JP3234309B2 - Complex system path control method and apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route control method for a complex system including a plurality of control systems for generating a control input for causing a control target to follow a desired target value.

[0002]

2. Description of the Related Art Hitherto, this kind of path control method has been employed in various numerical control devices and the like. For example, in a machine tool or the like, the above-described path control method is employed in position path control.

FIG. 31 is a block diagram showing a position control system model of a machine tool. Such a control system is provided for each axis to form a composite control system as shown in FIG. 32, for example.

In FIG. 31, reference numeral 1 denotes position command value generating means for inputting a target value to a control means 2. 3 is a control object,
A controlled amount to the control input from the control unit 2 control unit
Feedback input to 2 . Wo, Wc in the figure
/ K indicates a gain, and K / S, 1 / S and Wa / S indicate transfer coefficients.

In FIG. 32, reference numerals 1a and 1b denote position command value generating means for each axis, which input a target value to control means 2a and 2b for each axis. 3a, 3b in the controlled object for each axis and the feedback input to the control unit 2a, the control unit a controlled amount to the control input from 2b 2 a, 2 b of each axis.

[0006] As described above, the conventional machine tool has a position command signal generating means 1 for outputting a target position path command signal and a means for physically moving when attempting to draw a circular locus on two axes, for example. The apparatus is formed such that a position command value for each axis component from the object 3 and the position signal generating means 1 and a state quantity representing a state of the controlled object are input, and a control input is output to the controlled object including the corresponding driving means. And the control means 2 constitute a position control system.

Therefore, the position command signal generating means 1a, 1b
By outputting the position command value for each axis component from, it is possible to draw a circular locus by simultaneously controlling the position of the control target corresponding to each axis based on the control means 2a and 2b for each axis. As shown in FIG. 31, the position control system for each axis is a control system having a relatively low gain position control loop and a relatively high gain speed control loop inside the position control loop. The features of this control system are that the high gain of the speed control loop makes it possible to set the rigidity of the control system against disturbances high, and the position control loop has a low gain, so that a response that does not apply excessive impact to the mechanical system can be easily obtained. It is. In particular, by making the compensator of the speed control loop have an integral characteristic,
The rigidity against the disturbance can be made extremely high, and the position error can be eliminated with respect to the step-like torque disturbance.

FIG. 33 is a block diagram showing a position control system model of a conventional numerical controller.

In FIG. 1, reference numeral 11 denotes a target value generating means, which controls target positions 12a and 12b with respect to each control axis.
a and 13b. 14a, 14b are control objects corresponding to the respective control axes, and the corresponding control means 13a,
13b based on the control input from the control input 13b.
b is output. In the drawing, Wo indicates the loop gain of the position control system, Wc indicates the loop gain of the speed control system, and K is a constant determined by the inertia of the drive system and the gain of the driver.

First, the target value generating means 11 generates a target route,
A target position for each control axis according to the target speed is calculated. Next, a position control system of each axis is configured to follow this target value, and control is performed independently for each axis. As a target value, when the synchronous relationship between the path command values of each axis to be given is accurately maintained, and the control feed of each axis performing the following operation is sufficiently small,
In this way, target route control can be performed.

FIG. 34 is a schematic diagram showing an axis feed control system of a conventional position control device.

In this figure, the position 32 on the X axis is the distance between the position of the center of gravity of the X axis movable body 35 and the external reference point 31, Y
The axis position 33 indicates the distance between the center of gravity of the Y-axis movable body 36 and the center of gravity of the X-axis. The position 3 4 Z-axis indicates the distance between the center of gravity and external reference point 3 1 in the Y-axis movable body 36. Further, the control inputs are the X-axis movable body 35 and the Y-axis movable body 3
6 , thrusts 37 and 38 in the horizontal direction. Actually, it is assumed that the thrusts 37 and 38 are obtained by supplying electric power to a linear motor or the like.

The purpose of a positioning device for controlling such a complex system is to make the Z-axis reach a target position as quickly as possible with limited power, and to quickly respond when any disturbance is applied to the system. Is to eliminate the influence of disturbance on the Z axis.

FIG. 35 is a block diagram showing a control configuration in an axis feed control system of the position control device shown in FIG. Hereinafter, the configuration operation will be described.

[0015] When the target value signal 4 2 from the target generator 41 as a position target value for the Z axis is applied, X axis 52a of the coarse feed starts moving, which is a controlled amount position (X axis controlled The amount 50a moves to near the target value. Here, when the position error (X-axis error signal) 44 becomes equal to or less than a certain set value, the determination unit 43 determines the current position error 44
2b as a position command value (Y-axis target value) 45.
When the position error 44 is equal to or larger than the set value, the position command value 45 for the Y axis becomes “0”. The Y axis works so as to coincide with the position error 45. As a result, the Z-axis controlled amount 54, which is the sum of the X-axis controlled amount 50a and the Y-axis controlled amount 50b, matches the position target value 42 for the Z axis.

In the controller 55, 46 is a Y-axis error signal, 47a is an X-axis compensator, 47b is a Y-axis compensator,
8a is an X-axis control input, 48b is a Y-axis control input, 49a is an X-axis control target, 49b is a Y-axis control target, and 50a is an X-axis control input.
Control amount, 50b is Y axis controlled amount, 51a is X axis speed, 5
1b indicates the Y-axis speed, respectively.

[0017] Incidentally, the adder 5 3 conceptually present, but not present in the actual control system. Also,
Wo1, Wo2, M1, and M2 in FIG.
/ S, K2 / S, and 1 / S indicate transfer functions.

FIG. 36 is a diagram showing the response characteristics of the axis feed control system of the position control device shown in FIG. 35. The horizontal axis shows time (msec), and the vertical axis shows the target amount. Note that the target value for the Z axis changes on the ramp, and the final value corresponds to the case of “10”.

As shown in FIG. 1, the determination means 1 starts to move the Y axis when the position error becomes 0.21.
When 3 is set, it takes about 36 (msec) for the Z axis to reach 0.2% of the target value. The maximum acceleration required for the movement at this time is 1834 (rad / sec) on the X axis.
c ² ), the Y axis is 1284 (rad / sec ² ). The maximum acceleration is proportional to the power required to move each axis,
Since the power that can be used is usually limited, it is necessary to keep the power as small as possible. Also, since the vibration generated by the mechanical system is proportional to the acceleration, the maximum acceleration must be reduced from this point as well.

[0020]

However, the above position control method is based on the premise that the responsiveness of each axis is exactly the same. To increase the path accuracy, the gain of the position control loop must be set high. In order to obtain high rigidity against disturbance, the gain of the speed control loop must be set high.

In the following, when performing path control using two axes of the X-axis and the Y-axis having the position control system of the conventional position control method, problems will be described in detail by taking, for example, an XY plotter having two orthogonal axes.

In order to draw a circle on a plane with two linear axes of the X axis and the Y axis, for example, a sine (si
n) A wave and a cosine (cos) wave are synchronized and given as a position target value. If the X-axis and Y-axis completely follow this target value, an accurate circle can be drawn.

FIG. 37 is a diagram showing a drawing locus by an orthogonal two-axis XY plotter to which a conventional position control method is applied.

As shown in this figure, a locus C0 indicates a target circular locus. In the conventional method, the responsiveness of the X axis and the responsiveness of the Y axis are set to the same value. In this way, the locus when the X-axis and Y-axis position control loop gains are set to be the same is C1. The trajectory C1 has a smaller radius than the target circle except for the start point and the end point of the route, but is a circular trajectory. Next, in order to verify the above problem, the position control loop gains of the X axis and the Y axis are set to different values, and the path control is performed by changing the responsiveness of the X axis and the Y axis. Becomes Obviously, the locus C2 is not a target circle but an ellipse. From this example, it is understood that it is necessary to make the responsiveness of the X axis and the Y axis exactly the same.

Further, the relationship between the path accuracy and the gain of the position control loop, which corresponds to the above problems, will be verified. Here, it is assumed that the responsiveness of the X axis and the responsiveness of the Y axis are the same. The trajectory at this time is C1, which is a trajectory following the target path when the responsiveness of the X axis and the Y axis is the same. Also in this example, the tracking locus has an error with respect to the target circle. At this time, if the path error between the target circular path and the following trajectory in the steady state is represented by the radius reduction amount dR, dR = Vo ² / 2R
Wo ² (Vo indicates speed, R indicates radius, and Wo indicates position loop gain). Therefore, when drawing a circle having the velocity Vo and the radius R as the target trajectory, the path error is represented by the position loop gain W
It becomes smaller in inverse proportion to the square of o. Conversely, in order to draw a circle with high accuracy, it is necessary to set Wc of the speed control loop inside the position control loop high.

However, normally, setting the gain of the speed control loop to a high value causes vibration of the mechanical system, so that it cannot be set higher than a certain value. Therefore, it is difficult to set the position loop gain high, and it becomes more difficult to keep the accuracy of the trajectory within the target path error as the speed of the target circular trajectory increases and the radius of the circle decreases.

The problems described above will be verified with reference to FIG.

FIG. 38 is a diagram showing a drawing trajectory when a disturbance is applied by a two-axis orthogonal XY plotter to which a conventional position control method is applied.

In the figure, C0 is a target circular locus,
C1 is a locus when there is no disturbance. C2 indicates a response trajectory when a step-like acceleration disturbance is applied to the X axis while drawing a circle. As described above, when the disturbance is applied to the control target, the path error increases. C3 is a response trajectory when the gain of the speed control loop is doubled in the same system. For the same acceleration disturbance, the path error is smaller than that of the trajectory C2, and setting a higher speed loop gain suppresses disturbance. Is effective.

However, as described above, setting the gain of the speed control loop high has a limit because it causes vibration of the mechanical system. Also, the acceleration required for disturbance suppression increases as the gain of the speed control loop increases. Therefore, it is very difficult to perform high-accuracy path control while suppressing the influence of disturbance.

In order to perform more accurate path control by the control method in the numerical controller shown in FIG. 33, the loop gain of the position control system must be set higher or
Alternatively, it is necessary to configure a feedforward control system to increase the followability of the servo system. However, if the followability of the servo system is increased, the acceleration when the target value changes is increased.
The use of a large acceleration causes a new problem as described below. That is, the capacity of the motor driver increases. In addition, it induces high-frequency vibration of a mechanical system, and deteriorates positional accuracy.

Therefore, it is necessary to increase the accuracy without using a large acceleration. Therefore, it is necessary to perform appropriate high-speed and high-accuracy path control without using excessive torque by performing appropriate acceleration / deceleration to a target value. Occurs. Therefore, when a simple straight line or circular arc is drawn, the calculation is simple, but it is relatively easy to perform appropriate acceleration / deceleration. However, when free curves, straight lines, and arcs are connected in a complicated manner, it is difficult to perform appropriate acceleration / deceleration, and it is difficult to perform high-speed, high-precision path control. Here, it is important that the appropriate acceleration / deceleration means not only that the maximum acceleration is small but also that the vibration component included in the acceleration component is small.

Further, in the two-axis control system shown in FIG. 3 4, if not satisfactory response is obtained, a higher each gain (Wo1, Wo2, M1, M2 ) of the control system shown in FIG. 35 Responsiveness and rigidity must be improved. But,
When the gain is set high, the maximum acceleration required for movement becomes large, and large power is required. Also, setting the gain to a high value causes the frequency band of the control system to be widened, causing vibration of the mechanical system, which may worsen the convergence to the target value. Further, in the configuration, a switching operation is required in the vicinity of the position error determination value. Under certain conditions, the switch may generate self-excited vibration, and in this case, the convergence to the target value is deteriorated.

The present invention has been made in order to solve the above-described problems. The present invention is directed to a target value, a state quantity and a disturbance of a control target set with a real axis as a control target, and a real axis determined by the target value. Including a term indicating a path error while interfering with a target value, a state quantity of a control target, and a disturbance which are set as a control target using a virtual axis that does not exist virtually.
Provided is a route control method and apparatus for a complex system capable of performing high-speed and high-precision route control without increasing the loop gain of the control system by calculating and outputting a control input that minimizes the value of the evaluation function. The purpose is to:

[0035]

According to the present invention, there is provided a route control method for a complex system, wherein a target value for moving a control object serving as an actual axis by a desired amount and an actual axis defined by the target value are imagined. Generating a virtual target value for moving a virtual control object that is a non-existent virtual axis, and generates the generated virtual target value, the target value, a virtual state quantity from the virtual control object, and a state from the control object. A term indicating a path error, which is input with a quantity, a first disturbance signal for the virtual control target, and a second disturbance signal for the control target.
A control input and a virtual control input that minimize the value of the first evaluation function are calculated, and the calculated control input and the virtual control input are output to the corresponding virtual control target or the control target.

The composite route control device according to the present invention comprises:
A target value generating means for generating a target value for moving a control object serving as an actual axis by a desired amount; and moving a virtual control object serving as a virtual axis that does not exist and is virtual with respect to the real axis defined by the target value. Virtual target value generation means for generating a virtual target value for causing the virtual target value, the target value, the virtual state quantity from the virtual control target, the state quantity from the control target, and a first value for the virtual control target. And a second disturbance signal for the controlled object are input , and a control input and a virtual control input for minimizing a value of a first evaluation function including a term indicating a path error are calculated. And a control means for outputting to the control target or the control target.

A first target value generating means for generating a first target value for moving the first control object by a desired amount, and a first target value generating means for moving the second control object independent of the first control object by a desired amount. Second target value generation means for generating a second target value;
The first target value, the second target value, a first state quantity from the first control target, a second state quantity from the second control target, and a first disturbance signal for the first control target. If, by entering the second disturbance signal for the second control object, through
A calculating means for minimizing control information obtained by a second evaluation function including a term indicating a road error; and, based on a calculation result of the calculating means, the first control target and the second control target include:
And control means for outputting a control input obtained by the calculation means.

Further, the first evaluation function is configured to include a first or second weight function component for evaluating a path error.

The second evaluation function is configured to include a first or second weight function component for evaluating a path error.

Further, a first target value generating means for generating a first target value for moving the first control object by a desired amount, and a first target value generating means for moving the second control object independent of the first control object by a desired amount. Second target value generation means for generating a second target value, first target value conversion means for converting the first target value to a first conversion target value, and conversion of the second target value to a second conversion target value Second target value conversion means, the first conversion value, the second conversion value, and the first state quantity from the first control target.
A second state quantity from the second control target, a first disturbance signal for the first control target, and a second disturbance signal for the second control target are input and include a term indicating a path error.
Calculating means for minimizing control information obtained by the evaluation function of ( 2), and outputting control information obtained by the calculating means to the first controlled object and the second controlled object based on the calculation result of the calculating means. And control means for performing the operation.

[0041]

[0042]

[0043]

[0044]

[0045]

[0046]

[0047]

【Example】

[First Embodiment] FIG. 1 is a block diagram for explaining the arrangement of a complex route control device according to an embodiment of the present invention.

In the figure, reference numerals 100a and 100b denote position command value generating means for setting a target value for each axis to a control means 10 for each axis.
4a and 104b. Control means 104
CPU, ROM, RAM (not shown)
And using an evaluation function obtained by integrating a finite-time integral function of an evaluation function J _(K) according to the following Equation 1 into each input I1a, I2a, I3a, I1b, I2b, I3b
Control input 104 for minimizing the evaluation function from
a and 104b are calculated and output to the respective controlled objects 102a and 102b. In addition, in order to minimize the evaluation function expressed in the quadratic form in Expression 1, the control unit performs an operation using a DP (dynamic programming) method.

[0049]

(Equation 1) In Equation 1, R indicates a target value vector, and y
(= CX) shows an output vector, X is shows a state vector, U is shows the control input vector, k represents a time,
M indicates an integration time, and Q and H indicate weight functions.

The weighting functions Q and H are given by | e | ² * | Δ
R | ² − (e, ΔR) ² or | e | ² * | Δy | ² −
(E, Δy) ² or any element term mathematically equivalent to it. Note that R indicates a target value vector,
y indicates a following path vector, e (= R−y) indicates a path error vector, Δy indicates a following path speed vector, and ΔR indicates a target value speed vector.

Further, the control objects 102a and 102b
It is assumed that the characteristic is expressed by a state equation shown in Expression 2 below.

[0052]

(Equation 2) Here, X indicates a state vector, U indicates a control input vector, and W indicates a disturbance vector. However, the state vector X, the control input vector U, and the disturbance vector W are determined as follows.

X = AX + BU + DW X = (X1, X2, X3, X4, X5, X6) X1: X-axis position X2: X-axis speed X3: Y-axis position X4: Y-axis speed X5: Z-axis position X6: Z-axis Speed U = (U1, U2, U3) U1: X-axis control input, U2: Y-axis control input, U3: Z-axis control input W = (W1, W2, W3) W1: X-axis disturbance input, W2: Y-axis Disturbance input, W3: Z-axis disturbance input Here, the X-axis and the Y-axis are actually existing control axes, but the Z-axis is a virtual control axis that does not actually exist.

Further, the target value for the Z axis is set to a zero position at the starting end, moves at a constant speed, and then moves to the X axis,
The target value of the Y-axis starts moving, and the position is held while the target values of the X-axis and Y-axis are moving, and when the target values of the X-axis and Y-axis stop, the Z-axis is at the same speed as at the start. Shall return to the zero position. Also, it is assumed that the disturbance with respect to the X axis can be measured in advance.

When the evaluation function shown in Expression 1 is expressed in a finite time integration form from the current time to a finite time ahead, Expression 3 can be expressed.

[0056]

(Equation 3) In Equation 3, R indicates a target value vector, and y
(= CX) indicates an output vector, X indicates a state vector, U indicates a control input vector, t indicates time,
t _M indicates an integration time, and Q and H indicate weight functions.

Hereinafter, a path error state when a circular locus is drawn based on the complex path control device shown in FIG. 1 will be described with reference to FIG.

FIG. 2 is a diagram showing a drawing locus by a two-axis XY plotter to which the path control device shown in FIG. 1 is applied. In order to show an improved state of the path error, it corresponds to a state in which the error is multiplied by 10 in the radial direction.

In this figure, C0 indicates a target circle locus, C1 indicates a locus when there is no disturbance, and C2 corresponds to a locus when a step-like disturbance is applied. In order to compare the difference with the conventional example, the same target position command as in the case shown in FIG. 38 is given to the X-axis and the Y-axis, and the disturbance corresponding to the X-axis is also applied.

The parameters in this embodiment are selected so that when the same acceleration disturbance as in FIG. 38 is applied, the maximum acceleration used to suppress the disturbance becomes the same as that of the conventional method. In this example, while using the same maximum acceleration,
As a result, the radius error is reduced to about 1/10 with respect to the same disturbance, and higher accuracy is achieved. Here, making the maximum acceleration the same means that the motor driver consumes the same power if the acceleration is the same, ignoring disturbance, friction, and the like. Therefore, according to the control method shown in the present embodiment, the path can be controlled at a higher speed and with higher accuracy by a driver having the same capacity, in both the followability to the target value and the rigidity against disturbance. Further, the acceleration causes vibration of the mechanical system, and if the maximum acceleration is the same, the control method according to the present embodiment can control the path with higher speed and higher accuracy by the vibration of the mechanical system according to the conventional method. In this embodiment, the weighting function Q in the evaluation function shown in the above equation 1 is a function of the magnitude of the target value vector R, but the weighting function H is a constant value. The weighting function H may be a function of the magnitude of the target value vector R depending on the control purpose.

Although the above embodiment has been described on the assumption that disturbance can be measured in advance, it is simplest to use, for example, a disturbance signal predicted from a path target value and a model to be controlled as a disturbance signal. Control structure. For example, it is possible to know in advance from the model and the target value command value the non-linear friction generated when the machine moves in the reverse direction in a machine tool or the like, and by using this as a disturbance signal, the present invention can be easily applied. can do. Further, in order to measure the disturbance signal, a detector for measuring the disturbance signal may be separately provided in addition to the state quantity detector.

FIG. 3 is a block diagram for explaining another example of the configuration of the complex route control device shown in FIG. 1. In particular, FIG. X
This corresponds to a case where a control system of a control object of a virtual one axis (Z-axis) is combined with a control object of the axis (Y-axis).

In the figure, reference numeral 110 denotes a position command value generating means for controlling target values for two axes (X axis and Y axis).
4,120. The control means 114 includes a CPU, a ROM, and a RAM for executing a minimizing operation based on the evaluation function corresponding to the above-described equation (1). Reference numeral 112 denotes a control object, which moves each axis by a predetermined amount in response to each axis control input from the control means 114. 113a,
A disturbance measuring unit 113b inputs the measured disturbance to the control units 114 and 120, the control target 112, and the virtual control target 115, respectively.

Numeral 116 designates a virtual position command generating means for controlling a target value for one virtual axis (called the Z axis) by the control means 120,
Enter 114.

[0065] In such configured routing control device, the position command value generation means constituting the target value generating hand stage 11
A target value for moving the control target 112 whose 0 is the real axis by a desired amount and a virtual target value for moving the virtual control target 115 that is a virtual axis that is virtual with respect to the real axis by the virtual target value generation means 116 Is generated, the control means 11
4, 120 generated virtual target values, target values, virtual state quantities from the virtual control target, state quantities from the control target, a first disturbance signal for the virtual control target, and a second disturbance signal for the control target.
A control input and a virtual control input for optimizing a predetermined first evaluation function (Equation 1 and the like) are input by using the disturbance signal and the control signal, and the calculated control input and the virtual control input correspond to a virtual control object or a virtual control object. Since the output is output to the control target, a control input that minimizes the path error can be output without changing the maximum acceleration with respect to the disturbance.

As described above, the composite route control device shown in FIG. 3 is characterized in that a virtual route command signal for a virtual control target is obtained from a route command signal for an actual control target.

Note that the virtual one axis may be a real space N axis and a virtual M axis (N and M are arbitrary integers). In this embodiment, a virtual axis (control object) that does not exist is introduced.
It means that it is not related to the original control purpose, and is not related to whether the virtual axis physically exists or does not exist. In other words, the virtual axis Z may physically exist, but the purpose is to control the X axis and the Y axis, and the virtual axis Z (the state quantity of the virtual control target that does not physically exist actually exists). It is irrelevant whether or not the axis which is set to be mathematically orthogonal to the state quantity of the controlled object to be controlled is actually moving.

In the above embodiment, the evaluation function is adopted in consideration of the disturbance of each path.
a, 102b and position command value generating means 100a,
The control means 104a, 104b determines a predetermined evaluation function based on the output signal of the
a, 102b.

As described above, according to the composite route control method of the present invention, the target value for moving the control object serving as the real axis by the desired amount and the virtual axis serving as the virtual axis virtual with respect to the real axis are provided. A virtual target value for moving the control target is generated, and the generated virtual target value, target value, virtual state quantity from the virtual control target, state quantity from the control target, and a first disturbance signal for the virtual control target. Calculating a control input and a virtual control input for optimizing a predetermined first evaluation function by using a second disturbance signal for the control target as an input, and converting the calculated control input and the virtual control input to a corresponding virtual control target Alternatively, since the signal is output to the control target, the path error can be minimized without changing the maximum acceleration with respect to the disturbance. [Second Embodiment] FIG. 4 is a block diagram for explaining the configuration of a complex route control device according to a second embodiment of the present invention.

In the figure, reference numeral 121 denotes a position command value generating means which outputs a target value for a real controlled object 122 on two axes of space to a control means 123a, and outputs the same target value to a control means 128 for controlling a virtual controlled object 124. Is output. Similarly, reference numeral 125 denotes a virtual position command value generating means that outputs a virtual target value for the virtual control target 124 to the control means 123b and outputs the same virtual target value to the control target 123a. Each of the control means 123a and 123b includes a CPU, a RAM, and a ROM (not shown). The control input and the virtual control input to be converted are calculated and output to the real control target 122 and the virtual control target 124, respectively.

However, the state equation X in the above equation (1)
Shall be determined as follows:

X = AX + BU X = (X1, X2, X3, X4, X5, X6) X1: X-axis position X2: X-axis speed X3: Y-axis position X4: Y-axis speed X5: Z-axis position X6: Z-axis Speed U = (U1, U2, U3) U1: X-axis control input, U2: Y-axis control input, U3: Z-axis control input Here, the X-axis and the Y-axis are control axes that actually exist.
The axis is a virtual control axis that does not actually exist, and is a characteristic axis of the present invention. In this embodiment, any non-existent control target and target value are introduced according to the purpose of control, and in this embodiment, the characteristics of the Z axis are set to be the same as those of the X axis. Further, the target value for the Z-axis is set to a position of “0” at the starting end, moves to a position at a constant speed, and from there, the X-axis, Y-axis
It is assumed that when the target values of the axes start moving and the target values of the X axis and the Y axis stop, the Z axis returns to the “0” position at the same speed as at the start.

Hereinafter, a path error state when a circular trajectory is drawn based on the composite path control device shown in FIG. 3 will be described with reference to FIG.

FIG. 5 is a diagram showing a plotting locus by the composite route control device shown in FIG.
It corresponds to the drawing locus by the Y plotter. In addition, in order to show the improvement state of the path error, it corresponds to a state in which the error is increased by 20 times in the radial direction.

In this figure, a broken line indicates a target circle locus, and a solid line indicates a control locus. In order to compare the difference with the conventional example, the same target position command as in the case shown in FIG. 38 is given to the X-axis and the Y-axis, and the disturbance corresponding to the X-axis is also applied. Further, the parameters in this embodiment were selected so as to be the same as the maximum acceleration of the conventional method shown in FIG. In this example, while using the same maximum acceleration, as a result, the radius error is reduced to about 1/10 with respect to the same disturbance, and high accuracy is achieved. Conversely, if the target speed is changed so as to have the same radius error, the control method according to the present embodiment can move at approximately three times the speed of the conventional control method, and high-speed control becomes possible. .

Here, the reason why the maximum acceleration is the same is that if the disturbance and friction are ignored, if the acceleration is the same,
Motor drivers mean the same power consumption. Further, the acceleration causes vibration of the mechanical system, and if the maximum acceleration is the same, the control method according to the present embodiment can control the path with higher speed and higher accuracy by the vibration of the mechanical system according to the conventional method.

In the above embodiment, the trajectory of the two axes of the space was obtained with high accuracy by controlling the control target of the two axes of the real space and the virtual one axis. By controlling one axis, it is also possible to control the time waveform of one axis of the real space to meet the purpose. Hereinafter, the control characteristic fluctuation state when one real space axis and one virtual axis are controlled will be described with reference to FIGS.

FIG. 6 is a diagram showing a response characteristic to a target value in the route control device shown in FIG. The horizontal axis indicates time, and the vertical axis indicates the amount of movement.

In this figure, C4 corresponds to the response characteristic when the target command value is not given to one virtual axis, and C3 is the target command value for one virtual axis when the command for the real axis is completed. It corresponds to the response characteristic when given.

As a result, as shown in FIG.
By controlling the target value command value to the axis, a response with little overshoot (see response characteristic C3) is obtained, and the control characteristic is significantly improved.

FIG. 7 is a diagram showing a physical analysis state of the response characteristics shown in FIG. 6, and the same components as those in FIG. 6 are denoted by the same reference numerals. The vertical axis indicates the virtual axis, and the horizontal axis indicates the real axis.

As shown in this figure, the response characteristic C4 in the virtual space is a target path which moves from left to right on a line segment on which the X axis is a real axis, and the response characteristic C3 is a real axis (X
Axis) and a virtual axis (Z-axis) in a virtual space. Note that the weighting functions Q and X include
| E | ² * | ΔR | ^2- (e, ΔR) ² or | e | ²
* | Δy | ^2- (e, Δy) ² , or an element term mathematically equivalent to it, so that the response characteristic C
Since control is performed so as to reduce the area component as indicated by the oblique line 3, overshoot can be eliminated from the response of the real axis.

On the other hand, when the response characteristic C4 follows a target path that simply moves along a line segment, even if overshoot occurs on the line segment, the area component is zero, and the overshoot cannot be eliminated. In addition, the ability to follow the target value in the control system is low.

In the present embodiment, a combination of a control object of a real 2-axis space and a virtual 1-axis or a control object of a real 1-axis space and a virtual 1-axis is shown. It goes without saying that the N axis and the virtual M axis (N and M are arbitrary integers) may be used. Further, the present embodiment is characterized by introducing a virtual axis (control object) that does not exist, but the fact that it does not exist means that it is not related to the original control purpose. The axis Z may be physically present, but the purpose is to control the X axis and is independent of whether the virtual axis Z is actually moving. [Third Embodiment] FIG. 8 is a block diagram for explaining the basic configuration of a complex route control device according to a third embodiment of the present invention.

In the figure, reference numeral 131 denotes a target value generating means.
The target value for the control target 137 is converted into the target value conversion means 133.
Output to When the acceleration of the target value becomes excessive by a predetermined algorithm, the target value conversion means 133 adds an appropriate interpolation point to the target value 132 to generate a new target value 134 and inputs the new target value 134 to the control means 135. The control means 135 receives the state quantity 139 of the control target, the new target value 134, and the control quantity 138 of each control axis to be controlled, and minimizes a predetermined evaluation function J _(K) shown in Expression 4 described below. CPU, ROM, RA for sequentially calculating and outputting input 136
M and so on. Since the target value conversion means 133 adds the interpolation point to the target value 132, the number of the added target values is delayed, so that the operation of the target value generation means 131 is suspended so as not to generate a new target value. Signal.

[0086]

(Equation 4) Note that in Equation 4, ei represents the position error vector, u _i denotes the control input vector, [Delta] R _i represents the target value velocity vector, q ₁ denotes the area term weighting coefficient, H a control input weighting coefficient Show.

In the composite route control device configured as described above, when the target value generation means generates a target value for moving a plurality of control objects by a desired amount, the target value conversion means generates the target value based on the target value generated by the target value conversion means. The control means converts the converted target value into a new target value and outputs it to the control means. The control means optimizes a predetermined second evaluation function by using the converted target value, the state quantity from the control target, and a disturbance signal for the control target as inputs. Since the input is calculated and output to the control target, it is possible to minimize the path error without increasing the acceleration.

FIG. 9 is a detailed block diagram showing an example of a device in which the route control device according to the third embodiment of the present invention is applied to a complex control system. The same components as those in FIG. is there. In the figure, reference numeral 132a denotes a target value for the X-axis control target 139a, which is input to the target value conversion means 133.
When the acceleration of the target value 132a is excessive according to the predetermined algorithm as described above, the target value conversion means 133 adds an appropriate interpolation point to the target value 132a, generates a new target value 134a, and outputs the new target value 134a to the adder 135a. input.

Reference numeral 132b denotes a target value for the control object 139b on the Y axis, which is input to the target value conversion means 133. Target value conversion means 133, when the acceleration of the target value 132b becomes excessive according to a predetermined algorithm, as described above, to generate a new target value 134b adds an appropriate interpolation point to the target value 132 b, the adder 135b To enter.

The control means 137 controls the addition signal 13 of the controlled variable 140a from the control target 139a and the new target value 134a.
6a, new target value 134a, state quantity 1 of control target 139a
The controlled variable 140b from 41 b and the controlled object 139b
Signal 136b of new target value 134b and new target value 134b
34b, controlling the state quantity 141 a of the Target 139b as an input, a control input 138a to minimize a predetermined evaluation function J _(K) shown in Equation 4, of 138b each controlled object 13
The operation is sequentially output to 9a and 139b.

FIG. 10 shows the control target 139 shown in FIG.
FIGS. 3A and 3B are block diagrams showing model configurations, where K / S and 1 / S represent transfer coefficients, and K is a constant determined by the inertia of the drive system, the gain of the driver, and the like.

In the present embodiment, the conversion of the target command value uses the following simple algorithm, but is not limited to this. (Target command value conversion algorithm) Current target position R _K
If the acceleration A _k calculated from (position target value vector of the target value as a component of each axis at time k) exceeds the maximum acceleration A _m that has been set, the target position of the current target position R _K and the previous Midpoint of R _K-1 ｛(R _K / 2) + (R _K-1 /
2) Let｝ be the current target value.

Hereinafter, the third method will be described with reference to FIGS.
The operation of the embodiment will be described in detail.

FIG. 11 is a diagram showing the relationship between the increment (speed) of the target position value of the target route and the acceleration component in the composite route control device according to the present invention. When the conversion algorithm is not executed,
(B) corresponds to the case where the above-described target command value conversion algorithm is executed.
8 (mm) and a target speed of “100 (mm / sec)” correspond to the case where the route is a semicircular orbit. Note that the target value given to the actual control system is a position that is the integral value of this speed component.

As shown in FIG. 13B, the acceleration increases at the track end and the stop end of the target route, and a simple acceleration process is performed in this portion. Responses to such target values are shown in FIGS. 12A and 12B, respectively.

FIG. 12 is a characteristic diagram showing the path following response to the target value shown in FIG. 11, wherein (a) corresponds to a case where the above-mentioned target command value conversion algorithm is not executed, and (b) is This corresponds to the case where the above-described target command value conversion algorithm is executed. In addition, in order to clarify the degree of improvement of the path error, the state corresponds to a state where the error is multiplied by 100 in the radial direction and the characteristic.

FIG. 12A shows a value (about 25 (u) where the maximum path error is the same as the position target value in FIG.
m)) shows the follow-up characteristic C2 of the preview control system and the follow-up characteristic C1 of the conventional control system when the parameters of the control system are selected, and FIG. 12B shows the follow-up characteristic C2 of FIG. A follow-up characteristic C4 of the preview control system with respect to the position target value and a follow-up characteristic C3 of the conventional system are shown.

FIGS. 13 to 16 are diagrams showing X-axis and Y-axis acceleration response waveforms responding to the following characteristics shown in FIGS. In particular, FIG. 13 and FIG. 15 show the following characteristic C when the conversion algorithm of the target command value is not executed.
14 and FIG. 16 correspond to the acceleration response waveforms of the follow-up characteristic C2 and the follow-up characteristic C2 of the preview control system, respectively. Corresponding to

As shown in FIG. 12A, the maximum accelerations of the follow-up characteristic C2 of the preview control system and the follow-up characteristic C1 of the conventional control system are 2819 (mm / sec) and 17338 (mm / sec), respectively. In order to make the path error equal to that of the preview system in the conventional system, approximately six times the acceleration is required. Since FIG. 12B shows the case where the above-described target command value conversion algorithm is executed, the maximum accelerations of the follow-up characteristic C4 of the preview control system and the follow-up characteristic C3 of the conventional control system are 2328 (mm / sec) and 9666, respectively.
(Mm / sec), the preview control system is smaller in both the maximum path error and the maximum acceleration, and the vibration of the acceleration waveform is also smaller.

As described above, according to the route control method of the present invention, the problem caused by the conventional simple acceleration / deceleration method can be solved. That is, in the conventional simple acceleration / deceleration method, since the acceleration waveform contains many high-frequency components, vibration of the mechanical system is induced, and good controllability cannot be obtained. Also, in order to perform control with less vibration, it is necessary to pay sufficient attention to the acceleration / deceleration method. Further, the simple acceleration / deceleration method has been problematic in that it can be applied only to a specific route, for example, it is limited to straight lines and circular arcs. However, the present invention has made it possible to solve these problems.

In the above embodiment, the position information of each axis is used as the target value (in this embodiment, the position information is obtained by integrating the speed information), but the speed information of each axis is used instead. There may be.

In the above embodiment, the path control system for simultaneously controlling a plurality of axes has been described as an example. However, the present invention can be applied to the case of simple one-axis position control, and the speed control in which the target value is the speed. It may be the case of a system.

Further, in the above embodiment, the current target position R
_K If the acceleration A _k calculated from (position target value vector of the target value as a component of each axis at time k) exceeds the maximum acceleration A _m that is set, the current target position R _K and the previous target Midpoint of position R _K-1 ｛(R _K / 2) + (R _K-1
/ 2) The case where｝ is set as the current target value has been described. However, another point on the target route may be used. In this case, the interpolation point R _KK is R _KK = R _K-1 + m ( the R _K -R _K-1). However, 0 ≦ m ≦ 1.

The above m may be set to 0.5, or may be set to m so that the acceleration at the interpolation point matches the maximum acceleration. At this time, the acceleration _AK is given by _AK = _RK + _{RK-1-2.
RK- 2} .

[0105] Figure 17 is a schematic diagram showing the interpolation point selection method of the target path in the path control apparatus of a composite system according to the present invention, to select (a), as rest of the interpolation point R _KK in forming a straight line corresponds to a case, (b) corresponds to the case of selecting to rest on an arc interpolation points R _KK.

In the figure, a black circle indicates a given target position, and a white circle indicates an interpolation point _RKK . As shown in these figures, we can either selected so rest interpolation points R _KK a sintering straight line, when the target path is found to be smooth, the past three including the current point from the point, asking an arc passing through these points can be selected from that by Uni interpolation points on an arc an optimal interpolation point.

In the above embodiment, an area-equivalent component is used as an element for evaluating a path error as shown in FIG. That is, in the above-described embodiment, the evaluation function (Eq. 4) is performed while compensating the path error between the axes so that the sum of the area elements surrounded by the curves indicated by the target path R and the following path C approaches zero as much as possible. ), The optimization of the control objects 150a (X-axis) and 150b (Y-axis) shown in FIG. 20 has been described, but the area error component (area error term) _Sik of one section is represented by a vector relationship. Can be expressed as shown in FIG. Here, e _k indicates a position error vector.

With the path control system configured as described above,
The optimum control input for minimizing the evaluation function is obtained, and the trajectory of the target route C1 and the trajectory C2 of, for example, drawing a circle
21 is shown in FIG. The radius of the target circular path is 10
(Mm), the moving speed is 150 (mm / sec), and the path error of the following path is very small.

As shown in this figure, the maximum path error occurs at the start point and is 77 (um). in this way,
Although the path error can be suppressed to a very small value, there are cases where the accuracy target cannot be achieved even with this error.In such a case, the weight coefficient of the term corresponding to the acceleration of the evaluation function is reduced, and a large acceleration is used. Higher precision will be achieved. For this reason, the use of a large acceleration may cause the following problem.

That is, the capacity of the motor driver of the shaft drive system increases. In addition, it induces high-frequency vibration of the mechanical system to deteriorate the accuracy.

Therefore, in such a case, by using not only the area error term _Sik but also the next area error term S _2k , it is possible to improve the accuracy of the route control without using a large acceleration. Is also possible. Therefore, as the area error term in the above evaluation function, the area error term other than the current term such as the previous term or the next time | e _i | ² * | △ R _i | ² −
(E _i , △ R _i ) or | e _i | ² * | △ y _i | ² −
(E _i , △ y _i ) is used. In addition, i = ± 1, ± 2,.
It is.

Hereinafter, an evaluation function and the like in a route control device using an area error term other than the present term such as the previous term or the next time will be described. [Fourth Embodiment] FIG. 22 is a block diagram illustrating a basic configuration of a route control device according to a fourth embodiment of the present invention.

In the figure, reference numeral 151a denotes a position command generating means for outputting a target value of the X-axis to the control means 152a and the control means 152b. Reference numeral 151b denotes a position command generating means which outputs a target value of the Y axis to the control means 152a and the control means 152b. Control means 152a, 15
2b is provided with a CPU, ROM, RAM, and the like for minimizing the evaluation function j _(K) based on Equation 5 using each target value, the state quantity from each control target 153a, and the controlled quantity as inputs.

[0114]

(Equation 5) Note that in Equation 5, ei represents the position error vector, u _i denotes the control input vector, [Delta] R _i represents the target value velocity vector, q ₁ denotes the area term weighting coefficient, H a control input weighting coefficient Show. In Equation 5, the weighting factors q ₁ and q ₂ of the area error term at the current sampling point and the next area error term are set to the same value. However, the weighting coefficients q ₁ and q ₂ are set separately. It is also possible. Also,
The evaluation function uses a position error term and an acceleration equivalent term other than the area term. In addition to these terms, for example, an acceleration change term, a speed term, and the like are introduced into the evaluation function to construct a control system. You may.

According to the route control device configured as described above, when the circle is drawn, the trajectory of the target route C1 and the trajectory C
The locus of No. 2 is the result shown in FIG. Note that the maximum target speed shown in FIGS. 21 and 23 is (150 mm / sec), and the weighting factor of the control system is selected so that the maximum acceleration has the same value. 23, the path error is shown multiplied by 100 in the radial direction. In particular, the maximum error occurs at the end point, and its value is 3
5 (um). Therefore, as the area error term in the evaluation function, the area error term | e _i | ² * | △ R _i | ²⁻ (e _i , △ R _i ) or | e _i | ² * | By using Δy _i | ² − (e _i , Δy _i ), the path error is significantly improved as compared with the above embodiment.

FIGS. 24 to 26 are graphs showing path error characteristics in the path control device shown in FIG. 22, FIG. 24 shows maximum radius error characteristics, FIG. 25 shows radius error characteristics in a steady state, FIG. 26 shows the maximum acceleration characteristics. In each of the figures, the horizontal axis represents the moving speed.

From these figures, it is possible to reduce the path error (radius reduction amount) in both the steady state and the transient state while maintaining the acceleration smaller than that of the conventional method in the entire speed range.

Although the case where the position information of each axis (by integrating the speed information) is used as the target value has been described, the speed information of each axis may be used instead. [Fifth Embodiment] FIG. 27 is a block diagram illustrating a basic configuration of a route control device according to a fifth embodiment of the present invention.

In the figure, reference numeral 161 denotes a target value generating means.
The desired target value signal 162 is output to the target value generating means 163 of the controller 175. The target value generation means 163 generates an X-axis target value 164a based on the input target value signal 162 and outputs it to the adder 165a, and generates a Y-axis target value 164b and outputs it to the adder 165b. The adder 165a has an X-axis target value 164a and an X-axis controlled amount 170a.
And outputs an X-axis error signal 166a to the compensator 167. Further, the adder 165b adds the Y- axis target value 164b and the Y-axis controlled amount 170b to generate a Y-axis error signal 166.
b to the compensator 167. Reference numeral 176 denotes a virtual target value generating means for outputting the virtual target value to the compensator 167. 178
Is a virtual control target, which is determined based on the control purpose of the control targets 169a and 169b. 179 is a virtual state of the virtual controlled object 17 8, is input to the compensator 167. 172a is X-axis weight, 172b is Y-axis weight, 173
Is an adder that generates a Z-axis controlled variable 174 by adding the X-axis weight 172a and the Y-axis weight 172b.

The target value generating means 163 sets the target values 164a, 164b such that the sum of the target values 164a, 164b for each control object and the desired target value signal 162 becomes equal.
64b is generated. The compensator 167 has a CP (not shown).
U, ROM, and RAM, and Y-axis error signal 166b, X
With the axis error signal 166a, the state quantities 171a and 171b, and the virtual state quantity 179 as inputs, the control inputs 168a and 168b for minimizing the evaluation function shown in Expression 1 are compensated and output to the respective control objects 169a and 169b. I do.

At this time, the control objects 169a, 169
As for the characteristics of b, the equation of state X is determined as follows.

X = AX + BU X = (X1, X2, X3, X4, X5, X6) X1: X-axis position X2: X-axis speed X3: Y-axis position X4: Y-axis speed X5: Z-axis position X6: Z-axis Speed U = (U1, U2, U3) U1: X-axis control input, U2: Y-axis control input, U3: Z-axis control input Here, the X-axis and the Y-axis are real control axes that actually exist, The Z axis is represented by a combination of the X axis and the Y axis. The W axis is a virtual control axis that does not actually exist. The present embodiment is characterized in that an arbitrary non-existent control target and a target value are introduced so as to achieve the purpose of control, and the characteristics of the W axis are set to be the same as those of the X axis. Further, the target value for the W axis is set to a zero position at the starting end, moves to a position at a constant speed, from which the target values for the X and Y axes start moving, and the target values for the X and Y axes start. Holds its position while moving,
When the target values of the X-axis and the Y-axis are stopped, the W-axis returns to the zero position at the same speed as at the start. In this embodiment, the target value for the Y axis is always “0”.

By constructing the route control device and calculating the control input for minimizing the evaluation function as described above, the response characteristics of each axis with respect to a ramp-like target value as shown in FIG. It is significantly improved as compared with the conventional example (see FIG. 36).

It should be noted that in order to settle to 0.2% with respect to the command value, it took 36 (msec) in the conventional method, but in the present embodiment, it is settled to 24 (msec). Also, the weighting coefficients 172a and 172b are set so that the maximum acceleration in the present embodiment is the same as that of the conventional example. The comparison with the same maximum acceleration means that if the disturbance and the friction are ignored, the motor driver has the same power consumption if the acceleration is the same, and the control inputs 168a and 168b from the compensator 167. Is output, the positioning control relating to, for example, the axis feed of the machine tool can be performed at a high speed by a driver having the same capacity. Further, as described above, the acceleration causes vibration of the mechanical system, but since the maximum acceleration is the same in the present embodiment, high-speed positioning control is performed while maintaining the same level as the mechanical vibration in the conventional control system. Can be performed.

Hereinafter, the control characteristic fluctuation state when two axes of the real space and one axis of the virtual space are controlled will be described with reference to FIGS. 29 and 30.

FIG. 29 is a diagram showing a response characteristic to a target value in the route control device shown in FIG. The horizontal axis indicates time, and the vertical axis indicates the amount of movement.

As shown in this figure, according to the above control, the time required for the conventional method to converge on the X-axis target value is remarkably reduced.

As a result, as shown in FIG.
By controlling the target command value to the axis, the response that caused the overshoot (see response characteristic C4) becomes a response with little overshoot (see response characteristic C3), and the control characteristic is remarkably improved.

FIG. 30 is a diagram showing a physical analysis state of the response characteristics shown in FIG. 29. The ordinate represents the virtual axis, and the abscissa represents the real axis.

As shown in this figure, the response characteristic C4 in the virtual space is a target path that moves from left to right on a line segment on which the X axis is a real axis, and the response characteristic C3 is a real axis (X
Axis) and a virtual axis (W axis) in a virtual space. The weighting functions Q and X of the evaluation function are |
e | ² * | ΔR | ² − (e, ΔR) ² or | e | ² *
| Δy | ^2- (e, Δy) ² , or an element term that is mathematically equivalent to it, so that control is performed to reduce the area component of the response characteristic C3 as indicated by the oblique lines. The overshoot can be eliminated from the response of the real axis Z.

On the other hand, when the response characteristic C4 follows a target path that simply moves along a line segment, even if overshoot occurs on the line segment, the area component is zero, and the overshoot cannot be eliminated. In addition, the ability to follow the target value in the control system is low.

In the above embodiment, the case where the control system is a position control device has been described, but the present invention can be applied to speed control. That is, it is possible to precisely control the synthesis speed of the high-speed coarse-precision rotary system X-axis and the low-speed high-precision rotary system Y-axis. Further, the target value is not limited to the above-described position and speed, but may be temperature. For example, the X-axis may be replaced with a coarse-capacity large-capacity heater and the Y-axis may be replaced with a high-precision small-capacity heater to perform high-precision temperature control. It may be configured to do so.

[0133]

As described above, according to the route control method of the composite system of the present invention, the target value for moving the control object serving as the real axis by a desired amount and the real axis determined by the target value are determined. Generate a virtual target value for moving a virtual control target that is virtual and is a virtual axis that does not exist,
The generated virtual target value, target value, virtual state quantity from the virtual control target, state quantity from the control target, a first disturbance signal for the virtual control target, and a second disturbance signal for the control target are input , A first evaluation function including a term indicating a path error
Calculate the control input and the virtual control input that minimize the value of the number, and output the calculated control input and the virtual control input to the corresponding virtual control target or control target, without changing the maximum acceleration with respect to disturbance, Path error can be minimized.

According to the composite route control device of the present invention, the target value generating means is imaginary with respect to the target value for moving the control object serving as the real axis by the desired amount and the real axis defined by the target value. When a virtual target value for moving a virtual control object that is a virtual axis that does not exist is generated, the control means generates the virtual target value, the target value, the virtual state quantity from the virtual control object, and the state from the control object. A term indicating a path error is input with the input of the quantity, the first disturbance signal for the virtual control target, and the second disturbance signal for the control target.
The control input and the virtual control input that minimize the value of the first evaluation function are calculated, and the calculated control input and the virtual control input are output to the corresponding virtual control target or the control target. And a control input that minimizes the path error can be output.

The first target value generation means generates a first target value for moving the first control object by a desired amount, and the second target value generation means generates a second control object independent of the first control object. When a second target value for moving the target by a desired amount is generated,
A calculating means for calculating the first target value, the second target value, the first state quantity from the first control target, the second state quantity from the second control target, Control means for inputting a first disturbance signal and a second disturbance signal for the second control object to minimize control information obtained by a second evaluation function including a term indicating a path error; Outputs the control input obtained by the calculation means to the first control object and the second control object based on the calculation result of the calculation means, so that the control input that minimizes the path error can be output. it can.

Furthermore, since the first and second evaluation functions include the first or second weighting function component for evaluating the path error, the first and second evaluation functions can quickly follow the target value without increasing the acceleration. .

The first target value generating means generates a first target value for moving the first control object by a desired amount, and the second target value generating means generates a second control object independent of the first control object. When a second target value for moving the target by a desired amount is generated,
First target value conversion means converts the first target value into a first conversion target value, and second target value conversion means converts the second target value into a second target value.
When converted to the conversion target value, the calculating means calculates the first conversion value, the second conversion value, the first state quantity from the first control target, and the second state quantity from the second control target. A first disturbance signal for the first control object and a second disturbance signal for the second control object are input to indicate a path error
The control information obtained by the second evaluation function is minimized, and the control means adds the control information obtained by the calculation means to the first control object and the second control object based on the calculation result of the calculation means. , The path error can be minimized without increasing the acceleration.

Therefore, excellent effects such as high-speed and high-accuracy path control can be achieved without increasing the loop gain of each control system.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a complex route control device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a drawing locus by the route control device shown in FIG. 1;

FIG. 3 is a block diagram illustrating another configuration example of the combined route control device illustrated in FIG. 1;

FIG. 4 is a block diagram illustrating a configuration of a complex route control device according to a second embodiment of the present invention.

FIG. 5 is a diagram illustrating a drawing locus by the route control device illustrated in FIG. 4;

6 is a diagram illustrating response characteristics to a target value in the route control device illustrated in FIG. 4;

FIG. 7 is a diagram showing a physical analysis state of the response characteristics shown in FIG. 6;

FIG. 8 is a block diagram illustrating a basic configuration of a route control device according to a third embodiment of the present invention.

FIG. 9 is a detailed block diagram showing an example of a device in which a route control device according to a third embodiment of the present invention is applied to a complex control system.

FIG. 10 is a block diagram illustrating a model configuration of a control target illustrated in FIG. 9;

FIG. 11 is a diagram illustrating a relationship between an increase in a position target value of a target route and an acceleration component in the route control device according to the present invention.

12 is a characteristic diagram showing a path following response to the target value shown in FIG. 11;

13 is a diagram showing X-axis and Y-axis acceleration response waveforms responding to the following characteristics shown in FIGS. 11 and 12. FIG.

FIG. 14 is a diagram showing X-axis and Y-axis acceleration response waveforms responding to the following characteristics shown in FIGS. 11 and 12;

FIG. 15 is a diagram showing X-axis and Y-axis acceleration response waveforms responding to the following characteristics shown in FIGS. 11 and 12;

FIG. 16 is a diagram showing X-axis and Y-axis acceleration response waveforms responding to the following characteristics shown in FIGS. 11 and 12;

FIG. 17 is a schematic diagram illustrating a method of selecting an interpolation point of a target route in the route control device according to the present invention.

FIG. 18 is a diagram illustrating a target curve path error in the path control device according to the present invention.

19 is a vector analysis diagram of an area equivalent component of the target curve path error shown in FIG.

FIG. 20 is a diagram showing a transfer function of a control target in the route control device according to the present invention.

FIG. 21 is a characteristic diagram showing a trajectory of a target route and a trajectory of a following trajectory in the route control device according to the present invention.

FIG. 22 is a block diagram illustrating a basic configuration of a route control device according to a fourth embodiment of the present invention.

FIG. 23 is a characteristic diagram illustrating a relationship between a target route and a following locus in the route control device illustrated in FIG. 22;

FIG. 24 is a diagram illustrating a path error characteristic in the path control device illustrated in FIG. 22;

FIG. 25 is a diagram illustrating a path error characteristic in the path control device illustrated in FIG. 22;

26 is a diagram showing a path error characteristic in the path control device shown in FIG.

FIG. 27 is a block diagram illustrating a basic configuration of a route control device according to a fifth embodiment of the present invention.

28 is a diagram showing response characteristics of each axis to a ramp-shaped target value in the path control device shown in FIG. 27;

29 is a diagram showing response characteristics to a target value in the route control device shown in FIG. 27.

30 is a diagram showing a physically analyzed state of the response characteristics shown in FIG. 29.

FIG. 31 is a block diagram showing a position control system model of the machine tool.

FIG. 32 is a block diagram illustrating a loop control configuration of a conventional two-axis position control device.

FIG. 33 is a block diagram showing a position control system model of a conventional numerical controller.

FIG. 34 is a schematic diagram showing an axis feed control system of a conventional position control device.

FIG. 35 is a block diagram showing a control configuration in an axis feed control system of the position control device shown in FIG. 34.

36 is a diagram illustrating a response characteristic of an axis feed control system of the position control device illustrated in FIG. 35.

FIG. 37 shows X of two orthogonal axes to which a conventional position control method is applied.
FIG. 4 is a diagram illustrating a drawing locus by a Y plotter.

FIG. 38 shows X of two orthogonal axes to which a conventional position control method is applied.
FIG. 6 is a diagram illustrating a drawing locus when a disturbance is applied by a Y plotter.

[Explanation of symbols]

 110 Position command value generating means 112 Control target 113a Disturbance measuring means 113b Disturbance measuring means 114 Control means 115 Virtual control target 116 Virtual position command value generating means 120 Control means

Claims (6)

(57) [Claims] 1. A target value for moving a control object serving as a real axis by a desired amount and a virtual value for moving a virtual control object serving as a virtual axis that does not exist and is virtual with respect to a real axis defined by the target value. A target value is generated, and the generated virtual target value, the target value, a virtual state quantity from the virtual control target, a state quantity from the control target, a first disturbance signal to the virtual control target, the control target And a second disturbance signal with respect to the input and including a term indicating a path error
A control input and a virtual control input that minimize the value of the first evaluation function are calculated, and the calculated control input and the virtual control input are output to the corresponding virtual control target or the control target. A route control method for a complex system. 2. A target value generating means for generating a target value for moving a control object serving as a real axis by a desired amount, and a virtual axis imaginary with respect to the real axis defined by the target value and not existing. Virtual target value generating means for generating a virtual target value for moving the virtual control target; the virtual target value, the target value, a virtual state quantity from the virtual control target, a state quantity from the control target, A term indicating a path error with a first disturbance signal for the control object and a second disturbance signal for the control object as inputs
Control means for calculating a control input and a virtual control input for minimizing the value of the first evaluation function and outputting the calculated control input and the virtual control input to the corresponding virtual control object or the control object. apparatus. 3. A first target value generating means for generating a first target value for moving a first control object by a desired amount, and for moving a second control object independent of the first control object by a desired amount. Second target value generating means for generating a second target value; the first target value, the second target value, a first state quantity from the first control target, and a second state value from the second control target. and second state quantity, and the first disturbance signal for the first control object, and enter a second disturbance signal for the second control object, through
Calculating means for minimizing control information obtained by a second evaluation function including a term indicating a road error; and calculating means for the first controlled object and the second controlled object based on a calculation result of the calculating means. Control means for outputting a control input obtained by: (a), a path control device of a complex system, comprising: 4. The route control device according to claim 2, wherein the first evaluation function includes a first or second weight function component for evaluating a path error. 5. The path control device according to claim 3, wherein the second evaluation function includes a first or second weight function component for evaluating a path error. 6. A first target value generating means for generating a first target value for moving a first control object by a desired amount, and for moving a second control object independent of the first control object by a desired amount. Second target value generation means for generating a second target value; first target value conversion means for converting the first target value to a first conversion target value; conversion of the second target value to a second conversion target value A second target value conversion unit, the first conversion value, the second conversion value, a first state quantity from the first control target, a second state quantity from the second control target, a first disturbance signal for the first control object, and enter a second disturbance signal for the second control object, through
Calculating means for minimizing control information obtained by a second evaluation function including a term indicating a road error; and calculating means for the first controlled object and the second controlled object based on a calculation result of the calculating means. And a control means for outputting control information determined by the following.