means, an acceleration value held in the acceleration value holding means, and held in the speed value holding means. A value obtained by adding the calculated speed value is input to the speed value holding means,
The value obtained by processing the jerk value held in the jerk value holding means by the first ½ calculating means and the ３ calculating means, and the acceleration value held in the acceleration value holding means are The value obtained by adding the value processed by the 1/2 computing means, the speed value held in the speed value holding means, and the distance value held in the distance value holding means is a predetermined threshold value or more. Then, the pulse generation timing is output, and a value obtained by subtracting the threshold value from the addition calculation value is input to the distance value holding unit,
The value obtained by processing the jerk value held in the jerk value holding means by the first ½ calculating means and the ３ calculating means, and the acceleration value held in the acceleration value holding means are The value obtained by adding the value processed by the 1/2 computing means, the speed value held in the speed value holding means, and the distance value held in the distance value holding means is less than a predetermined threshold value. Then, the added value is input to the distance value holding means.
A pulse motor control device comprising a call. Storage means for storing the jerk, acceleration, initial value of speed and end condition of the control section for each control section;
Based on the end condition of the control section stored in the storage means, a change point detection means for detecting a change point that is a point to switch from the current control section to the next control section;
And bounded arithmetic unit for outputting a pulse generation timing,
Based on the pulse generation timing output from the bounded arithmetic unit, a pulse generation means for generating a pulse signal for controlling a pulse motor , and
The bounded arithmetic unit is:
A jerk value holding means for holding jerk, an acceleration value holding means for holding acceleration, a speed value holding means for holding speed, and a distance value holding means for holding distance;
When the change point detection means detects a change point,
Initial values of jerk, acceleration, and speed of the control section are input to the jerk value holding means, the acceleration value holding means, and the speed value holding means,
When the change point detection means does not detect a change point,
A value obtained by adding the jerk value held in the jerk value holding means and the acceleration value held in the acceleration value holding means is input to the acceleration value holding means,
A value obtained by adding the acceleration value held in the acceleration value holding means and the speed value held in the speed value holding means is input to the speed value holding means,
When the value obtained by adding the speed value held in the speed value holding means and the distance value held in the distance value holding means exceeds a predetermined threshold, the pulse generation timing is output and the addition calculation is performed. A value obtained by subtracting the threshold value from the obtained value is input to the distance value holding means,
When the value obtained by adding the speed value held in the speed value holding means and the distance value held in the distance value holding means is less than a predetermined threshold, the value obtained by the addition calculation is the distance value holding means. Entered in
A pulse motor control device comprising a call.   Based on the control section end condition stored in the storage means for storing the initial value of the jerk, acceleration and speed of the control section and the end condition of the control section for each control section, Change point detection means for detecting a change point that is a point at which the control section is switched to the next control section, jerk value holding means for holding jerk, acceleration value holding means for holding acceleration, speed for holding speed A value holding means, a distance value holding means for holding a distance, a first 1/2 calculation means, a second 1/2 calculation means, and a 1/3 calculation means, and outputs a pulse generation timing A pulse of a pulse motor control device comprising: an arithmetic unit; and pulse generation means for generating a pulse signal for controlling the pulse motor based on the pulse generation timing output from the bounded arithmetic unit A No. generation method,
  The bounded arithmetic unit is
  When the change point detecting means detects a change point, inputting initial values of jerk, acceleration and speed of the control section to the jerk value holding means, the acceleration value holding means, and the speed value holding means;
  Inputting a value obtained by adding the jerk value held in the jerk value holding means and the acceleration value held in the acceleration value holding means to the acceleration value holding means;
  A value obtained by processing the jerk value held in the jerk value holding means by the first ½ calculating means, an acceleration value held in the acceleration value holding means, and held in the speed value holding means. A value obtained by adding the calculated speed value to the speed value holding means;
  The value obtained by processing the jerk value held in the jerk value holding means by the first ½ calculating means and the ３ calculating means, and the acceleration value held in the acceleration value holding means are The value obtained by adding the value processed by the 1/2 computing means, the speed value held in the speed value holding means, and the distance value held in the distance value holding means is a predetermined threshold value or more. Then, the pulse generation timing is output, and a value obtained by subtracting the threshold value from the added value is input to the distance value holding unit, and the jerk value held in the jerk value holding unit is input to the first acceleration value. A value processed by the 1/2 calculating means and the 1/3 calculating means, a value obtained by processing the acceleration value held in the acceleration value holding means by the second 1/2 calculating means, and the speed value holding means And the speed value held in the And a distance value held in the value holding means, executes the value obtained by adding operation is less than a predetermined threshold, the steps of: inputting a value obtained by the adding operation on the distance value holding means, the
A pulse signal generation method for a pulse motor control device.   Based on the control section end condition stored in the storage means for storing the initial value of the jerk, acceleration and speed of the control section and the end condition of the control section for each control section, Change point detection means for detecting a change point that is a point at which the control section is switched to the next control section, jerk value holding means for holding jerk, acceleration value holding means for holding acceleration, speed for holding speed A value holding means and a distance value holding means for holding a distance, and a bounded arithmetic unit that outputs a pulse generation timing, and a pulse motor is controlled based on the pulse generation timing output by the bounded arithmetic unit A pulse signal generation method of a pulse motor control device comprising: a pulse generation means for generating a pulse signal for
  The bounded arithmetic unit is
  When the change point detecting means detects a change point, inputting initial values of jerk, acceleration and speed of the control section to the jerk value holding means, the acceleration value holding means, and the speed value holding means;
  Inputting a value obtained by adding the jerk value held in the jerk value holding means and the acceleration value held in the acceleration value holding means to the acceleration value holding means;
  Inputting the value obtained by adding the acceleration value held in the acceleration value holding means and the speed value held in the speed value holding means to the speed value holding means;
  When the value obtained by adding the speed value held in the speed value holding means and the distance value held in the distance value holding means exceeds a predetermined threshold, the pulse generation timing is output and the addition calculation is performed. Inputting a value obtained by subtracting the threshold value from the obtained value to the distance value holding means;
  When the value obtained by adding the speed value held in the speed value holding means and the distance value held in the distance value holding means is less than a predetermined threshold, the value obtained by the addition calculation is stored in the distance value holding means. Steps to enter and execute
A pulse signal generation method for a pulse motor control device.

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