CN101989081A - Servo lag compensation method and device thereof - Google Patents

Servo lag compensation method and device thereof Download PDF

Info

Publication number
CN101989081A
CN101989081A CN 200910166020 CN200910166020A CN101989081A CN 101989081 A CN101989081 A CN 101989081A CN 200910166020 CN200910166020 CN 200910166020 CN 200910166020 A CN200910166020 A CN 200910166020A CN 101989081 A CN101989081 A CN 101989081A
Authority
CN
Grant status
Application
Patent type
Prior art keywords
servo
condition
stroke
original
numerical control
Prior art date
Application number
CN 200910166020
Other languages
Chinese (zh)
Other versions
CN101989081B (en )
Inventor
吕心宇
林昀暐
黄炜生
Original Assignee
新代科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

Links

Abstract

The invention relates to a servo lag compensation method modified aiming at a servo lag phenomenon of mechanical equipment in rapid reciprocating motion for processing. The compensation method edits the travel distance condition in a prediction mode so that an actual motor can still move to an original preset position to substitute for servo lag even under the influence of existing servo lag after a travel plan of the method is amended. Moreover, the servo lag compensation mode does not influence the smoothness of a speed-time curve after compensation.

Description

伺服落后补偿方法及其装置 Servo lag compensation method and apparatus

技术领域 FIELD

[0001] 本发明是关于一种伺服落后补偿方法,特别是关于快速来回运动的加工设备的伺服落后补偿,例如:CNC车床加工的伺服落后补偿、CNC铣床加工的伺服落后补偿、攻牙加工的伺服落后补偿、钻孔加工的伺服落后补偿以及磨床加工的伺服落后补偿等。 [0001] The present invention relates to a method of servo lag compensation, in particular to compensate for the rapid backward servo fro processing equipment, such as: servo lag compensation CNC lathe, CNC milling machine servo lag compensation processing tapping servo lag compensation, drilling servo lag compensation and grinding machine of servo lag compensation.

背景技术 Background technique

[0002] 对于需快速来回加工的机械装置,如车床、磨床、攻牙机及钻孔机等,其数值控制一大问题来自于伺服落后,此现象会造成加工路径精度的严重不足。 [0002] The need for rapid back and forth mechanical processing means, such as lathes, grinding machines, tapping machines and drilling machines, which is a major problem in the numerical control from the servo lag, this phenomenon will cause a serious shortage of precision machining path. 已知的一种伺服落后补偿方式,是利用前回馈控制方式(Feedforward control),是提供一增益值至伺服马达, 使伺服马达能补偿所落后的误差。 A known servo lag compensation, feedback control is (Feedforward control) prior to use to provide a gain value to the servo motor, the servo motor can compensate errors backward. 然而,这样的补偿方式有两项缺点:1)会造成机台震动而影响机台的使用寿命;2)由于机台有多余的震动,造成加工品有不必要的纹路产生。 However, such compensation has two disadvantages: 1) will cause the machine vibrations affect the life of the machine; 2) Since the machine has excess vibration, resulting in unnecessary lines produce processed. 如图1所示,是在钻孔动作中,使用前回馈补偿的速度-时间图标意图;如图可知,禾Ij用前回馈容易造成加工路径的不平顺,会使加工品有不必要的纹路产生。 As shown, the borehole is in operation, the speed feedback compensated before use 1 - icon is intended; FIG understood, Wo Ij reserved before use is likely to cause irregularities in the machining path, unnecessary lines processed will produce.

[0003] 而除了上述前回馈补偿之外,在磨床动作中,也有提出另一种补偿方式,其步骤包括:1)检查上一单节加工精度是否超出预设,如果超出则进入以下步骤,若未超出,则结束;2)本动单节增加速度,若速度超出默认值,则进入下一步骤;3)不增加速度,改增加行走的距离,回到步骤1)。 [0003] In addition to the front and back compensation operation in the grinder, there is proposed another method of compensation, comprising the steps of: 1) Check whether a single machining accuracy exceeds a preset, the process proceeds to the following step if exceeded, If not exceeded, the ends; 2) increasing the speed of a single actuator, if the speed exceeds a default value, the process proceeds to the next step; 3) does not increase the speed, to change the traveling distance increases, back to step 1). 但是,这个补偿方式也是有缺点,其必须经过多个移动单节才能使加工精度收敛到预期的目标,会造成加工时间延长或加工精度不足。 However, this compensation is flawed, it must go through in order to make more mobile single-precision machining converge to the intended target, can cause prolonged or insufficient processing accuracy.

发明内容 SUMMARY

[0004] 为解决已知的补偿方式容易造成机台震动、加工时间延长及加工精度不足的问题,本发明的主要目的在提供一种伺服落后补偿方式,是以数值方法得到预估的行程长度, 并以此预估行程取代原来设定的行程条件做行程规划;因此,最后送出的命令会抵消伺服落后的影响,使机台能准确到达原本预期的位置。 [0004] In order to solve the problems of the known compensation method is likely to cause the machine vibration, extended processing time and processing accuracy is insufficient, the main object of the present invention to provide a servo-lag compensation, based on numerical methods to obtain the estimated stroke length , and thus the estimated travel itinerary replace the original set of conditions to make trip planning; therefore, the last sent command will offset servo lag effect, so that the machine can accurately reach the original intended location.

[0005] 本发明的另一主要目的在提供一种伺服落后补偿方式,此补偿方式是从源头更改行程长度,并以此修改后的行程长度条件做行程规划,所以不会像前回馈补偿一样造成机台抖动;且,由于每次的动作都是有效且能达到精度的要求,所以不会造成加工时间延长及加工精度不足。 [0005] It is another object of the invention to provide a servo lag compensation, this compensation is to change the stroke length from the source, and thus the stroke length of the modified conditions do trip planning, so it will not be like before feedback compensation causing the machine jitter; and, since each action are valid and can achieve the required accuracy, the machining time extension, and will not cause insufficient machining accuracy.

[0006] 依据上述的目的,本发明首先提供一种伺服落后补偿方式,包括步骤如下: [0006] According to the above object, the present invention provides a first servo lag compensation, comprising the steps of:

[0007] a.提供一行程规划,是依据一原始行程条件来产生行程规划; . [0007] a providing a route plan, it is based on an original route plan to generate a stroke condition;

[0008] b.提供一预测行程,是将行程规划结果输入至一伺服落后仿真器,以产生预测行程; . [0008] b provide a predicted travel, is input to a trip planning results behind the servo simulator to generate the predicted travel;

[0009] c.判断原始行程条件与预测行程相减的差值是否小于一预设的精度误差,当差值小于预设的精度误差时,流程结束,否则流程跳至步骤d ; . [0009] c is determined and the original conditions predicted travel stroke subtracting the difference is less than a predetermined accuracy of error of, when the difference is less than a predetermined accuracy error, the process ends, otherwise, the flow jumps to step D;

[0010] d.提供一新的行程条件,是将步骤a的原始行程条件加上步骤c的差值作为新的行程条件;[0011] e.执行另一行程规划,是依据新的行程条件执行行程规划,并进入步骤b及步骤c,直到产生一符合预期的行程条件。 [0010] d to provide a new trip condition is a step of adding the difference between the original travel conditions of step c as the new itinerary conditions;.. [0011] e performs another route plan, is based on the conditions of the new itinerary execution trip planning, and proceeds to step b and step c, until a line with expectations of a trip condition.

[0012] 此外,本发明也提供一种具有上述补偿方式的数值控制装置,包括:一解码器,是用以接收一数值控制程序并输出一原始行程条件;一伺服落后补偿单元,是接收原始行程条件且以原始行程条件预测一伺服落后量,并输出一新行程条件,其中,新行程条件是原始行程条件与伺服落后量之和;一插值-加减速规划单元,是接收新行程条件并输出一指令, 以控制一机械设备。 [0012] Further, the present invention also provides a numerical control apparatus having the above-described compensation, comprising: a decoder is configured to receive a numerical control program and outputs an original stroke condition; behind a servo compensator means, receiving the original stroke conditions and with the original stroke condition forecaster a servo lag amount, and outputs a new stroke conditions, wherein the new itinerary that the original stroke conditions and backward amounts of servo and; an interpolation - Acceleration and deceleration unit, receiving a new stroke conditions and outputting a command to control a mechanical equipment.

附图说明 BRIEF DESCRIPTION

[0013] 为能更清楚地说明本发明,以下列举较佳实施例并配合附图详细说明如后,其中: [0013] The more clearly illustrate the present invention, preferred embodiments include the following detailed description with accompanying drawings and embodiments described later, wherein:

[0014] 图1是于钻孔动作中,使用已知的补偿方式的速度_时间示意图; [0014] FIG. 1 is in the drilling operation, using a known speed compensation _ schematic time;

[0015] 图2是本发明的一种数值控制装置的方块图; [0015] FIG. 2 is a block diagram of a numerical control apparatus according to the present invention;

[0016] 图3是本发明的一种伺服落后补偿的流程图; [0016] FIG. 3 is a flow chart of a servo lag compensation according to the invention;

[0017] 图4是利用的补偿方式其使用的伺服落后仿真器的等效模型; [0017] FIG. 4 is an equivalent model of the servo simulator utilized backward compensation their use;

[0018] 图5是于钻孔动作中,使用本发明的补偿方式的速度_时间示意图;及 [0018] FIG. 5 is an operation in the borehole, using the compensation embodiment of the present invention, a schematic time _ velocity; and

[0019] 图6是本发明的另一种伺服落后补偿的流程图。 [0019] FIG. 6 is a flow chart of another servo lag compensation of the present invention.

具体实施方式 detailed description

[0020] 首先,请参考图2,是本发明的一种数值控制装置10的方块图。 [0020] First, refer to FIG. 2, the device 10 is a block diagram of the present invention is a numerical control. 数值控制装置10, 是用以控制一机械设备的伺服马达30,机械设备可以是车床、磨床、攻牙机及钻孔机等。 Numerical control device 10, is a mechanical device for controlling a servo motor 30, a mechanical device may be a lathe, grinding, drilling and tapping machines and the like machines. 数值控制装置10包括一解码器102、一伺服落后补偿单元104及一插值-加减速规划单元106。 The numerical control device 10 comprises a decoder 102, a servo unit 104, and a backward compensation interpolation - Acceleration and Deceleration unit 106. 解码器102,是接收一数值控制程序101,并将数值控制程序101解译以输出一原始行程条件103。 Decoder 102, receiving a numerical control program 101, and interprets the numerical control program 101 to output a trip condition 103 primitive. 伺服落后补偿单元104,是接收上述原始行程条件103并预测伺服马达30于原始行程条件103下的伺服落后量,且进一步输出一新行程条件105。 The servo lag compensation unit 104, on receipt of the original trip condition 103 and a servo motor 30 to predict the amount of servo lag behind the original trip condition 103, and further outputs a new trip condition 105. 此新行程条件105是原始行程条件103与预测的伺服落后量的总和。 This new trip condition 105 is the sum of the original 103 and the backward stroke condition servo predicted amount. 接着,插值-加减速规划单元106接收此新行程条件105并输出一行程规划指令107至马达控制器20。 Next, the interpolation - Acceleration and Deceleration unit 106 receives the new condition 105 and outputs a travel route planning instruction 107 to the motor controller 20. 马达控制器20则输出一控制信号108至伺服马达30,使伺服马达30其实际行程能精准的达到既定的精度要求。 The motor controller 20 outputs a control signal 108 to the servomotor 30, the servomotor 30 so that its actual stroke to precisely achieve a predetermined accuracy.

[0021] 接着,请参考图3,是上述伺服落后补偿单元104运作的详细流程图。 [0021] Next, referring to FIG. 3, is a detailed flowchart of the backward operation of the servo compensator 104 units. 首先,Si)伺服落后补偿单元104是接收从解码器102输出的一原始行程条件103,且利用此原始行程条件103作一行程规划;S2)经行程规划后的结果进一步输入到一伺服落后仿真器以预测伺服马达30的可能行程。 First, Si) servo lag compensation unit 104 is receiving an original trip condition 103 outputted from the decoder 102, and use this original trip condition 103 for a trip planning; S2) by the result of the route planning is further input to a servo backward simulation It is possible to predict the servo motor 30 of the stroke. 伺服落后仿真器是仿真伺服马达30在加工路径的转弯处或折返点发生的落后情形;伺服马达30在加工路径的转弯处往往无法来得及将每一个输入命令立刻反应;是类似一低通滤波器。 The servo simulator is backward behind the case 30 occurs at the bend or turnaround point of the machining path simulation servomotor; servo motor 30 is often not enough time to the reaction in the corner machining path once each input command; is similar to a low pass filter . 因此,仿真器便设计如图4所示,上述比率增益(Kp)与伺服马达30本身的的特定有关,因此,使用者在操作机械设备时,必须先输入伺服马达的比率增益(Kp),使仿真器能仿真或预期伺服马达可能落后的情形。 Thus, the emulator will design shown in Figure 4, the above ratio gain (Kp) specific to the servomotor 30 about itself, and therefore, when a user operation of the mechanical device must enter servomotor gain ratio (Kp), the emulator can emulate or circumstances may be lagging behind the expected servo motor. 接着,便进入步骤三,即S3)当仿真器仿真出输出位置(Pos.out)之后,便可得到一伺服落后量,伺服落后量是原始行程条件103减去仿真器仿真出的输出位置。 Then, it proceeds to step three, i.e., S3) when the emulator emulates an output position (Pos.out), a servo lag amount can be obtained, the amount of servo lag is 103 minus the original travel conditions of the simulation by a simulator output position. 若此伺服落后量是在可接受的精度误差内, 伺服落后补偿单元104则会结束补偿流程且将原始行程条件103直接输出至插值-加减速规划单元106。 If this amount of servo lag is within an acceptable accuracy error, the servo lag compensation unit 104 and the compensation procedure will end stroke condition original 103 directly to the output interpolated - Acceleration and Deceleration unit 106. 相反地,若预测的伺服落后量是大于可接受的精度误差,伺服落后补偿单元104会进入步骤四;即S4)将原始行程条件103加上预测的伺服落后量而形成一个新行程条件。 Conversely, if the amount of servo lag is greater than the prediction error of acceptable accuracy, servo lag compensation unit 104 enters step four; i.e., S4) the original trip condition 103 plus an amount of servo lag prediction to form a new stroke condition. 接着,S5)用此新行程条件作一行程规划,此行程规划结果显然跟Sl中利用原始行程条件103所形成的行程规划结果不同。 Next, S5) with this new itinerary planning to make a trip condition, the trip planning with the use of Sl result is clearly different travel itinerary planning result of the original 103 is formed condition. 接着,便重复步骤S2及S3,直到产生一符合预期的行程条件。 Next, in step S2, and S3 will be repeated, until a trip condition of a line with expectations. 而当产生符合预期的行程条件后,伺服落后补偿单元104则会结束补偿流程, 且将此符合预期的行程条件当作一新行程条件105而输出至插值-加减速规划单元106。 And when generated as expected travel conditions, the compensation unit 104 behind the servo compensation process will end, and the condition of this line with the expected travel route as a new output to the interpolation condition of 105 - Acceleration and Deceleration unit 106.

[0022] 请参考图5,是一钻孔机利用上述补偿方式的速度_时间示意图。 [0022] Please refer to FIG. 5, using the drilling machine is a speed compensation time _ FIG. 数值控制装置10是控制伺服马达30于同一路径的起始点与折返点间作往复运动,而起始点与折返点的距离为往复运动路径的长度。 The numerical control device 10 is the starting point of the turn-back point 30 to reciprocate in the same intercropping servo motor control path, the distance of the starting point of the turn-back point is the length of the reciprocating motion path. 很明显地,图5并没有像图1一样发生机台震动或不平顺的现象。 Obviously, not the same as Figure 5 and Figure 1 machine vibration phenomenon occurs or not smooth. 上述伺服马达30运动的过程中,在经过折返点的速度与冲量可规划为零而其加速度可规划不为零。 The servo motor 30 during the movement, the speed after the reversal points is zero impulse can be planned with its programmable acceleration is not zero.

[0023] 接着,请参考图6所示,是本发明的另一伺服落后补偿流程图。 [0023] Next, referring to FIG. 6, the present invention is a further servo lag compensation flowchart. 首先,如步骤一,即Sll)伺服落后补偿单元104接收一加工条件并判断在这样的加工条件下,是否已有相关补偿资料;此加工条件包括行程条件、精准度的要求等,也就是从数据库中去寻找是否曾接受过同样的加工条件且曾经跑过补偿流程。 First, a step, i.e. Sll) servo lag compensation unit 104 receives and determines a processing condition under such processing conditions, already has some compensation information; this machining conditions including stroke condition, the accuracy requirements, i.e. from database to find whether had received the same processing conditions and once ran the compensation process. 若已有相关补偿资料,进入S12)提供一已补偿或修正过的行程条件并结束补偿流程,否则流程跳S13)将此次加工条件中的行程条件取出, 此行程条件即所谓的原始行程条件。 Ruoyi relevant compensation data into S12) provides travel conditions for a compensated or corrected and the end of the compensation process, otherwise, the flow jumps S13) will travel on this processing conditions out, this so-called primitive travel conditions travel conditions . 接着S14)以上述原始行程条件去做行程规划。 Then S14) to the above conditions do original travel itinerary planning. S15) 将行程规划结果输到一伺服落后仿真器,伺服落后仿真器如前文所述,是一低通滤波器,并输出一预测行程。 S15) The result output to a route plan servo simulator backward, backward servo simulator as previously described, is a low-pass filter, and outputting a predicted travel. S16)将原始行程减去仿真器预测出的行程,以得到一预测的伺服落后量。 S16) by subtracting the original stroke simulator predicted stroke to obtain a predicted amount of servo lag. S17)判断此预测的伺服落后量是否在可接受的精度误差内;若可以接受,则将原始行程, 即将加工条件中的行程条件直接输出并结束补偿。 S17) determines this amount of servo lag is within an acceptable prediction accuracy error; if acceptable, then the original stroke, the stroke condition becomes machining condition and the output end is directly compensated. 若伺服落后大于可接受的误差值,则代表需要补偿,需修正行程条件。 When the servo track error is greater than the acceptable value, the representative needs to compensate, the correction stroke condition. 进入S18)将伺服落后量即原行程条件与预测行程的差值加到原始行程条件以得到一新的或修正的行程条件。 Enter S18) the amount of servo lag i.e. the difference between the original and the predicted travel conditions added to the original stroke travel conditions to obtain a new or revised travel conditions. S19)以新的行程条件去做行程规划,并重复S15)、S16)及S17)直到产生一符合预期的行程条件。 S19) to the new conditions do travel itinerary planning, and repeats S15), S16), and S17) until a line with expectations of a trip condition. 而当产生符合预期的行程条件后,伺服落后补偿单元104则会结束补偿流程,且将此符合预期的行程条件当作一新行程条件105而输出至插值-加减速规划单元106。 And when generated as expected travel conditions, the compensation unit 104 behind the servo compensation process will end, and the condition of this line with the expected travel route as a new output to the interpolation condition of 105 - Acceleration and Deceleration unit 106.

[0024] 很明显地,本发明能克服伺服落后对于控制的影响,使得实际行程能精准的达到既定的精度要求;且由于是在源头的行程条件下做修正,不会有传统前回馈补偿造成的机台抖动问题,且也不需要多次时机执行,才能使精度收敛到预设范围内,造成加工时间的延长。 [0024] Obviously, the present invention is to overcome the influence behind servo control, such that the actual stroke to precisely achieve a predetermined accuracy; and because the correction is done at the source of stroke conditions, there will be caused before the conventional feedback compensation the machine jitter problems, and you do not need many times the opportunity to perform in order to make precision converge to within a preset range, resulting in prolonged processing time.

[0025] 以上针对本发明较佳实施例的说明是为阐明的目的,而无意限定本发明的精确应用形式,由以上的教导或由本发明的实施例学习而作某种程度修改是可能的。 [0025] For the above-described preferred embodiment of the present invention is to clarify the purpose, but not intended to limit the precise application of the present invention, by the study of the above teachings or embodiments of the present invention and modifications are to some extent as possible. 因此,本发明的技术思想将由权利要求范围及其均等来决定的。 Accordingly, the scope of its technical idea uniformly determined by the requirements of the present invention as claimed.

Claims (10)

  1. 一种数值控制装置,用以控制一机械设备,该数值控制装置包括:一解码器,是用以接收一数值控制程序并输出一原始行程条件;一伺服落后补偿单元,是接收该原始行程条件且以该原始行程条件预测一伺服落后量,并输出一新行程条件,其中,该新行程条件是该原始行程条件与该伺服落后量之和;一插值‑加减速规划单元,是接收该新行程条件并输出一指令,以控制该机械设备。 A numerical control apparatus for controlling a mechanical device, the numerical control apparatus comprising: a decoder is configured to receive a numerical control program and outputs an original stroke condition; behind a servo compensator means, receiving the original trip condition and prediction to the original stroke condition a servo lag amount, and outputs a new stroke conditions, wherein the new itinerary that the original stroke conditions and backward amounts of the servo and; an interpolation - Acceleration and deceleration unit, receiving the new stroke conditions and outputs a command to control the mechanical device.
  2. 2.如权利要求1所述的数值控制装置,该伺服落后补偿单元包括一伺服落后仿真器, 以仿真该伺服马达的落后情形。 2. A numerical control apparatus according to claim 1, the servo means comprises a servo compensation lag behind the simulator to simulate the situation behind the servomotor.
  3. 3.如权利要求2所述的数值控制装置,该伺服落后仿真器是一低通滤波器。 Numerical control device according to claim 2, behind the servo simulator is a low-pass filter.
  4. 4.如权利要求2所述的数值控制装置,该伺服落后补偿单元接收该原始行程条件后, 以该原始行程条件产生一速度与时间的行程规划,且将该行程规划结果输入至该伺服落后仿真器,以输出一预测行程。 4. The numerical control device according to claim 2, the servo compensation unit receives the backward stroke of the original condition, generating a velocity versus time trip planning to travel to the original condition, and the result of the route plan is input to the servo lag simulator to output a predicted travel.
  5. 5.如权利要求4所述的数值控制装置,其中该伺服落后量是该原始行程条件与该预测行程的差值。 5. The numerical control apparatus according to claim 4, wherein the amount of servo lag is the difference between the original and the predicted travel stroke condition.
  6. 6.如权利要求1所述的数值控制装置,其中该机械设备是一伺服马达。 6. The numerical control device according to claim 1, wherein the mechanical device is a servo motor.
  7. 7. 一种数值控制方法,用以补偿一机械设备的落后情形,该数值控制方法包括步骤如下:A.提供一行程规划,是依据一原始行程条件来产生该行程规划;B.提供一预测行程,是将该行程规划结果输入至一伺服落后仿真器,以产生该预测行程;C.判断该原始行程条件与该预测行程相减的差值是否小于一预设的精度误差,当该差值小于该预设的精度误差时,流程结束,否则流程跳至步骤D ;D.提供一新的行程条件,是将步骤A的该原始行程条件加上步骤C的该差值作为该新的行程条件;E.执行另一行程规划,是依据该新的行程条件执行该行程规划,并进入步骤B及步骤C,直到产生一符合预期的行程条件。 A numerical control method for compensating a mechanical device behind the case, the numerical control method comprising the steps of:. A provides a route plan, is based on an original to generate the travel route planning conditions; B provides a prediction. itinerary, the itinerary planning result is input to a servo simulator behind, to generate the predicted travel;. C Analyzing the original condition and the predicted travel stroke subtraction difference is smaller than a predetermined accuracy of error of, when the difference when the value is less than the predetermined accuracy error, the process ends, otherwise, the flow jumps to step D;. D provide a new trip condition, is the condition of the original stroke step a step of adding the difference as the new C travel conditions;. E perform another trip planning, is based on the new conditions for the implementation of the travel itinerary planning, and proceeds to step B and step C, until a line with expectations of a trip condition.
  8. 8.如权利要求7所述的数值控制方法,该伺服落后仿真器是一低通滤波器。 Numerical control method as claimed in claim 7, behind the servo simulator is a low-pass filter.
  9. 9. 一种数值控制方法,用以补偿一机械设备的落后情形,该数值控制方法包括步骤如下:A.提供一加工条件,该加工条件包括一行程条件及一行程条件;B.判断在该加工条件下是否已有相关补偿资料,若已有相关补偿资料,则提供一已补偿的行程条件并结束补偿流程,否则流程跳至步骤B ;C.提供一行程规划,是依据该行程条件来产生该行程规划;D.提供一预测行程,是将该行程规划结果输入至一伺服落后仿真器,以产生该预测行程;E.提供一落后差值,该落后差值是该原始行程条件减去该预测行程;F.判断该落后差值是否小于一预设的精度误差,当该差值小于该预设的精度误差时, 流程结束,否则流程跳至步骤G ;G.提供一新的行程条件,是将该落后差值加到原始行程条件以作为该新的行程条件;H.执行另一行程规划,是依据该新的行程条件执行该行 A numerical control method for compensating a mechanical device behind the case, the numerical control method comprising the steps as follows: A providing a machining condition, the machining condition includes a condition stroke and a stroke condition; B is determined in this. are there any relevant compensation data, there Ruoyi under processing conditions related compensation information, provides travel conditions and a compensated end compensation process, otherwise the process jumps to step B;. C to provide a route plan, it is to travel according to the conditions generating the trip planning;. D providing a predicted travel, the result is the input to a trip planning behind the servo simulator to generate the predicted travel;. E provides a backward difference, the difference is that the backward stroke of the original condition Save to the predicted travel;. F behind Analyzing the difference is smaller than a predetermined accuracy error when the difference is less than the predetermined accuracy of error, the process ends, otherwise, the flow jumps to step G;. G provides a new stroke condition, the difference is added to the backward stroke of the original conditions of the new stroke as a condition;. H performs another route plan, a new itinerary according to the conditions of implementation of the line 规划,并进入步骤D、步骤E及步骤F,直到产生一符合预期的行程条件。 Planning, and proceeds to step D, Step E and Step F, until a line with expectations of a trip condition.
  10. 10.如权利要求9所述的数值控制方法,该伺服落后仿真器是一低通滤波器。 10. The numerical control method according to claim 9, behind the servo simulator is a low-pass filter.
CN 200910166020 2009-08-07 2009-08-07 Servo lag compensation method and device thereof CN101989081B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200910166020 CN101989081B (en) 2009-08-07 2009-08-07 Servo lag compensation method and device thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200910166020 CN101989081B (en) 2009-08-07 2009-08-07 Servo lag compensation method and device thereof

Publications (2)

Publication Number Publication Date
CN101989081A true true CN101989081A (en) 2011-03-23
CN101989081B CN101989081B (en) 2013-03-13

Family

ID=43745677

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200910166020 CN101989081B (en) 2009-08-07 2009-08-07 Servo lag compensation method and device thereof

Country Status (1)

Country Link
CN (1) CN101989081B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103941641A (en) * 2013-01-17 2014-07-23 日立金属株式会社 Machining Condition Estimating Apparatus And Machining Condition Estimating Method
CN104597844A (en) * 2015-01-07 2015-05-06 苏州新代数控设备有限公司 Driving device control method and system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0790461B2 (en) 1989-08-30 1995-10-04 セイコー精機株式会社 Grinding machine for numerical control device
JP3481004B2 (en) 1995-02-02 2003-12-22 ファナック株式会社 Backlash correction method using a disturbance observer
JP2005301508A (en) 2004-04-08 2005-10-27 Fanuc Ltd Control unit
JP2005327191A (en) 2004-05-17 2005-11-24 Fanuc Ltd Servo control device
JP4074638B2 (en) 2006-01-31 2008-04-09 ファナック株式会社 The control device of the electric motor
CN101122791A (en) 2007-09-13 2008-02-13 上海交通大学 Digital control machine tool positioning error real-time compensation device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103941641A (en) * 2013-01-17 2014-07-23 日立金属株式会社 Machining Condition Estimating Apparatus And Machining Condition Estimating Method
CN103941641B (en) * 2013-01-17 2016-08-24 日立金属株式会社 Prediction means and processing conditions processing conditions prediction
CN104597844A (en) * 2015-01-07 2015-05-06 苏州新代数控设备有限公司 Driving device control method and system
CN104597844B (en) * 2015-01-07 2017-08-25 苏州新代数控设备有限公司 The control method of the drive device and control system

Also Published As

Publication number Publication date Type
CN101989081B (en) 2013-03-13 grant

Similar Documents

Publication Publication Date Title
US20050033459A1 (en) Controller for machine
JP2000172341A (en) Servo controller
JPH0628006A (en) Two-freedom control device and servo control device for motor
CN101853013A (en) Acceleration and deceleration control method for high speed machining of numerical control machine
CN101556472A (en) Small straight-line section interpolation method of numerical control system on basis of multicycle optimal corner
JP2008210273A (en) Method of compensating friction, friction compensator, and motor control device
Yan et al. Theory and application of a combined self-tuning adaptive control and cross-coupling control in a retrofit milling machine
US6539275B1 (en) Machine controller and process with two-step interpolation
US20120296462A1 (en) Numerical controller with machining time prediction unit and machining error prediction unit
JP2004227163A (en) Servo control device
JP2001125613A (en) Numerical control simulation device
JP2007034781A (en) Method of adjusting control parameter for positioning controller
US7034491B2 (en) Numerical controller
JP2004272883A (en) Servo control device
JP2000250614A (en) Backlash correction device and numerical control system
CN102004466A (en) Method for compensating numerical control machine processing dynamic error based on instruction sequence analysis
CN102023612A (en) Method for compensating frictional error of servo system of numerical control machine tool
WO2001044882A1 (en) Method and system for numerical control of machine tool
JPH11184529A (en) Method and device for servo control of feed driving system
Bearee et al. Influence of high-speed machine tool control parameters on the contouring accuracy. Application to linear and circular interpolation
CN103699056A (en) Real-time smooth transition interpolation method of small high-speed and high-accuracy numerical control machining line segment
JPH11175130A (en) Control unit for robot
JP2007279899A (en) Numerical control device
US20130173045A1 (en) Numerical control method and numerical control device of machine tool
JP2009098981A (en) Working time calculation device and its program

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
C14 Grant of patent or utility model
ASS Succession or assignment of patent right

Owner name: SUZHOU XINDAI NC EQUIPMENT CO., LTD.

Free format text: FORMER OWNER: SYN TECHNOLOGY CO., LTD.

Effective date: 20130530

C41 Transfer of patent application or patent right or utility model
COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: TAIWAN, CHINA TO: 215021 SUZHOU, JIANGSU PROVINCE