JPH082733Y2 - Actuator drive control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to an actuator drive control device used in a drive control system for driving and controlling an actuator such as a scanner or a motor.

[Prior Art] When driving a position command actuator such as a scanner, it is necessary to apply an input voltage so that the scanner takes a desired posture angle. That is, the scanner takes a posture angle according to the input voltage.

However, in general, the actuator may not be able to have a desired posture angle because its rotation is hindered by inertia of an object to be rotated attached to its rotation shaft or other disturbance factors.

Therefore, it is necessary to attach a position detector such as a potentiometer to the rotary shaft, detect the actual rotation angle, and correct the attitude angle of the actuator based on the difference between the output of the potentiometer and the input voltage.

FIG. 3 shows an example of a conventional scanner drive circuit.

The output of the arithmetic circuit 7 is input to the storage element 4 and the comparison correction circuit 3. The output of the storage element 4 is also input to the comparison and correction circuit 3.

The output of the comparison and correction circuit 3 is input to the D / A converter 2, becomes an analog value, and is input to the scanner 1.

A potentiometer 5 is attached to the rotary shaft of the scanner 1, and its output is converted into a digital value via an A / D converter 6 and input to a calculation circuit 7.

In the storage element 4, drive data having a voltage level corresponding to the attitude angle θ at which the scanner 1 is desired to be driven is sequentially stored in advance.

The comparison and correction circuit 3 is composed of two registers and a digital differentiator, and the two registers are set to 0 in the initial state. The data input from the storage element 4 is temporarily stored in one register, and the data input from the arithmetic circuit 7 is temporarily stored in the other register. When data is input to both registers, the difference between the values is calculated and output to the D / A converter.

 The arithmetic circuit 7 controls the whole.

The operation of the example shown in FIG. 3 will be described below.

First, the arithmetic circuit 7 reads one data from the storage element 4. The read data is input to the comparison and correction circuit 3 and temporarily stored in the first internal register.

Since the register in the comparison and correction circuit 3 is set to 0 in the initial state, the internal difference unit outputs the data read from the storage element 4 to the D / A converter 2 as it is.

The D / A converter 2 outputs an analog voltage corresponding to the input digital value and inputs it to the scanner 1.

The scanner 1 is driven so that the posture angle θ corresponds to the input voltage.

Here, the rotation of the scanner 1 is hindered by inertia of an object to be rotated attached to the rotating shaft and other disturbance factors,
The desired posture angle θ may not be achieved.

Therefore, the potentiometer 5 is attached to the rotary shaft of the scanner 1 and outputs a voltage corresponding to the actual posture angle θ ′ of the scanner 1. This voltage is taken into the arithmetic circuit 7 via the A / D converter 6.

In the arithmetic circuit 7, from the actual posture angle θ ′ data of the scanner 1 input from the A / D converter 6, the drive data corresponding to the voltage required to reach the actual posture angle θ ′ is inversely calculated. The calculated drive data is used as the comparison correction circuit 3
Is temporarily stored in the second register of.

As a result, the comparison and correction circuit 3 outputs the difference between the drive data corresponding to the target posture angle θ and the drive data corresponding to the current posture angle θ ′, which is temporarily stored in the first register.

This difference data is again input to the scanner 1 via the D / A converter 2, and the scanner 1 is driven by the posture angle corresponding to the difference data.

When this difference becomes 0, it is assumed that the actual posture angle θ ′ of the scanner 1 has reached the target posture angle θ.
Is stationary.

Next, in order to drive the scanner 1 to the new posture angle θ, the arithmetic circuit 7 reads out new drive data from the storage element 4, temporarily stores it in the first register of the comparison and correction circuit 3, and thereafter the same. The operation can be repeated to set a new posture angle θ.

[Problems to be Solved by the Invention] In the above-mentioned conventional technique, a calculation process for converting the output of the potentiometer into the scanner drive data is necessary in the arithmetic circuit, which requires a processing time. For this reason, the response becomes poor and the device becomes complicated.

[Means for Solving the Problems] In order to solve the above-described problems of the conventional technique, the present invention provides a first storage element that stores a posture angle of a scanner to be settled in a drive control system of an actuator, 1
Compensation circuit that takes the difference between the two data that are sequentially output from the memory element, D / A converter that converts the output of the comparison compensation circuit into an analog value and supplies it to the actuator, and the potentiometer installed on the scanner. The configuration includes an A / D converter that converts the output into a digital value, and a second storage element that stores the address for reading the content of the first storage element using the output of the A / D converter as an address.

[Operation] In the first storage element, drive data corresponding to a voltage level for setting the posture angle at which the scanner is desired to be set is stored in advance.

In the comparison and correction circuit, 2 input from the first storage element
Each of the two data is temporarily stored in two internal registers, and the difference data is output to the D / A converter.

The D / A converter converts the input digital value data into an analog value and drives the scanner.

The potentiometer is attached to the rotary shaft of the scanner,
The voltage corresponding to the actually driven posture angle is output.

The voltage corresponding to the attitude angle output from the potentiometer is converted into a digital value by the A / D converter.

The second memory element uses the digital value output from the A / D converter as an address, and the content thereof stores the drive data of the voltage level required to set the scanner to the attitude angle output by the potentiometer. The address of the existing first storage element is stored.

Therefore, the content of the second storage element is read using the digital value output from the A / D converter as the address, and the content of the first storage element is read using the value as the address.

As a result, drive data corresponding to the current attitude angle of the scanner is output from the first storage element, and this data is temporarily stored in the second register of the comparison and correction circuit.

In the comparative correction circuit, the data of the first first storage element temporarily stored in the first register as the target value and the data of 2
The difference between the drive data corresponding to the current posture angle temporarily stored in the second register is calculated and output.

The difference data is input to the scanner via the D / A converter, and the scanner is further driven to reach the target posture angle.

When the difference data output from the comparison and correction circuit becomes 0, the scanner stands still assuming that the target posture angle has been reached.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

FIG. 1 is a block diagram showing an embodiment of the present invention when the present invention is applied to a scanner drive circuit.
The same parts as those in the configuration of the figure are designated by the same reference numerals, and the description thereof will be omitted.

FIG. 2 is a flow chart showing the processing flow of the above embodiment.

In FIG. 1, the pulses output from the oscillator 9 are counted by the counter 8, and the contents of the first storage element 4 are sequentially read out by using this output as an address (S ₁ to S 2 in FIG. 2).
S ₃ ). The read content of the first storage element 4 is drive data corresponding to the voltage level indicating the target attitude angle θ of the scanner 1, is input to the comparison correction circuit 3, and is stored in the comparison correction circuit. It is set in a certain first register.

Inside the comparison and correction circuit 3, there are two registers and a difference device for obtaining the difference between the respective registers, and each register is reset to 0 in the initial state.

When the data read from the first storage element 4 is temporarily stored in the first register, the difference from the second register,
That is, since the second register is 0 in the initial state, 1
One value of the eye of the register is output as it is from the comparison correction circuit 3, are input to the scanner 1 through a D / A converter 2, to drive the scanner 1 (FIG. 2 S ₄ ~S _6).

When the scanner 1 is driven, the potentiometer 5 is also driven at the same time, the output voltage of the potentiometer 5 also changes, and the A / D converter 6
Are digitized by (S ₇ , S _{8 in} Fig. 2).

The second digitized data is used as an address
The contents of the memory element 14 of are read (S _{9 in} FIG. 2).

The second storage element 14 stores the address of the first storage element 4 in which drive data corresponding to the voltage level for the attitude angle θ ′ detected by the potentiometer 5 is stored.

Therefore, when the content of the first storage element 4 is read by using the content of the second storage element 14 as an address, it is a drive level corresponding to the voltage level for achieving the attitude angle θ ′ formed by the scanner 1 at the present time. Since this is data, it is temporarily stored in the second register of the comparison and correction circuit 3 (see FIG. 2).
S ₁₀ ).

In the comparative correction circuit 3, drive data corresponding to the target posture angle θ temporarily stored in the first register,
The difference in drive data corresponding to the posture angle θ ′ of the current scanner 1 temporarily stored in the second register is output (S _{11 in} FIG. 2).

The output difference data is from the current posture angle θ ′,
The deviation up to the target posture angle θ is shown.
It is input to the scanner 1 through the D / A converter 2, and the scanner is further driven by an angle corresponding to the deviation (see FIG. 2).
S ₁₂ , S ₁₃ , S _{1 to} S ₁₁ ).

Figure 2 If you repeat the process from S ₇ to S ₁₃ once to several times,
The output of the comparison correction circuit 3 becomes 0, and the target posture angle θ is settled.

After that, similarly, the pulses of the oscillator 9 are counted and driven to a new rotation posture angle.

[Advantages of the Invention] According to the actuator drive control device of the present invention described in detail above, since it is not necessary to calculate the corresponding scanner drive data from the output of the potentiometer, the processing can be performed at extremely high speed. As a result, the responsiveness is improved. Further, as is apparent from the embodiments, it is not necessary to have an arithmetic circuit, and the circuit configuration can be simplified.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention. FIG. 2 is a flowchart showing the processing flow of the above embodiment. FIG. 3 is a block diagram showing a conventional configuration. 1 ... Scanner, 2 ... D / A converter, 3 ... Comparison correction circuit, 4, 14 ... Storage element, 5 ... Potentiometer,
6 ... A / D converter, 7 ... arithmetic circuit, 8 ... counter, 9 ... oscillator.

 ─────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A 61-290512 (JP, A) JP-A 59-112368 (JP, A) JP-A 61-32119 (JP, A)

Claims (1)

[Scope of utility model registration request] 1. In a drive control system for an actuator, a comparison correction circuit for taking out a difference between a first storage element storing an attitude angle of the actuator to be settled and two data output from the first storage element and outputting the data. D / A that converts the output of the comparison and correction circuit into an analog value and supplies it to the actuator.
A converter, an A / D converter that converts the output of the position detector attached to the actuator into a digital value, and an address for reading the contents of the first storage element by using the output of the A / D converter as an address are stored. A second storage element, a target posture angle is obtained from the first storage element, and the actually moved posture angle is set by the second storage element as an address of the first storage element; The actuator drive control device is characterized in that positioning is performed at high speed by detecting the contents of the storage element.