JP3200907B2 - Multi-axis synchronous controller using adaptive control - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-axis synchronous control device for controlling the speeds or positions of a number of driven bodies having different dynamic characteristics so as to synchronize them.

[0002]

2. Description of the Related Art In a machine or a plant having a plurality of drive shafts having different dynamic characteristics, such as a printing machine, a paper machine, a spinning machine, a sheet winding machine, a sheet slitter rewinder, and a machine tool, the product accuracy or In order to improve production efficiency, it is necessary to precisely control the rotation speed of each shaft while synchronizing the shafts. However, there is a limit in a conventional feedback control device using a fixed gain controller to synchronize the rotational speeds of a plurality of drive shafts having different dynamic characteristics depending on operating conditions not only in a steady state but also in a transient state. For example, in a rotary printing press, if the rotation speeds of the plate cylinders are not synchronized between the plate cylinders, color misregistration occurs and the printed matter becomes defective. The synchronization between the plate cylinders is necessary not only when the speed is stable but also during acceleration and deceleration. However, in the control system to which the conventional feedback control is applied alone, the speed between the plate cylinders at the time of acceleration, deceleration and the like is not synchronized.

[0003] Therefore, a control device that can synchronize a plurality of drive shafts even in a transient state is required. Conventionally, a two-axis speed synchronization control device as shown in FIG. 1 has been proposed. In FIG. 1, L1 and L2 are driven bodies, F
Reference numerals 1 and F2 denote a feedback control system to which feedforward controllers AFC1 and AFC2 having an adaptive function are added, and C1 denotes a synchronization controller provided between the feedback control systems F1 and F2.

[0004]

However, the two-axis speed synchronization control device is applied to a case where two drive shafts need to be synchronized. In a plant or the like, it is often the case that three or more drive shafts are provided, rather than two drive shafts. Then, it is required to synchronize a large number of drive shafts having different dynamic characteristics at high speed in a transient state.
However, conventionally, there is no speed synchronization control device that can satisfy the above-mentioned requirements.

Accordingly, an object of the present invention is to control the speeds or positions of a large number of driven objects having different dynamic characteristics so as to synchronize at high speed not only in a steady state but also in a transient state.

[0006]

SUMMARY OF THE INVENTION The present invention is directed to a driven object
And a feedback control system.
Receives the reference signal and deviation signal from the
Provide feed-forward compensation signal to feedback control system
3 or more driven units with feed forward control
Multi-axis synchronization system that synchronizes the speed or position of the body
A control device, one of the feedback control system is a feedback control system comprising a core, the feed
The forward control unit is the core feedback control.
System deviation signal and other feedback control system deviation signal
The synchronization error signal is calculated based on the difference signal calculated by comparing
Output to the other feedback control system individually
A corresponding synchronization controller and the feedback system
A controller with an adaptive function corresponding to each control system
And an adaptive error signal to the controller
Unit and supports the core feedback control system
The adding unit that performs the synchronization from each of the synchronization controllers
A synchronization error signal, the core feedback control system
By adding the deviation signal from
To the other feedback control system.
The corresponding adder has the same feed as the adder
From the synchronization controller corresponding to the
From the same feedback control system.
Adapted by adding the deviation signal as a negative signal
The controller having the adaptive function as the error signal
Feed forward for converging the adaptive error signal to zero
The controller sends the field compensation signal to the field supported by the controller.
It is characterized in that it is output to an addition point of the feedback control system .

In the present invention, the synchronization of the entire control device is further improved.
To fast, the feed forward over de control unit, wherein
Neighbors on a virtual loop connecting each feedback control system
Comparing each deviation signal of the feedback control system
Outputting a synchronization error signal based on the issued difference signal,
Synchronization controller for each adjacent feedback control system
Roller and the feedback control system individually.
Controller having adaptive function and controller
With an adding unit that gives an adaptive error signal to the
Replacement, and the adding portion is
A deviation signal from the corresponding feedback control system,
This feedback control system and the filters on both sides
From the synchronization controller with the feedback control system
Receiving the respectively output synchronization error signals, and
A deviation signal is given to the synchronization controller as a positive signal.
The synchronization error signal from the synchronization cotton roller.
Is given as a positive signal, and when given as a negative signal,
The synchronization error signal from the
Adding the received synchronization error signal to the deviation signal.
An adaptive error signal shall be obtained by combining
The controller having the adaptive function sets the adaptive error signal to zero.
Feed-forward compensation signal to converge
The feedback control system supported by the controller
It is effective to output to the addition point.

[0008] Further, the feedforward control unit is
Adjacent on a virtual loop connecting feedback control systems
Calculate by comparing each deviation signal of feedback control system
Outputting a synchronization error signal based on the obtained difference signal.
First synchronization code for each feedback control system
Controller and the diagonal relationship in the virtual loop
Compare each deviation signal of the feedback control system in
Outputting a synchronization error signal based on the calculated difference signal,
Feedback that is diagonal in the virtual loop
A second synchronization controller between the control systems;
Has adaptive functions corresponding to individual feedback control systems
Controller and an adaptive error signal to the controller.
And the addition of
The mating section is a feedback box that the
Deviation signal from the feedback control system, this feedback control system
Between the feedback control system on both sides
First output signals respectively output from the first synchronization controller
Timing error signal, and those the pressurized example mating portion supports the
Feedback control system that is diagonal to the
From the second synchronization controller to the
Receiving the input second synchronization error signal,
The difference signal is sent to the first synchronization controller as a positive signal.
The first synchronization from the synchronization controller
When the quantization error signal is given as a positive signal and given as a negative signal
Is the first synchronization error signal from the synchronization controller.
A negative signal and the deviation signal as the second synchronization signal.
When given as a positive signal to the
The second synchronization error signal from the controller as a positive signal.
When given as a negative signal, the synchronization controller
The second synchronization error signal from
The first synchronization error signal and the second synchronization error signal
And the adaptive error signal by adding the deviation signal.
Controller having the adaptive function
Is a feed for converging the adaptive error signal to zero.
The forward compensation signal is
Output to the addition point of the feedback control system
It is good to

[0009]

Next, an embodiment of the present invention will be described with reference to the drawings. Figure 2 is a block diagram showing a simplified embodiment of a multi-Jikudo phase control device of the present invention. The multi Jikudo phase controller are applied to the machine or plant, each with to the n not driven body L1 having different dynamic characteristics Ln. The driven bodies L1 to Ln are provided with a feedback control system F1 serving as a nucleus, and other feedback control systems F2 to Fn which are configured similarly to the feedback control system F1 and function similarly. The core feedback control system F1 includes a motor 2 such as a DC servo motor for rotating and driving the driven body L1.
Driver 3, a speed detector 4 for detecting the rotation speed of the motor 2, a gain adjusting unit 5 for adjusting the gain of the speed reference signal input to the driver 3, a feedback coefficient adjusting unit 6, an input coefficient adjusting unit 7, and a comparing unit 8. And an addition point 9.

[0010] The speed input signal ωr is input to the feedback control system F 1, and becomes a speed reference signal ei 1 by the input coefficient adjusting unit 7. This speed reference signal ei1 is supplied to the comparing unit 8
And addition point 9 and feedforward control unit 1
Given to.

The detection signal ω1 detected by the speed detector 4 is adjusted to a required magnitude, and a comparison unit 1 provided in the driver 3 is provided.
In addition to being given to 0, the signal is adjusted to a feedback signal e31 of a required magnitude via the feedback coefficient adjusting unit 6, and is added to the comparing unit 8. The comparator 8 calculates the difference between the speed reference signal ei1 and the feedback signal e31 to calculate the difference signal e.
11 is provided to the feedforward control unit 1. Further, the feedback control systems F2 to Fn also generate deviation signals e12 to e1n from the respective comparison units 8, and the speed reference signals ei2 to ei from the input coefficient adjustment unit 7.
n is provided to the feedforward control unit 1.

The feedforward control unit 1 includes a comparison unit 1
2 and a synchronizing controller C1 to Cn-1 having a parameter adjusting unit 13 and an adding unit A1 or A2
And feedforward controllers AFC1 to AFCn having a well-known adaptive function.

Synchronization controllers C1 to Cn-1
Is a positive signal on the feedback control system F1 side, a negative signal on the other feedback control systems F2 through Fn, and a deviation signal e11 of the feedback control system F1 and deviation signals e12 through e1n of the feedback control systems F2 through Fn. Are compared by each comparing unit 12, and a difference signal e1 between the two is compared.
To en-1 and calculate the difference signals e1 to en-
1 synchronization parameter to the parameter adjustment unit 13
To obtain the synchronization error signals ε1 to εn−1.

The adding section A1 is provided with a synchronization error signal ε1
Or εn−1 as a positive signal and adding it to the deviation signal e12 from the feedback control system F1 to obtain an adaptive error signal ea1, which is supplied to the feedforward controller AFC1. In addition, each adding section A2
Calculates the adaptive error signals ea2 to ean by adding the synchronization error signals ε1 to εn−1 from the synchronization controllers C1 to Cn−1 as negative signals to the deviation signals e12 to e1n, and uses them as feed-forward controllers AFC2. Or to AFCn.

Feed forward controller AFC1
To AFCn are feedback control systems F1 to FFC
n, the respective speed reference signals ei1 to ein are accepted. In this embodiment, a small digital computer is used, each of which has the same configuration and performs the same function. In FIG. 2, WC1, W01, W1
1 (all vectors) are adaptation parameters to which a constant signal Vc, a speed reference signal ei1, and a first-order differential signal of the speed reference signal ei1 are given, respectively. Then, the feedforward controllers AFC1 to AFCn
Is adjusted so that the feedforward compensation signal eo1 for converging the individual adaptive error signals ea1 to ean to zero is output to the addition point 9 of the feedback control system F1. That is, the feedforward controllers AFC1 to AFCn output the adaptive error signal e
By constructing an inverse system of a feedback control system in a feedforward path so that a1 to ean converge to zero, feed-forward compensation signals eo1 to eon are applied to each addition point 9 to improve response characteristics. It can be planned. Note that a speed control device in which a feedforward controller having an adaptive function is added to a feedback control system is described in Transactions of the Society of System Control Information Engineers (Vol.
o. 8, pp. 331-338, 1991), and the detailed description in this specification is omitted.

Feed forward controller AFC1
Feed-forward compensation signals eo1 to eon output from AFCn to AFCn
At the respective addition points 9 of 1 to Fn, they are individually added to the speed reference signals ei1 to eiin, and input to the respective comparators 10 of the driver 3 via the gain adjuster 5 as speed reference signals. Then, each comparing section 10 calculates a difference between the speed reference signal and the speed detection signal from the speed detector 4 and supplies the difference to the amplifying section as an operation signal. Then, the driver 3 amplifies the operation signal and supplies the amplified signal to the motor 2.
The two outputs of the motor are adjusted so that the rotation speeds of the driven bodies L1 to Ln become the speed reference signals.

During operation, for example, the deviation signal e of the feedback control system F1,
11 becomes larger than the deviation signal e12, and when a synchronization error occurs between the feedback control system F1 and the feedback control system F2, which is the core, a synchronization error signal ε1 is generated by the synchronization controller C1. Then, since the synchronization error signal ε1 is added to the adding unit A1 as a positive signal and is added to the adding unit A2 as a negative signal, the adaptive error signal ea1 increases, and the adaptive error signal ea2 becomes Decrease. Then, since the feedforward controller AFC1 outputs the feedforward compensation signal eo1 so that the adaptive error signal ea1 converges to zero, the speed is reduced by the amount of the addition of the synchronization error signal ε1. On the other hand, the feedforward controller AFC2 increases the speed by the amount by which the synchronization error signal ε2 is reduced.

Thus, the feedback control system F
1 and F2, even if a synchronization error occurs between them, the synchronization controller C1, the adding units A1, A
2. Feed forward controller AFC1 and AF
By C2, both of them operate to make the synchronization error zero, so that the driven bodies L1 and L2 can be reliably synchronized. Also, the adaptive error signals ea1, ea2
Contains the respective deviation signals e11 and e12 of the feedback control systems F1 and F2, and is operated by the feedforward controllers AFC1 and AFC2.
The respective deviation signals e11 and e12 also converge to zero, and the output approaches the speed input.

The feedback control systems F2 to F2
Even if a synchronization error occurs between n devices, a synchronization error occurs with the core feedback control system F1. Therefore, through synchronization with the core feedback control system F1. Other feedback control system F2
In addition, synchronization between Fn devices can be achieved.

The synchronization controller C1 and the feedforward controllers AFC1 and AFC2 in the two-axis speed synchronization control device shown in FIG. 1 have the same structure as that shown in FIG. The feedback control system F shown in FIG.
1, F2, the adaptive error signal e from the adding unit A3
a1 and the feedforward compensation signal eo1 are added at an addition point 9 and output as a speed reference signal of the driver 3. This feedback control system may be used as the feedback control system of the present invention.

In the present invention, a feedforward control unit shown in FIG. 3 can be used instead of the feedforward control unit 1 shown in FIG. FIG. 3 is a block diagram of a feedforward control unit in another embodiment of the multi- axis synchronous control device according to the present invention. E11 and e1 in FIG.
, E1n are feedback control systems F1, F2, F3,..., Fn shown in FIG.
, Ei1, ei2, ei3,...
.., Ein are also speed reference signals, eo1, e12, e
o3,..., eon are feed-forward compensation signals. This device, when assuming that each feedback control system is connected in a loop, has a feedback control system having an adjacent relationship on the loop (for example, F1 and F2, F2 and F3,..., Fn in FIG. 2). F
In order to determine the synchronization error between each of 1), each deviation signal e11 and e12, e12 and e13,.
The synchronization controllers C1 to Cn are provided between the lines n and e11, respectively.
The synchronization error signals ε1 to εn are calculated using 1 to Cn.

In FIG. 3, A4 is an adding portion,
Each adding unit A4 includes a synchronization controller Cn on both sides.
And C1, C1 and C2, C2 and C3,... Or Cn and C
1 receive the synchronization error signals .epsilon.1 to .epsilon.n and individually add them to the respective deviation signals e11 to e1n to obtain adaptive error signals ea1 to ean to be supplied to the feedforward controllers AFC1 to AFCn. And
Each of the comparing units 12 outputs a positive signal as a deviation signal e11 to e11.
1n, the synchronization error signals ε1 to εn are added as positive signals to the deviation signals e11 to e1n, and when the deviation signals e11 to e1n are supplied to the comparison unit 12 as negative signals, the synchronization error signals ε1 to e1n are added. Signals ε1 to εn
By adding -1 as a negative signal to the deviation signals e11 to e1n, adaptive error signals ea1 to ean are obtained, respectively.

[0023] Figure 4 is a schematic block diagram showing the whole of still another embodiment of a multi-Jikudo phase control apparatus according to the present invention, FIG 5 is a block diagram of a feed forward control unit 1 shown in FIG. In this embodiment, the device has a structure as shown in FIG.
It is applied to a plant having a plurality of driven bodies L1 to L6. Then, assuming that the feedback control systems F1 to F6 are connected in a loop as in the embodiment of FIG. 3, a first synchronization error between feedback control systems having an adjacent relationship on the loop is obtained. for,
Deviation signals e11 and e12, e12 and e13,..., E
Between the lines 16 and e11, comparison units 121 to 126 of the first synchronization controllers C1, C2,... C6 and parameter adjustment units 131 to 136 are provided, respectively. Further, in this case, the feedback control systems F1 and F
4, the second synchronization error between F2 and F5 and between F3 and F6
It is determined by the second synchronization controllers C7, C8, C9 . Therefore, the deviation signals e11 and e14, e12 and e
15, comparing sections 127, 1 between lines e13 and e16.
28, 129, and parameter adjustment units 137, 138,
139 are provided. The difference signals e1 to e9 of the deviations from the comparison units 121 to 129 are output from the parameter adjustment unit 131.
To 139, and output as the first synchronization error signal ε1 or ε6 and the second synchronization error signal ε7 to ε9. Then, the deviation signals e11 to e16
, A first synchronization error signal ε1 to ε6, and a second synchronization error signal ε1 to ε6.
The stitching error signals .epsilon.7 to .epsilon.9 are added at respective adding sections A5 and A6 to form adaptive error signals ea1 to ea6, and the feedforward controller A
FC1 to AFC6.

Although the above-described control apparatus is applied to a plant having six driven bodies in this embodiment, the control apparatus can be similarly applied to a plant having six driven bodies. Further, when a large number of feedback control systems are connected in a loop to perform synchronization control as in this embodiment, a circuit is provided so that a synchronization error between all feedback control systems in a diagonal relationship converges to zero. You may comprise.

As described above, a small number of embodiments in the case where the present invention is applied to a multi- axis synchronous control device have been described. The present invention relates to a speed feedback control system F1 in each of the above embodiments.
To Fn (F1 to F6 in FIG. 4)
For example, by replacing the feedback control system for controlling the position as shown in FIG. 6, a multi-axis position synchronization control device can be obtained.

In the position feedback control system shown in FIG. 6, the position .theta. Of the driven body L is detected by the position detector 14, and the feedback signal eP3 is fed back to the comparing unit 16 via the feedback coefficient adjusting unit 15, so that the comparing unit 16 , A position output feedback loop is configured to obtain the operation signal ei by comparing the position reference signal ePi with the feedback signal eP3. And since only the position output feedback does not result in a closed loop transfer function or a strong positive result,
A velocity feedback control system 17 is provided inside the position output feedback loop, and a pre-filter 18 is added before the comparison unit 16. The speed feedback control system 17 has the same configuration as that of the feedback control system F1 shown in FIG. 2 except for the input coefficient adjustment unit 7, and uses the operation signal ei as a speed reference signal.

The position input signal θr is input to the input coefficient adjustment unit 1
9 and a position reference signal epi via the pre-filter 18 and supplied to the comparison unit 16 and a feedforward control unit (not shown). The operation signal ei from the comparison unit 16 is provided to the comparison unit 8, and is compared with the speed feedback signal es3 to become a deviation signal ep1. This deviation signal ep1 is provided to the feedforward control unit. The operation signal ei is given to the addition point 9, and the feedforward compensation signal eo from the feedforward control unit
Is added. The position reference signal epi is shown in FIG.
Alternatively, ei1 to ei (ei1 to ei6 in FIG. 5) in the feedforward control unit 1 shown in FIG. 3 or FIG.
1n (e11 to e16 in FIG. 5) and the feedforward compensation signal eo also correspond to eo1 to eon (eo1 to eo6 in FIG. 5). Further, the position reference signal epi is given to the adaptive parameter as a first-order differential signal and a second-order differential signal in the foot forward controller of the feed forward control unit.

In the present invention, a fuzzy controller or a controller of a neural network or the like may be used instead of the feedforward controller having the adaptive function of the feedforward control unit 1 shown in FIG. 2, FIG. 3, or FIG. In short, the adaptive error from the addition
What kind of controller with adaptive function, arithmetic element, arithmetic method, etc. can be used as long as it can receive the signal and output the feedforward compensation signal so that the synchronization error and individual deviation converge to zero. May be something.

Further, the present invention can be applied to various machines and plants having three or more driven members, and the embodiments can be variously changed based on a known technique of a designer. For example, the driven body may be an object that moves linearly by a linear motor instead of a rotating shaft. Further, the reference signal of the speed or the position need not be the one shown in FIGS. 2 and 6 as long as it corresponds to the target value of the control device. The feedback control system is not limited to the one described above as long as the feedback control system detects the output value and forms a feedback control loop.

[0030]

According to the present invention, a core feedback system is provided.
The adding section corresponding to the
Core feedback control of the synchronization error signal from
To add the deviation signal from the system as a positive signal
A more adaptive error signal is used for other feedback control systems.
The corresponding adder is the same fee as the adder
From the synchronization controller corresponding to the
From the same feedback control system.
Adapted by adding the deviation signal as a negative signal
By using an error signal, not only the synchronization error signal but also the
Adaptive error signal including individual deviation signal of feedback control system
The adaptive error signal can be obtained with the adaptive function.
Feed-forward compensation signal
The individual deviation of each feedback control system
The signal converges to zero, and moreover,
The feedback control system generates a synchronization error between them.
In the meantime, the feedback control system, which is the core,
Each of them works to synchronize, so it has many driven objects.
Control system, and any feedback control system
Even if there is a synchronization error between
It can be converged in time. Therefore, it becomes possible to synchronize the speeds or positions of a large number of driven objects having different dynamic characteristics in a short time not only in a steady state but also in a transient state, and to improve product accuracy or production efficiency in industrial machines and plants. Can be . Also, the number of synchronization error signal required to synchronize the respective feedback control systems so requires only a one less than the number of all of the feedback control system, a feedforward control unit does not become complicated.

Further , the adding section is referred to as the adding section.
Deviation signal from the feedback control system that supports
And the synchronization output from both synchronization controllers
Receiving the synchronization error signal and synchronizing the deviation signal with the synchronization controller.
If a positive signal is given to the roller,
The synchronization error signal from the
If given as a number, the synchronization from the synchronization cotton roller
Synchronization error signal received as the synchronization error signal as a negative signal
Are added to the deviation signal to obtain the adaptive error signal.
To obtain not only the synchronization error signal but also the
Adaptive error signal including individual deviation signal of feedback control system
Can obtain the adaptive error signal, with the adaptive function
Feed-forward compensation signal to controller
This allows the individual deviation signal of each feedback control system to be
The signal converges to zero, and furthermore, since synchronization is achieved in a loop from two directions, the time required for synchronization is shorter than when synchronization is achieved in one direction,
Synchronization of the entire control device is faster.

Further, the adding portion is formed by
Deviation signal from the corresponding feedback control system, both
The first output from the first synchronization controller on the
Synchronize the error signal, and feedback in the diagonal relationship
Output from a second synchronization controller with the control system
Receiving the second synchronization error signal and the deviation signal
As a positive signal to the first synchronization controller.
The first synchronization error from the synchronization controller
If the signal is given as a positive signal and given as a negative signal,
The first synchronization error signal from the
And the deviation signal as a second synchronization controller.
, When given as a positive signal, the synchronization controller
From the second synchronization error signal as a positive signal and a negative signal
The second from the synchronization controller
The first synchronization received when the synchronization error signal is a negative signal
Add the error signal and the second synchronization error and deviation signals.
Obtain an adaptive error signal by combining
And feedback control system as well as synchronization error signal
An adaptive error signal including individual deviation signals can be obtained,
The adaptive error signal is given to a controller having an adaptive function.
By obtaining the feedforward compensation signal
Each deviation signal of the feedback control system converges to zero
As compared with the case where the synchronization is performed in a loop, the synchronization is achieved so as to short-circuit the loop, so that the synchronization of the entire control device becomes faster.

[Brief description of the drawings]

FIG. 1 is a block diagram of a conventional two-axis speed synchronization control device.

2 is a block diagram of an embodiment of a multi-Jikudo phase control device according to the present invention.

3 is a block diagram of a feed-forward control unit in accordance with yet another embodiment of a multi-Jikudo phase control device according to the present invention.

It is a further block diagram showing another embodiment of a multi-Jikudo phase control device according to the invention; FIG.

FIG. 5 is a block diagram of a feedforward control unit shown in FIG. 4;

6 is a block diagram of one embodiment of a feedback control system in the multi Jikudo life control apparatus according to the present invention.

[Explanation of symbols]

L1, L2, L3 ... Ln, L Driven body F1, F2, F3 ... Fn, feedback control system AFC1, AFC2, AFC3, ..., AFCn feed forward controller C1, C2, C3, ... , Cn-1, Cn Synchronization controller A1, A2, A3, A4, A5, A6 Adding unit ωr Speed input signal e11, ei2, ei3,..., Ein Speed reference signal ω1, ω2, ω3,. , Ωn detection signals e31, e32, e33, ..., e3n feedback signals e11, e12, e13, ..., e1n deviation signals e1, e2, e3, ..., en-1, en difference signals of the deviation signals .epsilon.1, .epsilon.2,..., .epsilon.n-1, .epsilon.n Synchronization error signal ea1, ea2, ea3,... ean Post-adaptation difference signal ep1 Deviation signal epi Positional reference Issue ep3 position feedback signal 1 feedforward control unit 2 the motor 3 driver 4 speed detector 5 gain adjustment unit 6 feedback coefficient adjusting unit 7 inputs the coefficient adjusting unit 8 comparing section 9 summing point 10 comparing unit 11 the synchronization parameter adjustment section 12, 121 to 126 Comparison section 13, 131 to 136 Parameter adjustment section 14 Position detector 15 Feedback coefficient adjustment section 16 Comparison section 17 Feedback control system 18 Pre-filter 19 Input coefficient adjustment section

Claims (3)

(57) [Claims] A feedback control system is provided for each driven body, and a reference signal and a reference signal are supplied from each feedback control system.
And feeds it to each feedback control system
Feedforward control section for providing forward compensation signal
Synchronize the speed or position of three or more driven objects with
Multi-axis synchronous control device , wherein one of the feedback control systems is a feedback control system serving as a nucleus, and the feedforward control unit is configured to control the feed
Deviation signal of feedback control system and other feedback control system
Based on the difference signal calculated by comparing the
The other feedback system for outputting a synchronization error signal.
Synchronization controller individually corresponding to the
Coordinators with adaptive functions corresponding to individual feedback control systems
Provide an adaptive error signal to the controller and the controller.
And an addition unit corresponding to the core feedback control system.
The synchronizing error signal from each of the synchronizing controllers.
Signal from the core feedback control system.
Signal as a positive signal to the adaptive error signal.
No. corresponding to the other feedback control system
The matching unit has the same feedback control as the adding unit.
Synchronization error signal from the synchronization controller corresponding to the system
Is negative to the deviation signal from the same feedback control system.
The adaptive error signal and the
And the controller having the adaptive function, the adaptive error signal
Feed-forward compensation signal for converging to zero
The feedback system supported by the controller.
A multi-axis synchronous control device using adaptive control, characterized in that output is made to an additional point of a control system. 2. A provided with a feedback control system for each driven member, normative signals及from the feedback control system
And feeds it to each feedback control system
Feedforward control section for providing forward compensation signal
Synchronize the speed or position of three or more driven objects with
A multi-axis synchronous control device , wherein the feedforward control section controls each of the feedback
Feedback loops on a virtual loop connecting the
The difference signal calculated by comparing each deviation signal of the
Outputting the synchronization error signal based on the
A synchronization controller for each of the feedback control systems,
It has an adaptive function corresponding to each feedback control system.
Controller and an adaptive error signal to the controller.
And an adding portion to be provided, wherein the adding portion corresponds to the adding portion.
The deviation signal from the feedback control system and this feed
Back control system and feedback system on both sides adjacent to it
Output from the synchronization controller with the control system.
Receiving the synchronization error signal and the deviation signal.
When given as a positive signal to the synchronization controller,
The synchronization error signal from the synchronization cotton roller is regarded as a positive signal.
If the signal is given as a negative signal,
Received the synchronization error signal from the
Adding the synchronization error signal to the deviation signal
And an adaptive error signal is obtained by the controller having the adaptive function.
Feed-forward compensation signal for converging to zero
The feedback system supported by the controller.
A multi-axis synchronous control device using adaptive control, characterized in that output is made to an additional point of a control system. 3. A feedback control system is provided for each driven body, and a reference signal and a reference signal are transmitted from each feedback control system.
And feeds it to each feedback control system
Feedforward control section for providing forward compensation signal
With a, to synchronize the speed or position of a number of the driven body
A multi-axis synchronous control device , wherein the feed-forward control section controls each of the feedbacks.
Feedback loops on a virtual loop connecting the
The difference signal calculated by comparing each deviation signal of the
Outputting the synchronization error signal based on the
A first synchronization controller for each of the feedback control systems,
And a diagonal feed in the virtual loop.
Difference calculated by comparing each deviation signal of the feedback control system
Outputting a synchronization error signal based on the signal.
Feedback control systems in diagonal relation
A second synchronization controller between and the feedback
Controller with adaptive function corresponding to each control system
And providing an adaptive error signal to the controller.
And a combining section , wherein the combining section corresponds to a flange corresponding to the combining section.
Deviation signal from feedback control system, this feedback
Control system and feedback control system on both sides adjacent to it
Output from the first synchronization controller between
The first synchronization error signal and the adding section are paired.
The filter is in a diagonal relationship with the corresponding feedback control system.
The second synchronization control with the feedback control system.
Receiving the second synchronization error signal output from the
The deviation signal is sent to the first synchronization controller.
When given as a signal of
Let the first synchronization error signal be a positive signal and a negative signal
If given, the first synchronization from the synchronization controller
The error signal is a negative signal, and the deviation signal is the second signal.
Is given as a positive signal to the synchronization controller
Correct the second synchronization error signal from the synchronization controller.
If the signal is given as a negative signal,
The second synchronization error signal from the controller is a negative signal,
Receiving the first synchronization error signal and the second synchronization
By adding the error signal and the deviation signal,
The adaptive error signal is obtained by the controller having the adaptive function.
Feed-forward compensation signal for converging to zero
The feedback system supported by the controller.
A multi-axis synchronous control device using adaptive control, characterized in that output is made to an additional point of a control system.