JP3600084B2 - Position drive control system and synchronous / tuned position drive control method - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a position drive control system that synchronizes and synchronously controls the position of a machine with a linear servomotor and a rotary servomotor, and a synchronous / tuned position control method.
[0002]
[Prior art]
FIG. 4 shows a hardware configuration of a conventional position drive control system. The position drive control system includes a position command control device 1, a position drive control device 10, a servomotor 20, and a position detector 21 connected to each of the servomotors 20 and detecting a current position of each motor. ing.
[0003]
The position command control device 1 includes a CPU 2 for position command control, a system program memory 3 for position command control, a user program memory 4, and a parameter memory 5. The position drive control device 10 includes a position drive control unit 30 for each servomotor 20, in other words, for each axis (1 axis to n axis).₁~ 30_nAnd a position drive control unit 30 for each axis.₁~ 30_nIs composed of a CPU 11 for position drive control, a system program memory 12 for position drive control, an output port 13, an input port 14, a PWM power converter 15, and a two-port memory 16.
[0004]
The position command control device 1 generates a position command by causing the CPU 2 to execute a position command control system program stored in the system program memory 3 based on a user program stored in the user program memory 4. The data is written to the two-port memory 16 of each position drive control unit 30.
[0005]
In response to the position command written in the two-port memory 16 of the position drive control unit 30, the position drive control device 10 causes the CPU 11 for position drive control to execute the system program stored in the system program memory 12 for position drive control. By executing, the servo motor 20 is driven by the PWM power converter 15 through the output port 13, and the information of the position detector 21 is obtained through the input port 14.
[0006]
Next, a conventional position drive control device will be described with reference to a control block diagram shown in FIG. The position drive control device performs theoretical position control / theoretical speed control. The operation of such a position drive control device is described in the IEEJ D section magazine (industrial application section), February 1994 issue. It is described in "Motor two-degree-of-freedom position control using reference model". The position drive control unit of each axis of the position drive control device that performs the theoretical position control / theoretical speed control includes a theoretical position / speed control unit 50, a position control unit 60, a speed control unit 70, and a torque control unit 80. Be composed.
[0007]
The theoretical position / speed control unit 50 calculates a theoretical position deviation by subtracting the theoretical position feedback value Pi from the position command given by the position command control device 1 to calculate a theoretical position deviation. A theoretical position controller 127 for calculating and generating a theoretical speed command by multiplying the calculated theoretical position deviation by a theoretical position gain PG1; and subtracting the theoretical speed feedback value Vi from the theoretical speed command output by the theoretical position controller 127. A theoretical speed deviation calculator 128 for calculating a theoretical speed deviation.
[0008]
The theoretical position / speed control unit 50 further calculates a theoretical torque command by multiplying the theoretical speed deviation calculated by the theoretical speed deviation calculator 128 by the theoretical speed gain VG1, and generates a theoretical torque command. 129 for calculating a theoretical speed feedback value Vi from the theoretical torque command output from the theoretical torque command limiter 130 and a theoretical torque command limiter 130 for limiting the theoretical torque command output by the 129 to within a predetermined value. It comprises a theoretical speed control previous value temporary backup memory 132, a theoretical speed control adder 131, and a theoretical position control integrator 133 for calculating a theoretical position feedback value Pi from the theoretical speed feedback value Vi.
[0009]
The position control unit 60 subtracts the real position feedback value Pr output from the position detector 21 from the theoretical position feedback value Pi from the theoretical position / speed control unit 50, and calculates an actual position deviation calculator 110, And an actual position controller 111 that calculates and generates an actual speed command by multiplying the theoretical position deviation calculated by the actual position deviation calculator 110 by the actual position gain PG2.
[0010]
The speed control unit 70 adds the actual speed command from the position control unit 60 and the theoretical speed feedback value Vi from the theoretical position / speed control unit 50, and differentiates the real position feedback value Pr output from the position detector 21 by a differentiator. 114, an actual speed deviation calculator 113 for calculating an actual speed deviation by subtracting an actual speed feedback value Vr obtained by differentiating the actual speed feedback value Vr, an actual speed integral gain setting device 115, an actual speed control adder 116, an actual speed differentiation The PID compensator includes a gain setter 117, an integrator 118 for actual speed control, an actual speed controller 119, a temporary value backup memory 120 for actual speed control, a mechanical system resonance suppression filter 121, and a low-pass filter 122. Is done.
[0011]
The torque control unit 80 includes a torque command adder 124 that adds the actual torque command from the speed control unit 70 and the theoretical torque command from the theoretical position / speed control unit 50, and determines whether the final torque command from the torque command adder 124 is It is composed of a torque command limiter 125 for limiting the value to within the value, and a PWM power converter 15.
[0012]
The above-described theoretical position / speed control unit 50, position control unit 60, speed control unit 70, and torque control unit 80 are configured as software and used for position drive control stored in the system program memory 12 (see FIG. 4). The system programs are embodied by being executed by the CPU 11 for position drive control, but they may be configured by hardware.
[0013]
Next, the operation of each control unit will be described. The position command from the position command control device 1 is a command in which the position command changes gradually at regular time intervals based on the designated speed. The theoretical position / speed control unit 50 calculates the position command and the theoretical position gain PG1. A theoretical torque command, a theoretical speed feedback value Vi, and a theoretical position feedback value Pi are output so as to have a theoretical response based on the theoretical speed gain VG1.
[0014]
The position control unit 60 outputs an actual speed command based on the theoretical position feedback value Pi such that the actual position deviation from the actual position feedback value Pr is always zero.
[0015]
The speed control unit 70 outputs an actual torque command based on a value obtained by adding the theoretical speed feedback value Vi and the actual speed command so that the actual speed deviation from the actual speed feedback value Vr is always zero.
[0016]
The torque control unit 80 passes the final torque command within the range of the torque command limiter 125 to the PWM power conversion unit 15 from the value obtained by adding the theoretical torque command and the actual torque command to the PWM power conversion unit 15. The servo motor 20 is driven. Thereby, the position drive control of the servomotor 20 is performed following the position command from the position command control device 1.
[0017]
At this time, following the position command from the position command control device 1 is executed by the operation of each position drive control unit itself.
[0018]
[Problems to be solved by the invention]
In the conventional servo position drive control system, at the time of synchronous control and tuning control, the servo position drive control unit of each axis follows the command position by independent control based on the command position from the position command control device. Therefore, if disturbances due to load fluctuations exist separately for a plurality of drive axes under synchronous control and tuning control, speed fluctuations will occur according to the disturbances, and accurate tuning will not be achieved. When the trajectory control is performed, there is a problem that an accurate trajectory is not obtained.
[0019]
The present invention has been made in order to solve such a problem. Even when a speed fluctuation occurs due to a load fluctuation on each drive shaft during synchronous control and tuning control by a plurality of axes, the speed fluctuation occurs. An object of the present invention is to provide a position drive control system and a synchronous / tuned position control method capable of grasping the state of a drive shaft and maintaining accurate tuning and interpolation trajectories.
[0021]
[Means for Solving the Problems]
The position drive control system according to the present invention includes:A plurality of servo motors each driving a plurality of axes,One position command control device,Drive control of each servo motorA position drive control system having a plurality of position drive control units and receiving a position command from the position command control device, wherein the position of each axis input from the position command control device is provided. Command, a shared memory that stores a theoretical position feedback value of each axis and an actual position feedback value of each axis input from each position drive control unit, and each position drive control unit has its own axis from the shared memory. Theoretical position / speed control means for generating a theoretical position feedback value and a theoretical speed feedback value for the own axis based on the position command and outputting the same to the shared memory; and theoretical position feedback from the theoretical position / speed control means for the own axis. The position at which the speed command of the own axis is generated from the value and the actual position feedback value output by the position detector connected to the servo motor of the own axis. Control means, and obtains the theoretical position feedback value and the actual position feedback value of the other axis from the shared memory, and sets the distance between the axes of the own axis according to the difference between the obtained theoretical position feedback value and the actual position feedback value of the other axis. An inter-axis corrected speed control unit for generating a corrected speed command value; A speed control unit that corrects a speed command from the position control unit of the axis and generates a torque command based on the corrected speed command; and obtains a theoretical position feedback value and an actual position feedback value of another axis from the shared memory. The difference between the obtained theoretical position feedback value of the other axis and the actual position feedback value and the theoretical speed feedback value of the own axis from the theoretical position / speed control means are calculated. An inter-axis correction torque control unit for generating an inter-axis correction torque command for the own shaft, and an inter-axis correction torque command from the inter-axis correction torque control unit for the own shaft in response to the torque command from the speed control means of the own shaft. The torque command from the speed control means is corrected by adding a value, and based on the corrected torque command,TheAnd a torque control unit for driving the servomotor.
[0022]
In the position drive control system according to the next invention, the inter-axis correction speed control unit and the inter-axis correction torque control unit include a PID compensator that PID-compensates a difference between a theoretical position feedback value and an actual position feedback value of another axis. Then, under the PID compensation, an inter-axis correction speed and a command value inter-axis correction torque command value are generated.
[0023]
In the position drive control system according to the next invention, the inter-axis correction speed control is configured such that, during circular interpolation control / linear interpolation control, the ratio of the theoretical position feedback value of the own axis to the theoretical position feedback value of the other axis is taken into consideration. This is for generating the interim correction speed command value.
[0025]
The synchronization / tuning position drive control method according to the next invention is as follows.A plurality of servo motors each driving a plurality of axes,One position command control device,Drive control of each servo motorA position drive control device having a plurality of position drive control units and receiving a position command from the position command control device; and a synchronous / tuned position drive control method in a position drive control system, comprising: Provided is a shared memory that stores the position command of each axis input from, the theoretical position feedback value of each axis and the actual position feedback value of each axis input from each position drive control unit, and in each of the position drive control units, Based on the position command of the own axis from the shared memory, a theoretical position feedback value and a theoretical speed feedback value of the own axis are generated and output to the shared memory, and the generated theoretical position feedback value of the own axis and the servo of the own axis are generated. Generates the speed command of the own axis from the actual position feedback value output from the position detector connected to the motor, and The position feedback value and the actual position feedback value are obtained from the shared memory, and the inter-axis corrected speed command value of the own axis is generated according to the difference between the obtained theoretical position feedback value and the actual position feedback value of the other axis. The speed command of the own axis is corrected by adding the generated inter-axis corrected speed command value of the own axis to the generated speed command of the own axis, and a torque command is generated based on the corrected speed command. Obtaining the theoretical position feedback value and the actual position feedback value of the other axis from the shared memory, the difference between the acquired theoretical position feedback value and the actual position feedback value of the other axis, and the generated theoretical velocity feedback value of the own axis. Generating an inter-axis correction torque command of the own axis in accordance with the above, and adding the generated inter-axis correction torque command value of the own axis to the generated self-axis torque command. Fixed torque command its own axis by, based on a torque command which has been modifiedTheIt drives the servomotor.
[0026]
A synchronous / tuning position drive control method according to the next invention provides a PID compensation for a difference between a theoretical position feedback value and an actual position feedback value of another axis, and under the PID compensation, the inter-axis correction speed and the command value inter-axis correction. This is for generating a torque command value.
[0027]
The synchronous / tuned position drive control method according to the next invention is characterized in that, during the circular interpolation control / linear interpolation control, the inter-axis correction speed command is added in consideration of the ratio between the theoretical position feedback value of the own axis and the theoretical position feedback value of the other axis. To generate a value.
[0028]
BEST MODE FOR CARRYING OUT THE INVENTION
With reference to the accompanying drawings, a position drive control system and a synchronization / tuning position according to the present invention will be described below.DriveAn embodiment of the control method will be described in detail. In the embodiments of the present invention described below, components that are the same as or equivalent to those of the above-described conventional example are denoted by the same reference numerals as those of the above-described conventional example, and description thereof is omitted.
[0029]
FIG. 1 shows a hardware configuration of a position drive control system according to the present invention. This position drive control system has a shared memory 40 between the position command control device 1 and the position drive control device 10, and the shared memory 40 stores a memory table A as shown in FIG. ing.
[0030]
As the shared memory 40, the position drive control unit 30 of each axis₁~ 30_nA two-port memory is prepared for each position, and the position command control unit 1₁~ 30_nWhen transmitting data to the destination, the position command control device 1 writes the transmission data into the reception area of the two-port memory of the position drive control unit of the destination. Position drive control unit 30 for each axis₁~ 30_nMonitors the contents of the receiving area at all times, and reads data if it has been written. Position drive control unit 30₁~ 30_nWhen transmitting data to the position command control device 1, the transmission data is written in the transmission area of the own two-port memory. The position command control device 1 includes a position drive control unit 30 for each axis.₁~ 30_nThe transmission area is constantly monitored, and if data has been written, it is read.
[0031]
Further, the position drive control unit 30₁~ 30_nWhen transmitting data to another position drive control unit, the transmission data is written in the transmission area of its own 2-port memory. The position command control device 1 includes a position drive control unit 30 for each axis.₁~ 30_nThe transmission area is constantly monitored, and if data has been written, it is read. If the read content is data to be sent to another position drive control unit, the position command control device 1 writes the transmission data to the reception area of the two-port memory of the destination position drive control unit. Position drive control unit 30 for each axis₁~ 30_nMonitors the contents of the receiving area at all times, and reads data if it has been written.
[0032]
As described above, the function required as a shared memory in this system can be substituted, and the shared memory 40 having the above configuration may be used.
[0033]
The memory table A held by the shared memory 40 includes a position drive control unit 30 for each axis.₁~ 30_nAnd an area for storing a theoretical position feedback value (Pi), an area for storing an actual position feedback value (Pr), and a theoretical speed feedback value (Vi). The area and the area where the position command from the position command control device 1 is stored are the position drive control units 30 of each axis.₁~ 30_nIt is assigned to each. Thereby, the position command control device 1 transmits the position command via the shared memory 40 to the position drive control unit 30 of each axis.₁~ 30_nOutput to
[0034]
The control state data of each axis stored in the memory table A is used for calculating an inter-axis correction speed command and an inter-axis correction torque command when there is a load change in another position drive control unit.
[0035]
FIG. 3 is a block diagram showing a position drive control unit according to the present invention. This position drive control unit is different from the conventional device shown in FIG. 5 in that an inter-axis correction speed / torque control unit 90 is added and an inter-axis correction speed command calculator 112 is added to the speed control unit 70 '. The theoretical position / speed control unit 50, the position control unit 60, and the torque control unit 80 are substantially the same as those of the conventional device shown in FIG.
[0036]
The inter-axis correction speed command calculator 112 isspeedIt is at a stage preceding the deviation calculator 113, and corrects the actual speed command by subtracting an inter-axis corrected speed command Vt, which will be described later, from the actual speed command from the position control unit 60.speedIt is given to the deviation calculator 113.
[0037]
The inter-axis correction speed / torque control unit 90 includes an input unit 134 for a drive control axis theoretical position feedback Pi (hereinafter, referred to as another drive control axis theoretical position feedback) Pi ′ of another axis, and a drive control axis actual position feedback for another axis. The input section 135 of Pr '(hereinafter referred to as other drive control axis actual position feedback), and the other drive control axis actual position detector Pr' for detecting a deviation between the theoretical position feedback Pi 'of the other drive control axis and the actual position feedback Pr' of the other drive control axis. And a position deviation calculator 100.
[0038]
The inter-axis correction speed / torque control unit 90 further includes an integral gain setter 101 for setting an inter-axis correction speed / torque calculation integration gain KI, an inter-axis correction speed / torque calculation adder 102, an inter-axis correction speed / torque. Differential gain setting device 103 for setting differential gain KD for torque calculation, integrator 104 for inter-axis correction speed / torque calculation, proportional gain setting device 105 for setting proportional gain KP for inter-axis correction speed / torque calculation, inter-axis correction It has a PID compensator constituted by a previous value temporary backup memory 106 for speed / torque calculation. The PID compensator is a compensator that performs a proportional + integral + differential operation.
[0039]
The inter-axis correction speed / torque control unit 90 further includes an inter-axis correction speed command generator 107 that calculates and generates an inter-axis correction speed command Va from the above-described PID compensator calculation value, and an Correction torque command generator 109 for calculating and generating the inter-axis correction torque command Ta and the inter-axis correction speed command Vt for the trajectory interpolation control is calculated from the inter-axis correction speed command Va output from the inter-axis correction speed command generator 107. The generated inter-axis correction speed command generator 108 and the inter-axis correction torque for subtracting the inter-axis correction torque command Ta from the theoretical torque command from the theoretical position / speed control unit 50CommandHaving an arithmetic unit 123, and an inter-axis correction torqueCommandThe arithmetic unit 123 gives the theoretical torque command after the correction between the axes to the torque command adder 124 of the torque control unit 80.
[0040]
Here, taking as an example the case of a two-axis operation driven by two axes of a first axis and a second axis, the position drive control unit shown in FIG.₁In FIG. 3, Pi2 of the second axis is input to the input unit 134 described as the other-axis drive control axis Pi ′, and the second unit Pi2 is input to the input unit 135 described as the other-axis drive control axis Pr ′. The axis Pr2 is input.
[0041]
Position drive control unit 30 that drives the second axis₂Also includes a position drive control unit similar to the position drive control unit shown in FIG.₂Then, the first axis Pi1 is input to the input section 134 described as the other axis drive control axis Pi ′, and the first axis Pr1 is input to the input section 135 described as the other axis drive control axis Pr ′. Is done.
[0042]
In the control block diagram shown in FIG. 5, when there is no load variation, the drive control axis theoretical position feedback value Pi and the drive control axis actual position feedback value Pr match, but as shown in FIG. In the control block diagram shown, if there is no load change on the first axis and the drive control axis theoretical position feedback value Pi2 of the second axis matches the drive control axis actual position feedback value Pr2, then the first axis The drive control axis theoretical position feedback value Pi1 matches the drive control axis actual position feedback value Pr1.
[0043]
Next, a method of calculating the inter-axis correction speed command Va by the inter-axis correction speed command generator 107 described above and the PID compensator incorporated in the inter-axis correction speed / torque control unit 90 will be described.
[0044]
The inter-axis correction speed command Va includes the other drive control axis theoretical position feedback Pi ′, the other drive control axis actual position feedback Pr ′, the inter-axis correction speed / torque calculation proportional gain KP, and the inter-axis correction speed / torque calculation. Based on the integral gain KI for use, the differential gain KD for calculating an inter-axis correction speed / torque, and the inter-axis correction speed command ratio gain α, it can be calculated by the following equation (1).
[0045]
Va = KP (1 + KI / s + KD · s) (Pi′−Pr ′) α (1)
Va: Inter-axis correction speed command
KP: Proportional gain for calculating inter-axis corrected speed / torque
KI: Integral gain for inter-axis corrected speed / torque calculation
KD: Differential gain for calculating inter-axis corrected speed / torque
s: differential term
Pi ': other drive control axis theoretical position feedback value
Pr ': other drive control axis actual position feedback value
α: Inter-axis corrected speed command ratio gain
The other drive control axis theoretical position feedback value Pi 'and the other drive control axis actual position feedback value Pr' due to the load fluctuation of the other drive control axis can be obtained from the memory table A of the shared memory 40.
[0046]
Next, a method of calculating the inter-axis correction torque command Ta by the PID compensator and the inter-axis correction torque command generator 109 will be described.
[0047]
The inter-axis correction torque command Ta includes the other drive control axis theoretical position feedback Pi ′, the other drive control axis actual position feedback Pr ′, the inter-axis correction speed / torque calculation proportional gain KP, and the inter-axis correction speed / torque calculation. The following formula (2) can be used to calculate the inter-axis correction speed / torque calculation differential gain KD, the inter-axis correction speed / torque calculation differential gain KD, and the inter-axis correction torque command ratio gain β.
[0048]
Ta = KP (1 + KI / s + KD · s) (Pi′−Pr ′) β (2)
Va: Inter-axis correction speed command
KP: Proportional gain for calculating inter-axis corrected speed / torque
KI: Integral gain for inter-axis corrected speed / torque calculation
KD: Differential gain for calculating inter-axis corrected speed / torque
s: differential term
Pi ': other drive control axis theoretical position feedback value
Pr ': other drive control axis actual position feedback value
β: Inter-axis correction torque command ratio gain
Also in this case, the other drive control axis theoretical position feedback value Pi ′ and the other drive control axis actual position feedback value Pr ′ due to the load fluctuation of the other drive control axis can be obtained from the memory table A of the shared memory 40.
[0049]
By the above-mentioned synchronous / tuning position drive control, if there is a drive control axis whose speed has fluctuated due to disturbance due to load fluctuation, the other tuning control axes have the theoretical position feedback value of the drive control axis whose speed has fluctuated. The difference between the actual position feedback values is calculated by the PID compensator to calculate the inter-axis correction speed command and the inter-axis correction torque command, and the servo motor is driven by the torque command considering these. Following the drive control axis, accurate tuning control of all tuning control axes can be performed.
[0050]
Next, a method of calculating the inter-axis correction speed command Vt of the inter-axis correction speed command generator 108 during the circular interpolation control / linear interpolation control will be described.
[0051]
The inter-axis corrected speed command Vt can be calculated by the following equation (3) based on the inter-axis corrected speed command Va, the theoretical speed feedback value Vi1 of the own axis, and the theoretical speed feedback value Vi2 of the other axis.
[0052]
Vt = Va · Vi2 / Vi1 (3)
However, the above equation is for interpolation control of the own axis and other axes.
Vt: Inter-axis correction speed command during trajectory interpolation control
Va: Inter-axis correction speed command
Vi1: feedback value of theoretical speed of own axis
Vi2: Feedback value of theoretical speed of other axis
The theoretical speed feedback value Vi1 of the own axis due to the load fluctuation of the other drive control axis and the theoretical speed feedback value Vi2 of the other axis can be obtained from the memory table A.
[0053]
The inter-axis correction speed command Vt is subtracted from the actual speed command generated by the position control unit 60, and the inter-axis correction torque command Ta is subtracted from the theoretical torque command from the theoretical position / speed control unit 50. That is, the movement of the own axis is changed according to (Pi'-Pr ') indicating the state of the load fluctuation of the other axis.
[0054]
For example, when the own axis drives the X axis of the XY table and the other axis drives the Y axis, even if there is a load change on the Y axis, the X axis is operated according to this load change. In addition, it is possible to prevent a change in the trajectory. The drive system for the Y-axis motor has the same configuration as that of FIG. 3, and data from the drive system for the X-axis motor is input to the input units 134 and 135. , Y axis can be operated in accordance with the load fluctuation.
[0055]
As described above, an inter-axis correction speed command and an inter-axis correction torque command are calculated based on the ratio between the theoretical speed feedback value of the drive control axis having the speed fluctuation and the theoretical speed feedback value of another drive control axis, and these are taken into account. Since the servomotor is driven by the applied torque command, it follows the drive control axis whose speed has fluctuated due to the load fluctuation, thereby enabling accurate trajectory interpolation control of all trajectory interpolation control axes.
[0056]
The inter-axis correction speed command ratio gain α and the inter-axis correction torque command ratio gain β are experimentally determined. In FIG. 2, the constant γ is Vi2 / Vi1.
[0057]
In the above description, two axes, the own axis and the other axis, have been described. Even when there are a plurality of other axes, the inter-axis correction torque command Ta and the inter-axis correction speed command Vt for each axis are obtained and added. This can be dealt with similarly.
[0058]
The inter-axis correction speed command may be calculated only when the difference between the theoretical position feedback value of the own axis and the actual position feedback value is smaller than that of the other axis. In this case, the calculation of the inter-axis corrected speed command may be determined based on the drive control axis having the largest difference between the theoretical position feedback value and the actual position feedback value of all the drive control axes.
[0059]
In the above description, the inter-axis correction speed command Va and the inter-axis correction speed command Vt and the inter-axis correction torque command Ta at the time of trajectory interpolation control During the tuning control and the trajectory interpolation control by the inter-axis correction of the other drive axes, The following description has been given of the means for following the own axis due to a load change. However, by ignoring the other drive control axis theoretical position feedback value Pi and the other drive control axis actual position feedback value Pr, the position drive control of the servo motor on a single axis is also possible. Needless to say, the position drive control system according to the present invention can cope with any control mode of tuning control, interpolation control, and islanding control.
[0061]
【The invention's effect】
thisAccording to the position drive control system according to the present invention, the inter-axis correction speed control unit obtains the theoretical position feedback value and the actual position feedback value of the other axis from the shared memory and obtains the theoretical position feedback value and the actual position feedback value of the other axis. The speed control means corrects the speed command from the position control means with the inter-axis corrected speed command value, and generates a torque command based on the corrected speed command. Also, the inter-axis correction torque control unit obtains the theoretical position feedback value and the actual position feedback value of the other axis from the shared memory, and calculates the difference between the theoretical position feedback value and the actual position feedback value of the other axis and the theoretical speed feedback value. Then, an inter-axis correction torque command is generated, and the torque control unit corrects the torque command with the inter-axis correction torque command value, and the corrected torque command Since driving the servo motor on the basis, it is possible to perform accurate tuning control of the entire tuning control shaft to follow the drive control shaft there is a speed fluctuation due to load fluctuation.
[0062]
According to the position drive control system according to the next invention, the inter-axis correction speed control unit and the inter-axis correction torque control unit PID-compensate the difference between the theoretical position feedback value and the actual position feedback value of the other axis using the PID compensator. Inter-axis correction speed and command value Since the inter-axis correction torque command value is generated, high-accuracy and high-response inter-axis correction control is performed. Accurate tuning control of the tuning control axis can be performed with good responsiveness.
[0063]
According to the position drive control system according to the next invention, at the time of circular interpolation control / linear interpolation control, the inter-axis correction speed control unit takes into account the ratio between the theoretical position feedback value of the own axis and the theoretical position feedback value of the other axis. Since the inter-axis corrected speed command value is generated, it is possible to follow a drive control axis having a speed change due to a load change, and to perform accurate trajectory interpolation control of all trajectory interpolation control axes.
[0065]
According to the synchronous / tuned position drive control method according to the next invention, the theoretical position feedback value and the actual position feedback value of the other axis are obtained from the shared memory, and the difference between the theoretical position feedback value and the actual position feedback value of the other axis is calculated. A corrected speed command value between axes is generated accordingly, the speed command is corrected by the corrected speed command value between axes, a torque command is generated based on the corrected speed command, and the actual position feedback value of another axis is compared with the theoretical position feedback value. The position feedback value is obtained from the shared memory, and an inter-axis correction torque command is generated according to the difference between the theoretical position feedback value and the actual position feedback value of the other axis and the theoretical speed feedback value. Since the servomotor is driven based on the corrected torque command, the drive control axis has had speed fluctuation due to load fluctuation. Follow to be able to perform accurate tuning control of the entire tuning control shaft.
[0066]
According to the synchronous / tuned position drive control method according to the next invention, the difference between the theoretical position feedback value and the actual position feedback value of the other axis is PID compensated by the PID compensator, and the inter-axis correction speed and the inter-axis correction torque command are set. Since the value is generated, high-accuracy, high-response inter-axis correction control is performed, and accurate tuning control of all tuning control axes is performed with good responsiveness by following the drive control axis that had speed fluctuation due to load fluctuation. be able to.
[0067]
According to the synchronous / tuned position drive control method according to the next invention, during circular interpolation control / linear interpolation control, the inter-axis correction speed is calculated by taking into account the ratio between the theoretical position feedback value of the own axis and the theoretical position feedback value of the other axis. Since the command value is generated, it is possible to follow the drive control axis having the speed variation due to the load variation and to perform accurate trajectory interpolation control of all the trajectory interpolation control axes.
[Brief description of the drawings]
FIG. 1 is a hardware configuration diagram showing one embodiment of a position drive control system according to the present invention.
FIG. 2 is an explanatory diagram showing a structure of an internal table of a shared memory used in the position drive control system according to the present invention.
FIG. 3 is a control block diagram showing one embodiment of a position drive control system according to the present invention.
FIG. 4 is a diagram showing a hardware configuration of a conventional position drive control system.
FIG. 5 is a block diagram showing a control system of a conventional position drive control system.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 position command control device, 2 position command control CPU, 3 position command control system program memory, 4 user program memory, 5 parameter memory, 10 position drive control device, 11 position drive control CPU, 12 position drive Control system program memory, 13 output ports, 14 input ports, 15 PWM power converter, 20 servo motor, 21 position detector, 30₁~ 30_n  Position drive control unit, 40 shared memory, 50 theoretical position / speed control unit, 60 position control unit, 70 'speed control unit, 80 torque control unit, 90 inter-axis correction speed / torque control unit, 100 other drive control axis actual position Deviation calculator, 101 integral gain setter, 102 inter-axis correction speed / torque calculation adder, 103 derivative gain setter, 104 inter-axis correction speed / torque calculation integrator, 105 proportional gain setter, 106 inter-axis correction Previous value temporary backup memory for speed / torque calculation, 107 axis corrected speed command generator, 108 axis corrected speed command generator, 109 axis corrected torque command generator, 110 actual position deviation calculator, 111 actual position controller , 112 Axis corrected speed command calculator, 113 Actual speed deviation calculator, 114 Differentiator, 115 Actual speed integral gain setting device, 116 Actual speed Control adder, 117 actual speed differential gain setting device, 118 actual speed control integrator, 119 actual speed controller, 120 temporary value backup memory for actual speed control, 121 mechanical system resonance suppression filter, 122 low-pass filter, 123 Inter-axis correction torque command calculator, 124 torque command adder, 125 torque command limiter, 126 theoretical position deviation calculator, 127 theoretical position controller, 128 theoretical speed deviation calculator, 129 theoretical speed controller, 130 theoretical torque command Limiter, 131 Adder for theoretical speed control, 132 Temporary backup memory for previous value for theoretical speed control, 133 Integrator for theoretical position control, 134 input section, 135 input section.

Claims (6)

It has a plurality of servomotors for driving a plurality of axes, one position command control device, and a plurality of position drive control units for driving and controlling each of the servomotors, and provides a position command from the position command control device. Position drive control device, and a position drive control system comprising:
A position memory of each axis input from the position command control device, a shared memory storing a theoretical position feedback value of each axis and an actual position feedback value of each axis input from each position drive control unit,
Each of the position drive control units,
Theoretical position / speed control means for generating a theoretical position feedback value and a theoretical speed feedback value of the own axis based on the position command of the own axis from the shared memory and outputting the generated value to the shared memory,
Position control means for generating a speed command for the own axis from a theoretical position feedback value from the theoretical position / speed control means for the own axis and an actual position feedback value output from a position detector connected to the servomotor for the own axis. When,
The theoretical position feedback value and the actual position feedback value of the other axis are acquired from the shared memory, and the inter-axis corrected speed command value of the own axis is obtained according to the difference between the acquired theoretical position feedback value and the actual position feedback value of the other axis. An inter-axis correction speed control unit that generates
The speed command from the position control means of the own axis is corrected by adding the inter-axis corrected speed command value from the inter-axis corrected speed control unit of the own axis to the speed command from the position control means of the own axis, and corrected. Speed control means for generating a torque command based on the performed speed command,
The theoretical position feedback value and the actual position feedback value of the other axis are acquired from the shared memory, and the difference between the acquired theoretical position feedback value and the actual position feedback value of the other axis and the theoretical position / speed control means of the own axis are obtained. An inter-axis correction torque control unit that generates an inter-axis correction torque command according to the theoretical speed feedback value of
The torque command from the speed control unit is corrected by adding the inter-axis correction torque command value from the inter-axis correction torque control unit of the own shaft to the torque command from the speed control unit of the own shaft, and the corrected torque a torque control unit for driving the servo motor based on the command,
A position drive control system comprising: The inter-axis correction speed control unit and the inter-axis correction torque control unit include a PID compensator that PID-compensates a difference between a theoretical position feedback value and an actual position feedback value of another axis. The position drive control system according to claim 1, wherein a corrected speed and a command value inter-axis corrected torque command value are generated. The inter-axis correction speed control unit generates an inter-axis correction speed command value in consideration of a ratio between a theoretical position feedback value of the own axis and a theoretical position feedback value of another axis during circular interpolation control and linear interpolation control. The position drive control system according to claim 1 or 2, wherein: It has a plurality of servomotors for driving a plurality of axes, one position command control device, and a plurality of position drive control units for driving and controlling each of the servomotors, and provides a position command from the position command control device. A position / drive control device, and a synchronous / tuned position / drive control method in a position / drive control system including:
A position memory of each axis input from the position command control device, a shared memory for storing a theoretical position feedback value of each axis and an actual position feedback value of each axis input from each position drive control unit,
In each of the position drive control units,
A theoretical position feedback value and a theoretical speed feedback value of the own axis are generated based on the position command of the own axis from the shared memory and output to the shared memory,
Generate a speed command of the own axis from the generated theoretical position feedback value of the own axis and an actual position feedback value output by a position detector connected to the servo motor of the own axis,
The theoretical position feedback value and the actual position feedback value of the other axis are acquired from the shared memory, and the inter-axis corrected speed command value of the own axis is obtained according to the difference between the acquired theoretical position feedback value and the actual position feedback value of the other axis. Produces
The speed command of the own axis is corrected by adding the generated inter-axis corrected speed command value of the own axis to the generated speed command of the own axis, and a torque command is generated based on the corrected speed command.
Obtaining the theoretical position feedback value and the actual position feedback value of the other axis from the shared memory, the difference between the acquired theoretical position feedback value and the actual position feedback value of the other axis, and the generated theoretical velocity feedback value of the own axis. Generates an inter-axis correction torque command according to the
Fixed torque command own axis by adding the shaft between the modified torque command value of its own axis the generated torque command of its own axis said generated to drive the servo motor based on a torque command which has been modified A synchronous / tuned position drive control method characterized by the above-mentioned. The PID compensation of a difference between a theoretical position feedback value and an actual position feedback value of another axis, and generating the inter-axis correction speed and the command value inter-axis correction torque command value under the PID compensation. 5. The synchronous / tuning position drive control method according to 4. 5. The inter-axis corrected speed command value is generated in consideration of a ratio between a theoretical position feedback value of its own axis and a theoretical position feedback value of another axis during circular interpolation control and linear interpolation control. 6. The synchronous / tuning position drive control method according to 5.

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