JPS61286664A - Driving controller for mover - Google Patents

Abstract

PURPOSE:To perform accurate positioning for a mover, by measuring information on a driving system at every time, storing it in memory, and intercepting a system motion signal in the driving system short of a desired position in taking this inertial value into account. CONSTITUTION:An operational processor 20 comprises a present position storing device 21 storing present position information K of a mover 2, a driving value storing device 22 storing driving value information L, an inertia storing device 23 storing an inertia value M of a drive motor 6 and an operational means 24 calculating the driving value information L from desired position information N, the present position information K and the inertial information M. Therefore, even if an inertial in a driving system is subjected to an ambience temperature variation and a secular change, the inertia is automatically compensated at every time so that highly positioning accuracy is maintainable.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a drive control device for positioning a movable body such as a document rack or a lens rack of a copying camera to a target position with high precision, and in particular, to The present invention relates to drive control related to a combination of a rotary encoder and an incremental encoder such as a rotary encoder.

<Prior art> There is a method that uses a stepping motor to position the above-mentioned moving object at a target position with high precision, but it is not only complicated in the drive circuit, but also has high costs. Generally, encoders of the above type are often used.

When using this encoder, even after the motor drive signal is turned off, there will be some extra movement due to the inertia of the motor and the moving means, etc., so the moving object cannot be accurately positioned as it is, so the positioning accuracy The following methods are usually used to improve

(b) When the number of pulses from the rotary encoder reaches the target value, an electrical or mechanical braking force is applied to the motor so as to instantly stop the motor.

(b) When using an electric motor as the drive motor, the rotational speed is changed stepwise, or when a servo motor is used, the speed is changed continuously so that the number of pulses from the rotary encoder reaches the target value. The motor's rotational speed is reduced to a very low speed before reaching the target value, and the motor drive signal is cut off when the target value is reached.

(c) For example, as disclosed by the applicant in Japanese Patent Publication No. 57-13859, the pulse count value is forcibly reset to a predetermined value every time a moving object passes a reference point, and the cumulative error is automatically reduced. A method that uses the above method (a) or (b) to correct the problem.

<The problem to be solved by the invention is huge> However, the former (a) requires an electrical or mechanical braking device and has the disadvantage of applying shock to the moving body during braking; ), a motor speed control device is required, making the control system complex and expensive. In addition, in any of the cases (a), (b), and (c), due to variations in each component, the amount of movement due to inertia between devices is not uniform even after assembly and adjustment, especially when used for a long period of time. In such a device, the amount of movement itself due to inertia fluctuates, making it impossible to maintain highly accurate positioning over a long period of time.

The present invention has been made in view of the above circumstances, and its purpose is to eliminate the need for a special braking device or speed control device, and to eliminate the need for a special braking device or speed control device, even if the inertia of the drive system of the motor or moving means is not uniform or fluctuates. It is an object of the present invention to provide a drive control device for a movable body that enables inexpensive and highly accurate positioning over a long period of time by individually and automatically correcting it.

<Means for Solving the Problems> In order to achieve the above object, the present invention provides a moving means for moving a moving body in a predetermined direction, a drive motor for driving the moving means, and a drive motor interlocked with the moving means. It consists of a position signal generating means for generating a pulse signal from the position signal generating means, a reference position input means provided within the movement area of the moving body, a target position setting means, an arithmetic processing means, and a motor drive circuit. Based on this, in a drive control device for a moving body configured to accurately position and control a moving body to a target position, the target position information input from the target position setting means, the current position information from the position signal generating means, and the The movable body is moved by calculating drive amount information from the detected amount of emotion, and the inertia amount is sequentially corrected based on the current position information when the movable body has stopped.

<Operation> The current position storage means counts pulse signals from the Korg that is linked to the moving means, and sequentially stores the counted values as current position information indicating the current position of the moving body. The drive amount information storage means stores drive amount information obtained by the calculation means described later, that is, information indicating how far before the target value the drive motor should be rotated. On the other hand, each time the moving body is driven toward the target position and stops, the difference between the target position information and the current position information is input into the inertia information storage means as correction information, and the excess or deficiency of the previous inertia information is corrected. be done. When a new target position is set by the target position setting means and an instruction is given to move in the same direction as the previous time, the calculation means calculates drive amount information by subtracting current position information and inertia information from this target position information, Based on this drive amount information, the drive motor is driven via the motor drive circuit, and when the moving object reaches the required position before the target position, the motor drive signal is turned off, and the rest reaches the target position by inertia. .

Note that the initial current position information and inertia information are given as follows. After the power is turned on, the movable body is driven to return to a reference position provided within its movement area, and at the moment the movable body reaches the reference position, the reference position input means is activated and a predetermined value is stored in the current position storage means. Input the reference position information and turn off the motor drive signal. At this time, the difference between the current position information at the position where the moving body stopped and the reference position information from the reference position input means is stored as inertia information in the inertia amount storage means. From then on, the above operation is repeated every time target position information is given, and the inertia information is corrected to the latest one based on the previous stop position, and this corrected inertia information is included to determine the next drive amount. As a result, high positioning accuracy can be maintained over a long period of time.

<Example> The present invention will be described below based on an example in which the present invention is applied to a copy camera.

FIG. 3 is a block diagram showing an outline of this embodiment. In this figure, reference numeral 1 is a copying camera, 2 is a document rack on which an original image 2a is placed, and 12 is a lens rack equipped with a lens 11.
These document shelves 2 and lens shelves 12 are driven by a drive control device to be described later, and are positioned at a required copying magnification, and a lens 11
It is configured so that an image is formed on a focusing surface 10 on which a photosensitive material such as a film is placed.

The drive control device includes feed screws 4 and 14 that respectively move the document rack 2 and lens rack 12, which are movable bodies, drive motors 6 and 16 that rotate the feed screws 4 and 14 in a predetermined direction, and Row 2 encoders 7 and 17 connected to screws 4 and 14, reference position input means 8 and 18 having detectors such as microswitches provided within the movement area of each moving body 2 and 12, and arithmetic processing. It is equipped with a device 20 and a motor drive circuit 26, and counts and controls pulse signals from rotary encoders 7 and 17 to accurately position the document shelf 2 and lens shelf 12 at respective required optical positions. It is configured as follows. In addition,
Reference numerals 9 and 13 are drive nuts fixed to the good parts, respectively;
5 and 15 are drive motors 6 and 16 and feed screws 4 and 15, respectively.
14, a power transmission belt for interlocking the ink, 27 an operation panel having magnification setting means 27a, etc., 19 an input ink 7 and 8, and 25 an output interface 7.

The arithmetic processing unit 20 is a microcomputer, and consists of a central control unit (hereinafter referred to as CPU) and storage units ROM and RAM for storing information signals, etc. The functions shown in the main diagram of FIG. 1 are shown in FIG. 2. The characteristic drive control according to the present invention is performed by processing according to the flowchart.

That is, the arithmetic processing device 20 uses the rotary encoder 7
The current position information K of the mobile object 2 is obtained by counting the pulse signals from the
current position storage means 21 for storing the current position storage means 21 for storing the current position storage means 21 for storing the current position storage means 21 for storing the current position storage means 21 for storing the driving amount information corresponding to the rotational driving amount of how much the drive motor 6 should be rotated;
and the target position information N given by the inertia storage means 23 for storing the inertia amount M, and the magnification setting means 27m of the operation panel 27.
, a calculation means 24 for calculating drive amount information, etc. from the current position information, the inertia information M, and the like.

Then, drive control of the mobile body 2 is performed based on a program pre-installed in the ROM of the arithmetic processing unit 20. This drive control will be explained below with reference to 70-char shown in FIG.

When the power of the operation panel 27 is turned on, in the first step S1, the drive motor 6 is driven to rotate, the movable body 2 is moved to the reference position, and the detector 8a of the reference position input means 8 detects the arrival of the movable body 2. Upon detection, the drive signal for the drive motor 6 is turned off. Predetermined reference position information A written at the same time as this detection of the moving object 2 is inputted from the reference position storage section 8b of the reference position input means 8 to the current position storage means 21.

As shown in FIG. 4, this reference position information A is, for example, a pulse count value a corresponding to the distance Ao from the imaging plane 10 to the reference point Po where the detector 8a is arranged. As described above, even if the drive signal for the drive motor 6 is turned off, the movable body 2 actually stops at the position Pok after moving by Mo (corresponding to the pulse count value Δa) due to inertia.

Therefore, the current position information of the stop position Pok is = a + Δ
It is a.

Next, in the second step S2, the calculation means 24 calculates -A, and the pulse count value Δa is used as the inertia information M.
is input to the inertia amount storage means 23, and the initial value input to the current position storage means 21 and the inertia amount storage means 23 after the power is turned on is completed.

In the third step S3, the magnification setting means 27a of the operation panel 27
By inputting a required copy magnification, target position information N is provided to the calculation means 24, and then the stat switch is turned on.

In the fourth step S4, drive amount information L (corresponding to Ll in FIG. 4) is calculated by subtracting current position information K (=a+Δa) and inertia information M (=Δa) from target position information N, and this drive amount The moving object 2 is moved in a predetermined direction according to the information.

Simultaneously with this movement of the movable body 2, the presence or absence of a pulse signal from the encoder 7 is determined in a fifth step S5. If there is a pulse signal 1, the process proceeds to a sixth step S6, and if there is no pulse signal, the process proceeds to a seventh step S7. Proceed to.

The sixth step S is a subroutine that executes arithmetic processing for each pulse from the encoder 7.

That is, in the first sub-step B, the rotation direction of the drive motor 6 is determined, and if the rotation is in the forward direction, 1 is added to the current position information K in the second sub-step B2, and if it is in the reverse direction, the current position information K is added in the third sub-step B3. 1 is subtracted from .

Then, in @4 sub-step B4, the drive amount information of the drive motor 6 is subtracted by 1 each time it approaches the target value, and in the fifth sub-step B, the result is determined. As a result, if the drive amount information is 0, a motor stop command is output in the sixth sub-step B6, and in the seventh step S7 of the main 70-chart, the presence or absence of a stop command output is determined, and if the drive amount information is 0. If not, steps B and -B are repeated again in the subroutine.

In the eighth step S8, in response to the motor stop command issued in the sub-step B, the drive signal of the drive motor 6 is turned off before the target position (this is the position fi shown in FIG. 4).
PLl: Corresponding), the moving body 2 moves and stops in the vicinity PK* of the target position PN due to inertia. Here, the target position P
The excess or deficiency of the current position PK with respect to , is calculated as ΔM=N-, this error is added to the inertia information M as correction information ΔM, and a new inertia amount IM is stored in the inertia storage means 23.

Next, in the ninth step, it is determined whether or not the work has been completed. If the work has not been completed, the process returns to the third step and repeats the chart 70.

In the above embodiment, the reference position input means 8 is operated only when the initial value is input after the power is turned on. It is also possible to replace the current position information K with a predetermined value a and input it into the current position storage means 21 each time the device 8a detects the moving body 2.

<Effects of the Invention> The present invention is configured to actually measure and store information about the drive system each time, and to cut off the drive signal for the drive system before the target position in anticipation of this amount of inertia. It has excellent effects such as

B. Even if the inertia of the drive system consisting of the motor and the moving means is not uniform between devices, there is no need to adjust them individually.

Even if the inertia of the drive system changes due to environmental temperature changes or changes over time, the inertia is automatically corrected each time, and high positioning accuracy can be maintained over a long period of time.

C. Furthermore, no special braking device or slow speed control device is required, which makes the entire drive control device simple and reduces costs.

[Brief explanation of drawings]

Fig. 1 is a main diagram of the present invention, Fig. 2 is a flowchart showing program processing by an arithmetic processing unit, Fig. 3 is a block diagram showing an overview of applying the invention to a copy camera, and Fig. 4 is a movement of a moving object. FIG. 3 is an explanatory diagram showing the relationship between a position and its positional inertia. 2... Moving body (manuscript shelf), 4... Moving means, 6...
... Drive motor, 7... Rotaryenhug, 8
...Reference position input means, 8a... Reference position detector, 20... Arithmetic processing unit, 21... Current position storage means, 22... Drive amount storage means, 23... Inertia amount storage means, 24... calculation means, 26... motor drive circuit. 27a...Target position setting means (magnification setting means). Figure 1 Figure 4 Procedural amendments issued on July 9, 1985

Claims (1)

[Claims] 1. A moving means for moving a moving body in a predetermined direction;
A drive motor that drives the moving means, a position signal generating means interlocked with the moving means, a reference position input means provided within a moving area of the moving object, a target position setting means, an arithmetic processing device, and a motor. In a drive control device for a moving object configured to accurately position and control the moving object to a target position based on pulse signals from the position signal generating means, the arithmetic processing unit is configured to control the positioning of the moving object to a target position based on pulse signals from the position signal generating means. Current position storage means for counting signals and storing current position information of the moving body; drive amount storage means for storing drive amount information corresponding to the rotational drive amount of the drive motor; and inertia storage means for storing inertia information of the moving body. The drive amount information is calculated from the target position information, current position information, and inertia information from the target position setting means, and the drive motor is rotated based on this drive amount information. A drive control device for a moving object 2, a reference position input means, characterized in that the inertia information is sequentially corrected based on the current position information when the moving object moves toward a target position and stops. Driving a moving object according to claim 1, wherein the current position information is replaced with a predetermined value and input to the current position information storage means only when the moving object is detected for the first time after the power is turned on. Movement according to claim 1, wherein each time the reference position input means detects a moving body, the control device 3 replaces the current position information with a predetermined value and inputs it into the current position information storage means. A drive control device 4 for a movable body, a drive control device 5 for a movable body according to claim 1, wherein the moving means is a feed screw rotatably fitted to the movable body; A drive control device for a moving body according to claim 1, which is