JP3311896B2 - Feedback processing condition correction device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a feedback-type processing condition correction device for correcting the processing conditions of a work to be processed next by feeding back the dimensions of the processed work.

[0002]

2. Description of the Related Art As described in, for example, Japanese Patent Application Laid-Open No. Hei 6-198542 of the present applicant, the above-mentioned feedback-type processing condition correction apparatus includes: (a) a processing machine for processing a plurality of workpieces in order; A) a processing machine control device for correcting the processing conditions of the processing machine based on a correction value supplied from the outside, and controlling the processing machine according to the corrected processing conditions;
A measuring machine for sequentially measuring the dimensions of a plurality of workpieces machined by the machining machine, wherein the machining system has at least one workpiece between the machining machines and the measuring machine that waits for measurement by the measuring machine. A plurality of measurement values obtained by the measuring machine, a correction value of the processing condition is determined based on the plurality of measurement values, and the determined correction value is supplied to the processing machine control device. It is configured to include a correction value determining unit.

[0003] In a machining system of the type in which there is no standby work between the processing machine and the measuring machine waiting for the measurement by the measuring machine, and the work processed by the processing machine is immediately measured by the measuring machine, The workpiece processed according to the processing conditions affected by the correction value is immediately measured by the measuring machine, and the effect of the latest correction value is immediately reflected on the measured value. Therefore, in this type of processing system, the correction accuracy of the processing conditions can be relatively easily improved. However, as described in the above publication, there is also a processing system of a type in which at least one workpiece waiting for measurement by the measuring device exists between the processing machine and the measuring device, and in this type of processing system, Improve the accuracy of machining condition correction because the workpiece affected by the latest correction value is not immediately measured by the measuring device, and the effect of the latest correction value is reflected in the measurement value only after the elapse of dead time. Is relatively difficult. Note that “dead time” is originally a concept of “time” and does not exactly match the “number of standby works”, but since it is equivalent as a parameter that defines the characteristics of the control system, “Time” and “the number of waiting works” are used as concepts corresponding to each other.

Therefore, as described in the above-mentioned publication, a feedback type machining condition correcting apparatus to be used together with the machining system of the dead time type employs a plurality of workpieces which are measured for each of a plurality of workpieces sequentially processed. A correction value is determined based on the measured values of
One correction value is determined, for example, by acquiring a change tendency of a past measurement value from a plurality of past measurement values and predicting a change tendency of a future measurement value from the change tendency of the past measurement value. It will be. Therefore, the feedback-type processing condition correction device described in this publication has an advantage that the processing conditions can be corrected with relatively high accuracy despite being used in a processing system having a dead time. .

[0005]

However, this conventional feedback-type processing condition correction apparatus (hereinafter referred to as "conventional apparatus") has a problem in that one correction value is determined by giving priority to the correction accuracy of processing conditions. Since a relatively large number of measured values are used, there is a disadvantage that the processing conditions cannot be corrected quickly when it is necessary to correct the processing conditions quickly. Hereinafter, this disadvantage will be specifically described.

FIG. 37 is a graph showing an example of how measured values are obtained after a series of processing is started in the conventional apparatus. Since a processing system using this conventional apparatus has a dead time, a measured value does not exist immediately after the start of processing, and a measured value is obtained only after the elapse of the dead time. At this time, the accumulation of the measured values is started, and when the number of accumulated measured values reaches a set number, the first correction value is determined based on the set measured values. This correction value is supplied to the processing condition control device, where the processing condition is corrected. However, since the workpiece processed according to the corrected processing condition is not immediately measured by the measuring machine, the first correction value is set. Will be reflected in the measured values only after the elapse of the dead time. Therefore, in this conventional apparatus, the first dead time, the accumulation stage of the measured values, and the second dead time are determined from the start time of a series of processing to the time when the first correction value is determined and reflected on the measured value. It must pass. As described above, in this conventional apparatus, it takes time until the first correction value is determined from the start time of a series of processing and is reflected on the measured value.

On the other hand, at the beginning of a series of machining, the state of the machining machine, the state of the measuring machine, and the like are apt to change. Therefore, unless the machining conditions are corrected relatively frequently, the first correction value becomes the measured value. There is a possibility that before the reflection, the work with poor accuracy, that is, a work whose dimensional error exceeds a preset tolerance range with respect to the work may occur frequently.

Therefore, this conventional apparatus has a drawback in that it is not possible to quickly correct the processing conditions when it is necessary to correct the processing conditions quickly.

For this reason, the operator monitors the measured values and manually adjusts the machining conditions as appropriate, at least until the machining conditions are automatically corrected for the first time, in order to prevent the occurrence of inaccurate workpieces. In some cases, corrections had to be made, and the burden on the operator was great.

FIG. 38 is a graph showing an example of a case where the operator performs the correction manually. Workers generally
When the processing error of the workpiece exceeds the tolerance range, it is determined that the processing condition needs to be corrected immediately, and the correction value is determined based on the measured value at that time based on the intuition and experience of the operator. However, since the operator cannot usually predict the change tendency of the measured value as accurately as the correction value determining means, the influence of the correction value by the operator, that is, the manual correction value, affects the measured value. Even if reflected, the measured value may not sufficiently match the target value. In this case, after the manual correction by the operator, the automatic correction is performed by the correction value determining means, and the manual correction is corrected by the automatic correction. Since the automatic correction value cannot be determined early afterwards, the correction of the manual correction cannot be quickly performed. Therefore, even if the operator manually corrects the processing conditions before the processing conditions are automatically corrected for the first time, the occurrence of a workpiece with inaccurate accuracy may not be sufficiently suppressed.

In short, the conventional apparatus employs only a correction rule that gives priority to accuracy, and therefore has a problem that a quick correction cannot be performed when a quick correction is required. According to the present invention, a correction rule with a long correction value determination time but a high correction accuracy and a correction rule with a low correction accuracy but a short correction value determination time are used in combination to more flexibly meet a demand for correction of machining conditions. An object of the present invention is to provide a feedback-type processing condition correction device that can respond.

[0012]

Means for Solving the Problems, functions and effects] And
Therefore, according to the present invention, the feedback expression of each of the following aspects
A processing condition correction device is obtained. (1) (a) a processing machine for processing a plurality of workpieces in order, and (b)
Processing section of the processing machine based on the correction value supplied from the
The processing machine according to the corrected processing conditions.
(C) a processing machine control device for controlling
And a measuring instrument for measuring the size of the factory is more work in the order, the work waiting for measurement by the measuring device between them machines and measuring machines are used in conjunction with at least one machining system exists, the measurement Machine takes multiple measurements.
When obtained, the processing strip based on the plurality of measured values
The first correction value of the case is determined, and the determined first correction value is
In the feedback type processing condition correction device including a first correction value determining means for supplying serial machine control device, wherein the said measuring first correction value determining means is necessary to determine one of the first correction value Measurement values smaller than the number of proper measurement values , and the preset second correction execution condition is satisfied.
A second correction value determining unit that determines a second correction value of the processing condition based on the small number of measured values and supplies the determined second correction value to the processing machine control device when standing
And at least the second correction execution condition
Machining error exceeds the setting range set for it.
Feed that is established when
Back type processing condition correction device (Claim 1).

Here, the " first correction value determining means", for example, after obtaining a set of measured values and determining a correction value, starts acquiring the measured values again, and again sets the measured values. When a new correction value is determined when a measurement value is obtained, or after a set number of measurement values are obtained and a correction value is determined, each time a new measurement value is obtained one by one, A mode in which a new correction value is determined based on the latest set several measured values may be adopted. This is the same for the “ second correction value determining unit”. In addition, "Work machining error
"Difference" is the difference between the measured value of the workpiece and the target value.
Value.

[0014] The feedback-type machining condition correction device according to this item.
In the above, the first correction value determination means may include one first correction value.
Fewer measurements than the number of measurements needed to determine the value
Second correction acquired by the measuring instrument and set in advance
When the execution condition is satisfied, the second correction value determining means
Works. Based on the above few measurements,
A second correction value is determined, and the determined second correction value is
It is supplied to the control device. Then, the second correction actual
The line condition is that at least the machining error of the workpiece
It is satisfied when the set range is exceeded. Here
Thus, “at least” means, for example,
As described above, the machining error of the workpiece exceeds the set range.
Is not satisfied, the second correction execution condition is not satisfied.
After the start of continuous machining and when the operator manually compensates
Before the measurement for a certain number of workpieces is completed.
For the first time if another condition is met, such as
This means that the execution condition may be satisfied. I
The feed according to the invention of claim 1 after the correction even if it is shifted.
In the back-type processing condition correction device, there is
If the difference exceeds the setting range and the processing conditions of the processing machine are corrected,
If so, the second correction value is determined, and
The case is corrected. Therefore, since the second correction value determining means if substantially operate therewith to determine a new correction value prior to the first correction value determining means when to start the operation of the first correction value determining means simultaneously If the second correction value determining means is designed to operate substantially at a time when quickness should be given priority over accuracy in correction, quick correction is performed at a time when quick correction is required. .

As described above, according to the present invention, the correction rule giving priority to accuracy and the correction rule giving priority to speed are used together.
Is a rapid correction to the processing conditions according to the latter of the correction rule is possible to quickly correct the time required. Therefore, according to the present invention, the frequency of manual correction by the operator is reduced until a new correction value is determined by the correction rule giving priority to accuracy, so that the burden on the operator is reduced , In this case, the effect of improving the processing quality and suppressing the occurrence of workpieces with poor precision can be obtained.

(2) In the invention according to (1) , the second correction value determining means may generate a predetermined number of measurement values regardless of whether a preset second correction execution condition is satisfied. A second correction value is determined based on the second correction value, and the determined second correction value is supplied to the processing machine control device only when a second correction execution condition is satisfied. (3) The invention according to (1) or (2), wherein the second correction execution condition relates to a machining timing. (4) In the invention according to (3), the second correction execution condition is set such that the second correction execution condition is set in a period from the start of the series of machining to the end of the measurement for a certain number of workpieces (or until a certain time has elapsed). Applicable or from the start of the series
The present invention is established when the first correction value determining means corresponds to a period until a correction value (hereinafter, referred to as a “first correction value”) is first determined (claim 2) . (5) In the invention of (3), the second correction execution condition is set after the start of a series of machining and from the time when the operator performs the manual correction until the measurement of a certain number of workpieces is completed ( Or until the first correction value is first determined by the first correction value determination means from the manual correction timing . thing. The reason why the second correction value is supplied to the processing machine control device after the manual correction by the operator is that the accuracy of the manual correction value by the operator may not be sufficiently high. This is because it is desirable to perform the correction. Also, later in the Examples section
As described above, not only the conditions in this section, but also
When the condition that the engineering error exceeds the setting range is also satisfied
It is also possible that the second correction execution condition is satisfied for the first time.
It is possible (claim 3). (6) In the invention according to (3), the second correction execution condition is that a predetermined time has elapsed after the start of a series of machining and after the setting of the internal parameter of the first correction value determination means has been changed. This is true when the time period elapses or the time period elapses from the setting change time to the time when the first correction value is first determined by the first correction value determining means. Note that the reason why the second correction value is supplied to the processing machine control device after the setting of the internal parameter of the first correction value determination means is changed is that it takes time to change the setting, during which the state of the processing machine, the measuring machine May change, and the future change tendency of the work dimension of the work may be different from the previous change tendency. Nevertheless, the first correction value determining means determines the first correction value. When the first correction value determined is supplied to the processing machine control device after waiting for a while, it takes time for the first correction value to be determined and reflected on the measured value, during which a work with inaccurate precision occurs frequently. This is because there is a risk of doing so. It will be described later in the examples section.
In addition to the conditions in this section,
If the condition of exceeding the setting range is also satisfied,
It is also possible that the second correction execution condition is satisfied
(Claim 4). (7) The invention according to (1) or (2), wherein the second correction execution condition relates to a work error of the work. (8) The invention according to (7), wherein the second correction execution condition is satisfied when a machining error of the workpiece exceeds a set range set for the workpiece. Here, "Setting range"
Can be set, for example, to the same as the tolerance range of the work, but, for example, if it is set within the tolerance range, it is easy to prevent the machining error of the work from going out of the tolerance range beforehand. Is obtained. Here, the "work tolerance range" refers to, for example, a reference for determining the pass / fail of the dimensional accuracy of the work as a product with respect to the size of the work. (9) The invention according to (1) to (8), wherein the second correction execution condition is constituted by a combination of a first partial condition relating to a machining time and a second partial condition relating to a machining error of a workpiece. . (10) In the invention of (9), the second correction execution condition is satisfied regardless of whether the second partial condition is satisfied when the first partial condition is satisfied. When one partial condition is not satisfied, it is satisfied only when the second partial condition is satisfied. The reason that the second correction execution condition is satisfied regardless of whether the second partial condition is satisfied when the first partial condition is satisfied is that at the beginning of a series of machining,
This is because the state of the processing machine, the state of the measuring machine, and the like are generally easy to change. Even if the measured value is currently within the tolerance range, it is considered that there is a strong tendency that the measured value falls outside the tolerance range thereafter. (11) In the invention of (1) to (10), the second correction value determination means performs one operation when the second correction execution condition is satisfied and one correction value is determined. Things to end. In addition, in this embodiment, from a different viewpoint, the second correction execution condition has different establishment conditions and cancellation conditions, and the established conditions are such that the above-mentioned condition regarding the machining time or the machining error of the workpiece is satisfied. While the cancellation condition is the second
This can be considered as a mode in which the correction value determining means determines one correction value. (12) The invention according to any one of (1) to (10), wherein the second correction value determination means operates once when the second correction execution condition is satisfied and a plurality of set correction values are determined. Things to end. (13) The invention according to any one of (1) to (10), wherein the second correction value determining means continues to determine the correction value while the second correction execution condition is satisfied. (14) In the inventions of (1) to (13) , the first correction value determining means may determine the latest processing condition (that is, before the first correction value is determined, an initial value of the processing condition, After the correction value is determined, the first processing is performed in accordance with the latest correction value determined by itself or the processing condition affected by the latest correction value previously determined by the second correction value determining means). From the time when the head correction work, which is the work, is measured by the measuring machine, the measurement values measured by the measuring machine start to be sequentially accumulated, and when the number of accumulated measurement values reaches a set number, the measurement of the set number is performed. A new first correction value is determined based on the value. (15) In the invention of (1) to (13) , the first correction value determination means sequentially accumulates the measurement values obtained by the measuring device, and calculates the first correction value based on the accumulated plurality of measurement values. In addition to the determination of each correction value, the measuring machine measures the time between the time when each correction value is determined and the time when the top correction work, which is the first workpiece processed according to the processing conditions affected by each correction value, is measured by the measuring machine. That accumulates multiple measured values measured by the same method by shifting them by the same amount as their respective correction values. That is, in this embodiment, since it is possible to determine a new correction value without waiting for the head correction work to be measured by the measuring machine, it is assumed that the correction value is directly reflected in the measurement value, and By shifting a plurality of measured values of the head correction work (hereinafter referred to as “previous correction work group”) related to the correction value from the timing of determining the value by the same amount as the correction value, and accumulating the same, the previous correction work group Predicts the measured values that would be obtained if it were assumed that each of the workpieces were further processed in accordance with the processing conditions affected by the correction value and that they were immediately measured by the measuring machine. Then, a new correction value is determined based on the measured value. (16) The invention according to any one of (1) to (15) , wherein the first correction value determining means calculates one moving average value based on several set measurement values, and calculates the calculated moving average value. Is regarded as the current measurement value, and the current correction value is determined based on both the error value of the considered current measurement value from the target value and the differential value of the error value or the differential value of the moving average value. Things (claims
5) . Note that the differential value can be determined, for example, as a gradient of a plurality of raw measurement values, moving average values, or error values that are successively acquired from each other when one straight line is approximated. The one straight line can be, for example, a linear regression line. (17) In the invention of (1) to (16) , the first correction value determining means determines a current correction value according to a fuzzy rule based on at least an error value of the current error value and the differential value. A fuzzy operation type to be determined (claim 6) . (18) In the invention according to (17), the second correction value determining means includes:
A fuzzy operation type for determining a current correction value in accordance with a fuzzy rule based on at least an error value between the current error value and the differential value, and the fuzzy rule in the second correction value determination means is a function of the first correction value Different from the fuzzy rules in the decision means. (19) The invention according to (18), wherein the second correction value determining means includes:
The fuzzy rule is different from the fuzzy rule in the first correction value determining means by the first correction value determining means and the second correction value determining means .
When the same input value is given to the correction value determining means, the influence of the input value on the correction value as the output value is made smaller in the second correction value determining means than in the first correction value determining means. What is set. First
In the correction value determination means, it is possible to determine the current error value and the differential value based on a relatively large number of measured values, respectively, while the accuracy of the error value and the differential value is relatively high, In the second correction value determining means, the current error value and the differential value must be determined based on a relatively small number of measured values, and the accuracy of the error value and the differential value becomes relatively low. , than were the same characteristics as the fuzzy rules in the first correction value determining means, second
This is because the accuracy of the correction value determined by the correction value determining means also decreases. (20) The invention according to any one of (1) to (17) , wherein the second correction value determining means determines the current correction value with a magnitude proportional to an error value of a current measurement value from a target value. A proportional control type (P control type) (Claim 7 ). For example, assuming that the current measurement value is X _i , the target value is A ₀ , the current error value is R _i , and the current correction value is U _i , U _i = K _P · (X _i −A ₀ ) = K _P · The current correction value U _i can be calculated using the equation R _i . Here, “K _P ” is a proportional gain. The proportional gain K _P can be set to a value of 1 or more, but is preferably set to a value smaller than 1. The determination of the correction value using the above equation is performed without considering the change tendency of the measured value, and if the proportional gain K _P is set to a value of 1 or more, the correction value tends to change abruptly. In this embodiment, the second correction value determining means is compared with an embodiment in which a correction value is determined based on an error value and a differential value, and a measurement value required for determining one correction value is determined. The effect is obtained that the number is small and the speed of correction is improved. This is because at least one measured value is required to obtain one error value, while at least two measured values must be present to obtain one differential value. . In this embodiment, the “measured value” does not necessarily need to be a raw measured value, but may be, for example, the moving average value. (21) The invention according to (1) to (17) , wherein the second correction value determining means corrects the current correction value by a magnitude proportional to a time integral value of an error value of a current measurement value from a target value. An integral control type (I control type) for determining a value (claim 8) . For example, the current raw measurement value is X _i , the target value is A ₀ , and the current error value is R
_i , where U _i is the current correction value, and U _i = K _I (1 / T _I ) ∫ (X _i -A ₀ ) dt = K _I (1 / T _I ) ∫R _i dt it is possible to calculate the current correction value U _i with. Here, "K _I" is the integral gain, "T _I" is the integration time. The value of the integral gain K _I can also be determined in the same manner as the proportional gain K _P. Assuming that the time interval at which each measurement X is obtained is constant,
In the above equation, the term (1 / T _I ) · ∫X _i dt means the current average value XM _i represented by the equation (1 / n) · iX _i . Here, “n” means the number of past measurement values X used to obtain one average value XM. Therefore, the current correction value U _i can be calculated by using, for example, the following equation: U _i = K _I · ((1 / n) ΣX _i -A ₀ ) = K _I · (XM _i -A ₀ ). it can. Also in this embodiment, the second correction value determining means is compared with an embodiment in which a correction value is determined based on an error value and a differential value, and a second correction value determining means determines a correction value required to determine one correction value. The effect is obtained that the number is small and the speed of correction is improved. To obtain one integral value, it is sufficient to have at least two measured values, but to obtain one differential value as a sufficiently reliable value, use a relatively large number of measured values. Because you have to do it. (22) The invention according to (1) to ( 21) , wherein the second correction value determining means uses a proportional-integral control type (20) and an integral control type (21) in combination. (PI control type). In this case, for example, the correction value U can be determined by using the following equation: U _i = K _P · R _i + K _I · (1 / T _I ) ∫R _i dt. Here, “K _P ” is a proportional gain, and “K _I ” is an integral gain. These values of the gain can also be determined in the same manner as the proportional gain K _P and the integral gain K _I. In addition, the “ second correction value determining means” in the invention of (1) also includes a proportional control type using both a proportional control type and a differential control type.
A differential control type (PD control type) or a proportional-integral-differential control type (PID control type) in which a proportional control type, an integral control type, and a differential control type are used in combination can also be used. The second correction value determining means can be implemented by adopting only the differential control type. In this case, since the differential control type has the effect of predicting the future of the error, the accuracy of the correction value can be improved in that respect. However, a relatively large number of measured values are required to obtain a differential value with high accuracy, but in some cases, a relatively small number of measured values must be used to obtain a differential value. For example, the reliability of the obtained differential value may be reduced, and the reliability of the correction value determined using the obtained differential value may also be reduced. (23) The invention according to (18) to (22) , wherein the second correction value determining means sets the latest processing condition (that is, the initial value of the processing condition, After the correction value is determined, the first processing is performed according to the latest correction value determined by itself or the processing condition affected by the latest correction value previously determined by the first correction value determining unit. When the head correction work, which is a work, is measured by the measuring machine, the measurement values of the measuring machine start to be sequentially accumulated, and when the number of accumulated measurement values reaches a set number, the measurement of the set number is performed. A new second correction value is determined based on the value. (24) The invention according to (1) , wherein the first correction value determination means and the second correction value determination means operate in parallel,
When the second correction execution condition of (1) to (10) is satisfied, the second correction value determination means determines the second correction value, and supplies the determined second correction value to the processing machine control device. What to do. (25) In the invention of (1), when the second correction execution condition of (1) to (10) is not satisfied, the first correction value determining means and the second correction value determining means When only the first correction value determining means operates and the second correction execution condition is satisfied, only the second correction value determining means operates.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below based on a feedback type fixed point correction device which is an embodiment shown in the drawings.

This fixed point correction device is used together with a machining system for machining a crankshaft of an automobile engine as a workpiece to be machined, and cylindrical grinding each of a plurality of journal surfaces formed in advance as machining areas. As used herein, the term “crankshaft” refers to, as shown in FIG.
This is a work having a journal surface.

As shown in FIG. 2, the processing system includes a processing line, a processing machine 10 and two in-process measuring machines 12.
(Shown as one in the figure), sizing device 14, motor controller 15, post-process measuring machine 16, control device 2
0, an auxiliary storage device 22 and the like. That is, the processing machine 10 is an example of a “processing machine” in the present invention, the sizing device 14 and the motor controller 15 are an example of a “processing machine control device”, and the post-process measuring machine 1
6 is an example of a “measuring machine”, and the control device 20 is an example of a “feedback processing condition correction device”. Hereinafter, each of those elements will be specifically described.

The processing line is represented by a thick solid line with an arrow in the figure, and a plurality of works are arranged in a line and transported from upstream to downstream (from left to right in the figure). It is.

The processing machine 10 performs cylindrical grinding on each of the seven journal surfaces of the crankshaft with a circular grindstone as a processing tool. Specifically, as shown in FIG. 3, a plurality of grinding wheels 3 are arranged coaxially.
By rotating contact 0 and the crankshaft,
This is a multi-grinding machine that simultaneously performs cylindrical grinding on all seven journal surfaces. Hereinafter, the configuration will be briefly described.

The processing machine 10 has a work table 32 for a work. The work table 32 is attached to a main frame (not shown) of the processing machine 10.
The work table 32 is provided with a holding device (not shown) for holding the work rotatably around its axis and a work motor 34 for rotating the held work.

The processing machine 10 further includes a forward / backward table 36 for the grindstone group 30 and a swing table 38. The forward / backward table 36 is attached to the main frame so as to be capable of reciprocating in a direction perpendicular to the work held on the work table 32. On the other hand, the swing table 38 is provided with a swing axis (a straight line extending in a direction perpendicular to the plane of the paper in the figure) set on the grindstone axis (indicated by a dashed line in the figure) and orthogonal to the swing axis.
Swing around (possible right or left rotation)
It is attached in a state. Forward / retreat table 36
Forward / reverse motor 4 fixed to the main frame
Due to 0, the swing of the swing table 38 is realized by the swing motor 42 fixed to the forward / retreat table 36, respectively. That is, in the processing machine 10, the angle between the grinding wheel axis and the rotation axis of the workpiece (hereinafter referred to as “cutting angle”) can be adjusted by the swing motor 42.

The two in-process measuring machines 12 are mounted on the processing machine 10. As shown in FIG. 1, each of these in-process measuring machines 12 has a pair of measuring elements sandwiching one cylindrical surface from both sides of the outer periphery, and measures the diameter of the cylindrical surface by an electric micrometer method. . These in-process measuring machines 12 are not individually prepared for the seven journal surfaces, but as shown in the figure, the journal surfaces at both ends, that is, the first journal surface and the seventh journal surface (hereinafter “2”). (Also referred to as “end cylindrical surface”).

The sizing device 14 is, as shown in FIG.
Each of these in-process measuring machines 12 is connected. The sizing device 14 is mainly configured by a computer including a CPU, a ROM, a RAM, and a bus. As shown conceptually in FIG.
During grinding by, the respective diameters of the two end cylindrical surfaces are monitored via the respective in-process measuring devices 12 and the remaining depth of cut at each of these end cylindrical surfaces (the amount required to cut until reaching the final dimension) ) Reaches each set amount (existing for each end cylindrical surface), a signal to that effect (hereinafter referred to as “set amount reaching signal”) is sent to each final dimension, that is, each fixed point (for each end cylindrical surface). When it arrives, a signal to that effect (hereinafter referred to as a "fixed point arrival signal") is output to the motor controller 15 in association with each end cylindrical surface.

The sizing device 14 is also designed so that each sizing point can be corrected. Specifically, when each correction value U (existing for each end cylindrical surface) is supplied from the control device 20, the current correction value U is added to the current fixed size point to thereby obtain the current correction value U. It is designed to change the sizing points and keep each current sizing point intact if not supplied. That is, the sizing device 14 is configured so that the sizing point is automatically corrected by the control device 20. The sizing device 14 is also designed so that commands, information, and the like from an operator are input by a keyboard 50 as shown in FIG.

As shown in FIG. 3, the motor controller 15 is connected to the sizing device 14, the forward / backward motor 40, and the like. The motor controller 15 controls the forward / backward motor 40 and the like based on a command from an operator, a signal from the sizing device 14, and the like.

By the way, the processing machine 10 completes one round of cylindrical grinding through several stages such as rough grinding, fine grinding, spark-out, and the like. The rough grinding is performed until the remaining depth of cut reaches the set amount, and the fine grinding is performed until the diameter reaches the fixed size point. Generally, the two set amount reaching signals to be supplied from the sizing device 14 for each end cylindrical surface have different supply timings, and the motor controller 1
5 controls the forward / backward motor 40 and the swing motor 42 in accordance with the amount of mismatch of the signal supply timing in the rough grinding stage, thereby appropriately controlling the cutting angle. In the fine grinding, the cutting angle should be appropriate in the rough grinding preceding the fine grinding. Therefore, the motor controller 15 drives only the forward / reverse motor 40 to cut the grinding wheel group 30 into the workpiece. Continue, 2
If a fixed point arrival signal is supplied to any of the end cylindrical surfaces, the forward / reverse motor 40 is stopped, and after performing spark-out, the forward / reverse motor 40 is rotated in the reverse direction. 30 is retracted from the work.

As shown in FIG. 2, the post-process measuring machine 16 is disposed on the processing line downstream of the processing machine 10. The post-process measuring machines 16 are provided in the same number as the number of cylindrical surfaces in one work. In the same manner as the in-process measuring machine 12, all the works carried out from the processing machine 10 are sequentially processed, and all the cylindrical surfaces are processed. Measure the diameter individually. This post-process measuring device 16 is connected to the input side of the control device 20.

The control device 20 includes a CPU, a ROM, an R
The computer mainly includes an AM and a bus, and various programs including a fixed point correction routine and a manual correction routine are stored in the ROM in advance. The fixed point correction routine is shown in FIGS.
Is a routine for automatically correcting the fixed point based on the measured value X. On the other hand, although a manual correction routine is not shown, a manual correction command from an operator is provided. This is a routine that is started in accordance with the routine, and is a routine for correcting the fixed size point based on the operation of the operator. The control device 20 is also connected to the auxiliary storage device 22 and is designed to store all of the measured value X input from the post-process measuring device 16 and the correction value U determined based on the measured value X. I have. This is for use when the operator diagnoses the processing status after a series of processing is completed. The RAM is provided with various memories such as a memory for correction value calculation, a memory for correction reflection information calculation, and a memory for integration control, and various flags such as a flag before correction reflection described later.

By executing the fixed point correction routine, the control device 20 feeds back the measured value X by the post-process measuring device 16 as conceptually shown in a functional block diagram in FIG. Next, the correction value U of the fixed point for the work to be processed is determined. The correction value U is a relative physical quantity representing a change amount of the fixed size point, and represents the next fixed size point by the sum with the current fixed size point. In the processing system, there is at least one workpiece between the processing machine 10 and the post-process measuring machine 16 which waits for dimension measurement by the post-process measuring machine 16. Therefore, the control device 20 assumes a control system in which the correction value U is an input signal, the dimension information is an output signal, and a dead time MS exists between the input signal and the output signal. Is corrected. That is, in the present embodiment, the fixed size point is one aspect of the “processing condition” in the present invention.

The flow of processing in the control device 20 will be briefly described as shown in FIG.

First, as a first step ST1, a measured value X is inputted from the post-process measuring machine 16, and subsequently,
As a second step ST2, a correction value U is determined based on the input measurement value X, and further a third step S2 is performed.
As T3, the determined correction value U is transmitted to the sizing device 14.

It should be noted that the control device 20 includes a work 7
The measurement values X are individually input for all the journal surfaces, but basically, based on the measurement values X of the first and seventh journal surfaces, that is, the measurement values X of the end cylindrical surfaces. Thus, a correction value U corresponding to each cylindrical surface of the sizing device 14 is determined.

In the second step ST2, the correction value U
The fuzzy control FC as the main control and the integral control IC as the auxiliary control are used together as a control method for determining the control value. In principle, the correction value U is determined by the fuzzy control FC as the main control, and the integral control is executed. Only when the condition is satisfied, the correction value U is determined by the integral control IC. Hereinafter, the fuzzy control FC and the integral control IC will be described.
Will be described.

First, the fuzzy control FC will be described. As shown in FIG. 11, the fuzzy control FC includes an inter-adjacent variation removal FC1, a diameter correction FC2 at both ends, a dimension information acquisition FC3, a fuzzy operation FC4, and a continuity consideration FC5.
Is performed by sequentially executing a plurality of processes including Hereinafter, the contents of each of these processes will be described. First, the inter-adjacent variation removal FC1 will be described. In the inter-adjacent variation removal FC1, a moving average value P is calculated with respect to the measured values X acquired so far in order to remove inter-adjacent variations from the input measured value X. Each time the measured value X is output from the post-process measuring device 16, the measured value X is stored in the correction value calculation memory, and the moving average value P is calculated based on the plurality of measured values X stored therein. is there. The moving average value P is also stored in the correction value calculation memory.

More specifically, the measured value X is obtained as time-series data by the post-process measuring device 16,
Many inter-adjacent variations are included. Therefore, in the present embodiment, in order to estimate the true dimension of the workpiece by removing the variation between the adjacent portions, the weight is applied to the current measurement value X and the latest at least one measurement value X obtained up to the previous time. A moving average value P with a mark is calculated and used as a true value of the measured value X.

The moving average value P is calculated as follows. That is, the latest K (2
Based on the (fixed value) measured values X described above, the current moving average value _Pi is calculated using a calculation formula represented by the following formula (when K = 5).

[0039]

(Equation 1)

Here, “i” indicates the post-process measuring machine 1
6 (hereinafter referred to as "number of workpieces")
).

Further, “b _i−4 ” to “b _i ” are the same number of weighting factors as the number (= K) of the measured values X necessary for calculating the current moving average value P _i .

Next, the end diameter correction FC2 will be described. In the machining system to which the control device 20 is connected, as described above, the grindstone group 30 is operated based only on the diameter of two end cylindrical surfaces of the entire cylindrical surface of the work. Therefore, when the fixed point is corrected without considering the measured values X of the two end cylindrical surfaces and without considering the measured values X of the other cylindrical surfaces, the processing accuracy of each cylindrical surface is determined by the overall accuracy. May not be sufficiently uniform.

Therefore, in the present embodiment, the following technique is adopted to solve this problem. That is, as conceptually shown in the graph of FIG. 12, the positions of the cylindrical surfaces of the workpiece in the axial direction ("1J" to "7J"
) And the diameter of each cylindrical surface (ie, moving average value P)
Is assumed to be in a proportional relationship, and a process called a both-ends diameter correction FC2 of correcting the measured values X of the two end cylindrical surfaces, respectively, is adopted.

A specific example of the end diameter correction FC2 is as follows. That is, as a formula for correcting the diameter at both ends,

[0045]

(Equation 2)

The following equation, that is, an equation representing the first-order regression line, is used, and by using this equation, the correction value P ′ _i of the moving average value P _i of each end cylindrical surface is calculated. Here, j: number of the journal surface (numbered from 1 to 7 from the first journal surface to the seventh journal surface) jM: average value of seven j values P ′ _ij : of the i-th work Corrected value P _ij of the moving average value P of the j-th journal surface: Calculated value of the moving average value P of the j-th journal surface of the ith work PM _i : Seven moving average values P of the ith work Of calculated values of

[0047] Specifically, for the first journal surface, by substituting 1 into "j" in the above formula, corrected value P _'i1 of moving average P _i1 is obtained, The seventh journal surface for, by substituting the 7 to "j", the correction value P _'i7 of moving average P _i7 is obtained.

In this embodiment, whether or not to execute the end-to-end diameter correction FC2 is instructed by an operator.

Next, the dimension information acquisition FC3 will be described. In this dimension information acquisition FC3, 1 pieces of the dimensional information used in determining the correction value U, the error value R and the error is the difference between the target value A ₀ of the working dimension of the moving average P and the workpiece A differential value T of the value R is calculated. Note that, more accurately, the differential value T is calculated as a differential value of the moving average value P. The reason for determining the correction value U based on parameters other than the error value R in this way is that the correction value U is determined based on the differential value T of the correction value U rather than when the correction value U is determined based only on the error value R. This is because when the correction value U is determined, the actual state of the processing machine 10, the measured values 12, 16 and the like can be more accurately estimated, and the correction accuracy of the fixed size point is improved.

The differential value T is calculated as follows. As shown conceptually in the graph of FIG. 13, the differential value T is, in principle, the moving average value P acquired this time and at least one latest moving average value P acquired up to the previous time (however, When the correction command is issued, the moving average value P of L (fixed value of 2 or more) composed of those to which the influence of the diameter correction at both ends is added is almost proportional to the increase of the number i of the measured workpieces. Assuming that a linear regression line to which the L moving average values P fit is specified, the gradient thereof is calculated by the differential value T
(Equivalent to tan θ when the inclination of the primary regression line is θ radian). Specifically, as an equation of the linear regression line, for example,

[0051]

(Equation 3)

The following equation is adopted. Here, iM: average value of L i values P ′ _i : corrected value of moving average value P of i-th work P _i : calculated value of moving average value P of i-th work (however, both ends diameter correction If a command has been issued, the influence of the diameter correction at both ends is added.) PM _i : average value of the calculated values of L moving average values P and

[0053]

(Equation 4)

Is the differential value T.

Next, the fuzzy operation FC4 will be described. In the fuzzy calculation FC4, a fuzzy calculation for calculating the correction value U using fuzzy inference is performed based on the above-mentioned dimensional information. In this embodiment, fuzzy inference using the error value R and the differential value T as input variables is adopted. Therefore, the ROM of the control device 20
Also stores data for fuzzy inference in advance. Specifically, the data for fuzzy inference are (a)
An inference program, (b) a plurality of membership functions for each of the error value R, the differential value T, and the correction value U; Rules.

As for the error value R, as it increases from negative to positive, "NB", "NM", "N
There are seven fuzzy labels that change in the order of "S", "ZO", "PS", "PM" and "PB".
Each membership function is represented by a graph in FIG.

As for the differential value T, as it increases from negative to positive, “NB”, “NS”, “Z”
Five fuzzy labels which sequentially change to "O", "PS" and "PB" are prepared, and their membership functions are represented by a graph in FIG.

As for the correction value U, as it increases from negative to positive, "NB", "NM", "N
There are seven fuzzy labels that change in the order of "S", "ZO", "PS", "PM" and "PB".
Each membership function is represented by a graph in FIG. When the correction value U increases, the sizing point increases and the journal portion of the crankshaft increases in diameter. Conversely, when the correction value U decreases, the sizing point decreases and the journal portion decreases in diameter. Will be. Table 1 shows the contents of the fuzzy rule group.

[0059]

[Table 1]

One example of the fuzzy rule is, as apparent from Table 1, If R = NB and T = NS then U = PB. The design concept of this fuzzy rule group will be described. In this fuzzy rule group, the fuzzy label of the error value R increases (hereinafter referred to as “the error value R increases”).
It is designed such that the correction value U decreases as the differential value T increases, as well as the correction value U decreases as the same applies to other fuzzy variables.

This is specifically described in, for example, Table 1.
Appears in the fuzzy rule table as follows. That is, for example, when the differential value T is “NS”,
As the error value R increases, the correction value U becomes “PB”, “PB”.
M ”,“ PS ”,“ ZO ”,“ ZO ”,“ NS ”, and“ NM ”, and when the error value R is“ NM ”, the differential value T becomes“ NS ”, "ZO" and "P
S, the correction value U increases as “PM” and “P”
M ”and“ PS ”.

The in-process measuring device 12 may fail for some reason. In this case, the measurement accuracy of the in-process measuring device 12 is suddenly and greatly reduced, and the dimensional accuracy of the work is also greatly reduced. Nevertheless, if the in-process measuring device 12 determines that the correction value U is normal, the actual dimensional accuracy of the work may deviate from the allowable tolerance range.

In view of such circumstances, each fuzzy rule group is divided into a case where the measured value X measured by the post-process measuring device 16 suddenly decreases and becomes considerably small, and a case where the measured value X suddenly increases and becomes considerably large. Are designed such that the correction amount U approaches 0 sufficiently. In this way, if the in-process measuring device 12 breaks down, the output signal from the in-process measuring device 12 is ignored, and the machining is performed on the assumption that the fixed point up to the previous time is appropriate this time. It is possible to maintain a high dimensional accuracy of the work without being strongly affected by the failure of the work.

This is specifically shown as follows in the fuzzy rule table of Table 1, for example. That is,
When the error value R is “NB” or “NM” and the differential value T is “NB”, the error value R is “PM” or “PB” and the differential value T is “PB”. ], The correction value U is "ZO".

In the fuzzy calculation FC4, the first correction value determination method and the second correction value determination method are used to determine the correction value U with high accuracy despite the presence of the dead time MS. A value determination method is adopted.

In the first correction value determination method, FIG.
As shown in the figure, the measured values X by the post-process measuring device 16 are sequentially accumulated, and when the number of accumulated measured values X becomes equal to or more than a set number, the stored set measured values X are Based on this, the correction value U of the fixed size point of the work to be processed next by the processing machine 10 is determined. Further, in this method, every time the post-process measuring machine 16 measures the head correction work, which is the work first processed according to the fixed size point affected by the determined latest correction value U, the measurement is performed. From the start, the accumulation of the measured values X is restarted from the non-accumulated state, and a new correction value U is determined based on the stored set several measured values X.

In this embodiment, it is possible to perform an auxiliary correction following the main correction, which is the above correction, in response to a command from an operator. Originally, no correction should be performed between two main corrections adjacent to each other, but in the sense of improving the accuracy of the main correction,
The correction value determination is continued without clearing the correction value calculation memory only for a certain period immediately after the main correction of a certain time.

Here, the "main correction" is to sequentially accumulate the measured values X and, when the number of the accumulated measured values X reaches the set number, based on the accumulated set measured values X. Thus, the current provisional correction value _UP is determined, and is used as it is as the final correction value U _F.

On the other hand, the “auxiliary correction” is the main correction.
The accumulation of the measured value X is continued even after the end of
Each time is acquired, the data stored in the correction value calculation memory
Out of a plurality of measured values X
Therefore, each provisional supplement is made according to the same rules as in the main amendment.
Positive value U_PIs determined, and the provisional correction value U for each determined time is determined. _P
From the previous provisional correction value U_PMinus the final supplement for each round
Positive value U_FIt is decided to. In this auxiliary correction
Is the compensation determined according to the same rules as in the main amendment.
Provisional correction value U that is positive value U_PDirectly to the sizing device 14
Not transmitted, the previous provisional correction value U_PSupply as difference from
The reason is explained below.
You.

In the auxiliary correction, the final correction value U _F should be determined based on the measured value X of the work affected by the main correction performed prior to the auxiliary correction. However, the work affected by the main correction is not always measured by the post-process measuring device 16 immediately after processing, and may be measured only after measuring some other work. Therefore, in the present embodiment, the effect of the main correction is performed only once from the head correction work related to the main correction so that the influence of the main correction does not overlap and be reflected on the fixed size point corresponding to the work to be processed next. for processed into previously workpiece until such time prior to end measurement, correction values U determined according to the same rules as in the main correction based on each time of measurement X is a provisional correction value U _P, then the final correction in the main correction The value from which the influence of the value U _F has been removed is defined as the final correction value U _F. The relationship between the main correction and the auxiliary correction has been described above, but the same applies to the relationship between one round and the next round in the auxiliary correction.

Further, in the present embodiment, the number of executions of the auxiliary correction subsequent to a certain main correction is limited. That is, the number of determinations of the final correction value U _F in a series of auxiliary compensation is measured, the series of auxiliary compensation is what is to be terminated when the measured determined count has reached the set value.

However, only by doing so, the execution time of the main correction and the auxiliary correction does not sufficiently coincide with the fluctuation time of the measured value X, and the main correction and the auxiliary correction are not executed at the time when they are really needed. is there. To avoid such a situation, in the present embodiment, according to a command from the operator, when the number of determinations of the final correction value U _F in a series of auxiliary compensation has reached the set value, the main correction and the series when at least the sum of the plurality of final correction value U _F determined in the series of auxiliary compensation of the auxiliary compensation is not substantially zero, but terminates the series of auxiliary compensation, substantially 0
If it is because it is estimated that execution timing of at least current additional correction was not adequate, the measurement of the number of determinations of the final correction value U _F with continuing the current additional correction to resume from 0 ing.

In this embodiment, either one of the main correction only and no auxiliary correction and the auxiliary correction as well as the main correction can be selected by the operator as a method of determining the correction value. It is selected according to. That is, if the auxiliary correction command is issued, the latter method is selected, and if not, the former method is selected. Further, as a method of the auxiliary correction, one of a method of continuing the auxiliary correction and a method of not performing the auxiliary correction is selected according to a command of the operator.

Next, a second correction value determination method will be described. In the second correction value determination method, as in the first method, the measured values X are sequentially accumulated, and when the number of accumulated measured values X reaches a set number, the accumulated measured values X are accumulated. A new correction value is determined based on the set several measurement values X. However, in this method, each correction value U
From the time of determination, the accumulation of the measurement value X is resumed from the non-accumulation state, and from the time of the restart until the time when the head correction work affected by each correction value U is measured by the post-process measuring device 16. Each time a new measurement value X is obtained, based on each measurement value X and each correction value U, it is assumed that each of the workpieces is processed according to the fixed point size affected by each correction value U. The value measured for each of the workpieces is predicted, the measured value X after the prediction is regarded as the actual measured value X, and accumulated, and the correction value of the present time is determined based on the accumulated set measured values X Is done.

More specifically, as shown in the graph of FIG. 18, data is accumulated even during the elapse of the dead time. In the data accumulation stage, the measured value X is not accumulated as it is, Are shifted and accumulated as indicated by the broken line. Data shift processing is performed. The shift amount is provisionally determined to be the sum of the correction values U determined before that, which have not yet been reflected in the measured value X. In the example of the figure, since another correction value U is not determined from the time when the correction value U is determined to the time when the correction value U is reflected on the measured value X, the provisional shift amount matches the correction value U. . However, as shown in FIG. 23 and FIG. 24, after a certain correction value U ₁ is determined,
If another correction value U ₂ is determined between the time appearing in the, in the that other correction values U ₂ of the decision timing after the sum of the correction values U ₁ and U ₂ is provisionally The shift amount.

Further, in the second correction value determination method, after the timing at which the head correction work affected by each correction value U is measured by the post-process measuring device 16 is known, it is previously predicted. By subtracting the tentative shift amount from each of the measured values X, the original measured value X is restored, and further, by adding the final shift amount to each of the restored original measured values X, Correction of the measurement value prediction is performed. That is, it is substantially the same as the measured value X before prediction, that is, the original measured value X immediately added with the final shift amount. The determination of the final shift amount will be described later in detail.

Note that this second correction value determination method also
As in the case of the first correction value determination method, various methods can be selected according to a command from an operator.

Next, the continuity consideration FC5 will be described. In the continuity consideration FC5, the calculated correction value U is corrected by considering its continuity. As described above, since the dimensional error of the work generally increases almost proportionally as the number i of the measured works increases, the correction value U of the fixed size point has continuity, that is, the processing value of the processing. It is desirable to make the change smoothly as it progresses in order to suppress the dimensional variation of the work.

Therefore, in this embodiment, focusing on the fact, as shown conceptually in a graph in FIG.
Correction value U ignoring continuity is determined and the provisional value (hereinafter referred to as "provisional correction value U". In addition, different from the provisional correction value U _P below) are and have been obtained until the current date It is assumed that the M (fixed value of 2 or more) provisional correction values U are substantially proportional to the increase in the number i of the measured workpieces.
The same primary regression line equation as in the above case is specified for the number of provisional correction values U. Then, the true value of the current correction value U using equation is estimated, it is the final value of the correction value U (hereinafter referred to as "final correction value U ^*". Note that the final correction value U _F below Different). Specifically, as an equation of the linear regression line, for example,

[0080]

(Equation 5)

The following equation is adopted. However, iM: average of the values of M i U ^* _i: i-th workpiece provisional correction value U which is the correction value final correction value U ^* U _i: i-th calculation of the provisional correction value U of the workpiece Value UM _i : Average value of the calculated values of the M provisional correction values U. Then, by substituting the value of the current measurement work number i into “i” in the above equation, the current final correction value U ^* _i is obtained. Will be.

In this embodiment, whether or not to execute the continuity consideration FC5 is also instructed by the operator.

FIG. 19 conceptually shows a typical process until the final correction value U ^* is obtained from the measured value X when the continuity-consideration type correction command is issued from the operator. . This figure shows that from left to right,
This is expressed as an increase in the value of the number i of measured workpieces. As is clear from the figure, when the accumulation of the measurement value X in the correction value calculation memory is started from the non-accumulation state, (K
One final correction value U ^* is obtained only when (+ L + M-2) measurement values X are accumulated. In the present embodiment, since the final correction value U ^* corresponds to the correction value determined by the “first correction value determining means” in the present invention, the first correction value determining means ends up with one correction value. Is (K + L + M-2).

The fuzzy control FC has been described above. Next, the integral control IC will be described. Integral control I
C is a fuzzy control FC by quickly determining one correction value U with a smaller number of measurement values X than the number of measurement values X required to determine one correction value U by the fuzzy control FC. This is a control that assists. Fuzzy control FC
Correction value U is highly accurate but takes a long time to determine, and if there is always waiting for the next correction value U to be determined, there may be many inaccurate workpieces whose machining errors exceed the tolerance range during that time. Therefore, when the integral control execution condition is satisfied, the integral control IC is executed, and although the accuracy is not high, the correction value U is promptly determined, thereby preventing the occurrence of frequent inaccuracies.

In this integration control IC, as shown in FIG. 27, immediately after the dead time has elapsed, the measured values X are accumulated, and when the accumulated number reaches the set number n, the set number n is reduced. The current correction value U is determined based on the measurement value X. The influence of the correction value U does not appear immediately on the measured value X, but appears on the measured value X only after a lapse of the dead time, and the measured value X falls within the tolerance range.

This integral control IC quickly determines one correction value U with n smaller measured values X than the number of measured values X required for determining one corrected value U by fuzzy control FC. Therefore, when compared with the fuzzy control FC, it is possible to determine a new correction value U in consideration of the change tendency of the past measured value X more accurately, and to reduce the variation among the plurality of past measured values X. It is difficult to determine a new correction value U by completely removing it. For example, the integral control I
If C is performed many times continuously and the integration control IC is continued even after the measured value X falls within the tolerance range, the work dimensions of the work greatly fluctuate and become unstable as shown in the graph of FIG. 28, for example. Therefore, there is a possibility that the possibility of occurrence of a workpiece with poor accuracy may increase. Therefore, the integration control IC should be executed only when necessary.

Therefore, in this embodiment, the integral control I
C is executed only when the integration control execution conditions shown in the table of FIG. 29 are satisfied. The integration control execution condition is constituted by a combination of a condition relating to the machining time and a condition relating to the measured value X. Specifically, immediately after a series of processing is started, the integration control IC is executed regardless of whether the measured value X is inside or outside the set range. Also,
After a series of machining starts, the measurement is performed after the correction value U is manually corrected by the operator and after the setting of the internal parameter used by the fuzzy control FC is changed by the operator. The integration control IC is executed on condition that the value X is out of the set range. At other times, the integral control IC is not executed,
In principle, the fuzzy control FC is executed. In the present embodiment, the setting range is set to be substantially equal to the tolerance range. However, for example, the setting range is determined to be narrower than the tolerance range, and the integral control IC is performed in advance before the machining error does not exceed the tolerance range. It is also possible to That is, in the present embodiment, the “integration control execution condition” is an example of the “second correction execution condition”.

Therefore, for example, at the beginning of a series of machining, as shown in FIG. 30, the measured value X does not exist until the first machined workpiece is measured.
The dead time is reached, and the accumulation for the integration control IC is started from when the first processed work is measured and the first measured value X is obtained. Then, when the number of the accumulated measurement values X reaches the set number n, the first correction value U is determined and transmitted to the sizing device 14. The influence of the first correction value U appears on the measured value X after a lapse of dead time, the measured value X changes suddenly, and the processing error of the work falls within the tolerance range.

Further, as shown by the graph in FIG. 31, after a series of machining starts, since the measured value X has exceeded the tolerance range, the operator has determined that the correction value U should be corrected manually immediately. In this case, the operator temporarily suspends the processing and manually corrects the correction value U. After that, the operator resumes the machining, but the effect of the manual correction value is changed after the elapse of the dead time.
And the measured value X falls within the tolerance range. afterwards,
The measured value X is accumulated for the integration control IC, and when the accumulated number reaches the set number n, a new correction value U is determined,
The effect of the correction value U will appear on the measured value X after a lapse of dead time.

In this embodiment, the integral control IC
, The value obtained by dividing the sum of the error values R of the measured values X of the set number n obtained so far from the respective target values A ₀ by the integration time T _I , that is, the measured value X of the past set number n The correction value U _i of this time is determined by an amount proportional to the difference between the average value XM _i of the target value A ₀ and the target value A ₀ , and specifically, the equation U _i = K _I · (XM _i -A ₀ ) Thus, the correction value U _i is determined. Here, "K
" _I " represents an integral gain. In the present embodiment, the set number n, which is the number of measured values X required to determine one correction value U in the integration control IC, that is, the required number of measured values is one correction value U in the fuzzy control FC. Is set to be smaller than the number (K + L + M-2) of the measured values X necessary to determine Therefore, in the present embodiment, the time required to determine one correction value U in the integral control IC is shorter than in the fuzzy control FC.

When the value of the required measurement value n is 1 in the integral control IC, proportional control is performed. In order to perform the integration control in a narrow sense, the value of the required measurement value n may be 2 or more. Although it is necessary, in the present embodiment, the proportional control, including the case where the value of n is 1, is also included in the integration control in a broad sense.

[0092] Further, the integral gain K _I, if desired sensitively to change the correction value U with respect to changes in the measured values X, for example it is possible to a value of 1 or more. However, as described above, the integration control IC cannot determine the correction value U as accurately as the fuzzy control FC. Therefore,
In the present embodiment, is set to a value smaller than 1 value of the integral gain K _I, thereby, to prevent the correction value U is sensitively changes with respect to changes in the measured values X, poor accuracy workpiece occurs Is prevented beforehand.

In the present embodiment, if the integration control IC is permitted or rejected in accordance with a command from the operator, and if the operator issues an integration control command once, the integration control is thereafter performed. When one correction value U determined by the IC is transmitted to the sizing device 14, the integral control command is automatically canceled. This is because the integral control IC is only a provisional control, and it is considered that it is desirable to reduce the number of executions to a minimum as much as possible in order to improve the stability of the fixed point control. However, unless the operator cancels the integral control command, the integral control IC can be changed so that the integral control IC is performed every time the integral control execution condition is satisfied.

Here, the integral control IC and the fuzzy control FC
Is conceptually described with reference to FIGS. 32 and 33. As described above, the fuzzy control FC method is the first type.
17, that is, a simple storage method in which the measured value X is stored as it is and the data shift process is not performed (FIG. 17).
And the second correction value determination method, that is, the measurement value X
Can be roughly divided into a data shift method (see FIG. 18) in which the data is shifted by a shift amount and accumulated. The relationship between the fuzzy control FC and the integral control IC is different between the case where the fuzzy control FC uses the simple accumulation method and the case where the fuzzy control FC uses the data shift method.

First, a case where the fuzzy control FC adopts the simple accumulation method will be described. In this case, as shown by the graph in FIG. 32, the fuzzy control F
Measurement values X are sequentially stored in C and the integration control IC, respectively. The accumulation of the measured value X is executed in parallel for the fuzzy control FC and the integral control IC. As described above, since the number of measured values X required to determine one correction value U is larger in the fuzzy control FC than in the integration control IC, first, the number of measurement values X is 1 in the integration control IC.
Correction values U are determined. At this time, it is determined whether or not the correction value U should be transmitted to the sizing device 14, that is, whether or not the integration control execution condition is satisfied. Assuming that this time is established, the correction value U determined by the integration control IC is transmitted to the sizing device 14, and the influence of the correction value U is reflected on the measured value X after a lapse of dead time. .
The provisional correction value U is determined before the correction value U is determined by the fuzzy control FC, and the fixed size point can be corrected. When the correction value U determined by the integration control IC is transmitted to the sizing device 14, all the measurement values X accumulated so far in the fuzzy control FC are cleared, and the accumulation of the measurement value X is restarted. When the accumulated number reaches the set number, one correction value is determined by the fuzzy control FC. On the other hand, assuming that the condition for executing the integral control is not satisfied, the correction value U is not determined by the integral control IC, but waits until the correction value U is determined by the fuzzy control FC.

Next, the case where the fuzzy control FC adopts the data shift method will be described. In this case, as shown by the graph in FIG. 33, the integral control I
C and the fuzzy control FC (“fuzzy control 1” in the example of the figure) sequentially accumulate the measured values X, respectively,
First, one correction value U is determined in the integration control IC. At this time, it is determined whether or not the integration control execution condition is satisfied. If it is assumed that the integration control execution condition is satisfied this time, the correction value U determined by the integration control IC is transmitted to the sizing device 14, and after a lapse of dead time, The effect of the correction value U is reflected on the measurement value X. On the other hand, in the fuzzy control FC, as described above, the measurement values X are sequentially accumulated in parallel with the integration control IC, but when the integration control execution condition is satisfied, the correction value calculation for accumulating the measurement values X is performed. The memory is cleared, a new fuzzy control ("fuzzy control 2" in the example in the figure) is started, and the accumulation of the measured value X is restarted from the non-accumulated state. However, the acquired measurement value X (or moving average value P) is not stored as it is, but the correction value U determined by the integration control IC is immediately measured value X.
Is predicted, and the predicted measured value X is accumulated. Specifically, it is assumed that the correction value U determined by the integration control IC is directly reflected on the measurement value X, and the measurement value X
Is added as the predicted value.
Then, in the fuzzy control FC, when the accumulated number of the measured values X reaches the set number (= K + L + M−2), the correction value U is determined and transmitted to the sizing device 14. After the transmission, the correction value calculation memory is cleared and a new fuzzy control FC (“fuzzy control 3” in the example in the figure) is performed.
Is started, and the accumulation of the measured value X is restarted from the non-accumulation state.

The details of the automatic correction performed by the control device 20 have been described briefly above. Hereinafter, the details will be specifically described with reference to the flowcharts of FIGS.

First, in step S1 of FIG.
1 ". In other steps, the same is applied), numerical values and instructions are input as parameters from the keyboard 50 and the auxiliary storage device 22. Next, in S2, a new measured value X is input from the post-process measuring device 16. The measurement values X are entered individually for all seven journal surfaces. The measured value X is stored in the integral control memory, the correction value calculation memory, and the correction reflection information calculation memory, respectively.

Next, in S2a, it is determined whether or not an integration control command has been issued from the operator. For example, when starting a series of machining, when changing the setting of fuzzy control parameters and the like and restarting this routine, and when performing manual correction by interruption of the manual correction routine, An integration control command is issued to the control device 20. When the operator issues an integral control command,
The integration control command flag is turned on, and the determination in S2a is YE
S, S2b through S2j are executed, and S3 in FIG.
However, if not issued, the determination is NO, and the process immediately proceeds to S3. Hereinafter, the contents of this routine will be described assuming that an integral control command has been issued.

Based on the above assumption, the determination in S2a becomes YES, and in S2b, the flag before correction reflection is turned off.
Is determined. The pre-correction reflection flag indicates that the top correction work, which is the top one of at least one work processed according to the latest sizing point, is measured by the post-process measuring machine 16 and the measured value X is the latest of the sizing point. This is a flag indicating whether or not the value has been reflected. The latest fixed point is the initial value of the fixed point before the first correction value U is determined, whereas the newest fixed point is the initial value of the fixed value U after the first correction value U is determined. It is the fixed size point affected. This flag before correction reflection is OFF to indicate that the head correction work has finished measurement, that is, after correction correction, while ON indicates that the head correction work does not end measurement, that is, before correction reflection. Indicates that Therefore, in S2b, it is determined whether or not the work processed first according to the latest fixed point is measured by the post-process measuring machine 16. This time is the beginning of a series of processing, the work which has been processed first according to the latest fixed point, that is, the initial value of the fixed point has not yet reached the post-process measuring machine 16 and the flag before correction reflection is set. If it is assumed to be ON, the determination is NO, and the process immediately proceeds to S3 in FIG.

Thereafter, while the execution of this routine is repeated several times, it is assumed that the pre-correction reflection flag is turned off because the work first processed in accordance with the latest fixed point arrives at the post-process measuring machine 16. Then, S2c
In, it is determined whether or not the number of measured values X stored in the integration control memory has reached a set number n. Assuming that the set number n is not reached this time, the determination is NO, and the process immediately proceeds to S3 in FIG.

Thereafter, if it is assumed that the number of measured values X stored in the integration control memory has reached the set number n while the execution of this routine is repeated several times, the determination in S2c becomes YES. , S2d, an average value XM of the n measured values X is calculated. The calculated average value XM is also stored in the integration control memory. However, the integral control memory may store n or more measured values X. In this case, the average value XM of the latest n measured values X among the n or more measured values X is stored. Is calculated.

Subsequently, in S2e, it is determined whether or not the condition for executing the integral control is satisfied. Since it is assumed that this time is immediately after the start of a series of machining, the integration control execution condition is satisfied, and the determination is YES. In addition,
If the integration control execution condition is not satisfied, the determination is NO, and the process immediately proceeds to S3 in FIG.

Thereafter, in S2f, a correction value U is calculated by integral control. That is, the present correction value U is calculated by using the _{U = K I · (XM-} A 0) becomes equation.
Thereafter, in S2g, the calculated correction value U is transmitted to the sizing device 14. This makes it possible to calculate the automatic correction value U and correct the fixed point at an early stage without waiting for the correction value calculation by the fuzzy control.

Note that the calculated correction value U is not always transmitted, but a dead zone is set. If the correction value U is within the dead zone, the transmission of the correction value U is prohibited and the process immediately proceeds to S3 to deviate from the dead zone. The transmission of the correction value U can be performed only when this is done.

Thereafter, at S2h, the integral control command is canceled by turning off the integral control command flag. In the present embodiment, if one correction value U is transmitted to the sizing device 14 by the integral control, the integral control command is automatically released, and the operator waits again for the integral control command by the operator. is there. Subsequently, in S2i,
The correction value calculation memory is cleared. That is, regardless of whether or not a data shift processing command is issued from the operator, the data used when calculating the correction value U by the next fuzzy control is cleared. Then, S
At 2j, the pre-correction reflection flag is turned on. This is because it is in a state of waiting for the correction value U by the integration control to be reflected on the measured value X. Thereafter, the process proceeds to S3 in FIG.

At S3, the flag before correction reflection is turned on.
Is determined. Current correction before reflection flag is O
Since it is N, the determination in S3 is YES, and the process proceeds to S4 and subsequent steps. In steps S4 to S6, it is determined whether or not the head correction work has been measured by the post-process measuring machine 16.

The head correction work is a post-process measuring machine 1
The determination as to whether or not the measurement has been performed by using the new measurement value X
Each time is measured, the measurement value front-back difference fluctuation state determination is performed.

In each of the measurement value front-back difference fluctuation state determinations, a plurality of measurement values X obtained in that order in advance at that time are:
It is divided into an earlier measurement value group consisting of the set number of measurement values X obtained earlier and a later measurement value group consisting of the set number of measurement values X acquired later and containing the latest measurement value X. Can be Then, the moving average value H _F as a representative value representing the previous measurement value group, the moving average value H _R measured value group as a representative value representing a later are calculated. Each moving average value H _F , H
The calculation of _R is performed for a plurality of measurement values X belonging to each measurement value group in the same manner as the calculation of the moving average value P.

Further, in the determination of the fluctuation state before and after the measured value before and after each measurement, the moving average value H _F from the previous moving average value HF is used.
_The value obtained by subtracting _R is calculated as the difference ΔH before and after the measured value. Subsequently, the absolute value of the current measurements the differential [Delta] H _i is smaller than the absolute value of the previous measurements the differential [Delta] H _i-1, and the measured value the differential of the previous [Delta] H _i-1 the absolute value of the second previous It is determined whether or not the difference before and after the measured value ΔHi _-2 is larger than the absolute value, that is, whether or not the difference before and after the measured value ΔHi _-1 shows an extreme value with respect to the increase in the number i of the measured workpieces. (FIG. 34
(b)). If it is determined to exhibit an extreme value,
It is determined whether or not the absolute value of the difference ΔH _i−1 before and after the previous measurement value indicating the extreme value is equal to or larger than the set value. That is, it is determined whether the difference ΔH before and after the measured value temporarily fluctuates greatly. If the fluctuation ΔH temporarily fluctuates temporarily, it is determined that the fluctuation state of the difference ΔH before and after the measured value exceeds the set state. You.

In the present embodiment, as shown in the graph of FIG.
A maximum value and a minimum value are set in advance for the number of standby works existing between 6 and 6. Then, as shown in FIG. 35, for example, assuming that the number of standby works is the minimum value, the measurement value X of the head correction work measured by the post-process measuring machine 16 is first included in the subsequent measurement value group. At this time, a series of measurement value front-back difference fluctuation state determination is started, and, as shown in FIG. 36, for example, assuming that the number of standby workpieces is the maximum value, the head correction workpiece is a post-process 16 measured value X
Is designed to end a series of before-and-after measurement value difference fluctuation state determination when is finally included in the previous measurement value group.

Further, in the present embodiment, the difference before and after the measured value Δ Δ
If it is not determined that the fluctuation state of H has exceeded the set state, the time when the post-correction work is to be measured by the post-process measuring device 16 when the number of standby works is assumed to be the maximum value is the top. It is also designed so that it is determined that it is time that the correction work is actually measured by the post-process measuring machine 16.

It should be noted that the determination of the before and after measurement value difference fluctuation state determination is as follows. As the number of measurement values X belonging to each measurement value group increases, that is, as the calculation range of the moving average value H increases, for example, FIG. As shown in the graph, the difference ΔH before and after the measured value does not change sensitively to a change in the measured value X.
However, if the number of measured values X belonging to each measured value group is too small, the accuracy of the moving average value H decreases, and the reliability of the fluctuation state determination also decreases. Therefore, the number of the measurement values X belonging to each measurement value group should be set so that the responsiveness and the accuracy are compatible as much as possible.

The determination of the state of the fluctuation before and after the measured value is specifically as follows.
First, in S4 of FIG. 6, the correction reflects the information operation memory, a plurality of measurement X belonging to the previous measurement value group is read, the previous moving average value H _F of are calculated for their measurement X. Moving average value H _F of the calculated previously is stored in the arithmetic memory for correction reflection information. Next, in S5, S4
Definitive when similarly, the moving average value H _R after the measurement value group after is calculated. The calculated moving average value H _R is also stored in the correction reflection information calculation memory.

[0115] Then, in S6, the measured values before and after difference ΔH between them moving average value H _F moving average value H _R is calculated. Further, in the same step, the difference ΔH _i−1 before and after the previous measurement value and the difference ΔH _i−2 before and after the previous measurement value are read from the correction reflection information calculation memory, and the difference ΔH _i− before and after the previous measurement value is read. ₁ indicates an extreme value, and whether the value at that time is equal to or greater than a set value, that is, a difference ΔH
Is greatly changed. In this case, if it is assumed that the difference ΔH before and after the measured value has not fluctuated significantly, the determination in S6 is NO. Subsequently, in S11a, it is determined whether or not the head correction work has arrived at the post-process measuring device 16 or later, assuming that the number of standby works has reached the maximum value, and this time is before that time. If it is assumed that the determination is NO, the process proceeds to S7 in FIG.

In S7, it is determined whether or not a data shift processing command has been issued from the operator. Assuming that it has not been issued this time, the determination is NO and S
At 8, it is determined whether the pre-correction reflection flag is ON. This time it is ON, so the judgment is YES,
In S9, only the correction value calculation memory is cleared. Then, the process returns to S2.

Thereafter, if it is assumed that the difference ΔH before and after the measured value greatly fluctuates while the steps S2 to S9 are repeated many times, the determination in S6 in FIG. Correction work is post-process measuring machine 1
6, and it is determined in S10 that the before-reflection reflection flag is turned off. Thereafter, in S11, the previous value ΔH _{i−1 of the} difference ΔH before and after the measured value is stored in the correction reflection information calculation memory as the correction reflection amount ΔU in which the correction value U is reflected on the measurement value X. Thereafter, the process proceeds to S7 in FIG.

Even if the determination in S6 does not become YES, it is after the time when the leading correction work reaches the post-process measuring machine 16 when the number of standby works is assumed to be the maximum value, and the determination in S11a is YES. If it has become, the process moves to S10, and the correction reflection flag is turned off. In other words, in this case, when the number of standby works is assumed to be the maximum value, the time when the top corrected work reaches the post-process measuring machine 16 is the time when the top corrected work actually reaches the post-process measuring machine 16. It is determined that there is.

If the determination in S7 in FIG. 7 is NO, and if it is determined in S8 whether the pre-reflection reflection flag is ON, it is OFF this time, so the determination is NO and S
It moves to 12. Therefore, this time, the correction value calculation memory is not cleared in S9, and the current measurement value X is kept accumulated.

In S12, the past measurement value X (that is, the measurement value X already stored) is input from the correction value calculation memory, and in S13, the moving average value P
Is determined, that is, whether or not the number of measured values X stored in the correction value calculation memory is K or more. In this case, if it is assumed that the number of accumulated measurement values X is not K or more, the determination is NO and the process returns to S2.

Thereafter, in this S2, a new measured value X
Is input, and it is determined in S3 whether or not the pre-correction reflection flag is ON. This time is OFF, so the determination is NO, and the process immediately proceeds to S7 in FIG. The determination in S7 is NO, and the determination in S8 is NO. In S12, the past measurement value X is input again from the correction value calculation memory, and in S13, it is determined whether the moving average value P can be calculated. Is determined. If it is assumed that it can be calculated this time, the determination is YES, and in S14,
The moving average value P is calculated as described above, and is stored in the correction value calculation memory.

Thereafter, in S15, it is determined whether or not a both-ends diameter correction command has been issued from the operator. YES, in S17, the diameter correction of both ends is performed on the moving average value P of the two end cylindrical surfaces, and the contents of the correction value calculation memory are changed according to the result. Then, the process proceeds to S16.

[0123] In S16, the value obtained by subtracting the target value A ₀ of the workpiece dimensions from this moving average P is the current error value R, are stored in the correction value calculation memory. afterwards,
In S18, it is determined whether the differential value T can be calculated. It is determined whether the number of moving average values P stored in the correction value calculation memory is L or more. In this case, if it is assumed that the number of the moving average values P is insufficient, the determination is NO, and the process shifts to S2 in FIG. After that, the execution of the steps S2, 3, 7, 8, 12 to 18 was repeated many times, and as a result, the number of moving average values P stored in the correction value calculation memory became L or more. Assuming that the determination in S18 is YES, S19
In the above, the differential value T is calculated as described above, and is stored in the correction value calculation memory. Thereafter, the process proceeds to S20 of FIG.

In S20, the provisional correction value U is calculated by the fuzzy estimation based on the error value R and the differential value T. Subsequently, in S21, it is determined whether or not a continuity-consideration-type correction command has been issued from the operator. If not, the determination is NO, and in S22, the provisional provisional value U is directly used as the final correction value U ^*. And
Then, the process proceeds to S25. On the other hand, if a continuity-consideration-type correction command is issued from the operator, the determination in S21 is YES, and in S23, it is determined whether continuity-consideration-type correction can be considered. It is determined whether the number of provisional correction values U stored in the correction value calculation memory is M or more. In this case, if it is assumed that the number of accumulated provisional correction values U is not M or more, the determination is NO, and the process immediately returns to S2. Thereafter, if it is assumed that the number of provisional correction values U stored in the correction value calculation memory becomes M or more while the execution of this routine is repeated many times, the determination in S23 becomes YES, and the determination in S24 is made. In, the final correction value U ^* is calculated based on the M provisional correction values U stored in the correction value calculation memory as described above, and is stored in the correction value calculation memory. Thereafter, the process proceeds to S25 in FIG.

In S25, it is determined whether or not an auxiliary correction command has been issued from the operator. If it is assumed that no correction has been made this time, the determination is NO, and the final correction value U ^{* of} this time is transmitted to the sizing device 14 in S27. Thereafter, in S28, it is determined whether or not an auxiliary correction command has been issued from the operator. Since it is assumed that no auxiliary correction command has been issued this time, the determination is NO, and the process proceeds to S29.

In this step S29, it is determined again whether or not an auxiliary correction command has been issued from the operator. However, it is assumed that no auxiliary correction command has been issued this time.
And the process proceeds to S30. In this S30, the correction reflection flag is turned ON. A state in which the correction value U is transmitted to the sizing device 14 and the head correction work affected by the correction value U reaches the post-process measuring machine 16 and waits for the correction value U to be reflected in the measurement value X. This is because it has shifted to. Thereafter, in S31, the correction value calculation memory is cleared. Then, the process returns to S2.

The case where neither the data shift processing instruction nor the auxiliary correction instruction is issued has been described above. Next, the case where the data shift processing instruction is not issued but the auxiliary correction instruction is issued will be described.

In this case, if it is determined in S25 of FIG. 9 whether or not an auxiliary correction command has been issued from the operator, the determination becomes YES, and in S50, it is determined whether or not the auxiliary correction is being executed. Is determined. It is determined whether the value of the auxiliary correction counter indicating the number of times of performing the auxiliary correction is 1 or more. If it is assumed to be 0 this time, the determination is NO, and the process proceeds to the step group from S27 onward, where the main correction is performed. In step S28 of this group of steps, it is determined whether or not an auxiliary correction command has been issued from the operator. Since it is assumed that the auxiliary correction command has been issued this time, the determination is YES. Is incremented by one. Then, S
The process proceeds to step 29 or lower.

Thereafter, if S50 in the figure is executed again, since the value of the auxiliary correction counter is not 0 this time, the determination becomes YES, and the process proceeds to the step group from S52 to perform the auxiliary correction. First, in S52, the current transmission value is calculated by subtracting the previous value from the current value of the final correction value U ^* .

[0130] It should be noted that, "the final correction value U ^* of the current value" in the provisional correction value U _P of the time in here, "the final correction value U
^* Previous value "means the provisional correction value U _P of the previous" current transmission value "corresponds respectively to a final correction value U _F of the time. The “current transmission value” is a total value of at least one transmission value transmitted to the sizing device 14 from the main correction to the previous time from the current value of the final correction value U ^* (hereinafter “the previous transmission value”). (Total value)). In this embodiment, since the determined transmission value is always transmitted to the sizing device 14 regardless of the magnitude of the determined transmission value, the current transmission value is calculated by this method. However, as described above, the same value is obtained by subtracting the previous value from the current value of the final correction value U ^* . However, a dead band is set for the transmission value, and the determined transmission value is not necessarily the sizing device 14.
Will not be the same,
In this case, it is desirable to calculate the current transmission value only by subtracting the total value of the final correction value U ^{* from} the current value to the previous value.

Thereafter, in S53, the calculated transmission value is transmitted to the sizing device 14, and auxiliary correction is performed. Thereafter, in S54, the auxiliary correction counter is incremented by one, and thereafter, the flow proceeds to S29. In S29, it is determined whether or not an auxiliary correction command has been issued from the operator. Since it has been issued this time, the determination is YES, and the process shifts to S55 in FIG.

In S55, it is determined whether or not the current auxiliary correction should be terminated. Specifically, it is determined whether or not the current value of the auxiliary correction counter has become equal to or greater than a set value (input from the auxiliary storage device 22 in S1 of FIG. 5). Assuming that this time is not the case this time, the determination is NO, and the process immediately returns to S2.

Thereafter, if it is assumed that the current value of the auxiliary correction counter has become equal to or greater than the set value while the execution of this routine is repeated many times, the determination in S55 becomes YES, and
In S56, the sizing device 14 is used in the current auxiliary correction.
Is calculated (hereinafter referred to as “total correction value”). Thereafter, in S57, it is determined whether or not the total correction value is 0, that is, whether or not it is necessary to continue the current auxiliary correction because it is estimated that the current auxiliary correction was not performed at a really necessary time. Is determined. Assuming that it is not necessary this time, the determination is NO, and in S58, the flag before correction reflection is turned ON,
In S59, the correction value calculation memory is cleared, and thereafter, the flow returns to S2. On the other hand, if it is assumed that the current auxiliary correction needs to be continued, the determination in S57 is YES.
And immediately returns to S2.

The case where the data shift processing command has not been issued has been described above. Next, the case where the data shift processing command has been issued will be described. However, the contents of the data shift processing is determined to when another correction value U ₂ until the correction value U ₁ from a certain correction value U ₁ is determined is reflected in the measured value X has not been determined It depends on the case. Moreover, the contents of the data shift processing in the case where there correction value U ₁ is another correction value U ₂ is determined during a period from the determined to the correction value U ₁ is reflected to the measured value X, the worker Are different depending on whether or not the auxiliary correction command is issued. Therefore, each case will be described separately.

[0135] First, there correction value U ₁ is not different correction values U ₂ is determined during a period from the determined to the correction value U ₁ is reflected to the measured value X, the correction value U ₁ is measured It will be described with reference to the example of FIG. 22 when the correction value U ₂ is determined after being reflected in the X.

At present, the flag before correction reflection is ON, that is, after transmitting the latest correction value U ₁ to the sizing device 14, the head correction work affected by the correction value U ₁ is sent to the post-process measuring machine 16. Assume that you are waiting to arrive. Therefore, the determination in S3 in FIG. 5 is YES, and S4 to S6 are executed in the same manner as in the above case. If it is assumed that the difference ΔH before and after the measurement value does not fluctuate greatly this time, the determination in S6 is NO, and the process proceeds to S7 in FIG. In S7, it is determined whether or not a data shift processing command has been issued. Since it has been issued this time, the determination is YES, and in S70, data shift processing is performed.

Details of the data shift processing are shown in the flowchart of FIG. First, in S200, it is determined whether the pre-correction reflection flag is ON. Since it is ON this time, the determination becomes YES, and in S201, the current measured value X is read from the correction value calculation memory, and the provisional shift amount is added to the measured value X, so that the measured value prediction is performed. Is performed. The provisional shift amount is determined to be the sum (= ΣU _i ) of the correction values U determined so far and not yet appearing in the measured value X. In the example of FIG. 22, the correction value U not yet appeared on the measured value X since only U _1, after all, preliminary shift will be a U _1. Then, in S202,
The corrected flag provided in the RAM is turned off.
The function of the corrected flag will be described later. S
One execution of 70 is completed.

Thereafter, this S70 is executed every time the measured value X is acquired. As a result, as shown by the broken line in FIG. 22, the data shift process, that is, the measured value prediction is performed.

Thereafter, if the flag before correction reflection is turned off in S10 of FIG. 6, the determination in S200 of FIG.
The result is O, and it is determined in S203 whether or not the corrected flag is ON. Since it is OFF this time, the determination is NO and the process moves to S204. In this S204, the correction reflection amount ΔU is read from the correction reflection information calculation memory, and based on the relationship between the correction reflection amount ΔU and the correction value U determined beforehand, is the measurement value prediction not sufficiently accurate? It is determined whether or not. Specifically, whether the correction value U corresponding to the measurement value X when the pre-reflection reflection flag is turned off and the correction reflection amount ΔU in which the correction value U is reflected in the measurement value X are different from each other by a set value or more. It is determined whether or not.
This is because, as described above, the measurement value prediction is performed by assuming that the correction value U appears as it is in the measurement value X and determining the correction value U itself as a temporary shift amount.

Here, the "correction value U corresponding to the measured value X when the pre-reflection reflection flag is turned off" is set here.
Does not always match the latest correction value U. This is because there may be a correction value the correction value U ₁ from the determined timing of U ₁ is different correction values U ₂ until the time that are reflected in the measured value X is determined. Therefore, the “correction value U corresponding to the measured value X when the pre-correction reflection flag is turned off” is a correction value that has not yet been reflected in the measurement value X before the pre-correction reflection flag was turned off. U means the one determined first.

In this case, if it is assumed that the measurement value prediction is sufficiently accurate, the determination in S204 is NO, and the execution of S70 is immediately terminated. YES, S205
Move to In S205, the correction reflection amount ΔU is read from the correction reflection information calculation memory, and the measurement value X stored in the correction reflection information calculation memory is stored.
(Predicted values) are all read. Further, in the same step, after the provisional shift amount is subtracted from each of the measured values X, the original measured value X is restored to the original measured value X (the value before prediction), and then the final measured value X is added to the original measured value X. The correction reflection amount ΔU is added as the actual shift amount. As a result, FIG.
As shown by the two-dot chain line in FIG. 2, the measurement value prediction is corrected. After that, the corrected flag is turned on in S206. That is, the corrected flag is a flag that indicates that the measurement value prediction has been corrected when it is ON, and that the correction has not been performed when it is OFF.

Thereafter, if a new measured value X is acquired and S70 is executed again, the current correction reflection flag is turned off.
Therefore, the determination in S200 is NO, and if it is determined in S203 whether or not the corrected flag is ON, the determination is YES because the flag is currently ON, and S20
Steps S4 to S206 are skipped and the execution of S70 ends immediately. Therefore, while the pre-correction reflection flag is OFF, the measured value X is directly stored in the memory for calculating the corrected value, and neither the predicted value nor the correction of the measured value X is performed as shown in FIG.

Thereafter, if the number of measured values X stored in the correction value calculation memory has reached the set number, another correction value U ₂ is determined in S20. Eventually correction value U _2, as shown in the area hatched in FIG. 22, it will be determined based on a plurality of past measurements X.

Next, a case where another correction value U ₂ is determined after a certain correction value U ₁ is determined and before it is reflected on the measured value X will be described. However, the case where the auxiliary correction command is not issued and the case where the auxiliary correction command is issued will be described separately.

First, the case where the auxiliary correction command is not issued will be described with reference to the example of FIG. In this case, the correction value U
_{After 1} is determined and transmitted to the sizing device 14, S in FIG.
If the determination at 29 is made, the auxiliary correction command has not been issued this time, so the determination is NO, the flag before correction reflection is turned on at S30, and the memory for correction value calculation is cleared at S31. Thereafter, the process returns to S2 of FIG.

Thereafter, in S2, a new measured value X is stored in the correction value calculation memory, and subsequently, in S7, it is determined whether or not a data shift processing command has been issued. Since it has been issued this time, the determination is YES and S9 is skipped. That is, unlike the case where the data shift processing command is not issued, the correction value calculation memory is not cleared even if the correction pre-reflection flag is ON, and the measured values X are sequentially accumulated.

Each time the measured values X are accumulated, the determination in S7 of FIG. 7 becomes YES, and S70 is executed. In S70, first, in S200 of FIG. 21, it is determined whether or not the before-reflection reflection flag is ON. Since the flag is currently ON, the determination becomes YES. In S201, the current measurement value is stored in the correction value calculation memory. X is read, and a provisional shift amount is added to the current measured value X. This time,
Since there only U ₁ as a correction value U not yet appeared on the measured value X, after all, preliminary shift of this time are U _1. As a result, as shown by a broken line in FIG.
A measurement prediction will be made. Thereafter, the corrected flag is turned off in S202. Thus, the execution of S70 ends.

Thereafter, the input of the measured value X from the post-process measuring device 16 and the predicted value of the measured value are repeated, respectively.
As a result, when the number of measured values X stored in the correction value calculation memory has reached several settings, as shown in (b) of FIG. 23, the correction value U ₂ step S20 is determined. Regions hatched in the figure shows the measured values X after prediction is utilized to determine a correction value U _2.

If the correction value U ₂ is determined, no auxiliary correction command has been issued this time, so the determination in S29 in FIG.
The result is O, the pre-reflection reflection flag is turned ON in S30 (however, the pre-reflection reflection flag does not change because it is currently ON), and the correction value calculation memory is cleared in S31. Therefore, if the measured value X is subsequently input, it will be stored in the correction value calculation memory in a non-accumulated state.

Thereafter, if S70 is executed, the flag before correction correction is currently ON, so the determination in S200 in FIG. 21 is YES, and in S201, the current measured value X is read from the correction value calculation memory. , The provisional shift amount is added to the current measurement value X. Since this time, there is a U ₁ and U ₂ as a correction value U not yet appeared on the measured value X, after all, the preliminary shift amount of current (U ₁ +
U ₂ ). As a result, as shown by the broken line in FIG. 23C, the measurement value is predicted. afterwards,
In S202, the corrected flag is turned off. Thus, the execution of S70 ends.

Thereafter, assuming that the correction value U ₁ is reflected on the measured value X and the pre-correction reflection flag is turned off, S
The determination at 200 is NO, and at S203, it is determined whether the corrected flag is ON. This time is OFF
Therefore, the determination is NO, and in S204, it is determined whether the measurement value prediction is not sufficiently accurate.
If it is determined that this time was not sufficiently accurate, the determination is Y
It becomes ES, and in S205, the measurement value prediction is corrected in the same manner as in the above case. As a result, the measured value X after the prediction is corrected as shown by the thick solid line in FIG.

Thereafter, a new measured value X is obtained, and S7
If 0 is executed, the flag before correction reflection is currently ON, so the determination in S200 is YES, and in S201, a measurement value prediction is performed as indicated by a broken line in (e) of FIG. The correction value U ₂ is used as a provisional shift amount for the measurement value X.
Is added. Thereafter, when the number of measured values X stored in the correction value calculation memory has reached several settings, as shown in (f) of FIG. 23, the correction value U ₃ is determined in S20. The hatched area in the figure is
Shows the measured values X after prediction is utilized to determine a correction value U _3.

Next, the case where the auxiliary correction command is issued will be described with reference to the example of FIG. Auxiliary correction is also performed for the correction value U ₁ (in the figure, the correction value for the auxiliary correction is “USB”
It is assumed that the auxiliary correction has been completed as shown in FIG. Therefore, the determination in S55 of FIG. 10 is YES, the determination in S57 is also YES, and in S58, the before-reflection reflection flag is turned on (there is no change since it was ON immediately before), and in S59, the correction value calculation memory is It is cleared and returns to S2.

Thereafter, a new measured value X is obtained, and FIG.
If the determination in S7 is executed, the data shift processing command has been issued this time, so the determination is YES, and S70
Is executed. In S70, since the flag before correction reflection is currently ON, the determination in S200 in FIG. 21 is YES.
In step S201, the current measurement value X is read from the correction value calculation memory, and the provisional shift amount is added to the current measurement value X. This time, because only U ₁ is present as a correction value U not yet appeared on the measured value X, after all, preliminary shift of this time are U _1. As a result, the measured value is predicted as shown by the broken line in FIG. Thereafter, the corrected flag is turned off in S202. Thus, the execution of S70 ends.

Thereafter, the input of the measured value X from the post-process measuring device 16 and the predicted value of the measured value are repeated, respectively.
As a result, when the number of measured values X stored in the correction value calculation memory has reached several settings, as shown in (c) of FIG. 24, the correction value U ₂ step S20 is determined. Regions hatched in the figure shows the measured values X after prediction is utilized to determine a correction value U _2.

If the correction value U ₂ is determined, since the auxiliary correction command has been issued this time, the determination in S29 in FIG.
In S, it is determined in S55 of FIG. 9 whether the auxiliary correction should be terminated. If it is assumed that the process should be terminated this time, the determination is NO, and the process immediately returns to S2.

Thereafter, in S2, a new measured value X is obtained, and subsequently, if S70 is executed, the flag before correction reflection is currently ON, so that the determination in S200 in FIG. 21 is NO, and in S201 , A measurement prediction is made. This time, because of the U ₁ and U ₂ as a correction value U not yet appeared in the measured values X, provisional shift of this time are (U ₁ + U _2). After that, if S20 is executed, as shown in FIG.
SB is determined. Assuming that the auxiliary correction should not be ended again this time, the determination in S55 of FIG.
And immediately returns to S2 to acquire a new measurement value X. After that, if S70 is executed, the flag before correction reflection is currently ON, so the determination in S200 is NO, and
In S201, measurement value prediction is performed as in the previous case.

After that, it is assumed that before the auxiliary correction is completed, the head correction work reaches the post-process measuring machine 16 and the correction reflection flag is turned off. In this case, in S70, the current correction reflection flag is turned off.
Therefore, the determination in S200 is NO, and in S203, it is determined whether the corrected flag is ON. Since it is currently OFF, the determination is NO and S20
At 4, it is determined whether the measurement prediction was not sufficiently accurate. Assuming that this time is not sufficiently accurate, the determination is YES, and in S205, the measurement value prediction is corrected. As shown in (e) of FIG. 24, the measured values X obtained by the time the determination of the correction values U ₂ from the end of the preceding additional correction, correction reflects previous flag from the time of the determination of the correction values U ₂ OFF Each of the measured values X acquired until the time is changed as shown by the thick solid line in the figure.

In the present embodiment, when the auxiliary correction is executed, as shown in FIG. 24E, the correction value U ₂ is included in the plurality of measurement values X for which the correction of the measurement value prediction is to be performed. a provisional shift amount even before the decision is a correction value U _1, provisional shift amount (U ₁ + U ₂₎ as a are mixed even after the determination of the correction values U ₂ As a result, even if the measurement value prediction is corrected, the predicted measurement value X used in determining the next correction value U ₃ is not sufficiently uniform. Therefore, when it is necessary to make the measured values X sufficiently uniform, for example, when the correction value U ₂ appears in the measured value X as shown in FIG. The measured value X, which has already been stored in the correction value calculation memory before the correction value U ₂ is determined and which has been shifted by the provisional shift amount U ₁ , is further replaced by the provisional shift amount U ₂
, The measured value may be predicted again.

In this embodiment, when the fuzzy control employs the data shift method, the integral control execution condition is satisfied as shown by the graph in FIG. 33, and the correction value U is determined by the integral control. Sometimes, the memory for correction value calculation is cleared, and the accumulation of the measurement value X is restarted from the non-accumulation state, and the correction value U determined by the integration control IC is immediately measured instead of being accumulated as it is. Value X
Is predicted, and the measured value X that is to be obtained when it is assumed to be reflected is predicted, and the predicted measured value X is accumulated. That is, the data shift is performed not on the measured values X accumulated in the fuzzy control at the same time as the accumulated values of the measured values X in the integral control, but on only the measured values X accumulated thereafter. It is like that. However, for example, as shown in FIG. 40, the data shift can be performed on the measured value X accumulated in the fuzzy control at the same time as the measured value X is accumulated in the integral control.
For example, from the start to the end of the integration control, the measured value X is stored in the correction value calculation memory as it is, but when the correction value U is determined by the integration control, the measured value X stored up to that point is integrated. The data shift can be performed retroactively by adding the correction value U by the control.

FIG. 39 is a flow chart showing a part of the fixed point correction routine for executing such data shift processing. This flowchart is shown in FIG.
Since there are many parts common to the flowcharts in FIG. 5, only different parts will be described, and description of common parts will be omitted by using the same reference numerals.

Assuming that the condition for executing the integral control is satisfied, the judgment in S2e is YES, the correction value U is calculated by the integral control in S2f, and the correction value U is calculated in S2g.
The calculated correction value U is transmitted to the sizing device 14.
Thereafter, in S2h, the integration control command flag is turned off.
Is done. Subsequently, in S2i, it is determined whether or not there is a data shift processing command. Assuming that this command is present, the determination is YES, and in S2j, of the measured values X stored in the correction value calculation memory, the measured values are stored at the same time as the measured values X were stored in the integral control. For each of the measured values X, a correction value U
Is used as a shift amount to perform data shift processing. Thereafter, the process proceeds to S3 in FIG. Thus, as shown in FIG. 40, the data shift processing based on the correction value U by the integral control is performed retroactively to the start time of the integral control. After that, in S2k, the flag before correction reflection is set to O
N, and the process moves to S3 in FIG. On the other hand, assuming that there is no data shift processing command this time, the determination in S2i is NO, and the process immediately proceeds to S2k.

As is apparent from the above description, in the present embodiment, the part of the control device 20 which executes the fuzzy control FC of FIG. 20 constitutes an example of the "first correction value determining means" in the present invention. The part of the control device 20 that executes the integral control IC shown in FIG. 3 constitutes an example of the “second correction value determining means” in the present invention.

In this embodiment, the present invention is applied to a fixed point correction apparatus used together with a machining system that uses a crankshaft as a workpiece, and uses a plurality of journal surfaces (outer peripheral cylindrical surfaces) thereof as machining portions, and a cylindrical grinding system. Although this is an example of the case where the present invention is applied, it is a matter of course that the present invention can be applied to a fixed point correction device used together with another processing system. Other processing systems include, for example, a cylinder block of an automobile engine as a work to be processed, and a plurality of cylinder bores (inner cylindrical surface) formed in advance.
Can be selected as a machining part.

Although the present invention has been described in detail with reference to the illustrated embodiments, various modifications and improvements may be made based on the knowledge of those skilled in the art without departing from the scope of the claims. The present invention can be carried out in such a manner.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a state in which a crankshaft is ground by a grindstone in a processing system using a feedback type fixed point correction device according to one embodiment of the present invention.

FIG. 2 is a system diagram showing the entire processing system.

FIG. 3 is a diagram showing a configuration of a processing machine in the processing system.

FIG. 4 is a functional block diagram conceptually showing the fixed point correction device.

FIG. 5 is a flowchart showing a part of a fixed point correction routine executed by the computer of the control device 20 in FIG. 2;

FIG. 6 is a flowchart showing another part of the fixed point correction routine.

FIG. 7 is a flowchart showing yet another part of the fixed point correction routine.

FIG. 8 is a flowchart showing yet another part of the fixed point correction routine.

FIG. 9 is a flowchart showing yet another part of the fixed point correction routine.

FIG. 10 is a flowchart showing yet another part of the fixed point correction routine.

FIG. 11 is a diagram conceptually showing the flow of the entire process of the fixed point correction routine.

FIG. 12 is a graph conceptually showing the principle of correcting both end diameters in FIG. 11;

13 is a graph conceptually showing a process of calculating a differential value T from an error value R in obtaining dimension information in FIG.

14 is a graph showing a membership function used for an error value R in the fuzzy operation in FIG.

FIG. 15 is a graph showing a membership function used for a differential value T in the fuzzy operation.

FIG. 16 is a graph showing a membership function used for a correction value U in the fuzzy operation.

FIG. 17 is a graph conceptually illustrating how a new correction value is determined each time a correction value is reflected on a measured value in the embodiment.

FIG. 18 is a diagram conceptually illustrating the contents of a data shift process in which a measured value existing before the correction value is shifted by the correction value before the correction value is reflected on the measured value in the embodiment. It is a graph of.

FIG. 19 is a graph conceptually showing the content of continuity consideration in FIG. 11;

20 is a diagram for explaining an example of a process in which a final correction value U ^* is derived from a measured value X in the fixed point correction routine of FIGS.

FIG. 21 is a flowchart showing details of S70 in FIG. 7;

[22] In the above embodiment, when the correction value U ₁ of a round following the correction value U ₂ is determined after appearing in the measured value X, the measurement value X, which is predicted by the data shift processing is corrected 6 is a graph for conceptually explaining the state of the operation.

FIG. 23 shows a data shift process in a case where another correction value U ₂ is determined before a certain correction value U ₁ appears in the measurement value X and no auxiliary correction is performed in the above embodiment. 5 is a graph for conceptually explaining how the measured value X predicted by the above is corrected.

FIG. 24 is a diagram showing a case where another correction value U ₂ is determined before a certain correction value U ₁ appears in the measurement value X and auxiliary correction is performed in the above embodiment. 5 is a graph for conceptually explaining how a predicted measurement value X is corrected.

FIG. 25 is a graph for explaining the relationship between the execution period of the measurement value front-back difference fluctuation state determination and the minimum and maximum values of the number of standby works in the embodiment.

FIG. 26 is a graph for conceptually explaining the relationship between the number of workpieces, the difference before and after the measured value, and the number of sample values used for calculating the difference before and after the measured value in the embodiment.

FIG. 27 is a graph conceptually showing the contents of the integration control IC in FIG. 11;

FIG. 28 is a graph for explaining a problem in the case where integration control is performed many times continuously.

FIG. 29 is a diagram showing, in a table form, integration control execution conditions in the fixed point correction routine.

FIG. 30 is a graph for explaining how the fixed point correction routine is executed at the beginning of a series of machining.

FIG. 31 is a graph for explaining how the fixed point correction routine is executed after manual correction by an operator.

FIG. 32 is a graph for explaining the relationship between the integral control and the fuzzy control of the simple accumulation method in the fixed point correction routine.

FIG. 33 is a graph for explaining the relationship between the integral control and the fuzzy control of the shift accumulation method in the fixed point correction routine.

FIG. 34 is a graph conceptually illustrating how a measured value X changes with an increase in the number of measured values i in the processing system.

FIG. 35 is a diagram for conceptually explaining the contents of a start condition of a measurement value front-back difference fluctuation state determination in the fixed point correction routine.

FIG. 36 is a diagram for conceptually explaining the contents of an ending condition of the measurement value front-back difference fluctuation state determination in the fixed point correction routine.

FIG. 37 is a graph for explaining how a correction value is automatically determined in a feedback-type processing condition correction device developed prior to the present invention by the present applicant.

FIG. 38 illustrates how a machining condition is manually corrected by an operator before an initial correction value is automatically determined in a feedback processing condition correction device developed prior to the present invention by the present applicant. It is a graph for performing.

FIG. 39 is a flowchart showing a part of a fixed point correction routine executed by a computer of the control device 20 in a feedback type fixed point correction apparatus according to another embodiment of the present invention.

40 is a graph for explaining a state of fixed size point correction executed according to the flowchart of FIG. 39.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Processing machine 12 In-process measuring machine 14 Sizing device 15 Motor controller 16 Post-process measuring machine 20 Control device

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-6-198543 (JP, A) JP-A-6-106455 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05B 19/18-19/46 B23Q 15/00-15/28

Claims (8)

(57) [Claims] (A) a processing machine for processing a plurality of workpieces in order; and (b) a processing condition of the processing device is corrected based on a correction value supplied from outside, and the processing is performed in accordance with the corrected processing condition. A processing machine control device that controls the machine, and (c) a measuring machine that sequentially measures the dimensions of a plurality of workpieces processed by the processing machine, and a measurement performed by the measuring machine between the processing machine and the measuring machine. Is used together with a processing system having at least one workpiece waiting for, and when a plurality of measurement values are obtained by the measuring device, a first correction value of the processing condition is determined based on the plurality of measurement values. The first decided
In the feedback type processing condition correction device including a first correction value determining means for providing a correction value to said machine control device, wherein the said measuring first correction value determining means one of the
A smaller number of measured values than the number of measured values required to determine the first correction value are obtained , and the second correction is performed in advance.
When the condition is satisfied, a second correction value determining means for determining a second correction value of the processing condition based on the small number of measurement values and supplying the determined second correction value to the processing machine control device. provided Rutotomoni, the second correction execution condition, less
In both cases, the work error of the workpiece
A feedback-type processing condition correction device, which is established when the distance exceeds the range . 2. The method according to claim 1, wherein the second correction execution condition is a condition in which
Measurement of a certain number of workpieces ends from the beginning
Or until a certain period of time elapses,
Alternatively, the first correction value is determined from the start time of a series of machining.
A period until the first correction value is first determined by the means.
2. The filter according to claim 1, wherein
Feedback type processing condition correction device. 3. The method according to claim 2, wherein the second correction execution condition is a condition in which
A certain number after the start and when the operator manually compensated
Measurement for a given workpiece is completed or
From the time until the elapse or from the manual correction time
First, the first correction value is determined by the first correction value determining means.
In the period until it is determined, the processing error of the work
Is satisfied when the value exceeds the set range.
3. The feedback-type processing condition correction device according to 2. 4. The method according to claim 1, wherein the second correction execution condition is a condition in which
The first and the first Internal parameter of correction value determination means
Until a certain amount of time elapses after the setting is changed,
Alternatively, the first correction value determining step is performed based on the setting change time.
A period until the first correction value is first determined by a step
The machining error of the work exceeds the set range
4. The method according to claim 1, wherein
Feedback processing condition correction device. 5. The method according to claim 1, wherein the first correction value determining means is configured to determine the plurality of measurement values.
Calculate one moving average value based on the fixed value, and calculate
The moving average value considered as the current measurement value
Error of the measured value from the target value and the derivative of the error value
Based on both the value and the derivative of the moving average.
5. A method according to claim 1, further comprising means for determining a correction value for each time.
A feedback-type processing condition correction device described in any of the above. 6. The apparatus according to claim 1, wherein said first correction value determining means determines a current error value.
Fuzzy based on at least the error value of
File for determining the first correction value this time according to the
5. A method as claimed in claim 1, further comprising means for determining a correction value for the operation type.
A feedback-type processing condition correction device described in any of the above. 7. The apparatus according to claim 7, wherein said second correction value determining means determines a current measured value.
This time, the magnitude is proportional to the error value from the target value.
(2) A contract including a proportional control type correction value determining means for determining a correction value
The feedback equation according to any one of claims 1 to 6,
Construction condition correction device. 8. The apparatus according to claim 7, wherein said second correction value determining means determines a current measured value.
With a magnitude proportional to the time integral of the error value from the target value of
Integral control type correction value determination for determining the second correction value this time
A fee according to any one of claims 1 to 6, including means.
Deback type processing condition correction device.