JPS6155123B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning control device for a device that moves movable members relative to each other, and more particularly to a positioning control device for a carriage feeding mechanism and a character selection mechanism in an impact-type serial printer or the like.

In such an impact type serial printer device, a carriage as a movable member is equipped with a rotary wheel for printing, a motor for driving the wheel, a hammer for printing, and a ribbon cartridge. is moved parallel to the recording medium and is positioned at rest at the printing position. Further, the rotary printing wheel mounted on the carriage is rotated by the wheel driving motor, and the printed characters selected from among the plurality of printed characters carried on the rotary printing wheel are brought close to the recording medium. It is positioned so that it remains stationary at the printing position.

In a device in which a movable member such as a serial printer's carriage is driven by a motor or the like to move it to a target position, a signal corresponding to the positional error to the target is applied to the motor, and the motor is operated so that the positional error is zero. is moved to move the parts. This type of control includes, as described in U.S. Patent No. 3,954,163, a speed control mode in which the speed of the motor follows a reference speed that changes in response to the position error until a certain distance before the target position; A speed detection circuit that uses two control modes: a position control mode that controls the position from a certain distance before the target position to the target position based on the position error itself, and is specially provided with an analog speed signal that indicates the speed of the motor. 67
(Figs.7 and 12). In this case, in the speed control mode, the motor speed is controlled by adding or subtracting the analog speed feedback signal indicating the motor speed to the analog standard speed signal, and in the position control mode, the motor speed is controlled by adding or subtracting the analog speed feedback signal indicating the motor speed to the analog reference speed signal. The position of the motor is controlled by adding and subtracting analog damping signals corresponding to the speed of the motor. However, with analog signal systems, sufficient results cannot be expected in terms of productivity improvement and maintenance due to the need for level adjustment for the offset of the analog circuit for position detection, etc., and furthermore, it is difficult to miniaturize the equipment due to dependence on analog circuits. This results in an increase in the number of parts and an increase in cost due to an increase in the size of the device.

SUMMARY OF THE INVENTION An object of the present invention is to provide a positioning control device that has a new digital servo system configuration and can perform high-speed and highly accurate positioning in order to eliminate the above-mentioned drawbacks.

The device of the present invention is a positioning control device that positions a movable member at a target position, and includes a motor for driving the movable member, and a motor that is mechanically connected to the motor and that rotates each of the movable members each time the motor rotates by a certain angle. a position signal generating means for generating a pair of incremental position signals with reversed polarities and different phases; and a rotation signal for generating a digital rotation signal indicating the rotation and rotation direction of the motor in response to the pair of incremental position signals. generating means, and a position error from the current position to a certain distance before the target position upon receiving the rotation signal based on a movement information signal from the outside indicating the movement distance and movement direction of the movable member from the current position to the target position. A reference speed signal that changes according to the signal is output as a control signal, and a position error signal is output as a control signal from a certain distance before the target position to the target position, and a position error signal is output as a control signal when the target position is a certain distance before the target position. a control circuit that outputs a mode signal indicating the mode; a numeric circuit that outputs a preset digital value;
a gate pulse generation circuit that receives the rotation signal and outputs a gate pulse having a predetermined time width; and a gate pulse generation circuit that receives the rotation signal and outputs a gate pulse of a predetermined time width; and the control according to the rotation direction of the motor indicated by the rotation signal while the gate pulse is generated. It is comprised of an adder/subtractor circuit that adds or subtracts the digital output signal of the numeric circuit to a signal, and a drive circuit that receives the digital output signal of the adder/subtractor circuit and drives the motor. While giving speed feedback at a level specified by digital output signals of several circuits, the reference speed signal is given until a certain distance before the target position, and the position error signal is given from a certain distance before the target position to the target position. The motor is controlled so that the movement information signal becomes zero, and the movable member is moved by a target movement distance and positioned at a target position.

The device of the present invention also includes a motor for driving a movable member, and a pair of incremental positions that are mechanically connected to the motor and whose polarities are reversed each time the motor rotates by a certain angle and whose phases are different from each other. position signal generating means for generating a signal; rotation signal generating means for generating a digital rotation signal indicating the rotation and rotation direction of the motor in response to the pair of incremental position signals; A reference speed signal that changes according to a position error signal is used as a control signal from the current position to a certain distance before the target position in response to the rotation signal based on the movement information signal from the outside indicating the movement distance and movement direction. a control circuit that outputs a position error signal as a control signal from a certain distance before the target position to the target position, and outputs a mode signal indicating that the certain distance from the target position has been reached; a numeric circuit that outputs a selection of one of two digital values according to the mode signal; a gate pulse generation circuit that receives the rotation signal and outputs a gate pulse having a predetermined time width; an addition/subtraction circuit that adds or subtracts the digital output signal of the numeric circuit to the control signal according to the rotational direction of the motor according to the rotation signal; and a drive circuit for driving the target position, while providing a speed feedback at a level defined by the fixed time width of the gate pulse and the digital output signal of the selected numeric circuit until a certain distance before the target position. gives the reference speed signal, gives the position error signal from a certain distance before the target position to the target position, controls the motor so that the movement information signal becomes zero, and moves the movable member by the target movement distance. It is characterized by positioning at a target position.

Furthermore, the device of the present invention includes a motor for driving a movable member, and a pair of incremental positions that are mechanically connected to the motor and whose polarities are reversed each time the motor rotates by a certain angle and whose phases are different from each other. position signal generating means for generating a signal;
rotation signal generating means for receiving the pair of incremental position signals and generating a digital rotation signal indicating the rotation and direction of rotation of the motor; Based on the movement information signal from , a reference speed signal that changes according to the position error signal is output as a control signal from the current position to a certain distance before the target position, and at the same time outputs a reference speed signal that changes according to the position error signal until a certain distance before the target position. a control circuit that outputs a position error signal as a control signal from to the target position and a mode signal indicating that the position is a certain distance before the target position; and a numeric circuit that outputs a predetermined digital value. a gate pulse generation circuit that receives the rotation signal and selectively generates a gate pulse of a certain time duration corresponding to the mode signal; and a drive circuit that receives the digital output signal of the adder/subtracter and drives the motor. While giving speed feedback of a certain time duration and a level defined by the digital output signal of the numeral circuit, the reference speed signal is given until a certain distance before the target position, and the target position is moved from a certain distance before the target position. The present invention is characterized in that the motor is controlled so that the movement information signal becomes zero by giving the position error signal, and the movable member is moved by a target movement distance and positioned at the target position.

Next, the present invention will be explained in detail with reference to the drawings.

Note that in the following description, a signal line and a signal may be regarded as the same without distinction.

In one embodiment of the present invention shown in FIG.
6 and the direction designation signal 15 are the positioning control circuit 4.
and their signals 15 and 16
The motor 1 is controlled accordingly. At this time, the rotational movement of the motor 1 is controlled by the incremental encoder 3.
and is fed back to the positioning control circuit 4 via signal lines 24 and 25.
The rotational motion of the motor 1 is transmitted to the carriage 2 via the drive pulley 6, wire 7, and pulley 8, and moves the carriage 2 to a desired position. The incremental encoder 3
is an encoder that is constructed using optical or magnetic components, and outputs two incremental position signals whose polarity is reversed and whose phases are different from each other every time the motor 1 rotates through a constant rotation angle. Details of the configuration example will be described later with reference to FIG.

FIG. 2 is a diagram showing the positioning control circuit 4 of FIG. 1 in detail. In the speed control mode,
A movement distance signal 16 and a direction designation signal 15 relative to the target position are input from the external controller 5 to the control circuit 9, and are initially set in a counter therein. Here, if the direction designation signal 15 is positive, a positive standard speed signal corresponding to the position error is output from the control circuit 9 to the signal line 18, and a mode signal indicating that the speed control mode is in effect is output to the signal line 18. 17 respectively. Thereafter, the reference speed signal is converted into an analog signal via the addition/subtraction circuit 11 and the drive circuit 12, and then smoothed to drive the motor 1 in the forward direction. When the motor 1 starts moving in the forward direction, two incremental position signals with different phases are sent to signal lines 24 and 25 from the incremental encoder 3 mechanically connected to the motor 1, whose polarity is reversed every time the motor 1 rotates by a certain angle. each served. The phase relationship and polarity reversal of the incremental position signals are detected by the direction pulse generation circuit 14 and a positive direction pulse is applied to the signal line 22. In response to this positive direction pulse, the gate pulse generation circuit 10 generates a gate pulse of a constant time width on the signal line 26. Both the gate pulse and the direction pulse are input to an adder/subtracter circuit 11, and the adder/subtracter circuit 11 outputs a digital output signal of the numeral circuit 20, which is a speed feedback value from the reference speed signal, for a certain period of time while the gate pulse is input. Subtract. At this time, in the number circuit 20,
In response to the mode signal 17, the speed feedback value selected in accordance with the speed control mode is outputted to a signal line 19. On the other hand, the positive direction pulse is input to the control circuit 9 via the signal line 22, and the initially set moving distance signal is subtracted, and as a result, the reference speed signal corresponding to the position error signal is also set in advance. decreases along the curve.

In FIG. 2, the gate pulse generation circuit 1
Let Tp be the constant time width of the gate pulse from 0, and let the speed feedback value Ap of the numeral circuit 20 be considered, and considering only the feedback loop consisting of the gate pulse generation circuit 10, the numeral circuit 20, and the addition/subtraction circuit 11. The analog signal after the digital-to-analog conversion operation in the drive circuit 12 becomes a speed feedback pulse with a pulse duration Tp and a pulse amplitude proportional to Ap. If the pulse time interval of this pulse is Ti, the average voltage is Ap・Tp/Ti
will be at a level proportional to. On the other hand, the pulse time interval
Ti (i.e. incremental encoder 3
Since the time interval between the output pulses of the motor 1 is inversely proportional to the speed of the motor 1, the signal obtained by smoothing the speed feedback pulses indicates the speed of the motor 1.
Therefore, the output signal of the numeral circuit 20 is transmitted to the circuit 10.
While the gate pulse is being output, it is possible to provide a speed feedback at a level proportional to Ap and Tp by subtracting it from the reference speed signal.

As described above, the speed of the motor 1 is made to follow the reference speed that decreases along a preset curve corresponding to the position error by the speed feedback provided by the gate pulse generation circuit 10 and the numeric value circuit 20. can be controlled. In this way,
When the motor 1 reaches a certain distance before the target position, the control circuit 9 outputs a position error signal up to the target position to the signal line 18, and the motor 1 is controlled to the target position by this position error signal. At this time,
A mode signal indicating the position control mode is outputted to the signal line 17, and the numeral circuit 20 selectively outputs the velocity feedback value corresponding to the position control mode to the signal line 19. Velocity feedback is performed by the gate pulse generation circuit 10 and the numeral circuit 20, which act as damping in the position control mode.

In this way, the motor 1 is moved by the input target movement distance and positioned at the target position. In the above explanation, an example was shown in which the motor 1 is moved in the positive direction, but when moving the motor 1 in the negative direction, a negative direction signal is output as the direction designation signal 15, and the direction pulse generation circuit 14 causes the motor 1 to move in the negative direction. By outputting a pulse to the signal line 21, positioning to the target position is performed as in the case of the positive direction described above. In addition, the digital systems 5, 9, 10, 11,
Signals 16, 18, 19, indicated by thick lines 14, 20
23 has an 8-bit configuration, and the signal 1 shown by the thin line
5, 17, 21, 22, 24, 25, and 26 are 1-bit configurations.

In FIG. 3 showing the control circuit 9 of FIG. 2 in detail, reference numeral 91 is a register, reference numerals 92, 9
4 is a counter, reference numeral 93 is an OR gate, reference numeral 95 is a memory, reference numeral 96 is a zero detector, and reference numeral 97 is a selector. In the speed control mode, a travel distance signal and a direction designation signal are sent to the counter 92 via signal lines 16 and 15, respectively.
and a memory 95 which is initially set in the register 91 and whose output signals are given as addresses.
A reference speed signal is output from. Further, the mode signal 17, which is the output signal of the zero detector 96 to which the output signal of the counter 92 is applied, is transmitted to the counter 92.
is not 0, a signal indicating the speed control mode is output, and the selector 97 selects the reference speed signal based on the mode signal and outputs it to the signal line 18. On the other hand, the output signal of the direction pulse generation circuit 14 is sent to the counter 94 via signal lines 21 and 22.
are applied to the countdown and countup inputs of , respectively. That is, a positive direction pulse is applied to the countdown input, and a negative direction pulse is applied to the countup input. In addition, the counter 94
The carry output signal and the carry output signal are ORed by an OR gate 93, and the output signal is applied to the countdown input of the counter 92. This will be explained with reference to FIG. 14, which shows changes in the output signals of counters 92 and 94. counter 9
4, 1/2 value (center count value) of the maximum count value (MAX) is considered to be a position error of 0, and the measurement is performed according to the positive direction pulse (or negative direction pulse) from the signal line 21 (or 22). The number decreases (or increases).
Here, when the motor 1 moves in the forward direction, the positive direction pulse counts down the counter 94 via the signal line 22, as shown in FIG. 14A, and a downshift signal as shown in FIG. 14B is generated. Ru. This carry down output signal causes the counter 92 to count down via the OR gate 93, as shown in FIG. 14C. In this way, the output signal of the counter 92, which is the position error signal, gradually decreases, and the output signal of the memory 95, that is, the reference speed signal, decreases accordingly. Furthermore, when the counter 92 counts down and its output signal reaches 0, the zero detector 96 outputs a mode signal indicating the position control mode to the signal line 17, and the selector 97
The output of the counter 94 is selected and output to the signal line 18. At this time, the output signal of the counter 94 indicates the maximum count value MAX, and the difference from the center count value for which the position error is 0 indicates the position error signal from a certain distance before the target position to the target position. The output signal is digitalized by the drive circuit 12.
During analog conversion, the motor 1 is driven to a value where the analog signal becomes 0.

As described above, until a certain distance before the target position, the output signal of the memory 95, that is, the standard speed signal,
The output signal of the counter 94, that is, the position error signal, is output to the signal line 18 from a certain distance before the target position to the target position.

FIG. 4 shows block 100 of FIG. 2 in more detail. In speed control mode, the reference speed signal is
In the position control mode, the position error signal is sent to the adder/subtractor 11.
1 through signal lines 18, respectively. To the other input of the adder/subtractor 111, one of the two speed feedback values of the preset number circuits 113 and 114 is selected by the selector 112 in accordance with the mode signal 17 and is applied. That is, when in the speed control mode, the selector 112 selects the output of the numeric circuit 113 in which the speed feedback value _A1 for the speed control mode is preset, and when in the position control mode, the selector 112 selects the speed feedback value A1 for the position control mode. The output of the numeral circuit 114, in which ₂ is set in advance, is selected by the mode signal applied via the signal line 17. Furthermore, the output signals 21 and 22 of the direction pulse generation circuit 14 in FIG.
16 performs a logical sum, and its output signal is input to a monostable multivibrator (hereinafter referred to as one shot) 115. The one shot 115 sends a gate pulse of a certain time width Tp triggered by the output signal of the OR gate 116 to the signal line 2.
Output to 6. Furthermore, the direction pulse generation circuit 14
The output signals 21 and 22 are input to a flip-flop 124 which indicates in which direction the motor 1 is rotating. That is, the flip-flop 124 is set or reset by the positive direction pulse 22 or the negative direction pulse 21 to maintain the rotational direction of the motor 1. Then, while the gate pulse is being output from the one shot 115,
In the adder/subtractor 111, when the motor 1 is moving in the positive direction, the signal 19 is subtracted from the signal 18, and when the motor 1 is moving in the negative direction, the signal 19 is subtracted from the signal 18.
9 is added. In this way, in the speed control mode, a speed feedback proportional to Tp・A ₁ is given, and in the position control mode, a speed feedback proportional to Tp・A ₂ is given, respectively. Optimal speed feedback can be provided separately.

5 showing a second example of block 100 of FIG.
In the configuration shown in the figure, a speed feedback value A common to the speed control mode and the position control mode is set in advance in the numeral circuit 117. In this case, while the gate pulse is being output from the one shot 115, the adder/subtractor 111 outputs the signal 18 (reference speed signal or position error signal) in both control modes.
and signal 19 (velocity feedback value A) as the fourth
Add and subtract in the same way as in the figure. In this way,
Both of the above modes can provide speed feedback proportional to Tp·A, and as a result, the control system can be further simplified.

6 showing a third example of block 100 of FIG.
In the configuration shown in the figure, the same speed feedback value A is preset in the numeral circuit 117 for both the speed control mode and the position control mode, but the gate pulse is generated at the first one shot 119 and the second one shot 120. It has two speed pulses with different time widths. These two gate pulses are input to the selector 118 and the mode signal 17
Accordingly, in the speed control mode, the gate pulse from the first one shot 119 is selected, and in the position control mode, the gate pulse from the second one shot 120 is selected and output to the signal line 26. As a result, in the speed control mode, the first one shot 1
While the gate pulse specified by 19 is being output, the adder/subtractor 111 outputs the reference speed signal (signal 18).
and the speed feedback value A (signal 19), and in the position control mode, the position error signal 18 is output by the adder/subtractor 111 while the gate pulse specified by the second one shot 120 is output.
Addition and subtraction between and the signal 19 is performed. Therefore,
The pulse time width Tp ₁ of the first one shot 119,
Assuming that the pulse time width of the second one shot 120 is Tp ₂ , the speed control mode gives a speed feedback proportional to the level of Tp ₁ ·A, and the position control mode gives a speed feedback proportional to the level of Tp ₂ ·A. Optimum speed feedback can be provided separately in the speed control mode and position control mode, corresponding to the time interval between the two output pulses of the directional pulse generating circuit 14, respectively. In the above description, an example using two one-shots has been described, but it is also possible to use only one one-shot and switch its time constant to achieve the same effect. Furthermore,
In the configurations shown in FIGS. 4 to 6, the speed feedback value is set by the numeral circuit 20, but it is also possible to set this speed feedback value directly from the external control device 5.

FIG. 7 is a diagram showing the drive circuit 12 of FIG. 2. The digital output signal from the adder/subtractor 111 is input to the digital-to-analog converter 121 via the signal line 23, converted to an analog signal, and then smoothed by a low-pass filter 125 composed of an operational amplifier 112 and the like. . Motor 1 is driven via power amplifier 123. The cutoff frequency of the low pass filter 125 is preferably selected to smooth the velocity feedback pulse and at the same time pass the reference velocity signal and position error signal. In FIG. 8 showing details of the incremental encoder 3 of FIG. 2, a transparent position information pattern 302 formed by perforating an opaque disk 301 that is mechanically attached to the shaft of the motor 1 and responds to its rotation is a light source. 300 and is detected by photodetectors 304 and 305 as the brightness of the light transmitted through the slit plate 303. These detection signals are compared with a reference voltage 306 by comparators 307 and 308 and outputted to signal lines 24 and 25 as digital incremental position signals. At this time, the distance between the two photodetectors 304 and 305 and the slit plate 30
Location information pattern 3
By shifting 1/4 of the distance between adjacent slits 02, two incremental position signals whose phases differ from each other by 1/4 of the slit distance are generated (see FIG. 9a).

FIG. 9a shows the incremental encoder 3
FIG. 3 is a diagram showing an example of two incremental position signals having different phases. Using the two incremental position signals with different phases as the A-phase signal and the B-phase signal, the spacing between adjacent position information patterns 302 in FIG. 8, that is, the space degree defined by the repetition period, is 360°. Then, as described in the configuration of FIG. 8, the phase difference between the A-phase signal and the B-phase signal is 90° with respect to the spatial angle of 360°. When the motor 1 is rotating in the positive direction, the phase relationship between the A phase and the B phase is as shown in signal waveforms 241 and 251, and when the motor 1 is rotating in the negative direction,
The relationships shown in signal waveforms 242 and 252 are obtained.
Therefore, during one rotation of the motor 1 in the forward direction, the
A predetermined number (for example, 600) of pulse pairs of the A-phase signal and the B-phase signal are generated.

FIG. 9b is a diagram showing the directional pulse generating circuit 14 of FIG. 2 in detail. The A-phase signal (signal waveform 241 or 242) in FIG.
At the same time, it is also input to one shot 142 via inverter 143. From one shot 141 and 142 a short time span, e.g.
A pulse having a time width on the order of several nanoseconds is triggered by the input signal and output. That is, when the motor 1 rotates in the forward direction, the output pulse AND gate 144 of the one shot 141, which is triggered by the rising edge of the A-phase signal (signal waveform 241), generates the B-phase signal (signal waveform 251) in FIG. 9a. The logical product (AND) is taken. Furthermore, the A phase signal (signal waveform 241)
One shot 14 triggered by the rising edge of
The output pulse 2 is ANDed with the inverted signal of the B phase signal (signal waveform 251) by the AND gate 145.
is taken. Next, in the OR gate 148, the
OR of the output signals of AND gates 144 and 145
is taken and output to the positive direction pulse signal line 22. On the other hand, when motor 1 rotates in the negative direction,
The AND gate 146 uses the A phase signal (signal waveform 24
2) One shot 141 triggered at the rising edge of
The output pulse of the one-shot 147 which is triggered by the rising edge of the A-phase signal (signal waveform 242) is ANDed with the inverted signal of the B-phase signal (signal waveform 252), and the AND gate 147 combines the output pulse of the one-shot 147 triggered by the rising edge of the A-phase signal (signal waveform 242) with the B-phase signal. (signal waveform 252).
Then, the output signals of the two AND gates 146 and 147 are ORed by the OR gate 149, and a negative direction pulse is output to the signal line 21.

In the configuration shown in FIG. 10 showing a second example of the direction pulse generation circuit 14 shown in FIG.
is supplied to the direction pulse generation circuit via. At this time, in the AND gate 163, the A-phase signal is delayed by the delay element 160 (approximately 1 μsec), and the inverted signal and the A-phase signal are ANDed by the inverter 161, and the A-phase signal is A pulse is output at the rising edge. The AND gate 164 performs an AND operation on the inverted output of the A-phase signal from the inverter 162 and the delayed output from the delay element 160, and outputs a pulse at the falling edge of the A-phase signal. Then, using the AND gates 165, 166, 167 and 168, the OR gates 170, 171, the inverter 169, etc., a positive direction pulse is output to the signal line 22 in the same manner as in the configuration shown in FIG. Outputs a negative direction pulse.

FIG. 11 shows signal waveforms for explaining the operation of the positioning control device of the present invention shown in FIGS. 2 to 7 in the speed control mode. FIG. 11a is a diagram showing the relationship between the reference speeds 30, 48 and the speed 31 of the motor 1 in the speed control mode, and FIG. 11b is a diagram showing the acceleration region 45, constant speed region 46, and deceleration in FIG. The gate pulse 32 from the gate pulse generation circuit 10, the output signal 33 of the digital-to-analog converter 121, and the output signal 34 of the low-pass filter 125 in a region 47 are shown. Note that the pulse duration 54 of the gate pulse 32 is equal to the fourth
In the configuration of the figure and FIG. 5, Tp,
In the configuration of FIG. 6, it is Tp ₁ . Furthermore, the level 49 of the output signal 33 of the digital-to-analog converter 121, which corresponds to the output signal of the numeral circuit 20 in FIG. 2, is a level proportional to A ₁ in the configuration shown in FIG. In the configuration of FIG. 6, the level is proportional to A.

In the acceleration region 45, the output signal (i.e., the speed feedback value) of the numeral circuit 20 is subtracted from the reference speed signal by the adder/subtractor 111 by the gate pulses 32, which gradually become denser, and digital-to-analog conversion is performed. The output signal of the filter 121 becomes a signal indicated by reference numeral 33, and is passed through the low-pass filter 1.
25 and becomes a positive signal 34. This means that the speed of motor 1 is further accelerated and the reference speed is 30.
Get closer. In the constant speed region 46, the output signal of the digital-to-analog converter 121 becomes a signal indicated by reference numeral 33 due to the gate pulses 32 at regular intervals, which is smoothed by the low-pass filter 125 to become a signal 34 with an average value of 0, and the motor At speed 1, no acceleration or deceleration is performed, and the motor 1 rotates in accordance with the standard speed 30. In the deceleration region 47,
In the adder/subtractor 111, the output signal of the numeral circuit 20 is subtracted from the reference speed signal corresponding to the reference speed 48, which is at a level lower than the acceleration region 45 and the constant speed region 46, by the gate pulses 32 that gradually become sparse. The output signal of the digital-to-analog converter 121 becomes a signal indicated by reference numeral 33, which is smoothed by a low-pass filter 125 to become a negative signal 34, and the speed of the motor 1 is reduced to approach the reference speed 48.

As described above, in the speed control mode, the speed of the motor is controlled to follow the reference speed 30 or 48.

FIG. 12 shows signal waveforms for explaining the operation of the positioning control device of the present invention in the position control mode. Figure 12a shows the position error from the target position in the position control mode, and Figure 12b shows the position error from the target position in the position control mode.
3 is a diagram showing the relationship between the gate pulse 42 from the gate pulse generation circuit, the output signal 43 of the digital-to-analog converter 121, and the output signal 44 of the low-pass filter 125 with respect to the position error in FIG.
Note that the pulse duration 55 of the gate pulse 42 is Tp in the configurations of FIGS. 4 and 5,
In the configuration of FIG. 6, it is Tp ₂ . Furthermore, the level 56 corresponding to the output signal of the numeral circuit 20 is a level proportional to A ₂ in the configuration of FIG. 4, and is a level proportional to A in the configurations of FIGS. 5 and 6.

In the position control mode, the motor 1 is controlled so that the position error 41 becomes 0, and the motor 1 is positioned at the target position. At this time, the output signal of the numeral circuit 20 is changed from the output signal of the control circuit 9, which decreases as the target position approaches, that is, the position error signal, to the gate pulse 4.
2, the output signal of the digital-to-analog converter 121 becomes as shown by reference numeral 43, and by smoothing this with the low-pass filter 125, an output signal 44 that gradually approaches 0 is obtained. The motor 1 is positioned at the target position by this output signal. That is, the motor is positioned at the target position by the position error signal while being damped by the speed feedback.

FIG. 13 is a diagram showing in detail another example of the configuration of the positioning control circuit 4 of FIG. 1. In the same figure,
PLA (Programmable Logic Array) 8
01 is an integrated circuit consisting of a two-stage AND-OR configuration, which includes the number register circuit 20 and the addition/subtraction circuit 1 shown in FIG.
1. Direction pulse generation circuit 14, memory 9 in Fig. 3
5, a selector 97, an OR gate 93, a zero detector 96, etc. A direction designation signal and a movement distance signal from the external control device 5 are initially set in the counter of a counter/decoder 800 consisting of a cascade connection of a counter and a decoder, and depending on the direction designation signal, a forward signal or a backward signal is sent. Furthermore, the reference speed selection signal is set in the counter in accordance with the moving distance signal set in the counter.
These signals are input to the PLA 801 and a reference speed signal is selected. Further, a countdown pulse corresponding to the output signal of the OR gate 93 in FIG. 3 is applied from the PLA 801 to the counter decoder 800 to subtract the counter. The counter 802 corresponds to the third counter 94, and receives a count-down pulse or a count-up pulse from the PLA 801, and provides a carry pulse or a carry pulse and the contents of the counter 802 to the PLA 801. one shot 80
5 is one shot 1 in Figures 4 and 5.
15, which is triggered by a signal given from the PLA 801 and gives a gate pulse of a constant time width to the PLA 801. Two incremental position signals of different phases from the incremental encoder 3 are input to the PLA 801, and at the same time, one is delayed by the delay element 804 and input to the PLA 801.
As a result, the PLA 801 generates the directional pulse shown in FIG. 9a. The output 807 of the PLA 801 is applied to a drive circuit 803 to drive the motor 1 .

By adopting the above configuration, the output signal 8 of the PLA801 is
07, a signal obtained by adding or subtracting the speed feedback value to the reference speed signal is output in the speed control mode, and a signal obtained by adding or subtracting the speed feedback value to the position error signal is output in the position control mode. 1 is controlled and positioned to the target position while being given speed feedback.

The above PLA801 is based on the publication “DATE” published by Signetics in 1976.
MANUAL” MEMORIES section page 60
BIPOLAR FIELD−PROGRAMMABLE LOGIC
It can be configured using two ARRAY 82S100 (16 inputs, 8 outputs, 48 product terms), but if PLA has a counter function, block 806 in Figure 13 can be used.
All parts can be replaced with one PLA, and the device can be further miniaturized.

As described above, according to the present invention, it is possible to realize a positioning control device that provides digital speed feedback and positions the motor and movable member at target positions through the speed control mode and the position control mode. Furthermore, most of the system is digitized by the digital speed feedback configuration 10, 20, 11, 14, 3 (therefore, the analog speed detector etc. in the conventional configuration described above can be omitted), and the digitalization is This can be achieved with a few ICs, reducing the cost of the device, and the digitalization makes it easy to perform optimal speed feedback control from the outside.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing one embodiment of the present invention;
2 is a diagram showing the positioning control circuit 4 of FIG. 1 in detail, FIG. 3 is a diagram showing an example of the configuration of the control circuit 9 of FIG. 2, and FIGS. 2, FIG. 7 is a diagram showing an example of the configuration of the drive circuit 12 in FIG. 2, FIG. 8 is a diagram showing an example of the configuration of the incremental encoder 3 in FIG. 2, and FIG. 9a shows an example of the output waveform of the incremental encoder 3 in FIG. 2, and FIGS. 9b and 10 show the direction pulse generation circuit 14 in FIG.
11a is a diagram showing the relationship between the reference speed and the motor speed in the speed control mode. FIG. 11b is a diagram showing an example of signal waveforms of each part in the speed control mode. 12a is a diagram showing an example of the motor position response to the target position in the position control mode, FIG. 12b is a diagram showing an example of signal waveforms of each part in the position control mode, and FIG.
The figure shows another example of the configuration of the positioning control circuit 4 shown in FIG. 1, FIG. FIG. 14C is a diagram showing the output signal of the counter 92 (FIG. 3). In FIG. 2, 5...external control equipment, 9...
Control circuit, 11... Addition/subtraction circuit, 20... Arrangement circuit, 10... Gate pulse generation circuit, 12... Drive circuit, 14... Direction pulse generation circuit, 3... Incremental encoder, 1... Motor, 10
0... indicates a block including the addition/subtraction circuit 11, the numeric value circuit 20, and the gate pulse generation circuit 10, respectively.

Claims (1)

[Scope of Claims] 1. A positioning control device that positions a movable member at a target position, including a motor for driving the movable member, and a motor that is mechanically connected to the motor and that rotates each time the motor rotates by a certain angle. a position signal generating means for generating a pair of incremental position signals with reversed polarities and different phases; and a rotation signal for generating a digital rotation signal indicating the rotation and rotation direction of the motor in response to the pair of incremental position signals. generating means, and a position error from the current position to a certain distance before the target position upon receiving the rotation signal based on a movement information signal from the outside indicating the movement distance and movement direction of the movable member from the current position to the target position. A reference speed signal that changes according to the signal is output as a control signal, and a position error signal is output as a control signal from a certain distance before the target position to the target position, and a position error signal is output as a control signal when the target position is a certain distance before the target position. a control circuit that outputs a mode signal indicating a mode signal; a numeric circuit that outputs a preset digital value; a gate pulse generation circuit that receives the rotation signal and outputs a gate pulse having a predetermined time width; an addition/subtraction circuit that adds or subtracts the digital output signal of the numeric circuit to the control signal depending on the rotational direction of the motor indicated by the rotational signal while a pulse is being generated; and a drive circuit that drives the motor, and provides a speed feedback at a level defined by the fixed time width of the gate pulse and the digital output signal of the numeric numeral circuit until a certain distance before the target position. gives the reference speed signal, gives the position error signal from a certain distance before the target position to the target position, controls the motor so that the information signal becomes zero, and moves the movable member by the target moving distance. A positioning control device characterized in that the positioning control device is configured to position the robot at a target position. 2. The positioning control device according to claim 1, wherein the rotation signal generating means is a direction pulse generating circuit that generates positive direction pulses and negative direction pulses indicating rotation of the motor in positive and negative directions. 3. A patent claim in which the drive circuit comprises a circuit that converts the digital output signal of the addition/subtraction circuit from digital to analog, a low-pass filter that smoothes the converted output, and a power amplifier that amplifies the power of the smoothed output of the low-pass filter. The positioning control device according to item 1. 4. A positioning control device that positions a movable member at a target position, including a motor for driving the movable member, and a motor that is mechanically connected to the motor and whose polarities are reversed every time the motor rotates by a certain angle so that they are out of phase with each other. position signal generating means for generating a pair of incremental position signals with different values; rotation signal generating means for generating a digital rotation signal indicating the rotation and rotation direction of the motor in response to the pair of incremental position signals; Based on the movement information signal from the outside indicating the movement distance and movement direction of the member from the current position to the target position, the rotation signal is received and the distance from the current position to a certain distance before the target position changes according to the position error signal. Outputs a reference speed signal as a control signal, outputs a position error signal as a control signal from a certain distance before the target position to the target position, and outputs a mode signal indicating that the position is a certain distance before the target position. a control circuit, a numeral circuit that selects and outputs one of two predetermined digital values according to the mode signal, and a gate pulse that outputs a gate pulse of a predetermined constant time width in response to the rotation signal. a generating circuit; an addition/subtraction circuit that adds or subtracts the digital output signal of the numeric circuit to the control signal according to the rotational direction of the motor according to the rotational signal while the gate pulse is being generated; a drive circuit that receives a digital output signal and drives the motor, while providing a speed feedback at a level defined by the constant time width of the gate pulse and the digital output signal of the selected numeral circuit. The reference speed signal is applied until a certain distance before the target position, the position error signal is applied from a certain distance before the target position to the target position, and the motor is controlled so that the movement information signal becomes zero to move the target. A positioning control device characterized in that the movable member is moved by a distance and positioned at a target position. 5. The positioning control device according to claim 4, wherein the rotation signal generating means is a direction pulse generating circuit that generates positive direction pulses and negative direction pulses indicating rotation of the motor in positive and negative directions. 6. The drive circuit of claim 1 is comprised of a circuit for digital-to-analog conversion of the digital output signal of the addition/subtraction circuit, a low-pass filter for smoothing the converted output, and a power amplifier for amplifying the power of the output of the low-pass filter. The positioning control device according to scope 4. 7. A positioning control device that positions a movable member at a target position, including a motor for driving the movable member, and a motor that is mechanically connected to the motor, and each time the motor rotates by a certain angle, the polarity of each of them reverses and becomes mutually a position signal generating means for generating a pair of incremental position signals having different phases; a rotation signal generating means for generating a digital rotation signal indicating the rotation and rotation direction of the motor in response to the pair of incremental position signals; Based on the movement information signal from the outside indicating the movement distance and movement direction of the movable member from the current position to the target position, the rotation signal is received and changes from the current position to a certain distance before the target position according to the position error signal. outputs a reference speed signal as a control signal, outputs a position error signal as a control signal from a certain distance before the target position to the target position, and outputs a mode signal indicating that the target position is a certain distance before the target position. a control circuit that outputs a predetermined digital value, a gate pulse generation circuit that receives the rotation signal and selectively generates a gate pulse of a certain time duration corresponding to the mode signal, and the gate an addition/subtraction circuit that adds or subtracts the digital output signal of the numeric circuit to the control signal depending on the rotational direction of the motor according to the rotational signal while pulses are being generated; and a drive circuit for driving the motor, and the motor is driven a certain distance before the target position while providing a speed feedback at a level defined by the fixed time width of the selected gate pulse and the digital output signal of the numeric circuit. The reference speed signal is applied from a certain distance before the target position, and the position error signal is applied from a certain distance before the target position to control the motor so that the movement information signal becomes zero, and the movable member is moved by the target movement distance. A positioning control device characterized by moving and positioning at a target position. 8. The positioning control device according to claim 7, wherein the rotation signal generating means is a direction pulse generating circuit that generates positive direction pulses and negative direction pulses indicating rotation of the motor in positive and negative directions. 9. A patent claim in which the drive circuit comprises a circuit that converts the digital output signal of the adder/subtractor circuit from digital to analog, a low-pass filter that smoothes the converted output, and a power amplifier that amplifies the power of the smoothed output of the low-pass filter. 7. The positioning control device according to item 7.