CN113795796A - Control system and motor control device - Google Patents
Control system and motor control device Download PDFInfo
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- CN113795796A CN113795796A CN201980096173.9A CN201980096173A CN113795796A CN 113795796 A CN113795796 A CN 113795796A CN 201980096173 A CN201980096173 A CN 201980096173A CN 113795796 A CN113795796 A CN 113795796A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
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- 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
Abstract
Comprising: a speed control unit that generates a current command for controlling a machine tool capable of holding a workpiece by feedback control; a notch filter (134) that performs filtering processing on the current command; and a frequency determination unit (133) that determines the cutoff frequency of the notch filter (134) in accordance with workpiece information indicating the characteristics and state of the workpiece, and sets the determined cutoff frequency in the notch filter (134).
Description
Technical Field
The present invention relates to a control system and a motor control device for controlling an industrial machine such as a machine tool.
Background
A feedback control method is generally used for a control device that controls the operation of an industrial machine such as a machine tool. The control device can stably follow the target value transmitted from the host controller and can also cope with the influence of disturbance by adopting the feedback control method.
However, even if the feedback control method is adopted, mechanical resonance depending on the rigidity, mass, and the like of the control target may occur. If the feedback gain is set to a large value when mechanical resonance occurs, the mechanical resonance increases and the control system may oscillate. In order to suppress such a phenomenon, conventionally, a notch filter, which is a filter for attenuating a specific frequency component, is provided in a control loop. However, in order to set a cutoff frequency, which is a specific frequency for attenuation, i.e., cutoff, in the notch filter, a frequency to be cut off is obtained in advance by actual measurement, and a dedicated measuring instrument is required. Further, if the position of the control target changes, the resonance frequency also changes, so in the method of determining the cutoff frequency in advance, the above phenomenon may not be sufficiently suppressed.
In order to solve the above-described problem, patent document 1 discloses a control device that acquires a physical quantity detected by a detection means that detects a physical quantity such as a position or a current of a mechanism part to be controlled, and estimates a vibration frequency based on the acquired physical quantity. The control device of patent document 1 sets the estimated oscillation frequency as a cutoff frequency to the notch filter, thereby suppressing oscillation.
Patent document 1: japanese patent laid-open publication No. 2004-237398
Disclosure of Invention
Among machine tools, there are machine tools that perform an operation of holding a holding object such as a workpiece or a tool. In the machine tool as described above, even if the physical quantities of the mechanism portions to be controlled are the same, the natural frequency may change as the state of the object to be held, for example, the holding state of the workpiece changes. In such a case, the method described in patent document 1 cannot detect the holding state of the workpiece as the holding object. Therefore, in the method described in patent document 1, the frequency domain to be attenuated cannot be set to an appropriate value in the notch filter, and there is a possibility that mechanical resonance cannot be suppressed.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a control system capable of suppressing mechanical resonance of a control target even when a natural frequency changes in accordance with a state of a holding target.
In order to solve the above problems and achieve the object, a control system according to the present invention includes: a command generation unit that generates a command for controlling a machine tool capable of holding a holding object by feedback control; and a notch filter for performing filtering processing on the instruction. The control system further includes a frequency determination unit that determines a cutoff frequency of the notch filter in accordance with the holding object information indicating the characteristics and the state of the holding object, and sets the determined cutoff frequency in the notch filter.
ADVANTAGEOUS EFFECTS OF INVENTION
The control system according to the present invention has an effect of suppressing the mechanical resonance of the control target even when the natural frequency changes in accordance with the state of the holding target.
Drawings
Fig. 1 is a diagram showing a configuration example of a control system according to embodiment 1.
Fig. 2 is a diagram showing a configuration example of the filter generation unit according to embodiment 1.
Fig. 3 is a flowchart showing an example of the operation of the filter generation unit according to embodiment 1.
Fig. 4 is a diagram showing a configuration example of a processing circuit according to embodiment 1.
Fig. 5 is a diagram showing a configuration example of the control system according to embodiment 2.
Detailed Description
Next, a control system and a motor control device according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the present embodiment.
Embodiment 1.
Fig. 1 is a diagram showing a configuration example of a control system according to embodiment 1 of the present invention. The control system 20 of the present embodiment includes a motor control device 1 and a host controller 2 that controls the motor control device 1. The control system 20 controls the work machine 30. In the present embodiment, the machine tool 30 which is the control target of the control system 20 is a machine tool which performs cutting, but the control target of the control system 20 is not limited to the machine tool which performs cutting, and may be any industrial machine which can perform an operation of holding the workpiece 6 which is the processing target of cutting.
In fig. 1, the machine tool 30 includes a motor 3, a speed reducer 8, a chuck device 5, and a cutting tool 7. The work machine 30 can hold the workpiece 6. Specifically, the work machine 30 fixes the workpiece 6 by the chuck device 5. The chuck device 5 fixes the workpiece 6 when receiving a chuck signal indicating that the workpiece 6 is held from the host controller 2. The motor 3 is controlled by the motor control device 1. The rotational motion of the motor 3 is transmitted to the chuck device 5 via the speed reducer 8. Thereby, the workpiece 6 rotates together with the chuck device 5. The workpiece 6 is machined by the cutting tool 7 while rotating. The position of the motor 3, that is, the rotational position of the motor 3 is detected by the detector 4. The position of the motor 3 detected by the detector 4 is input to the motor control device 1.
The upper controller 2 generates a command, a control signal, control information, and the like for controlling the machining of the machine tool 30. More specifically, the host controller 2 generates a position command, which is a command related to the position of the motor 3, and outputs the position command to the motor control device 1. The upper controller 2 generates a command, a control signal, control information, and the like for controlling the machining of the machine tool 30, for example, in accordance with a machining program. The motor control device 1 generates a current for controlling the motor 3 based on the position command received from the host controller 2 and the position input from the detector 4, and outputs the current to the motor 3.
The host controller 2 generates a control signal indicating whether the chucking device 5 fixes or releases the workpiece 6, and outputs the control signal to the chucking device 5. Here, the control signal indicating whether the workpiece 6 is fixed or released is a chuck signal output while the workpiece 6 is fixed. The chuck device 5 performs an operation of fixing the workpiece 6 while receiving the chuck signal from the host controller 2, and performs an operation of releasing the workpiece 6 when not receiving the chuck signal. The control signal indicating whether to fix or release the workpiece 6 is not limited to this example, and may be a signal output at the start and end of the workpiece 6, or may be a signal indicating the fixing or release of the workpiece 6 by a voltage value of the signal or the like.
The upper controller 2 controls whether or not the workpiece 6 is fixed to the chuck apparatus 5, as described above. Therefore, the upper controller 2 grasps the holding state of the workpiece 6. The holding state is, for example, whether or not the workpiece 6 is fixed to the chuck device 5, i.e., the machine tool 30. The holding state is specified by a machining program, for example. The upper controller 2 can determine the holding state of the workpiece 6 based on the machining program. The holding state may be input by an operator of the work machine 30. For example, the operator inputs the holding state of the workpiece 6 by using an input unit, not shown, of the host controller 2. Alternatively, the motor control device 1 may have an input means, and the operator may input the holding state of the workpiece 6 to the motor control device 1. In addition, in general, when machining is performed using the machine tool 30, information relating to the workpiece 6 is input as a machining condition. The upper controller 2 controls the machining of the machine tool 30 based on the machining conditions. The information on the workpiece 6 is, for example, at least 1 of the size, material, shape, and length of the diameter of the workpiece 6. In the following, examples including the size, material, shape, and length of the diameter of the workpiece 6 will be described as the workpiece characteristic information, but the workpiece characteristic information is not limited to these, and any other items may be included as long as they are information related to the natural frequency of the workpiece 6. The upper controller 2 outputs, as workpiece information, state information indicating a holding state of the workpiece 6 and workpiece characteristic information that is information on the workpiece 6 to the motor control device 1. The workpiece characteristic information may be determined based on the machining program, or may be input by an operator.
The status information is information indicating the holding status of the workpiece 6, and is, for example, information of 1 bit (bit) which takes a value of 1 when the workpiece 6 is fixed and a value of 0 when the workpiece 6 is released, but a specific example of the status information is not limited thereto. The state information is not limited to the holding information, and may be information indicating the state of the object to be held of the machine tool 30 such as the workpiece 6 or the tool. For example, information such as whether the holding object is rotating, whether the holding object is moving, and whether the holding object is being processed can be used. The upper controller 2 can obtain these pieces of information from a machining program, for example. When the holding information of the workpiece 6 is used as the state information, the holding state of the workpiece may be expressed in 3 stages or more when the holding state of the workpiece 6 is a state other than the fixed state and the released state. The workpiece characteristic information includes, for example, information indicating the size, material, shape, and length of the diameter of the workpiece 6.
Next, the structure of the motor control device 1 will be explained. As shown in fig. 1, the motor control device 1 includes a position control unit 11, a speed control unit 12, a filter generation unit 13, a current control unit 14, and a speed conversion unit 15. The position control unit 11 calculates a speed command based on the position command received from the host controller 2 and the position input from the detector 4, and outputs the speed command to the speed control unit 12. In detail, the speed command is calculated based on the difference between the position command and the position input from the detector 4. The velocity conversion unit 15 calculates a velocity by differentiating the position input from the detector 4, and outputs the calculated velocity to the velocity control unit 12.
The speed control unit 12 calculates a current command based on the speed command and the speed input from the speed conversion unit 15, and outputs the current command to the filter generation unit 13. Specifically, the speed control unit 12 calculates the current command based on the difference between the speed command and the speed input from the speed conversion unit 15. That is, the speed control unit 12 is a command generation unit that generates a command for controlling the machine tool 30 by feedback control. In the present embodiment, an example in which the filter generation unit 13 described later performs the filtering process on the current command for controlling the motor 3 is described, but the filtering process of the present embodiment is not limited to the current command as long as the command for controlling the machine tool 30 is the target of the filtering process.
The filter generation unit 13 performs filtering processing on the current command, and outputs the filtered current command to the current control unit 14. The filter processing in the filter generation unit 13 is filter processing for attenuating a component of a cutoff frequency, which is a specific frequency, that is, for cutting off the component of the cutoff frequency. The mechanical resonance can be suppressed by setting the cutoff frequency cut by the filter generation unit 13 to a frequency at which resonance occurs in the machine tool 30. On the other hand, the natural frequency depends on the holding state of the workpiece 6 and the like. Therefore, if the cutoff frequency to be removed by the filter generation unit 13 is determined without reflecting the holding state of the workpiece 6, resonance may not be suppressed depending on the holding state of the workpiece 6. In the present embodiment, the filter generation unit 13 determines the frequency component to be removed by the filtering process based on the workpiece information received from the upper controller 2. Thus, in the present embodiment, the cutoff frequency can be determined reflecting the holding state of the workpiece 6 and the like. Therefore, even when the natural frequency changes depending on the holding state of the workpiece 6, the mechanical resonance can be suppressed. The filter generation unit 13 will be described in detail later.
The current control unit 14 controls the current to be output to the motor 3 based on the current command output from the filter generation unit 13. The motor 3 performs a rotational motion in accordance with the current output from the current control unit 14. Through the above operation, the motor control device 1 can control the motor 3 to a position in accordance with the position command received from the host controller 2. The motor 3 is controlled to a position in accordance with the position command, whereby the workpiece 6 can be controlled to a desired position via the speed reducer 8 and the chuck device 5.
Next, the details of the filter generation unit 13 will be described. Fig. 2 is a diagram showing a configuration example of the filter generation unit 13 according to the present embodiment. The filter generation unit 13 includes a storage unit 131, a frequency estimation unit 132, a frequency determination unit 133, and a notch filter 134. The storage unit 131 stores the workpiece information received from the upper controller 2. As described above, the workpiece information is information indicating the characteristics and the state of the workpiece, and is composed of, for example, state information and workpiece characteristic information.
When the workpiece information changes, the frequency determination unit 133 determines whether or not the same workpiece information as the latest workpiece information is stored in the storage unit 131. Specifically, the frequency determination unit 133 checks whether or not the same workpiece information as the latest workpiece information is present in the workpiece information in the filter setting information stored in the storage unit 131. The filter setting information is information in which the workpiece information and the corresponding cutoff frequency and attenuation amount are associated with each other, and is stored in the storage unit 131, for example, in a table format. As will be described later, when the workpiece information changes, the frequency estimation unit 132 adds a new entry to the storage unit 131. When the same workpiece information as the latest workpiece information is stored in the storage unit 131, the frequency determination unit 133 reads the cutoff frequency and the attenuation amount corresponding to the workpiece information from the storage unit 131, and sets the read cutoff frequency and the read attenuation amount in the notch filter 134. When the same workpiece information as the latest workpiece information is not stored in the storage unit 131, the frequency determination unit 133 sets the cutoff frequency and the attenuation amount calculated by the frequency estimation unit 132 in the notch filter 134. Note that, in fig. 2, in order to show that the frequency determination unit 133 has a function of performing a selected operation, switching of selection is performed in any one of the storage unit 131 and the frequency estimation unit 132, but the frequency determination unit 133 is not necessarily a switch.
The frequency estimation unit 132 estimates the frequency of the vibration generated in the machine tool 30, and calculates the cutoff frequency based on the estimated frequency. Specifically, if the latest workpiece information is newly stored in the storage unit 131, the frequency estimating unit 132 determines whether or not information including the same workpiece information as the latest workpiece information is present in the filter setting information in the storage unit 131. When there is no piece of information including the same workpiece information as the latest workpiece information in the filter setting information, the frequency estimating unit 132 estimates the frequency and magnitude of the vibration generated in the machine tool 30 based on the current command, and calculates the cutoff frequency and the attenuation amount set in the notch filter 134 based on the estimation result. The frequency estimating unit 132 outputs the calculated cutoff frequency and attenuation amount to the frequency determining unit 133, and then stores the latest workpiece information and the calculated cutoff frequency and attenuation amount in the storage unit 131 as a new entry of the filter setting information in association with each other. The latest workpiece information is temporarily stored in the storage unit 131 in its entirety, but may be deleted from the storage unit 131 if the information is the same as the information already stored as the filter setting information. Further, frequency estimating unit 132 outputs the cutoff frequency and the attenuation amount to be set in notch filter 134 to frequency determining unit 133. The method of estimating the frequency and magnitude of the vibration by the frequency estimating unit 132 is not limited to the method of estimating based on the current command, and may be a method of estimating based on the detection result obtained by the detector 4, and the like, and is not particularly limited.
Notch filter 134 is a filter capable of changing a cutoff frequency and an attenuation amount. Notch filter 134 performs filtering processing on the current command in accordance with the cutoff frequency and the attenuation set by frequency determination unit 133.
Fig. 3 is a flowchart showing an example of the operation of the filter generation unit 13 according to embodiment 1. First, the frequency determination unit 133 determines whether or not the workpiece information has changed (step S1). When the workpiece information changes (step S1Yes), the frequency determination unit 133 determines whether or not the workpiece information is known (step S2). Specifically, the frequency determination unit 133 determines that the workpiece information is known when there is information including the same workpiece information as the latest workpiece information in the filter setting information stored in the storage unit 131.
When the workpiece information is known (step S2Yes), the frequency determination unit 133 reads the corresponding cutoff frequency and attenuation amount from the storage unit 131 (step S3). Specifically, the frequency determination unit 133 refers to the filter setting information and reads the cutoff frequency and the attenuation amount corresponding to the same workpiece information as the latest workpiece information. Next, the frequency determination unit 133 sets the cutoff frequency and the attenuation amount in the notch filter 134 (step S4), and ends the processing. When step S4 is executed through step S3, the cutoff frequency and the attenuation read from storage unit 131 are set in notch filter 134.
On the other hand, when it is determined as No in step S1, frequency determination unit 133 ends the process without changing the setting of notch filter 134. When No is determined in step S2, the frequency determination unit 133 obtains the cutoff frequency and the attenuation amount based on the estimation result from the frequency estimation unit 132 (step S5), and proceeds to the process of step S4. As described above, this estimation result is a result of the frequency estimation unit 132 estimating the state of vibration based on the current command or the like. When step S4 is executed through step S5, the cutoff frequency and the attenuation amount calculated by the frequency estimating unit 132 based on the estimation result are set in the notch filter 134. As described above, the frequency determination unit 133 selects any one of the cutoff frequency included in the filter setting information and the cutoff frequency calculated by the frequency estimation unit 132 based on the filter setting information and the latest holding state, and sets the selected cutoff frequency in the notch filter 134.
Through the above processing, the notch filter 134 sets the cutoff frequency and the attenuation amount based on the workpiece information including the information indicating the holding state of the workpiece 6. Thus, the motor control device 1 of the present embodiment can suppress the mechanical resonance of the control target even when the natural frequency changes in accordance with the holding state of the workpiece 6.
Here, a hardware configuration of the motor control device 1 will be described. Each part of the motor control device 1 is realized by a circuit. The current control unit 14 has a converter circuit for converting ac power into dc power or an inverter circuit for converting dc power into desired ac power, and supplies current to the motor 3 so as to follow a current command. The position control unit 11, the velocity control unit 12, the filter generation unit 13, and the velocity conversion unit 15 are realized by a processing circuit. The processing circuitry may be circuitry with a processor or may be dedicated hardware.
In the case where the processing circuit is a circuit having a processor, the processing circuit is, for example, a processing circuit having a structure shown in fig. 4. Fig. 4 is a diagram showing a configuration example of a processing circuit according to the present embodiment. The processing circuit 100 shown in fig. 4 has a processor 101 and a memory 102. When the position control unit 11, the speed control unit 12, the filter generation unit 13, and the speed conversion unit 15 are realized by the processing circuit 100 shown in fig. 4, the processor 101 reads and executes a program stored in the memory 102, thereby realizing these configurations. That is, when the position control unit 11, the speed control unit 12, the filter generation unit 13, and the speed conversion unit 15 are realized by the processing circuit 100 shown in fig. 4, these functions are realized using software, i.e., programs. The memory 102 is also used as a work area of the processor 101. The processor 101 is a cpu (central Processing unit) or the like. The memory 102 is a nonvolatile or volatile semiconductor memory such as a ram (random Access memory), a rom (read Only memory), a flash memory, or a magnetic disk.
When the position control unit 11, the speed control unit 12, the filter generation unit 13, and the speed conversion unit 15 are dedicated hardware, the processing circuit is, for example, an fpga (field Programmable Gate array) or an asic (application Specific Integrated circuit). The position control unit 11, the velocity control unit 12, the filter generation unit 13, and the velocity conversion unit 15 may be implemented by a combination of a processing circuit having a processor and dedicated hardware. The position control unit 11, the speed control unit 12, the filter generation unit 13, and the speed conversion unit 15 may be implemented by a plurality of processing circuits.
In the above description, an example is described in which the workpiece information includes both the state information indicating the holding state of the workpiece 6 and the workpiece characteristic information. However, as the workpiece information, only the state information indicating the holding state of the workpiece 6 or only the workpiece characteristic information may be used.
In the above description, an example in which the filter setting information includes the workpiece information, the cutoff frequency, and the attenuation amount is described. However, the workpiece information and the frequency may be set as the filter setting information. In this case, the frequency estimation unit 132 does not need to calculate the attenuation amount, and the attenuation amount may be fixed or determined according to the frequency, for example.
In the above description, the cutoff frequency and the attenuation amount of notch filter 134 are determined based on the workpiece information, but similarly, the cutoff frequency and the attenuation amount of notch filter 134 may be determined according to the tool holding state. In a machine tool that performs cutting by rotation of a tool, the machine tool holds the tool. In this case, as in the case of the workpiece 6, the motor control device 2 controls the motor 3 in accordance with a command from the host controller 2, thereby rotating the tool. In this case, when the cutoff frequency and the attenuation amount of notch filter 134 are determined in accordance with information indicating the held state of the tool, the state information is information indicating the held state of the tool, and instead of the workpiece characteristic information, tool characteristic information, which is information related to the natural frequency of the tool such as the size and the type of the tool, is used instead of the workpiece information, and tool information including the held information and the tool characteristic information is used instead of the workpiece information. The upper controller 2 outputs tool information indicating the holding state of the tool or the like to the motor controller 1, and the motor controller 1 determines the cutoff frequency and the attenuation amount of the notch filter 134 in accordance with the tool information, as in the case of the workpiece information. The basic operation in this case is also the same as the case where the cutoff frequency and the attenuation amount of notch filter 134 are determined based on the workpiece information. Both the tool and the workpiece 6 are examples of holding objects of the machine tool, and the present invention is similarly applicable to a case where the machine tool can hold the holding objects. That is, both the tool information and the workpiece information are information indicating the characteristics and the state of the holding object. The holding object information is characteristic information of the holding object, and is information including holding object characteristic information, which is information related to the natural frequency of the holding object, and state information indicating a holding state of the holding object. The state information is, for example, information indicating whether or not the holding object is fixed to the machine tool. The characteristic information of the object to be held is, for example, the workpiece characteristic information and the tool characteristic information described above.
In the configuration example shown in fig. 1, the motor control device 1 includes the storage unit 131, the frequency estimation unit 132, and the frequency determination unit 133 of the filter generation unit 13, but the upper controller 2 may include the storage unit 131, the frequency estimation unit 132, and the frequency determination unit 133. In this case, the motor control device 1 receives the information indicating the cutoff frequency and the attenuation amount set in the notch filter 134 instead of receiving the workpiece information from the host controller 2, and sets the cutoff frequency and the attenuation amount in the notch filter 134 based on the received information.
Fig. 5 is a diagram showing a configuration example of a control system according to embodiment 2 of the present invention. The control system 20a of the present embodiment includes motor control devices 1-1 and 1-2 as control devices according to the present invention, and a host controller 2 that controls the motor control devices 1-1 and 1-2. The control system 20a controls the work machine 30 a. In the present embodiment, the machine tool 30a, which is the control target of the control system 20a, is a machine tool that performs cutting, but the control target of the control system 20a is not limited to the machine tool that performs cutting, and may be any industrial machine that can perform an operation of holding the workpiece 6 from both sides. Hereinafter, the description will be given mainly of portions different from embodiment 1, and redundant description with embodiment 1 will be omitted.
The motor control devices 1-1 and 1-2 each have the same configuration as the motor control device 1 of embodiment 1. The machine tool 30a includes motors 3-1 and 3-2 similar to the motor 3 of embodiment 1, speed reducers 8-1 and 8-2 similar to the speed reducer 8 of embodiment 1, chuck devices 5-1 and 5-2 similar to the chuck device 5 of embodiment 1, and a cutting tool 7 similar to embodiment 1. The work machine 30a holds the workpiece 6 at both ends by chuck devices 5-1, 5-2. The rotational motion of the motor 3-1 is transmitted to the chuck device 5-1 via the speed reducer 8-1, and the rotational motion of the motor 3-2 is transmitted to the chuck device 5-2 via the speed reducer 8-2. The rotational position of the motor 3-1 is detected by the detector 4-1, and the rotational position of the motor 3-2 is detected by the detector 4-2.
The upper controller 2 outputs the position command and the work information corresponding to the motor control devices 1-1 and 1-2, respectively. Although not shown, the host controller 2 outputs chuck signals to the chuck devices 5-1 and 5-2, respectively, as in embodiment 1.
The motor control device 1-1 performs the same operation as the motor control device 1 of embodiment 1 based on the position command and the workpiece information received from the host controller 2 and the detection result of the position of the motor 3-1 received from the detector 4-1. The motor control device 1-2 performs the same operation as the motor control device 1 of embodiment 1 based on the position command and the workpiece information received from the host controller 2 and the detection result of the position of the motor 3-2 received from the detector 4-2. Further, the workpiece information is the same as in embodiment 1, but the chuck distance, which is the distance between the chuck devices 5-1 and 5-2, may be added to the workpiece information.
As described above, when the workpiece 6 is held at both ends by the chuck devices 5-1 and 5-2, the same effects as those of embodiment 1 can be obtained by using the upper-level controller 2 and the motor control devices 1-1 and 1-2 similar to those of embodiment 1.
The configuration described in the above embodiment is an example of the content of the present invention, and may be combined with other known techniques, and a part of the configuration may be omitted or modified without departing from the scope of the present invention.
Description of the reference numerals
1. 1-1, 1-2 motor control device, 2 upper level controller, 3-1, 3-2 motor, 4-1, 4-2 detector, 5-1, 5-2 chuck device, 6 workpiece, 7 cutting tool, 8 speed reducer, 11 position control part, 12 speed control part, 13 filter generation part, 14 current control part, 15 speed conversion part, 131 storage part, 132 frequency estimation part, 133 frequency determination part, 134 notch filter.
Claims (15)
1. A control system, comprising:
a command generation unit that generates a command for controlling a machine tool capable of holding a holding object by feedback control;
a notch filter that performs filtering processing on the instruction; and
and a frequency determination unit that determines a cutoff frequency of the notch filter in accordance with holding object information indicating characteristics and a state of the holding object, and sets the determined cutoff frequency in the notch filter.
2. The control system of claim 1,
the holding object information includes holding object characteristic information that is information indicating a characteristic of the holding object, and state information indicating a holding state of the holding object in the machine tool.
3. The control system of claim 2,
the characteristic information of the object to be held is information related to a natural frequency of the object to be held.
4. The control system according to claim 2 or 3,
the state information is information indicating whether or not the holding object is fixed to the machine tool.
5. The control system according to any one of claims 1 to 4,
the holding object information is discriminated based on a machining program.
6. The control system according to any one of claims 1 to 4,
the information on the object to be held can be input by an operator.
7. The control system according to any one of claims 1 to 6,
a storage unit for storing the information on the object to be held and a cutoff frequency corresponding to the information on the object to be held as filter setting information,
the frequency determination unit determines the cutoff frequency based on the filter setting information and the latest holding object information.
8. The control system of claim 7,
the frequency estimation unit estimates a frequency of vibration generated in the machine tool, calculates a cutoff frequency based on the estimated frequency,
the frequency determination unit selects any one of the cutoff frequency included in the filter setting information and the cutoff frequency calculated by the frequency estimation unit based on the filter setting information and the latest holding object information, and sets the selected cutoff frequency to the notch filter.
9. The control system according to any one of claims 1 to 8,
the frequency determination unit further determines an attenuation amount of the notch filter in accordance with the information of the holding object, and sets the determined attenuation amount to the notch filter.
10. The control system of claim 2,
the object to be held is a workpiece,
the characteristic information of the object to be held includes at least 1 of the size, material, shape and length of the diameter of the workpiece.
11. The control system of claim 2,
the object to be held is a tool,
the characteristic information of the object to be held includes at least 1 of the size and the type of the tool.
12. The control system of claim 1,
has a motor control device for controlling a motor of the machine tool,
the motor control device includes the command generation unit, the notch filter, and the frequency determination unit.
13. The control system of claim 12,
the work machine is capable of holding 2 ends of the workpiece as the holding object by 2 chuck devices provided in the work machine,
the control system includes 2 motor control devices for controlling 2 motors respectively corresponding to the 2 chuck devices.
14. The control system of claim 1,
comprising: a motor control device that controls a motor of the machine tool; and a higher-level controller that outputs a position command for the motor to the motor control device,
the motor control device is provided with the notch filter,
the upper controller includes the command generation unit and the frequency determination unit.
15. A motor control device is characterized by comprising:
a command generation unit that generates a command for controlling a motor in a machine tool capable of holding a holding object by feedback control;
a notch filter that performs filtering processing on the instruction; and
and a frequency determination unit that determines a cutoff frequency of the notch filter in accordance with holding object information indicating characteristics and a state of the holding object, and sets the determined cutoff frequency in the notch filter.
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| PCT/JP2019/018941 WO2020230234A1 (en) | 2019-05-13 | 2019-05-13 | Control system and motor control device |
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| Publication number | Publication date |
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| WO2020230234A1 (en) | 2020-11-19 |
| JP6639758B1 (en) | 2020-02-05 |
| JPWO2020230234A1 (en) | 2021-05-20 |
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