JPH0746457B2 - Drive controller for moving body for disc engineer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention will be described in the following order.

A. Industrial fields of use B. Overview of the invention C. Prior art D. Problems to be solved by the invention E. Means for solving the problems F. Operation G. Example G-1. Outline Structure (Figs. 1 to 4) G-2. Operation during motor drive (Figs. 5 and 6) G-3. Other embodiments H. Effects of the invention A. Industrial field of application The present invention relates to a drive control device for a disc changer moving body for reproducing a desired one among a plurality of discs arranged in a disc reproducing section by a disc reproducing section.

B. Summary of the Invention The present invention relates to a drive control device for a moving body for a disc changer, which has a moving body that moves in the stacking direction of a plurality of discs housed in a disc housing portion, each at a disc housing position of the disc housing portion. Correspondingly, the detected means is provided, and the detected position of the moving body is detected by detecting the detected means by the position detecting means attached to the disc changer moving body. When the difference is a predetermined value X or more, a constant speed drive signal is given to the drive motor of the moving body, and when it is smaller than the predetermined value X, a drive pulse signal having a constant pulse width is given a predetermined number of times and the target position is not reached at this predetermined number of times. A drive pulse signal with a large pulse width is given, and this pulse width is stored in the storage means to move to the target position during the next pulse drive. Enhance the responsiveness of the movement control operation, and makes it possible to drive control of the fast and accurate moving body.

C. Conventional technology A plurality of so-called CDs (compact discs) or normal analog discs are stored in the disc storage unit, and the disc is automatically transferred by the carrier between the disc storage unit and the disc reproducing unit. Various so-called playback systems with a disc changer function have been conventionally known in which discs are exchanged to automatically play a desired song on a desired disc.

In such a reproducing system with a disc changer function, the response speed and accuracy when controlling the movement of the disc carrier to a desired target position of the disc housing portion are extremely important. And high control accuracy are strongly desired.

By the way, as a carrier position detecting device in such a drive control device for a disc carrier for a disc changer, for example, a technique disclosed in Japanese Patent Laid-Open No. 60-253916 is known. In this prior art, an optical scale, an optical reading means, a first comparator for comparing the read output signal of the optical scale with a reference level, and a second characteristic level comparison for the read output signal of the optical scale. By using the comparator, the correct carrier position can be accurately detected with excellent vibration resistance.

D. Problems to be Solved by the Invention However, in the actual disc changer of the automatic playback system, the load of the drive motor of the disc carrier changes depending on the installation condition of the system, the usage situation, the usage time, etc. If the system is operated with the set value as it is, the desired function cannot be fully exerted, and it is desired to change various settings to the drive control mode corresponding to the change in the load.

The present invention has been made in view of the above circumstances, and the amount of movement of a moving body such as a carrier with respect to a motor drive signal is caused by a load variation of a motor that drives and controls a moving body such as a disc carrier of a disc changer. Even if a fluctuation occurs in the disk changer, it is possible to perform drive control in a state of compensating for this fluctuation, and a movable body for a disk changer that can drive-control the movable body such as the disk carrier with good response characteristics and high accuracy. An object is to provide a drive control device.

E. Means for Solving the Problems According to the drive control device for a movable body for a disc changer according to the present invention, a disc storage portion in which a plurality of discs are arranged and a disc stacking direction of the disc storage portion are provided. A moving mobile body, a detection means provided corresponding to the disc storage position of the disc storage portion, a position detection means attached to the mobile body for detecting the detection means, and the position detection means. When the difference between the target position and the calculation / determination means for calculating the difference between the current position of the moving body detected by the above-mentioned and the desired target position and comparing it with the predetermined value X is the predetermined value X or more, the movement is performed. When the body drive motor is driven at a constant speed and the difference from the target position becomes smaller than the predetermined value X, a drive pulse signal having a constant pulse width is supplied to the drive motor a predetermined number of times, and the pulse supply of the predetermined number of times is performed. The motor drive control unit supplies the drive pulse signal with a wider pulse width when the desired target position is not reached even after the operation, and a storage unit for storing the pulse width of the drive pulse. Is characterized by.

F. When a moving object such as a carrier for transporting the working disk is close to the target position to some extent, drive control of the moving object such as a carrier is performed by pulse driving, and if the pulse driving does not reach the target position a predetermined number of times. Changes the pulse width of the driving pulse and performs pulse driving, and the pulse width at this time is stored in the storage means, so that the pulse driving from the next time onward is performed with the driving pulse signal having the changed pulse width. Can be made.

G. Embodiment G-1. Schematic configuration (FIGS. 1 to 4) FIG. 1 shows a drive control device for a disc changer moving body according to the present invention applied to a drive control device for a disc changer carrier. It is a block circuit diagram which shows the schematic structure of an Example.

In FIG. 1, a reproducing system with a disc changer function is, for example, a so-called CD (compact disc).
A plurality of, for example, about 60 discs 1 are arranged and stored at predetermined positions at equal intervals, a disc reproducing unit 3 for reproducing discs, and these disc storing units 2 1 between the disc and the disc playback unit 3
And a disk carrier 4 for carrying the disk carrier. The disk carrier 4 is adapted to be transferred and driven by a carrier drive motor 5 in the direction of arrow F in the figure.

For example, an optical detection means 6 is provided corresponding to each storage position of each disk 1 of the disk storage portion 2,
The carrier 4 is provided with a position detecting means 7 composed of, for example, two optical detecting elements and the like which are arranged at positions separated by a predetermined distance on a surface facing the roughly detected means 6. Further, in the carrier 4, for example, at the tip of the swingable arm 8,
A gripping portion 9 having a pair of opposed holding pieces that can be opened and closed is attached, and the disc 1 is held by the gripping portion 9.
One of them is grasped and taken out.

Next, a specific example of the detected means 6 and the position detection means 7 will be described with reference to FIG. 2. As the detected means 6, a light reflection member 6R having a width w in the direction of the arrow F is used. A plurality of light reflecting members 6R are separated from each other by an interval s in the direction of arrow F, that is, the repeating period so-called pitch p is w.
It is arranged to be + s. As the position detecting means 7, reflection type photoelectric detectors 7A and 7B arranged in the direction of arrow F at a predetermined distance d are used. The reflection type photoelectric detectors 7A and 7B are composed of light emitting elements 7Aa and 7Ba and light receiving elements 7Ab and 7Bb, respectively.

In addition, as shown in FIG. 3, a predetermined distance d in the direction of arrow F.
Two transmissive photoelectric detectors, so-called photointerrupters 7P and 7Q, which are disposed apart from each other, may be used as the position detecting means 7. In this case, the detected means 6 is a light shield plate.
A slit 6S having a width w is periodically formed in 6D at a predetermined distance s (pitch p = w + s). Each transmissive photoelectric detector, so-called photo interrupter 7P, 7Q
Have light emitting elements 7Pa and 7Qa and light receiving elements 7Pb and 7Qb, respectively.

The detection output from each photoelectric detector of the position detecting means 7 is, for example, as shown in FIG. 4 according to the movement of the disk carrier 4 in the arrow F direction in the drawing. That is, this fourth
The horizontal axis of the drawing shows the moving position of the disk carrier 4, and the photoelectric detector 7A (or the third one) on the right side in FIG.
The detection output from the photoelectric detector 7P in the figure is A in FIG. 4, and the photoelectric detector 7B on the left side in FIG. 2 (or the detector in FIG. 3).
The detection output from 7Q) corresponds to B in FIG. 4, respectively. As is clear from FIG. 4, when the disk carrier 4 moves to the right in the figure, the output A from the photoelectric detector on the right rises first, and when it moves in the opposite direction (to the left), The output B from the left photoelectric detector comes to rise first. Therefore, by observing the temporal relationship between these detection outputs A and B,
The moving direction of the disc carrier 4 can be determined. The amount of deviation between the detection outputs A and B corresponds to the distance d between the photoelectric detectors 7A and 7B (or 7P and 7Q), and the pulse width of each detection output is the width of the detected portion. w
The pulse interval corresponds to the interval s and the pulse period corresponds to the pitch p.

Next, the detection output from each photoelectric detector 7A, 7B (or 7P, 7Q) of the position detecting means 7 is sent to the up / down counter 11 of the drive control circuit unit 10 in FIG.
The current position address CA as shown in FIG. 4 is output from 11. This current position address CA is sent to a calculation / determination circuit 12 which calculates the difference between the current position and the target position and compares it with a predetermined value X. The arithmetic / discrimination circuit 12 is supplied with a target position address DA from an operation key 13 for inputting a disc number or the like to be automatically played. The calculation / discrimination circuit 12 calculates a difference ER between the target position and the current position, and discriminates whether the difference ER is larger or smaller than the predetermined value X, and will be described later according to the discrimination output. Such a control operation of the carrier drive motor is performed.

Here, an example of the above address counting method will be described with reference to FIG. 4. By performing address counting at each edge (rising edge and falling edge) of each of the detection outputs A and B, as shown in FIG. The current position address CA as shown is obtained. FIG. 4 shows an example in which the above-mentioned difference ER is calculated by ER = DA-CA and the above-mentioned target position address DA is n. Corresponds to a narrow area (width is, for example, 0.5 mm) where both are "H" (high level).

When the current position of the disk carrier 4 is sufficiently away from the target position, a constant voltage is supplied to the carrier drive motor 5 to move the disk at a constant speed, but the range of the target position which is the final stop position. Since it is only ± 0.25 mm, it is difficult to stop the carrier directly within the range of the target position from the constant velocity moving state due to the inertia of motion and the like. In consideration of this, the carrier drive motor is drive-controlled by a drive pulse signal having a predetermined pulse width in a region (for example, a range of ± 2.5 mm) which is close to the target position to some extent. In order to determine the region in which the pulse drive is performed, the difference ER and the predetermined value X are compared and determined in the determination circuit 12, and an example when the value X is 3 is shown in FIG. There is. That is, the difference ER
When (absolute position of) is 3 or more, the constant speed drive is performed,
When the difference ER (absolute value) is 2 or less (when it is less than 3)
The above pulse drive is performed on.

By the way, when the deterioration of the motor 5, the change of the input load, the imbalance of the force applied to the carrier 4 or the like occurs due to the change of the use environment of the system, the passage of use time, the installation condition, etc. The movement amount of the carrier 4 per pulse drive may fluctuate, and normal carrier drive control may not be performed. For example, if the load becomes heavy, the target position cannot be reached unless a large number of pulses are applied, and if the load becomes light,
There is an inconvenience that carriers are overshooted by a few times of pulse driving and oscillation motion occurs. Therefore, if the target position is not reached even after the pulse driving is performed a predetermined number of times, the pulse width is widened to perform the pulse driving, and when the oscillating movement occurs, the pulse width is narrowed to perform the pulse driving. It is desirable to do.

As a configuration for this, the arithmetic / discrimination circuit 12 of FIG.
When the difference ER is larger than the predetermined value X, the motor control circuit 14
To the motor control circuit 14, the pulse drive number counter 15 and the pulse width memory 16 when the value is equal to or less than the predetermined value X, and reaches the target position range. At this time, the motor stop command signal VS is sent to the motor control circuit 14 and the pulse drive number counter 15. The pulse driving number counter 15 sends a pulse width changing signal to the pulse width memory 16 when the above pulse driving exceeds 5 times (6 times or more), and changes the pulse width data of the memory 16. This pulse drive counter 15
Is cleared to zero when the target position is reached and the motor stop signal VS is sent. The pulse width memory 16
Pulse width data is sent to the motor control circuit 14 in accordance with the pulse drive command signal VP from the discrimination circuit 12 to determine the pulse width of the drive pulse signal during the pulse drive. The drive control output signal from the motor control circuit 14 of the drive control circuit unit 10 is
It is sent to the carrier drive motor 5 via the motor drive circuit 18.

G-2. Operation at the time of driving the motor (FIGS. 5 and 6) Next, the drive control operation of the drive motor 5 of the disk carrier 4 will be described with reference to the flowcharts shown in FIGS. 5 and 6. To do.

5 and 6, in step S1, a control variable AR for counting the number of pulse driving times,
Substitute 0 for AL and BK (clear to zero), proceed to step S2, and present position address from the counter 11 above.
Read CA. In the next step S3, the above calculation / discrimination circuit
The difference ER is calculated by ER = DA-CA according to 12, and the process proceeds to step S4. In step S4, it is determined whether or not this difference ER is 0, that is, whether or not the target position has been reached, and when YES (when the target position has been reached), the process proceeds to step S5 and whether or not the motor is stopped. To determine. When YES is determined in step S5, that is, when the target position is reached and the motor is stopped,
End the control operation (END). When NO is determined in the step S5, the process proceeds to the next step S6, the motor is stopped, and the process returns to the step S2.

When NO is determined in the above step S4 (when the target position is not reached), the process proceeds to the next step S7 to determine whether or not the pulse driving is being performed, and when YES, the process returns to the step S2. If NO, proceed to the next step S8. In step S8, it is determined whether or not the motor is being braked. If YES, the process returns to step S2 to return to NO.
If, then the process proceeds to the next step S9. In step S9, it is determined whether the absolute value of the difference ER between the current carrier position and the target position is a predetermined value, for example, 3 or more (| ER | ≧ 3), and when YES (the carrier 4 is When located in the constant speed drive region), the process proceeds to the next step S10, and when NO (when located in the pulse drive region), the process proceeds to a pulse drive control routine PDCR described later. In step S10, the positive or negative polarity of the difference ER is discriminated. When ER> 0 (when positive), the process proceeds to step S11, and from FIG. 4, the carrier position is on the left side of the target position. After driving the motor at a constant speed so that the carrier moves rightward, the process returns to step S2. When ER is determined to be negative in step S10, the process proceeds to step S12, the motor is driven at a constant speed so that the carrier moves leftward, and then the process returns to step S2.

Next, in step S9, when it is determined that the absolute value of the difference ER is not 3 or more, that is, when the absolute value of ER is smaller than 3 (2 or less), the carrier is positioned in the pulse drive region of FIG. If so, the process proceeds to the pulse drive control routine PDCR as shown in FIG. In FIG. 6, first, in step S20, the positive or negative polarity of the difference ER is determined, and when positive (when ER> 0), the process proceeds to step S21. In this step S21, it is determined whether or not the immediately preceding operation is a pulse drive operation to the right, and if YES, the process proceeds to the next step S22, and if NO, the process proceeds to step S23. In step S23, it is determined whether or not the immediately preceding operation is a pulse drive operation to the left, and if NO, a step to be described later
Proceed to S26. On the other hand, in the step S22, the control variable AR is incremented by 1 (AR ← AR + 1), the process proceeds to the next step S24, and is larger than the variable ARGF5 (AR>
5) Determine whether or not. If YES is determined in step S24, the process proceeds to step S25, and if NO is determined, the process proceeds to step S26. In step S25, the pulse width for pulse-driving the carrier to the right is increased, and the process proceeds to the next step S26. In step S26, the drive motor 5 is pulse-driven so as to move the carrier to the right, and then the pulse drive control routine is ended and the process returns to the original main routine (FIG. 5) to return to step S2. Return.

The above operation is a pulse drive control operation when the disk carrier 4 is located in the pulse drive area on the left side of the target position in FIG. 4, and is the first pulse drive area from the constant speed drive state. When entering, since the immediately previous operation is not the pulse drive operation, NO in step S21.
If NO in step S23, the process proceeds to step S26, and the carrier is pulse-driven once in the right direction (direction of the target position) in FIG. If the target position is not reached even by pulse driving at least once in the right direction, step S21 in FIG.
Is determined as YES, the control variable AR is incremented, and when the variable AR becomes larger than a predetermined value, for example, 5, the pulse width of the right pulse driving is increased in step S25. The increased pulse width is stored in the pulse width memory 16 shown in FIG. 1, and the pulse driving in the right direction from the next time onward is executed by the drive pulse signal having the increased pulse width.

If the carrier is located in the pulse drive area on the left side of the target position in FIG. 4, step S20
When NO is determined in step S31, the process proceeds to step S31, and an operation that is completely symmetrical to the above-described operation is executed in steps after step S31. That is, each step S31-S36,
It corresponds to each of the above steps S21-S26,
The operation is exactly the same except that the left and right are reversed and the control variable is AL, and the description thereof is omitted.

By the way, by the pulse driving in the right direction, when the carrier has moved to the right beyond the target position, it is determined to be NO in the step S20, the process proceeds to step S31, and also in this step S31 If it is determined, the process proceeds to step S33. Here, since the immediately preceding operation is the pulse driving in the right direction, it is determined to be YES in step S33, and the process proceeds to step S37. In step S37, the control variable BK is incremented (BK ← BK + 1), and the process proceeds to the next step S38. In step S38, it is determined whether or not the variable BK is larger than a predetermined value, for example, 5 (BK> 5). If NO, the process proceeds to step S36 to pulse drive to the left, and YES
If so, the process proceeds to step S39, and the drive pulse widths in the right and left directions are reduced, and then the process proceeds to step S36. If the carrier has moved to the right beyond the target position due to the drive pulse in the left direction, step S2
By S3, S27 to S29, and S26, the pulse drive control operation is performed in the same drive direction but in the opposite direction as described above.

Such a control operation reduces the pulse width of the drive pulse signal when the disk carrier is pulse-driven by the drive pulse signal and in a so-called oscillation state in which the disk carrier vibrates left and right beyond the target position. This is for preventing the oscillation.

In the above embodiment, when the carrier is located in the pulse drive area near the target position (for example, within ± 2.5 mm from the target position), the motor is driven and controlled by the drive pulse signal having the predetermined pulse width. When the carrier moves and the pulse drive is not performed at the target position even after performing the pulse drive a predetermined number of times, for example, 6 times or more, the pulse width is increased by a certain value to perform the pulse drive. When the target position is not reached even if the pulse driving with this pulse width is further performed six times or more, the pulse width is increased again. This is repeated until the upper limit pulse width is increased. The pulse width at this time is stored in the memory 16, and at the time of the next pulse drive, pulse drive is performed using the drive pulse signal having the stored pulse width. Such pulse width values are stored for both forward and reverse directions (rightward and leftward), and are normally retained until the power is turned off, and are stored semi-permanently using a battery backup type memory. Can also be held.

Further, when the carrier movement amount by one pulse driving is too large to cause so-called oscillation, the pulse width is too large, and in this case, when the carrier is moved left and right a predetermined number of times (for example, about three times) or more. The pulse width is reduced by a fixed value to perform pulse driving. At this time, the pulse widths in both the forward and reverse directions are simultaneously reduced.

By optimizing the pulse width during pulse driving in this way, the time required for the movement of the disk carrier can be reduced, a high-speed response can be realized, and an oscillation phenomenon can be dealt with.

G-3. Other Embodiments Note that the present invention is not limited to the above embodiments, and for example, the number of pulse driving times and the pulse near the target position which are conditions for increasing or decreasing the pulse width during pulse driving. The set value and the like of the difference from the current position for determining the drive area can be arbitrarily set. Further, for detecting the position of the disk carrier, it is possible to record position information (address data) or the like on the side to be detected and read it with one detector without using two detectors. Alternatively, magnetic or mechanical position detection may be performed in addition to optical position detection.

H. Effect of the Invention According to the drive control device for a moving body for a disc changer of the present invention, when the motor for moving the moving body such as the carrier is pulse-driven near the target position, pulse driving is performed a predetermined number of times or more. Even when the target position cannot be reached, the pulse width of the drive pulse signal is changed (increased) to perform pulse driving, and the pulse width at this time is stored in the storage means and is used as the pulse width for the next pulse driving. , The time required for moving to a moving body such as a carrier can be shortened, and high-speed response can be realized without degrading accuracy. Further, when an oscillating state occurs in which a moving body such as a carrier vibrates before and after a target position during pulse driving, the pulse width can be reduced to cope with the oscillation, and the pulse width at this time is stored in the storage means. By storing it in and using it from the next time onwards,
Oscillation can be prevented.

[Brief description of drawings]

FIG. 1 is a block diagram schematically showing an embodiment of the present invention,
2 is a schematic plan view showing a specific example of the detected means and the position detecting means of the embodiment of FIG. 1, and FIG. 3 is another specific example of the detected means and the position detecting means of the embodiment of FIG. FIG. 4 is a schematic sectional view showing an example, FIG. 4 is a graph showing the output from the position detecting means under the correspondence with the carrier movement position, and FIG. 5 is a flow chart for explaining the drive control operation of the motor.
The figure is a flow chart for explaining the operation in the pulse drive control routine. 1 ... Disc 2 ... Disc storage unit 3 ... Disc playback device 4 ... Disc carrier 5 ... Drive motor 6 ... Detected device 7 ... Position detection unit 10 ... Drive control circuit unit 11 ... Counter 12 …… Computation / discrimination circuit 14 …… Motor control circuit 15 …… Pulse drive counter 16 …… Pulse width memory

Claims (1)

[Claims] 1. A disc storage portion in which a plurality of discs are arranged, a movable body that moves in the disc stacking direction of the disc storage portion, and a disc storage position of the disc storage portion, which are provided in correspondence with each other. Detecting means, position detecting means attached to the moving body for detecting the detecting means, and calculating a difference between the current position of the moving body detected by the position detecting means and a desired target position. When the difference between the calculation / discrimination means for comparing and discriminating against the predetermined value X and the target position is the predetermined value X or more, the drive motor of the moving body is driven at a constant speed, and the difference from the target position is the predetermined value X. When it becomes smaller, a drive pulse signal having a constant pulse width is supplied to the drive motor a predetermined number of times, and when the desired target position is not reached even after the pulse supply of the predetermined number of times, the pulse width of the drive pulse signal is widened. And a motor drive control unit supplies a drive control device for a disc changer mobile body characterized by comprising a storage means for storing the pulse width of the drive pulse.