ES2122542T3 - Instalacion para la compensacion de no-linealidades entre ejes de maquinas. - Google Patents

Instalacion para la compensacion de no-linealidades entre ejes de maquinas.

Info

Publication number
ES2122542T3
ES2122542T3 ES95907556T ES95907556T ES2122542T3 ES 2122542 T3 ES2122542 T3 ES 2122542T3 ES 95907556 T ES95907556 T ES 95907556T ES 95907556 T ES95907556 T ES 95907556T ES 2122542 T3 ES2122542 T3 ES 2122542T3
Authority
ES
Spain
Prior art keywords
pct
machines
sec
date
decay time
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.)
Expired - Lifetime
Application number
ES95907556T
Other languages
English (en)
Inventor
Friedrich Erkens
Stefan Maetschke
Bernd Quaschner
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Application granted granted Critical
Publication of ES2122542T3 publication Critical patent/ES2122542T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • 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
    • G05B2219/41041—Compensation pulses as function of direction movement
    • 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
    • G05B2219/41078—Backlash acceleration compensation when inversing, reversing direction
    • 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
    • G05B2219/41084—Compensation speed axis with changing, reversing direction, quadrant circle

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Feedback Control In General (AREA)
  • Numerical Control (AREA)
  • Automatic Control Of Machine Tools (AREA)

Abstract

LA INVENCION SE REFIERE A UN PROCEDIMIENTO PARA CONTROL NUMERICO DE MAQUINAS CON VARIOS EJES, EN PARTICULAR MAQUINAS HERRAMIENTAS Y ROBOTS, UTILIZADO PARA COMPENSAR LAS INEXACTITUDES QUE TIENEN LUGAR CUANDO LOS EJES SON INVERTIDOS, CAMBIANDO LAS CONDICIONES DE FRICCION ASI COMO LOS EFECTOS DE FLOJEDAD Y TORSIONAL, QUE SON COMPENSADOS MEDIANTE CONTROL PREVIO FUNCIONAL. LOS VALORES RPM DE REFERENCIA (N{SUB,REF}) SON CORREGIDOS MEDIANTE INYECCION PARA CADA EJE DE UN IMPULSO (N{SUB,CORR}) DE CORRECCION EN TRANSICIONES DE CUADRANTE, ORIGINANDO DE ESTA FORMA UN CAMBIO EN LA DIRECCION, DISPONIENDO DE UN IMPULSO DE CORRECCION SEGUN UN AMPLITUD [N{SUB,A}(A)] DEPENDIENDO DE LA ACELERACION QUE DISPONE DE UN IMPULSO Y CON UN TIEMPO DE EXTINCION CONSTANTE (T). LOS DOS ULTIMOS PARAMETROS SON DETERMINADOS MANUALMENTE PARA LA MAQUINA EN PARTICULAR O, EN UN DESARROLLO POSTERIOR, SON DISPUESTOS AUTOMATICAMENTE MEDIANTE UN SISTEMA DE AUTOCAPTACION EN FORMA DE UNA RED NEURAL (NN).
ES95907556T 1994-04-08 1995-02-03 Instalacion para la compensacion de no-linealidades entre ejes de maquinas. Expired - Lifetime ES2122542T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4411989 1994-04-08

Publications (1)

Publication Number Publication Date
ES2122542T3 true ES2122542T3 (es) 1998-12-16

Family

ID=6514831

Family Applications (1)

Application Number Title Priority Date Filing Date
ES95907556T Expired - Lifetime ES2122542T3 (es) 1994-04-08 1995-02-03 Instalacion para la compensacion de no-linealidades entre ejes de maquinas.

Country Status (8)

Country Link
US (1) US5804940A (es)
EP (1) EP0754317B1 (es)
KR (1) KR970702517A (es)
CN (1) CN1097757C (es)
AT (1) ATE171551T1 (es)
DE (1) DE59503708D1 (es)
ES (1) ES2122542T3 (es)
WO (1) WO1995027930A1 (es)

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4060393B2 (ja) * 1996-01-24 2008-03-12 三菱電機株式会社 ロボットの速度演算装置、およびロボットの速度演算方法
EP0845722B1 (en) * 1996-11-29 2004-10-06 Woodward Governor Company Method and apparatus for estimating and controlling non-linear disturbances in a feedback control system
KR20020049296A (ko) * 2000-12-19 2002-06-26 이계안 수치 제어장치의 드리프트 보정방법
SI21200A (sl) * 2002-03-27 2003-10-31 Jože Balič Cnc upravljalna enota za krmiljenje obdelovalnih centrov s sposobnostjo učenja
MY141127A (en) * 2002-11-18 2010-03-15 Univ Putra Malaysia Artificial intelligence device and corresponding methods for selecting machinability data
US20080255684A1 (en) * 2002-11-18 2008-10-16 Universiti Putra Malaysia Artificial intelligence device and corresponding methods for selecting machinability data
JP3739749B2 (ja) * 2003-01-07 2006-01-25 ファナック株式会社 制御装置
DE10326785B4 (de) 2003-06-13 2018-03-08 Robert Bosch Gmbh Verfahren und Steuerschaltung zum Einstellen einer Blockiererkennung für einen Lüftermotor
US7317981B2 (en) * 2004-11-19 2008-01-08 Honeywell International, Inc. Aircraft brake actuation system and method including anti-hysteresis control
DE102010015780A1 (de) † 2010-04-20 2011-10-20 Carl Zeiss Industrielle Messtechnik Gmbh Betrieb einer Koordinatenmessmaschine oder einer Werkzeugmaschine
DE102010030872A1 (de) * 2010-07-02 2012-01-05 Robert Bosch Gmbh Verfahren zum Bestimmen einer Korrekturkennlinie
JP5111589B2 (ja) * 2010-10-27 2013-01-09 株式会社牧野フライス製作所 送り軸反転時の補正方法
CN102023612B (zh) * 2010-12-01 2012-07-04 西安交通大学 一种数控机床伺服系统摩擦误差补偿方法
DE102011083019A1 (de) * 2011-09-20 2013-03-21 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Rotorposition und der Drehzahl einer Drehfeldmaschine
DE102012010004A1 (de) * 2012-05-22 2013-11-28 Satisloh Ag Verfahren zum Schleifen von Werkstücken, insbesondere zum zentrierenden Schleifen von Werkstücken wie optischen Linsen
CN103048949B (zh) * 2012-12-22 2015-05-27 西安交通大学 一种数控机床伺服系统摩擦误差补偿方法
CN105045103B (zh) * 2015-07-27 2018-06-29 台州学院 一种基于LuGre摩擦模型伺服机械手摩擦补偿控制系统及方法
CN105159084B (zh) * 2015-09-06 2018-10-16 台州学院 一种带干扰观测器的机械手神经网络控制系统及方法
JP6712724B2 (ja) * 2016-09-27 2020-06-24 パナソニックＩｐマネジメント株式会社 ロボットの制御方法及び溶接方法
JP6469065B2 (ja) * 2016-10-28 2019-02-13 ファナック株式会社 機械学習装置及び加工時間予測装置
JP6742943B2 (ja) * 2017-04-17 2020-08-19 Dmg森精機株式会社 工作機械送り系の制御装置
CN108572440A (zh) * 2018-03-22 2018-09-25 天津大学 一种机械显微镜的载物台数控驱动装置及其控制方法
JP7194910B2 (ja) * 2018-07-02 2022-12-23 パナソニックＩｐマネジメント株式会社 ロボット制御方法及びロボット制御装置
JP6806746B2 (ja) * 2018-09-21 2021-01-06 ファナック株式会社 モータ制御装置
CN111352387B (zh) * 2018-12-24 2021-06-29 中国科学院沈阳计算技术研究所有限公司 一种实现数控机床非线性误差的智能补偿方法
CN110597182B (zh) * 2019-08-03 2020-11-03 津上精密机床（浙江）有限公司 应用于丝杆热形变自校正系统的补偿算法
DE102020205031A1 (de) 2020-04-21 2021-10-21 Deckel Maho Seebach Gmbh Werkzeugmaschinensteuerung und Verfahren zur kennfeldbasierten Fehlerkompensation an einer Werkzeugmaschine
CN112959321B (zh) * 2021-02-10 2022-03-11 桂林电子科技大学 基于改进pi结构的机器人柔性关节转换误差补偿方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1990007738A1 (de) * 1988-12-24 1990-07-12 Wotan-Werke Gmbh Verfahren und vorrichtung zum bearbeiten gekrümmter konturen mit geregelten antrieben
DE69027648T2 (de) * 1989-04-10 1997-02-27 Yaskawa Denki Seisakusho Kk Anordnung zur regelung eines servomotors
JP2709969B2 (ja) * 1989-12-12 1998-02-04 ファナック株式会社 サーボモータの制御方法
US5274314A (en) * 1993-02-12 1993-12-28 Texas Instruments Incorporated Adaptive friction compensator

Also Published As

Publication number Publication date
ATE171551T1 (de) 1998-10-15
CN1097757C (zh) 2003-01-01
DE59503708D1 (de) 1998-10-29
EP0754317B1 (de) 1998-09-23
CN1149918A (zh) 1997-05-14
KR970702517A (ko) 1997-05-13
EP0754317A1 (de) 1997-01-22
WO1995027930A1 (de) 1995-10-19
US5804940A (en) 1998-09-08

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