SAMPLING CONTROL METHOD AND APPARATUS

Abstract: In sampling control wherein data is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, there is calculated a difference Δx n between a sampled input value x n at a certain time t n and a sampled input value x n-1 at a time t n-1 preceding the time t n by one sampling time interval, a product Δx n /m, obtained by multiplying the difference by a proper coefficient 1/m obtained experimentally, is added to the value x n , and the resulting sum x n + Δx n /m is used as a sampled input value at the time t n .

Description: SAMPLING CONTROL METHOD AND APPARATUS The present invention relates to a sampling control method and apparatus. In general, an automatic control system employing a digital computer includes, as shown in Figure 1, an arithmetic unit 11 which calculates the difference between a manipulated variable x and a feedback variable xf fed from a controlled system, a sampler 12 which samples the difference at predetermined intervals, the digital computer 13 which receives the sampled difference and performs predetermined processing to deliver a controlled variable xc, the controlled system 14 which is controlled by the controlled variable xc, and a feedback line 15. In such an automatic control system, since a certain period of time is required for the arithmetic processing in the computer, a time delay is inevitably involved between the sampled input x5 applied to the digital computer 13 and the control output XC delivered therefrom, and the delay acts as a dead time in the control system. This dead time delays phase only, and adversely affects the stability of the system. In order to eliminate or reduce this drawback, it has been considered to shorten the sampling period, which, however, cannot be rendered less than the processing time of the digital computer. It has accordingly been impossible to sharply improve the stability and response of the control system. According to a first aspect of the invention there is provided a sampling control method wherein data is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, said method comprising the steps of: (a) evaluating a difference (xn - xn 1) between a sampled value x at a certain time t and a n n sampled value xn 1 at a time tn 1 preceding the time n by one sampling time interval, and multiplying the difference by a coefficient 1/m obtained experimentally; (b) adding the sampled value Xn to the product xn ¯ on 1 resulting from step (a); and m (c) executing the processing with the sum EMI2.1 obtained from step (b), being regarded as the sampled data at the time tn According to a second aspect of the invention there is provided a sampling control apparatus wherein, when the apparatus is in use, data is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, comprising: : (a) a first register which, when in use, stores a sampled value xn at a certain time tn; (b) a second register which, when in use, stores a sampled value xn 1 at a time tun 1 preceding the time tn by one sampling time interval; (c) an arithmetic unit which, upon reading the sampled value xn when the apparatus is in use, evaluates a difference (xn - xn-1) between said sampled value xn stored in said first register and the sampled value xn 1 stored in said second register, multiplies the difference by a coefficient 1/m obtained experimentally and delivers the resulting product Xn X:n-l ; and n -;.n-l ; and m (d) an adder which, when in use, adds said sampled value xn to said product and delivers the resulting sum as apparent sampled data at the time t n According to a third aspect of the invention there is provided a sampling control apparatus wherein, when the apparatus is in use, data is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, comprising: : (a) a first register #which, when in use, stores a sampled value Xn at a certain time tn; (b) a second register which, when in use, stores a sampled value xn-1 at a time tn-1 preceding the time tn by one sampling time interval; ; (c) an arithmetic unit which, upon reading the sampled value xn when the apparatus is in use, evaluates a difference (xn-xn 1) between said sampled value xn stored in said first register and the sampled value x stored in said second register, multiplies the difference by a coefficient lim obtained experimentally and delivers the resulting product Xn m (d) an adder which, when in use, adds said sampled value xn to said product value and delivers the resulting sum as apparent sampled data at the time tn; and (e) an updating unit which, when in use, stores said sampled value Xn at the time tn in said second register after the delivery of said apparent sampled data at the time tn to update said sampled value xn-1 at the time tn 1 into said sampled value The present invention may provide a sampling control method and apparatus capable of effecting an apparent reduction in a time delay lasting from a data sampling instant until the delivery of processed data, thereby demonstrating an effect equivalent to shortening of a sampling time interval. an example Of Features and advantages of/the present invention will be apparent from the following description taken in conjunction with the accompanying drawings, in which like reference characters designate the same or similar parts throughout the figures thereof. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram of an automatic control system employing a digital computer; Figure 2 is a diagram useful in describing delay time; Figures 3 and 4 are diagrams useful in describing a sampling control method according to the present invention; and Figure 5 is a block diagram showing an example of application of the present invention. example and ArVembodiment of the present invention will now be described in detail with reference to the drawings. Figure 2 is a diagram useful in describing delay time. When a period of time #T is required for the processing executed by a digital computer, at least aT is required for the sampling time interval. That is, in a case where a difference Xe which is delivered from an arithmetic unit 11 (refer to Figure 1) varies as indicated by a solid line, a control output value xc, which corresponds to a sampled input value x5 taken at a point marked # as a sampling input, is provided at a point marked 0, in other words, at a point delayed by & . This period AT is the delay time, which is dead time. This signifies that the output lags in phase over the input by the period of time KT. Figure 3 is diagram useful in describing a sampling control method according to the present invention. In the present method , there is calculated a difference sxn between a sampled input value xn at a certain time tn and a sampled input value xn 1 at a time tun 1 preceding by one sampling time interval. A value & n/m obtained by multiplying the difference #xn by a proper coefficient l/m is added to the input value xn, and the resulting sum is regarded as the sampled input value at the time tn That is, according to the present invention, the following operation is executed each time data is sampled: EMI7.1 and the result of the operation is used as the apparent sampled input value. Thus, the sampled input value at the time tn can be regarded as if it were data obtained by entering a value at a time t and delivering the value with a dead time ht relative thereto, as illustrated in Figure 4. The value m is properly selected by conducting an experiment for the equipment to which the present invention is to be applied, whereby the relation of tn < t < ( tnsl can be established, giving the relation of at < AT (sampling period). This brings forth the effect of apparently shortening the sampling period, in other words, reducing the dead time. Thus, phase lag can be diminished and system stability enhanced. Figure 5 is a block diagram of an embodiment in which the present invention is applied to profiling control. The displacement components #xn' Eyn and Ezn along respective axes sampled by a stylus, not shown, at a time tn are stored in corresponding registers 21X, 21Y and 21Z. The displacement components #xn-1, ±yn-l and #zn-1 along the respective axes sampled at a time tn-1 have been stored in corresponding registers 22X, 22Y and 22Z. Upon reading the displacement components ±xn, #yn and #zn, arithmetic units 23X, 23Y and 23Z execute the operations: (#xn - #xn-1)/m, (#yn - #yn-1)/m, and (#zn - #zn-1)/m, and deliver the results of these operations to adders 24X, 24Y and 24Z, respectively. In consequence, the respective adders 24X, 25Y and 24Z execute the operations: #xn' = #xn + (#xn - #xn-1)/m, #yn' = #yn + (#yn - #yn-1)/m, and #zn' = #zn + (#zn - #zn-1)/m, and apply these results xn', tyn ' and #zn' to a yn zn profiling control circuit 26 as the apparent displacement values along the respective axes at the time tn Simultaneously therewith, an updating unit 25 applies the displacement values ±xnt #yn and at the time tn to the registers 22X, 22Y and 22Z, respective ly. Using the displacement values #xn', #yn' and ± yn zn along the respective axes, the profiling control circuit 26 executes well-known profiling operations so as to find feed speeds Vx and Vy in the respective directions of the X and Y axes and then move a cutter (not shown) and the stylus at these speeds vx and Although Figure 5 illustrates an arrangement based on a single-purpose hardware, the present invention is not restricted thereto but can also be constructed by employing a microcomputer. As set forth above, according to the present invention, a time delay lasting from a data sampling instant until the delivery of processed data can be apparently reduced, whereby an effect equivalent to shortening of a sampling time can be produced. Reducing the delay time makes it possible to control a controlled system stably and accurately.

Claims: WHAT WE CLAIM IS: 1. A sampling control method wherein data is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, said method comprising the steps of: (a) evaluating a difference (xn - xn-1) between a sampled value Xn at a certain time tn and a sampled value xn-1 at a time tun 1 preceding the time tn by one sampling time interval, and multiplying the difference by a coefficient l/m obtained experimentally; (b) adding the sampled value xn to the product xn - xn-1 m , resulting from step (a); and (c) executing the processing with the sum EMI10.1 obtained from step (b), being regarded as the sampled data at the time tn when the apparatus is in use 2 A sampling control apparatus whereingdata is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, comprising: : when in use, (a) a first register which stores a sampled value Xn at a certain time tn; when in use, (b) a second register whici stores a sampled value Xn#l at a time tn¯l preceding the time #tn by one sampling time interval; (c) an arithmetic unit whch,.u on reading the when the apparatus is in use sampled value xn/l evaluates a difference (xn - xn-1) between said sampled value Xn stored in said first register and the sampled value Xn-1 stored in said second register, multiplies the difference by a coefficient 1/m obtained experimentally and delivers the resulting product X n --X ; and m when in use, (d) an adder whit adds said sampled value xn to said product and delivers the resulting sum as apparent sampled data at the time t . t w#en the apparatus is in use, 3. A sampling control apparatus whereinidata is sampled at regular time intervals, predetermined processing is executed on the basis of the sampled data, and a controlled system is controlled on the basis of the processing, comprising: hen in use, (a) a first register whichistores a sampled value xn at a certain time tn; when in use, (b) a second register whichjstores a sampled value xn-1 at a time tn-1 preceding the time tn by one sampling time interval; (c) an arithmetic unit which, upon reading the when the apparatus is in use sampled value x/, evaluates a difference (Xn - xn-1) between said sampled value xn stored in said first register and the sampled value xn-1 stored in said second register, multiplies the difference by a coefficient l/m obtained experimentally and delivers the resulting product x -x n n-l m when in use, (d) an adder which adds said sampled value xn to said product value and delivers the resulting sum as apparent sampled data at the time tn; and when in use, (e) an updating unit whic istores said sampled value Xn at the time tn in said second register after the delivery of said apparent sampled data at the time to toupdate said sampled value xn-1 at the time tn-1 into said sampled value Xn

Inventors: MATSUURA, HITOSHI
Applicants: FANUC LTD
Application year: 1983
Main classification: G05B21
IPC codes: G05D3, B23Q35, G05B19, G05B21