CN112114559A - Over-quadrant compensation method and device based on torque feedforward of field bus - Google Patents

Over-quadrant compensation method and device based on torque feedforward of field bus Download PDF

Info

Publication number
CN112114559A
CN112114559A CN202010953333.1A CN202010953333A CN112114559A CN 112114559 A CN112114559 A CN 112114559A CN 202010953333 A CN202010953333 A CN 202010953333A CN 112114559 A CN112114559 A CN 112114559A
Authority
CN
China
Prior art keywords
torque
quadrant
compensation
over
command
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CN202010953333.1A
Other languages
Chinese (zh)
Other versions
CN112114559B (en
Inventor
周俊华
金东�
杨帆
朱飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Haozhi Industrial Control Technology Co ltd
Original Assignee
Suzhou Haozhi Industrial Control Technology Co ltd
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
Application filed by Suzhou Haozhi Industrial Control Technology Co ltd filed Critical Suzhou Haozhi Industrial Control Technology Co ltd
Priority to CN202010953333.1A priority Critical patent/CN112114559B/en
Publication of CN112114559A publication Critical patent/CN112114559A/en
Application granted granted Critical
Publication of CN112114559B publication Critical patent/CN112114559B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41055—Kind of compensation such as pitch error compensation

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)

Abstract

The method sets compensation periods in an upper computer of a numerical control system, and each compensation period comprises the following steps of acquiring a command position and a command speed; judging whether the command speed passes through a quadrant or not according to the command speed; if the torque exceeds the quadrant, calculating torque feedforward according to a friction compensation model; if the quadrant is not passed, the torque feedforward is marked as 0; the command position, torque feedforward and control words are sent to the servo motor via the fieldbus. According to the method, the friction model is arranged, the torque feedforward is calculated according to the command position acquired by the upper computer of the numerical control machine, and the torque feedforward is directly acted on the torque ring of the servo motor for compensation, so that the error caused by the friction is reduced, and a more ideal processing effect is achieved; because the compensation directly acts on the torque ring of the servo motor, the compensation is more direct, the complexity of a physical model is reduced, and the realization is easier.

Description

Over-quadrant compensation method and device based on torque feedforward of field bus
Technical Field
The disclosure relates to the technical field of numerical control machining, in particular to a torque feedforward over-quadrant compensation method and device based on a field bus.
Background
In the working process of the numerical control system, the real-time position which the servo motor sent to the servo motor by the upper computer of the numerical control system is supposed to reach is called a command position, the real-time position which the servo motor sent to the upper computer of the numerical control system actually reaches is called a feedback position, when the real-time position passes through a quadrant, the real-time position is subjected to friction force and can generate track distortion, and under the condition of no compensation, the command position and the feedback position can generate deviation. Over-quadrant error compensation, also known as friction compensation. And at the position of over-quadrant, adding an additional compensation value into the numerical control system to ensure that higher machining contour precision is obtained during machine tool machining. For friction compensation, compensation is generally carried out using a position loop or a velocity loop, the physical model of which is very complex, the position loop being more common. In general, a pulse mode is used for controlling a servo motor, and only position information is transmitted to a servo motor in the mode, so that the compensation of friction force can be completed only through position loop compensation, a physical model is complex and is not easy to realize, and more direct compensation information cannot be obtained.
Disclosure of Invention
The present disclosure addresses the above issues by providing a method and apparatus for over-quadrant compensation of fieldbus based torque feedforward.
In order to solve at least one of the above technical problems, the present disclosure proposes the following technical solutions:
in a first aspect, an over-quadrant compensation method of torque feedforward based on a field bus is provided, wherein a compensation period is set in an upper computer of a numerical control system, and each compensation period comprises the following steps,
acquiring a command position and a command speed;
judging whether the command speed passes through a quadrant or not according to the command speed;
if the torque exceeds the quadrant, calculating torque feedforward according to a friction compensation model; if the quadrant is not passed, the torque feedforward is marked as 0;
the command position, torque feedforward and control words are sent to the servo motor via the fieldbus.
In a second aspect, an over-quadrant compensation device for fieldbus based torque feedforward is provided, comprising,
an acquisition unit for acquiring a command position and a command speed;
the judging unit is used for judging whether the command speed passes through a quadrant or not according to the command speed;
the calculation unit is used for presetting a friction compensation model and calculating torque feedforward according to the friction compensation model when the over-quadrant occurs;
and the communication unit is used for sending the command position, the torque feedforward and the control word to the servo motor through the field bus.
The method has the advantages that through the friction model, the torque feedforward is calculated according to the command position acquired by the upper computer of the numerical control machine tool, and the torque feedforward is directly acted on the torque ring of the servo motor for compensation, so that the error caused by the friction is reduced, and a more ideal processing effect is achieved; because the compensation directly acts on the torque ring of the servo motor, the compensation is more direct, the complexity of a physical model is reduced, and the realization is easier.
In addition, in the technical solutions of the present disclosure, the technical solutions of the present disclosure can be implemented by adopting conventional means in the art, unless otherwise specified.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
Fig. 1 is a flowchart of an over-quadrant compensation method for fieldbus-based torque feedforward according to an embodiment of the present disclosure.
Fig. 2 is a friction model.
FIG. 3 is a block diagram of a system control architecture for a servo motor incorporating torque feed forward compensation.
FIG. 4 is a graph of commanded position versus feedback position without compensation.
Fig. 5 is a block diagram of a field bus-based over-quadrant compensation device for torque feedforward according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of some, but not all, embodiments of the disclosure and are not to be considered as limiting the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1:
referring to the accompanying drawings 1-3, the over-quadrant compensation method for the torque feedforward based on the field bus provided by the embodiment of the application is shown, and the method sets compensation periods in the upper computer of the numerical control system, and comprises the following steps in each compensation period,
s101: acquiring a command position and a command speed;
specifically, the command position is calculated by an upper computer of the numerical control system. In an optional embodiment, the command position is obtained by the upper computer of the numerical control system according to the NC file analysis interpolation calculation.
Specifically, the command velocity may be obtained by subtracting the command positions of two adjacent compensation periods. For example, the commanded velocity for the current compensation cycle is obtained by subtracting the commanded position for the current cycle from the commanded position for the immediately preceding cycle.
S102: and judging whether the quadrant is passed or not according to the command speed.
In an alternative embodiment, determining whether to over-quadrant based on the commanded speed may include,
acquiring a sign of a command speed of a current compensation period and a sign of a command speed of an adjacent previous compensation period;
comparing the symbols;
if the signs of the command speeds are the same, the quadrant is not passed;
if the sign of the commanded speed is different, then the quadrant is crossed.
S103: if the torque exceeds the quadrant, calculating torque feedforward according to a friction compensation model; if quadrant is not passed, the torque feed forward is 0.
And a friction force compensation model is preset in the upper computer of the numerical control system.
In an alternative embodiment, the friction compensation model is,
Figure BDA0002677768380000041
wherein F is friction torque, namely torque feedforward; s is the command position; s0Commanded position for start of over-quadrant, F0To be at position S0Is subjected to a frictional force torque, S1To a commanded position at which constant frictional torque begins, F1Is a slave position S1Initially subjected to a constant frictional torque, SeTo compensate for the ending commanded position.
In an alternative embodiment, the commanded position S for the start of over-quadrant is determined in the friction model0Set to 0, commanded position S initiated by constant friction torque1And command position S for ending compensationeCommand positions S for both over-quadrant starts0The friction force compensation model at this time is,
Figure BDA0002677768380000042
wherein F is friction torque, namely torque feedforward; s is the command position; s0Starting for passing over the quadrantCommand position, F0To be at position S0Is subjected to a frictional force torque, S1To a commanded position at which constant frictional torque begins, F1Is a slave position S1Initially subjected to a constant frictional torque, SeTo compensate for the ending commanded position.
In an alternative embodiment, referring to FIG. 4 of the specification, position S1The command position with the largest distance to the feedback position can be obtained after passing through the quadrant without compensation; position SeIt may be a position after over-quadrant where the commanded position first coincides with the feedback position without compensation.
In an alternative embodiment, F0Can be equal to the static friction force torque F borne by a single shaft of the servo motor1Can be equal to the torque when the single shaft of the servo motor runs at a constant speed.
S104: the command position, torque feedforward and control words are sent to the servo motor via the fieldbus.
In an alternative embodiment, the fieldbus is an EtherCat bus. Therefore, the EtherCat bus can support real-time writing in torque feedforward, is more convenient to use, and has better real-time effect.
In an optional embodiment, in each compensation period, the method further comprises the step that the servo motor feeds back the actual torque to an upper computer of the numerical control system. Therefore, the upper computer of the numerical control system monitors, analyzes and gives an alarm to the servo motor.
The method has the advantages that through the friction model, the torque feedforward is calculated according to the command position acquired by the upper computer of the numerical control machine tool, and the torque feedforward is directly acted on the torque ring of the servo motor for compensation, so that the error caused by the friction is reduced, and a more ideal processing effect is achieved; because the compensation directly acts on the torque ring of the servo motor, the compensation is more direct, the complexity of a physical model is reduced, and the realization is easier.
Example 2:
referring to the specification and fig. 5, there is shown an over-quadrant compensation apparatus for fieldbus based torque feedforward provided by an embodiment of the present application, for performing the method in the above method embodiment, the apparatus includes,
an acquisition unit 11 for acquiring a command position and a command speed;
a judging unit 12, configured to judge whether the command speed passes through a quadrant;
the calculating unit 13 is used for presetting a friction compensation model and calculating torque feedforward according to the friction compensation model when the over-quadrant occurs;
a communication unit 14 for sending command position, torque feed forward and control words to the servo motor via the field bus.
In an alternative embodiment, in the judging unit 12, it is judged whether the over-quadrant is included or not according to the command speed,
acquiring a sign of a command speed of a current compensation period and a sign of a command speed of an adjacent previous compensation period;
comparing the symbols;
if the signs of the command speeds are the same, the quadrant is not passed;
if the sign of the commanded speed is different, then the quadrant is crossed.
In an alternative embodiment, the friction compensation model is,
Figure BDA0002677768380000051
wherein F is friction torque, namely torque feedforward; s is the command position; s0Commanded position for start of over-quadrant, F0To be at position S0Is subjected to a frictional force torque, S1To a commanded position at which constant frictional torque begins, F1Is a slave position S1Initially subjected to a constant frictional torque, SeTo compensate for the ending commanded position.
In an alternative embodiment, the commanded position S for the start of over-quadrant is determined in the friction model0Set to 0, commanded position S initiated by constant friction torque1And command position S for ending compensationeCommand positions S for both over-quadrant starts0In the relative position of (2), in which the friction is compensatedThe model is that,
Figure BDA0002677768380000061
wherein F is friction torque, namely torque feedforward; s is the command position; s0Commanded position for start of over-quadrant, F0To be at position S0Is subjected to a frictional force torque, S1To a commanded position at which constant frictional torque begins, F1Is a slave position S1Initially subjected to a constant frictional torque, SeTo compensate for the ending commanded position.
In an alternative embodiment, F0The torque can be equal to the static friction force torque borne by the single shaft of the servo motor, and the F1 can be equal to the torque when the single shaft of the servo motor runs at a constant speed.
In an alternative embodiment, the field bus in the communication unit 14 is an EtherCat bus.
The method has the advantages that through the friction model, the torque feedforward is calculated according to the command position acquired by the upper computer of the numerical control machine tool, and the torque feedforward is directly acted on the torque ring of the servo motor for compensation, so that the error caused by the friction is reduced, and a more ideal processing effect is achieved; because the compensation directly acts on the torque ring of the servo motor, the compensation is more direct, the complexity of a physical model is reduced, and the realization is easier.
It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.
The sequence of the embodiments in this specification is merely for description, and does not represent the advantages or disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, which is to be construed in any way as imposing limitations thereon, such as the appended claims, and all changes and equivalents that fall within the true spirit and scope of the present disclosure.

Claims (12)

1. The over-quadrant compensation method of the torque feedforward based on the field bus is characterized in that a compensation period is set in an upper computer of a numerical control system, and each compensation period comprises the following steps,
acquiring a command position and a command speed;
judging whether the command speed passes through a quadrant or not according to the command speed;
if the torque exceeds the quadrant, calculating torque feedforward according to a friction compensation model; if the quadrant is not passed, the torque feedforward is marked as 0;
and sending the command position, the torque feedforward and the control word to a servo motor through a field bus.
2. The method of fieldbus based torque feedforward over-quadrant compensation of claim 1, wherein the determining whether to over-quadrant based on the commanded speed comprises,
acquiring a sign of the command speed of a current compensation period and a sign of the command speed of an adjacent previous compensation period;
comparing the symbols;
if the signs of the command speeds are the same, the quadrant is not passed;
if the sign of the commanded speed is different, then quadrant crossing.
3. The method of fieldbus based torque feedforward over-quadrant compensation of claim 1, wherein the friction compensation model is,
Figure FDA0002677768370000011
wherein F is friction torque, namely torque feedforward; s is the command position; s0Commanded position for start of over-quadrant, F0To be at position S0Is subjected to a frictional force torque, S1To a commanded position at which constant frictional torque begins, F1Is a slave position S1Initially subjected to a constant frictional torque, SeTo compensate for the ending commanded position.
4. The fieldbus-based torque feedforward over-quadrant compensation method of claim 3, wherein the commanded position S at which the over-quadrant starts is set in the friction model0Set to 0, the commanded position S at which the constant friction torque begins1And a command position S at which said compensation is endedeAre all the command positions S of the over-quadrant start0The friction force compensation model is then,
Figure FDA0002677768370000021
wherein F is friction torque, namely torque feedforward; s is the command position; s0Commanded position for start of over-quadrant, F0To be at position S0Is subjected to a frictional force torque, S1To a commanded position at which constant frictional torque begins, F1Is a slave position S1Initially subjected to a constant frictional torque, SeTo compensate for the ending commanded position.
5. The fieldbus-based torque feedforward over-quadrant compensation method of claim 4, wherein F is0Equal to the static friction torque borne by a single shaft of the servo motor, F1Equal to the torque when the single shaft of the servo motor runs at a constant speed.
6. The method of fieldbus-based torque feedforward over-quadrant compensation of claim 1, wherein the fieldbus employs an EtherCat bus.
7. The over-quadrant compensation device for the fieldbus based torque feedforward, which is used for executing the method for the over-quadrant compensation of the fieldbus based torque feedforward as claimed in any one of claims 1 to 6, and comprises,
an acquisition unit for acquiring a command position and a command speed;
the judging unit is used for judging whether the command speed passes through a quadrant or not according to the command speed;
the calculation unit is used for presetting a friction compensation model and calculating torque feedforward according to the friction compensation model when the over-quadrant occurs;
and the communication unit is used for sending the command position, the torque feedforward and the control word to a servo motor through a field bus.
8. An apparatus as claimed in claim 7, wherein the determining unit is configured to determine whether to perform over-quadrant compensation according to the commanded speed,
acquiring a sign of the command speed of a current compensation period and a sign of the command speed of an adjacent previous compensation period;
comparing the symbols;
if the signs of the command speeds are the same, the quadrant is not passed;
if the sign of the commanded speed is different, then quadrant crossing.
9. The fieldbus-based torque feedforward over-quadrant compensation device of claim 7, wherein the friction compensation model is,
Figure FDA0002677768370000031
wherein F is friction torque, namely torque feedforward; s is the command position; s0Commanded position for start of over-quadrant, F0To be at position S0Is subjected to a frictional force torque, S1To a commanded position at which constant frictional torque begins, F1Is a slave position S1Initially subjected to a constant frictional torque, SeTo compensate for the ending commanded position.
10. The fieldbus-based torque feedforward over-quadrant compensation device of claim 9, wherein the commanded position S at which the over-quadrant starts is set in the friction model0Set to 0, the commanded position S at which the constant friction torque begins1And a command position S at which said compensation is endedeAre all the command positions S of the over-quadrant start0The friction force compensation model is then,
Figure FDA0002677768370000032
wherein F is friction torque, namely torque feedforward; s is the command position; s0Commanded position for start of over-quadrant, F0To be at position S0Is subjected to a frictional force torque, S1Is subject to constant massageCommanded position for the onset of friction torque, F1Is a slave position S1Initially subjected to a constant frictional torque, SeTo compensate for the ending commanded position.
11. The fieldbus-based torque feedforward over-quadrant compensation device of claim 10, wherein F is the integer0Equal to the static friction torque borne by a single shaft of the servo motor, F1Equal to the torque when the single shaft of the servo motor runs at a constant speed.
12. The fieldbus-based torque feedforward over-quadrant compensation device of claim 7, wherein the fieldbus in the communication unit employs an EtherCat bus.
CN202010953333.1A 2020-09-11 2020-09-11 Over-quadrant compensation method and device based on torque feedforward of field bus Active CN112114559B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010953333.1A CN112114559B (en) 2020-09-11 2020-09-11 Over-quadrant compensation method and device based on torque feedforward of field bus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010953333.1A CN112114559B (en) 2020-09-11 2020-09-11 Over-quadrant compensation method and device based on torque feedforward of field bus

Publications (2)

Publication Number Publication Date
CN112114559A true CN112114559A (en) 2020-12-22
CN112114559B CN112114559B (en) 2021-09-03

Family

ID=73802606

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010953333.1A Active CN112114559B (en) 2020-09-11 2020-09-11 Over-quadrant compensation method and device based on torque feedforward of field bus

Country Status (1)

Country Link
CN (1) CN112114559B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006146572A (en) * 2004-11-19 2006-06-08 Yaskawa Electric Corp Servo control apparatus and method
CN102208891A (en) * 2010-11-18 2011-10-05 东南大学 Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation
CN102455683A (en) * 2010-10-22 2012-05-16 兄弟工业株式会社 Number control device and friction compensation method
CN105191116A (en) * 2013-04-09 2015-12-23 松下知识产权经营株式会社 Motor drive device
CN111624952A (en) * 2020-05-27 2020-09-04 苏州浩智工业控制技术有限公司 Over-quadrant compensation method based on Ethercat torque feedforward

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006146572A (en) * 2004-11-19 2006-06-08 Yaskawa Electric Corp Servo control apparatus and method
CN102455683A (en) * 2010-10-22 2012-05-16 兄弟工业株式会社 Number control device and friction compensation method
CN102208891A (en) * 2010-11-18 2011-10-05 东南大学 Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation
CN105191116A (en) * 2013-04-09 2015-12-23 松下知识产权经营株式会社 Motor drive device
CN111624952A (en) * 2020-05-27 2020-09-04 苏州浩智工业控制技术有限公司 Over-quadrant compensation method based on Ethercat torque feedforward

Also Published As

Publication number Publication date
CN112114559B (en) 2021-09-03

Similar Documents

Publication Publication Date Title
JP6474449B2 (en) Adjusting apparatus and adjusting method
CN112083687B (en) Over-quadrant compensation method and device based on speed feedforward of field bus
CN113098311B (en) Distributed motor control system, motor control device, and distributed motor control method
JP5911939B1 (en) Numerical controller with overlap function between arbitrary blocks by common acceleration / deceleration control unit
CN112114559B (en) Over-quadrant compensation method and device based on torque feedforward of field bus
Dong et al. Interpolating gain-scheduled H∞ loop shaping design for high speed ball screw feed drives
JP5009625B2 (en) Method and apparatus for operating different devices operating in conjunction
JP5832382B2 (en) Numerical controller
CN111176213B (en) Position subdivision method and device for bus type servo driver and storage medium
CN113119105A (en) Robot multi-machine linkage control method, multi-machine linkage control equipment and control system
JP3599849B2 (en) Distribution method of movement command in servo control
EP3930179A1 (en) Command generation device and command generation method to control motor
CN104508580A (en) Numerical control device and numerical control system
CN111813045B (en) Method for realizing contour error compensation processing according to speed feedforward parameters, numerical control processing system, equipment, device and storage medium
KR102240722B1 (en) Controller comprising reference regeneration unit and a control method thereof
US11294354B2 (en) Servo controller
CN106325221A (en) Numerical controller for notifying execution of auxiliary function in advance
CN108227638A (en) Numerical control device
JPH05216540A (en) Control system for servo motor
JPS58169212A (en) Position controller of servomotor
CN112872907B (en) Method and device for controlling full-closed-loop numerical control machine tool and numerical control machine tool
JP2001154719A (en) Method for interpolating free curve
US5909371A (en) Process of operating a numerical control with critical-time and non-critical-time processes in a real time system
JP2004086434A (en) Speed command type synchronization controller
CN112068490A (en) Trajectory planning method and device, electronic equipment and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant