JP2003330510A - Synchronous control method of numerical control apparatus - Google Patents
Synchronous control method of numerical control apparatusInfo
- Publication number
- JP2003330510A JP2003330510A JP2002138737A JP2002138737A JP2003330510A JP 2003330510 A JP2003330510 A JP 2003330510A JP 2002138737 A JP2002138737 A JP 2002138737A JP 2002138737 A JP2002138737 A JP 2002138737A JP 2003330510 A JP2003330510 A JP 2003330510A
- Authority
- JP
- Japan
- Prior art keywords
- control
- synchronous
- axis
- position control
- motor
- 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.)
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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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50218—Synchronize groups of axis, spindles
Landscapes
- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、同じ位置指令を同
時に複数の制御軸に指令し、多軸間の同期制御を行う同
期制御方式に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous control system for instructing the same position command to a plurality of control axes at the same time to perform synchronous control among multiple axes.
【０００２】[0002]
【従来の技術】多軸間の同期制御方式には、同じ位置指
令を同時に複数の制御軸に指令し、各制御軸の制御ゲイ
ンを同一にして、各々独立して位置制御を行う方式と、
特開２００１−７２３６５号公報に見られる特定のマス
タ軸に追従するマスタ−スレーブ方式がある。前者の方
式は、特別な装置も不要であることと、同期する全軸の
位置制御ループゲインを同一の設定値とし、位置制御部
の応答特性を合わせることだけで、高い同期精度を実現
できるため、１つの軸を２つのモータで制御するガント
リ−運転や、主軸同士の同期運転等で広く使用されてい
る。2. Description of the Related Art In a multi-axis synchronous control system, the same position command is issued to a plurality of control axes at the same time, the control gains of the respective control axes are made the same, and the positions are independently controlled.
There is a master-slave system that follows a specific master axis, which is found in Japanese Patent Laid-Open No. 2001-72365. The former method does not require a special device, and because the position control loop gains of all synchronized axes are set to the same setting value, high synchronization accuracy can be achieved simply by matching the response characteristics of the position control unit. It is widely used in gantry operation in which one shaft is controlled by two motors, synchronous operation between main shafts, and the like.
【０００３】[0003]
【発明が解決しようとする課題】ところが、前記制御軸
の位置制御部の制御周期や、位置検出器の検出周期の違
いなどで、前記位置制御ループゲインを同一値に設定し
ても、微量ではあるが前記位置制御部の応答特性が異な
ることがあった。すなわち、異なる種類の検出器の場
合、検出タイミングに十数μｓ程度の差が生じることが
あり、例えば、５０［μｓ］の検出タイミング差がある
検出器を有した制御軸間にて同期制御を行った場合、速
度１００００［ｒ／ｍｉｎ］では３．０［度］の同期誤
差を生じる。従来、前記応答特性の差による同期精度誤
差は、許容誤差範囲以内であったが、同期速度、同期精
度の向上に伴い、前記応答特性の差を無視できなくなっ
ている。動作速度の向上や、システム構成上の制約など
で、同期制御を行う制御軸において異なる種類の制御装
置、検出器を使用する場合も少なくなく、同期精度向上
のための新たな技術が求められている。そこで本発明
は、前記応答特性の差を簡単な調整で解消することによ
って、同期精度を向上させることを目的とする。However, even if the position control loop gain is set to the same value due to a difference in the control cycle of the position control unit of the control axis or the detection cycle of the position detector, it is possible to obtain a small amount. However, the response characteristics of the position controller may be different. That is, in the case of different types of detectors, a difference in detection timing of about ten and several μs may occur. For example, synchronous control is performed between control axes having detectors having a detection timing difference of 50 [μs]. When it is performed, a synchronization error of 3.0 [degrees] occurs at a speed of 10000 [r / min]. Conventionally, the synchronization accuracy error due to the difference in the response characteristics is within the allowable error range, but with the improvement of the synchronization speed and the synchronization accuracy, the difference in the response characteristics cannot be ignored. Due to improvements in operating speed and restrictions on the system configuration, it is not uncommon to use different types of control devices and detectors on the control axes that perform synchronous control, and new technology is required to improve synchronization accuracy. There is. Therefore, it is an object of the present invention to improve synchronization accuracy by eliminating the difference in response characteristics by simple adjustment.
【０００４】[0004]
【課題を解決するための手段】上記問題を解決するた
め、請求項１記載の数値制御装置の同期制御方法の発明
は、制御軸毎に独立した位置制御部を有する複数のモー
タ制御装置に対して前記制御軸に位置指令を出力する位
置指令出力部を有する数値制御装置であって、同じ位置
指令を同時に複数の前記モータ制御装置に指令し、前記
モータ制御装置で独立に位置制御して多軸間同期制御を
行う数値制御装置の同期制御方法において、前記各制御
軸の位置制御部の遅れ時間に対し、数式（１）に基づい
て位置制御ループゲインを補正することによって同期調
整を行うことを特徴とする。請求項２記載の多軸間同期
制御方法の発明は、同時に複数の制御軸に位置指令を出
力する位置指令出力部とともに、各制御軸に独立した位
置制御を行なう位置制御部を有し、同じ位置指令を同時
に複数の制御軸に指令して制御軸で独立に位置制御して
多軸間同期制御を行う多軸間同期制御方法において、前
記各制御軸の位置制御の遅れ時間に対し、数式（１）に
基づいて位置制御ループゲインを補正することによって
同期調整を行うことを特徴とする。In order to solve the above problems, the invention of a synchronous control method for a numerical control device according to claim 1 is directed to a plurality of motor control devices having an independent position control section for each control axis. A numerical control device having a position command output unit for outputting a position command to the control axis, wherein the same position command is simultaneously issued to a plurality of the motor control devices, and the motor control devices independently control the position. In a synchronous control method for a numerical controller for performing inter-axis synchronous control, synchronous adjustment is performed by correcting the position control loop gain based on the mathematical expression (1) with respect to the delay time of the position control unit of each control axis. Is characterized by. The invention of the multi-axis synchronous control method according to claim 2 has a position command output section for simultaneously outputting a position command to a plurality of control axes, and a position control section for independently performing position control for each control axis. In a multi-axis synchronous control method in which a position command is simultaneously issued to a plurality of control axes and position control is independently performed by the control axes to perform multi-axis synchronous control, with respect to the delay time of the position control of each control axis, Synchronous adjustment is performed by correcting the position control loop gain based on (1).
【０００５】[0005]
【発明の実施の形態】以下に本発明の数式（１）につい
て説明する。説明を簡単にするため、同期の基準軸と位
置検出器の遅れなどの遅れ時間Ｔｄがある同期軸の場合
について説明する。まず、基準軸の位置制御ループゲイ
ンをＫｐとした場合、Ｋｐによる位置制御の遅れ時間Ｔ
ｐは、数式（２）によって求められる。BEST MODE FOR CARRYING OUT THE INVENTION Formula (1) of the present invention will be described below. In order to simplify the description, the case of a synchronous axis having a delay time Td such as a delay between the synchronous reference axis and the position detector will be described. First, when the position control loop gain of the reference axis is Kp, the delay time T of the position control by Kp
p is calculated | required by Numerical formula (2).
【数２】
同期軸の位置制御ループゲインがＫｐの場合、同様に、
同期軸の位置制御部の遅れ時間はＴｐとなる。ところ
が、同期軸には、位置検出器の遅れなど、前記位置制御
の遅れ以外の遅れ時間をＴｄがある。一般にフィードバ
ック制御系のフィードバックパス内に遅れがあると、フ
ィードバックの効果で前向きのパスがフィードバックの
遅れに相当する分だけ位相が進むことになる。前記位置
制御部の遅れがＴｐであるから、前記位置制御部全体の
遅れ時間はＴｐ−Ｔｄとなり、前記位置制御部の実質の
位置制御ループゲインＫｐ”は、数式（３）で示される
ように、Ｋｐよりも大きくなる。[Equation 2] When the position control loop gain of the synchronous axis is Kp, similarly,
The delay time of the position controller of the synchronous axis is Tp. However, the synchronous axis has a delay time Td other than the delay of the position control, such as the delay of the position detector. Generally, if there is a delay in the feedback path of the feedback control system, the phase of the forward path advances by an amount corresponding to the delay of feedback due to the effect of feedback. Since the delay of the position control unit is Tp, the delay time of the entire position control unit is Tp-Td, and the actual position control loop gain Kp ″ of the position control unit is as shown by the mathematical expression (3). , Kp.
【数３】
したがって、前記位置制御部全体から見た前記実質の位
置制御ループゲインをＫｐとするためには、制御系全体
を遅らせる必要がある。位置制御ループゲインを下げる
と制御系が遅れるので、数式（２）を遅れ時間Ｔｄに相
当する時間だけ遅らせればよい。すなわち、補正後の位
置制御ループゲインをＫｐ’とすると、数式（４）とな
るので、その両辺の逆数をとることにより数式（１）と
なり、結局、数式（１）で示す位置制御ループゲインで
制御すればよいこととなる。[Equation 3] Therefore, it is necessary to delay the entire control system in order to set the substantial position control loop gain as seen from the entire position control unit to Kp. Since the control system is delayed when the position control loop gain is lowered, the formula (2) may be delayed by a time corresponding to the delay time Td. That is, assuming that the corrected position control loop gain is Kp ′, Equation (4) is obtained, and thus the inverse number of both sides thereof is obtained as Equation (1). It should be controlled.
【０００６】図１は、本発明の数値制御装置の同期制御
方法のブロック図を示している。１は数値制御装置、
２、２’は各モータを駆動するモータ制御装置、６、
６’はモータ、７、７’はそれぞれモータ６、６’の位
置を検出する検出器である。数値制御装置１内には位置
指令出力部３があり、この位置指令出力部３は同期する
複数の制御軸に対し同時に位置指令を出力する。モータ
制御装置２内には、位置指令出力部３からの位置指令に
従ってモータ２を制御する位置制御部４と、位置制御部
４から出力される速度指令に従ってモータ６を制御する
駆動制御部５と、検出器７からのモータ６の位置検出値
によって求められた第１遅れ要素８とがあり、さらに位
置制御部４内には第１遅れ要素８に基づき本発明による
数式（１）によって求めた第１位置制御ループゲイン９
がある。同じく、モータ制御装置２’内には、位置指令
出力部３からの位置指令に従ってモータ２’を制御する
位置制御部４’と、位置制御部４’から出力される速度
指令に従ってモータ６’を制御する駆動制御部５’と、
検出器７’からのモータ６’の位置検出値によって求め
られた第２遅れ要素１０とがあり、さらに位置制御部
４’内には第２遅れ要素１２に基づき本発明による数式
（１）によって求めた第２位置制御ループゲイン９’が
ある。FIG. 1 shows a block diagram of a synchronous control method of a numerical controller according to the present invention. 1 is a numerical control device,
2, 2'is a motor control device for driving each motor, 6,
Reference numeral 6'is a motor, and reference numerals 7 and 7'are detectors for detecting the positions of the motors 6 and 6 ', respectively. A position command output unit 3 is provided in the numerical controller 1, and the position command output unit 3 outputs position commands simultaneously to a plurality of synchronized control axes. In the motor control device 2, a position control unit 4 that controls the motor 2 according to the position command from the position command output unit 3, and a drive control unit 5 that controls the motor 6 according to the speed command output from the position control unit 4. , The first delay element 8 obtained from the position detection value of the motor 6 from the detector 7, and further, the position control unit 4 is obtained by the formula (1) according to the present invention based on the first delay element 8. First position control loop gain 9
There is. Similarly, in the motor control device 2 ′, a position control unit 4 ′ that controls the motor 2 ′ according to the position command from the position command output unit 3 and a motor 6 ′ according to the speed command output from the position control unit 4 ′ are provided. A drive control unit 5 ′ for controlling,
There is a second delay element 10 obtained from the position detection value of the motor 6 ′ from the detector 7 ′, and further, in the position control unit 4 ′, based on the second delay element 12, the formula (1) according to the present invention is used. There is the obtained second position control loop gain 9 '.
【０００７】まず、３の位置指令出力部から複数のモー
タ制御装置２，２’に対し、同じ位置指令が同時に指令
される。モータ制御装置２、２’には、各々異なる遅れ
要素８、１０を持っているため、各々のモータ制御装置
の遅れ要素から数式（１）を用いて計算した位置制御ル
ープゲインを各々の位置制御部の位置制御ループゲイン
９、１１に設定する。モータ制御装置２の位置制御部４
は、設定された位置制御ループゲイン９（Ｋｐ１）でモ
ータ６を制御し、またモータ制御装置２’の位置制御部
４’は、設定された位置制御ループゲイン１１（Ｋｐ
２）でモータ６’を制御する。このようにすることによ
り、位置制御部の制御周期や、位置検出器の検出周期の
違いがある場合の同期制御の同期精度を向上することが
可能となる。First, the same position command is simultaneously issued from the position command output unit 3 to a plurality of motor control devices 2 and 2 '. Since the motor control devices 2 and 2 ′ have different delay elements 8 and 10, respectively, the position control loop gain calculated from the delay element of each motor control device using the mathematical expression (1) is used for each position control. Position control loop gains 9 and 11 are set. Position controller 4 of motor controller 2
Controls the motor 6 with the set position control loop gain 9 (Kp1), and the position control unit 4 ′ of the motor control device 2 ′ controls the set position control loop gain 11 (Kp1).
The motor 6'is controlled in 2). By doing so, it is possible to improve the synchronization accuracy of the synchronization control when there is a difference in the control cycle of the position control unit or the detection cycle of the position detector.
【０００８】[0008]
【発明の効果】以上、述べたように、本発明によれば、
制御軸毎に独立した位置制御部を有するモータ制御装置
と、同時に複数の前記制御軸に位置指令を出力する位置
指令出力部と、を有する数値制御装置であって、同じ位
置指令を同時に複数の前記モータ制御装置に指令し、前
記モータ制御装置で独立に位置制御して多軸間同期制御
を行う数値制御装置の同期制御方法において、前記各制
御軸の位置制御部の遅れ時間に対し、数式（１）に基づ
いて位置制御ループゲインを補正することによって同期
調整を行なうので、位置制御部の制御周期や、位置検出
器の検出周期の違いがある場合の同期制御の同期精度を
向上する効果がある。As described above, according to the present invention,
A numerical controller having a motor control device having an independent position control unit for each control axis and a position command output unit for simultaneously outputting position commands to a plurality of the control axes, wherein a plurality of same position commands are simultaneously issued. In a synchronous control method of a numerical control device for instructing the motor control device to perform position control independently in the motor control device to perform multi-axis synchronous control, a mathematical expression for a delay time of a position control unit of each control axis Since the synchronization adjustment is performed by correcting the position control loop gain based on (1), the effect of improving the synchronization accuracy of the synchronization control when there is a difference in the control cycle of the position control unit or the detection cycle of the position detector There is.
【図１】本発明の数値制御装置の同期制御方法のブロッ
ク図を示している。FIG. 1 shows a block diagram of a synchronous control method of a numerical controller according to the present invention.
１：数値制御装置
２、２’：モータ制御装置
３：位置指令出力部
４、４’：位置制御部
５、５’：駆動制御部
６、６’：モータ
７、７’：位置検出器
８：第１遅れ要素
９：第１遅れ要素に基づいた第１位置制御ループゲイン
１０：第２遅れ要素
１１：第２遅れ要素に基づいた第２位置制御ループゲイ
ン1: Numerical control device 2, 2 ': Motor control device 3: Position command output unit 4, 4': Position control unit 5, 5 ': Drive control unit 6, 6': Motor 7, 7 ': Position detector 8 : First delay element 9: First position control loop gain based on the first delay element 10: Second delay element 11: Second position control loop gain based on the second delay element
Claims (2)
複数のモータ制御装置に対して前記制御軸に位置指令を
出力する位置指令出力部を有する数値制御装置であっ
て、同じ位置指令を同時に複数の前記モータ制御装置に
指令し、前記モータ制御装置で独立に位置制御して多軸
間同期制御を行う数値制御装置の同期制御方法におい
て、 前記各制御軸の位置制御部の遅れ時間に対し、数式
（１）に基づいて位置制御ループゲインを補正すること
によって同期調整を行うことを特徴とする数値制御装置
の同期制御方法。 【数１】 数式（１）において、 Ｋｐは所望の応答特性を得るための基準軸の位置制御ル
ープゲイン Ｔｄは位置制御の遅れ以外の遅れ時間、 Ｋｐ’は補正後の位置制御ループゲイン、をそれぞれ示
す。1. A numerical controller having a position command output unit for outputting a position command to the control axes to a plurality of motor control devices each having an independent position control unit for each control axis. In the synchronous control method of the numerical control device for simultaneously instructing a plurality of the motor control devices and independently performing position control in the motor control device to perform multi-axis synchronous control, the delay time of the position control unit of each control axis On the other hand, a synchronous control method for a numerical control device, wherein synchronous adjustment is performed by correcting the position control loop gain based on Expression (1). [Equation 1] In Expression (1), Kp represents a position control loop gain Td of the reference axis for obtaining a desired response characteristic, a delay time other than the position control delay, and Kp ′ represents a corrected position control loop gain.
る位置指令出力部とともに、各制御軸に独立した位置制
御を行なう位置制御部を有し、同じ位置指令を同時に複
数の制御軸に指令して制御軸で独立に位置制御して多軸
間同期制御を行う多軸間同期制御方法において、 前記各制御軸の位置制御の遅れ時間に対し、数式（１）
に基づいて位置制御ループゲインを補正することによっ
て同期調整を行うことを特徴とする多軸間同期制御方
法。2. A position command output section for simultaneously outputting position commands to a plurality of control axes and a position control section for independently performing position control for each control axis, and the same position command is simultaneously issued to a plurality of control axes. In the multi-axis synchronous control method in which the position control is independently performed by the control axes to perform multi-axis synchronous control, the formula (1)
A multi-axis synchronous control method, wherein synchronous adjustment is performed by correcting a position control loop gain based on the above.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002138737A JP2003330510A (en) | 2002-05-14 | 2002-05-14 | Synchronous control method of numerical control apparatus |
| PCT/JP2003/005854 WO2003100536A1 (en) | 2002-05-14 | 2003-05-09 | Numerical value control device synchronization control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002138737A JP2003330510A (en) | 2002-05-14 | 2002-05-14 | Synchronous control method of numerical control apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003330510A true JP2003330510A (en) | 2003-11-21 |
Family
ID=29561171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2002138737A Pending JP2003330510A (en) | 2002-05-14 | 2002-05-14 | Synchronous control method of numerical control apparatus |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2003330510A (en) |
| WO (1) | WO2003100536A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102129251A (en) * | 2010-01-12 | 2011-07-20 | 株式会社安川电机 | Synchronous control apparatus |
| CN103084669A (en) * | 2011-11-02 | 2013-05-08 | 发那科株式会社 | Control device of gear processing machine |
| JP2018153882A (en) * | 2017-03-16 | 2018-10-04 | 株式会社安川電機 | Control system, controller, and control method |
| JP2019188551A (en) * | 2018-04-26 | 2019-10-31 | オムロン株式会社 | Control system, control method, and control program |
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| JP4044105B2 (en) * | 2005-04-25 | 2008-02-06 | ファナック株式会社 | Numerical control device having function of switching operation means for each system |
| CN102368162B (en) * | 2011-10-26 | 2013-04-03 | 中国科学院光电技术研究所 | Tracking system of large-angle fast steering mirror |
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| JPH03263208A (en) * | 1990-03-14 | 1991-11-22 | Brother Ind Ltd | Servo motor controller |
| JP3073621B2 (en) * | 1993-02-05 | 2000-08-07 | ファナック株式会社 | EDM control method |
| JPH09258831A (en) * | 1996-03-22 | 1997-10-03 | Nissan Motor Co Ltd | Method and device for high-speed positioning |
| JP2001195109A (en) * | 2000-01-13 | 2001-07-19 | Toshiba Mach Co Ltd | Control device for machine tool |
-
2002
- 2002-05-14 JP JP2002138737A patent/JP2003330510A/en active Pending
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2003
- 2003-05-09 WO PCT/JP2003/005854 patent/WO2003100536A1/en unknown
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| CN102129251A (en) * | 2010-01-12 | 2011-07-20 | 株式会社安川电机 | Synchronous control apparatus |
| JP2011165163A (en) * | 2010-01-12 | 2011-08-25 | Yaskawa Electric Corp | Synchronous control apparatus |
| US8587247B2 (en) | 2010-01-12 | 2013-11-19 | Kabushiki Kaisha Yaskawa Denki | Synchronous control apparatus |
| CN103084669A (en) * | 2011-11-02 | 2013-05-08 | 发那科株式会社 | Control device of gear processing machine |
| CN103084669B (en) * | 2011-11-02 | 2014-04-23 | 发那科株式会社 | Control device of gear processing machine |
| US9557731B2 (en) | 2011-11-02 | 2017-01-31 | Fanuc Corporation | Control device of gear processing machine |
| JP2018153882A (en) * | 2017-03-16 | 2018-10-04 | 株式会社安川電機 | Control system, controller, and control method |
| US10710242B2 (en) | 2017-03-16 | 2020-07-14 | Kabushiki Kaisha Yaskawa Denki | Controller, control system, and control method |
| JP2019188551A (en) * | 2018-04-26 | 2019-10-31 | オムロン株式会社 | Control system, control method, and control program |
| WO2019208109A1 (en) * | 2018-04-26 | 2019-10-31 | オムロン株式会社 | Control system, control method and control program |
| CN111868658A (en) * | 2018-04-26 | 2020-10-30 | 欧姆龙株式会社 | Control system, control method, and control program |
| KR20210004957A (en) * | 2018-04-26 | 2021-01-13 | 오므론 가부시키가이샤 | Control system, control method and control program |
| KR102612470B1 (en) * | 2018-04-26 | 2023-12-12 | 오므론 가부시키가이샤 | Control system, control method and computer readable storage medium |
Also Published As
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