JP3770283B2 - Synchronous control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a synchronous control device that drives a slave shaft motor in synchronization with a main shaft motor.
[0002]
[Prior art]
As a conventional synchronization control technique, there is a synchronization control apparatus proposed by the present applicant in Japanese Patent Application No. Hei 8-122419.
This device predicts and controls the dependent axis using the future position command of the dependent axis obtained by predicting the future position of the spindle, and further, a spindle position increment value, or a signal obtained by multiplying the predicted value by a multiplier, A fine adjustment device is provided for inputting a signal obtained by adding a signal obtained by multiplying the spindle position command increment value by a multiplier to the control device of the dependent shaft motor as a fine adjustment signal for synchronization deviation.
[0003]
[Problems to be solved by the invention]
However, the conventional synchronization control technique has a problem that the synchronization accuracy deteriorates when the dynamic characteristics of the main shaft are different between forward rotation and reverse rotation.
Therefore, an object of the present invention is to provide a synchronous control device with higher accuracy than the prior art.
[0004]
[Means for Solving the Problems]
In order to solve the above problem, a synchronous control device for driving a slave axis motor in synchronism with the spindle motor, increment the sampling period of the main shaft position, or to ₁ times the multiplier K the prediction value In a synchronous control device having a fine adjustment device that inputs a signal obtained by adding a signal and a signal obtained by multiplying the spindle position command increment value by a multiplier K ₂ to the control device of the dependent shaft motor as a fine adjustment signal for synchronization deviation.
Two types of the multiplier K ₁ are stored, and means for switching according to the positive / negative of the spindle position increment value is provided.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
A specific embodiment when the present invention is applied to the synchronous control apparatus proposed in Japanese Patent Application No. 8-122419 will be described with reference to FIG. In the figure, reference numeral 1 denotes a command generation device that outputs a position command increment value Δr _s (i) to the spindle device 2 based on a target command increment value Δr _s (i + M−1) of the input spindle rotation position. Then, a plurality of future position command increment values Δr _z (i + m), m = D + 1, D + 2,..., D + M are output to the dependent axis device 3. Δ represents an increment between sampling periods. Reference numeral 19 denotes a fine adjustment device that outputs a signal for fine adjustment of synchronization deviation, and the present invention is realized in this device.
In the command generation device 1, 7 is a memory for storing the inputted spindle position command increment value, and the spindle position command increment value Δrs (i) inputted before M-1 sampling is used as the spindle position command at the current time. Output as an incremental value. Reference numeral 8 denotes a memory for storing the input spindle position increment value. 9 shows a predicted value Δy _s ^* (i + m), m = D + 1, D + 2,..., D + M of the spindle position increment value up to several sampling destinations using the dynamic characteristic model of the spindle device 2. Is an arithmetic unit for obtaining 10 is a conversion for obtaining the dependent axis future position command increment value Δr _z (i + m), m = D + 1, D + 2,..., D + M from the obtained predicted value of the spindle position increment value. It is a vessel.
Reference numerals 4, 5, and 6 are delay elements generated for transmission, calculation, and detection processing when the position command increment value and the spindle position increment value are transmitted between the devices.
In the spindle device 2, reference numeral 13 denotes an integrator for obtaining a spindle position command from the spindle position command increment value, and reference numeral 11 denotes a spindle controller for controlling the position y _s (i) of the spindle motor 12 in accordance with the spindle position command. Reference numeral 14 denotes a differentiator for obtaining an increment value Δy _s (i) from the spindle position y _s (i).
In the slave shaft device 3, reference numeral 16 denotes a slave shaft controller that controls the speed of the slave shaft motor 17 in accordance with the input speed command. 18 is a differentiator for obtaining the increment Δy _z (i) from the position y _z of the dependent-axis motor 17 (i). 15 shows the position of the dependent axis up to several sampling destinations predicted using the dynamic characteristic model of the dependent axis motor 17 including the dependent axis controller 16 and the dependent axis position increment value Δy _z (i). Dependent axis future position command increment value Δr _z (i + m), m = 1, 2,..., M, dependent axis future position command rz (i + m), m = 1, 2,. This is a predictive controller that determines the speed command v (i) by predictive control so as to coincide with M. As this prediction controller, for example, the one proposed in Japanese Patent Application No. 5-197956 may be used.
The speed command v (i) obtained by the predictive control is added by the adder 20 to a signal delayed by D (D ≧ 0) sampling of the output of the fine adjustment device 19, and the added value is used as the speed command as the dependent axis. Input to the controller 16.
Fine adjustment device 19, and the signal K ₂ · Δr _s that multiplier multiplying the stored main shaft position command increment value [Delta] r _s to the memory 7, the main shaft position stored in the memory 8 increment [Delta] y _s (or the main shaft A signal obtained by adding a signal K ₁ · Δy _s (or K ₁ · Δy _s ^* ) obtained by multiplying the predicted value Δy _s ^* ) of the position increment value by a multiplier is output.
Here, the multipliers K ₁ and K ₂ are parameters for fine adjustment of synchronization deviation, and their values are set in advance during adjustment and stored in the fine adjustment device 19. In particular, for K ₁ , two types of multipliers K _1P and K _1N for main shaft forward rotation and reverse rotation are stored, and when the main shaft position increment value Δy _S (iK) is zero or more, K _1P is K _1N is used when Δy _S (iK) is negative.
For the setting of K _1P and K _1N , first, adjustment is performed with the main shaft rotating in the forward direction, and a multiplier for forward rotation K _1P is set and stored. Next, readjustment is performed while the main shaft is rotating in the reverse direction, and a multiplier for reverse rotation K _1N = K _1P + K _PN is set and stored. Here, _KPN corrects the difference in the dynamic characteristics of the spindle during forward rotation and reverse rotation. K _1N may be calculated from the above equation by storing K _PN instead of K _1N . Note that K ₂ is set so that the synchronization deviation is small when the spindle is in the acceleration / deceleration state.
[0005]
【The invention's effect】
As described above, according to the present invention, the difference in dynamic characteristics between the forward rotation and the reverse rotation of the main shaft is corrected, and a synchronous control device capable of performing a synchronous operation with higher accuracy than before is realized. There is.
[Brief description of the drawings]
FIG. 1 is a diagram showing a specific embodiment of the present invention.
DESCRIPTION OF SYMBOLS 1 Command production | generation apparatus 2 Main axis | shaft apparatus 3 Subordinate axis | shaft apparatus 4, 5, 6 Delay element 7 Memory which memorize | stores spindle position command increment value 8 Memory which memorize | stores spindle position increment value 9 Calculator which calculates | requires the predicted value of spindle future position increment value 10 Converter 11 for obtaining dependent axis future position command increment value from predicted value of spindle future position increment value 11 Spindle controller 12 Spindle motor 13 Accumulator 14, 18 Subtractor 15 Prediction controller 16 Dependent axis controller 17 Dependent axis motor 19 Fine adjustment device 20 Adder

Claims (2)

This is a synchronous control device that drives a subordinate motor in synchronism with the main shaft motor. A signal obtained by multiplying an increment value during a sampling period of the main shaft position or a predicted value thereof by a multiplier K ₁ and a main shaft position command increment value are multiplied by a multiplier K. _In the synchronous control device including a fine adjustment device that inputs a signal obtained by adding the doubled signal to the control device of the slave shaft motor as a fine adjustment signal of synchronization deviation,
Synchronous control apparatus characterized by comprising means for switching the value of the multiplier K ₁ by the sign of the main shaft position increment. 2. The synchronous control device according to claim ₁ , wherein the value of the multiplier K1 is set and stored during forward rotation and reverse rotation of the spindle.

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