JPS61134815A - Positioning control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention particularly relates to a positioning control device that uses an AC motor to move an object to a target position.

[Conventional technology]

2. Description of the Related Art In machine tools and the like, it is necessary to move an object such as an operation head that performs machining to a target position, that is, a position to be machined. At this time, there are various means for moving the object, but when moving the object using an Aα AC motor, a control method as shown in FIG. 3 is usually adopted. In this method, the AC motor is operated intermittently to move the object in increments to the target position.At this time, the AC monitor is first energized continuously to move the object to a position close to the target position, and then the remaining The distance is finely adjusted to stop at the target position. That is, the object is stopped at the target position by a near-point positioning operation that moves the object close to the target position, and an inching operation that moves the object finely until the remaining distance. In this case, part A is a high speed region due to continuous energization, and part B is a low speed region due to inching operation.

In the high-speed region, the object moves at maximum speed due to continuous energization,
In the low speed region, the AO motor is energized for a predetermined fixed time t1, and by repeating this energization, the object moves to the target position.

In this way, positioning control of the object can be performed, and here, the energization time t1 in the low speed region is a constant energization time determined by the positioning accuracy required of the positioning control device. For this reason, the remaining movement amount after high-speed movement is 38. Then, the amount of movement by one inching is 81 = 'l/, × where the movement speed is vl.
t1, so it takes 381 to position to the target position.
÷Sl=3, and three inching operations are required.

[Problem that the invention seeks to solve]

However, in the conventional positioning control device using the control method described above, the motor is energized for a certain period of time (tl) regardless of the remaining distance in a low speed region, and the object is finely moved by repeating this energization. Since the positioning is performed by using the motor, there is a problem that the number of times the motor is energized and the number of times that the object is driven increases, resulting in a longer control time, and there is also a problem that the life of the motor's brake mechanism is short.

The present invention has been made in view of the problems of the conventional devices, and an object of the present invention is to provide a positioning control device that has a short positioning control time and a long motor life.

[Means for solving problems]

In a positioning control device that drives an object and moves it to a target position by intermittent operation of a motor,
Means for detecting the distance between the object and the target position, and means for controlling the energization time of the motor according to the detected distance are provided.

[Effect]

The object to be moved to the target position and the distance to the target position are detected, and the energization time of the motor is controlled according to the detected distance. This intermittent operation of the motor causes the object to stop at the target position, and at this time the positioning control time is shortened compared to when the motor is energized at a constant time.

〔Example〕
1 An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing the main part configuration of a positioning control device according to the present invention. In the figure, an input AC voltage is turned on and off using a switching control element such as a thyristor.
An AC voltage control unit 2 for FF is this AC voltage control unit 1
The load device 3, which is an object to be controlled, is moved to the target position by the AO motor driven by the AO motor. 4 is a position detector that detects the distance between the load device 3 and the target position at which it is to be stopped; 5 is a control unit that outputs an energization command signal to the AC voltage control unit l; A accordingly
Controls the energization time of the O motor 2.

In the positioning control device configured in this way, when the energization command signal from the control unit 5 corresponding to the distance to the target position detected by the position detector 4 is output, the ACt motor 2 is activated by the AO voltage control unit 1. Driven. By energizing the motor 2, the load device 8 starts moving toward the target position where it should be stopped.

FIG. 2 shows the control system at that time.

This control method is not the conventional constant time energization method (see FIG. 3), but a variable energization time method for the target distance, and enables positioning in a short time.

That is, first, the load device M8 is moved toward the target position by continuous energization (section A). After that, B4 starts a part of intermittent operation. At this time, the distance between the load device 8 and the target position is detected by the position detector 4, and the energization time of the motor 2 is controlled according to the distance.

In other words, the remaining positioning amount (distance) χl with respect to the target value
The energization time suitable for t11 is the energization time i for the positioning amount χ2, and t2 is the energization time suitable for the positioning amount χ2.Similarly, the non-energization time for the positioning amount χn is set as tn, and the energization time is controlled to become shorter in sequence.

Here, the total amount of movement S in the low speed region is the value (tnXvn
), so in the case of Figure 2, S = (tIXvl
') + (ts+10V2)+(ts Xvs)+
(t4XV4)+(tsXvll). At this time, one energization time (
Each energization time (tn) except the last one is longer than ((tl).
tn≧t1), the longer the energization time is in the acceleration region due to the characteristics of the motor 2, the faster the speed will be, so the moving speed (vn) will also be thicker than the conventional speed (vl) (vn≧ Vt), and the amount of movement also becomes thick (tnXvn>tlXvl). In other words, the amount of movement of the load device in - times of driving operations is always larger than in the conventional control method except for the last driving operation, and therefore, when the remaining distance is the same, the number of driving times decreases, and positioning The total time required for control can also be reduced. For example, total movement amount 81 energization time tn, movement speed vn
When S = 110, i n = 5, and vn = 10, respectively (when v n = 2 t n), each energization time is t5 = 5, t4 = 4, ... river... t1 = 1
If controlled so that each speed Vχ becomes Vχ=io, s
,...,2, each movement amount SχFiSχ=50.32.・
..., 2, and the number of drives ends after 5 times. In this case, in the conventional fixed time energization method, the energization time tχHtχ=
Since the speed is constant at 1, the speed Vχ × Vχ = 10, and the number of drives for a total movement of 5 (S = 110) is S÷(tχ ×
vχ)=110÷(IX2)=55, so 55 driving operations are required, and clearly the control system of this embodiment can perform positioning control in a shorter time.

In this way, the positioning control time can be shortened in the low speed region and overall, and the number of driving operations can also be reduced, so that when a motor equipped with a brake mechanism is used, its life can be extended.

Although one embodiment of the present invention has been described above, the present invention can be applied to various machines and devices that require positioning control, such as machine tools.

〔Effect of the invention〕

As explained above, according to the present invention, since the energization time of the motor is controlled according to the object to be stopped at the target position and the distance to the target position, the number of times the motor is energized and the number of driving operations is reduced. However, it has the effect of shortening the positioning control time, and when using a motor with a brake. Kame Otsu, Su, 3 Ka, □5
Yes, the effect can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the main part configuration of a positioning control device according to the present invention, FIG. 2 is a diagram showing its control method, and FIG. 3 is a diagram showing a conventional control method. 1... AC voltage control unit 2... AO motor 3... Load device 4... Position detection Instrument 5... Control section procedural amendment February 20, 1985 Mr. Manabu Shiga, Commissioner of the Patent Office 1, Indication of the incident, Patent Application No. 255691 of 1988 2, Name of the invention Positioning control Apparatus 3, Relationship with the person making the amendment Applicant name (230) Stanley Electric Co., Ltd. 4, Agent Address 3-3-14-5, Shinbashi, Minato-ku, Tokyo Date of amendment order Voluntary order 6, Amendment Object of the specification (detailed description of the invention)
XVI )+ (t2 +V2)+・・・・・・・・・
” is rS=(t+Xv1)+(t2Xv2)+
・・・－・・・・・・”, he corrected.

Claims (1)

[Claims] In a positioning control device that moves an object to a target position by inching by intermittent operation of a motor,
A positioning control device comprising: means for detecting a distance between the object and a target position; and means for controlling energization time of the motor according to the detected distance.