JP4468216B2 - Synchronous control device - Google Patents

Description

  The present invention relates to a synchronous control device that drives and controls a machine tool or the like having a position synchronization function so that the position of one operation axis follows the position of at least one other operation axis.

  FIG. 5 is a block diagram illustrating a configuration example of a conventional synchronous control device. In FIG. 5, reference numeral 1 denotes a spindle motor that drives a spindle that is a main operation axis, 2 denotes a spindle position detector that detects the position of the spindle motor 1, 3 e denotes a spindle drive control device that drives and controls the spindle motor 1, and 4 denotes a slave. A slave shaft motor for driving the slave shaft, which is the operating shaft, 5 is a slave shaft position detector for detecting the position of the slave motor 4, 6e is a slave drive controller for driving and controlling the slave motor 4, and 7 is a spindle drive. This is a host controller that gives a position command to the control device 3e.

  Next, the operation will be described. The spindle drive control device 3e controls the drive of the spindle motor 1 when a position command is given from the host controller 7. At this time, the position of the spindle motor 1 detected by the spindle position detector 2 is fed back to the spindle drive control device 3e, and at the same time is input as a position command to the slave drive control device 6e. That is, the spindle drive control device 3e drives and controls the spindle motor 1 so as to follow the position command given from the host controller 7 using the position information fed back from the spindle position detector 2.

  Further, in the driven shaft drive control device 6e, the position information of the driven driven motor 4 is detected and fed back by the driven shaft position detector 5, so that the driven shaft is detected using the position information fed back from the driven shaft position detector 5. The follower motor 4 is driven and controlled so as to follow the position command given from the position detector 2. In this way, the slave motor 4 is controlled to follow the spindle motor 1 by using the position of the spindle motor 1 as the position command of the slave motor 4.

  However, in general, since a response delay occurs in the drive control device, it is difficult for the slave drive control device 6e to control the drive so that the position of the slave motor 4 completely coincides with the position of the spindle motor as a position command. is there. Therefore, the position of the slave motor 4 follows the position command of the spindle motor 1 with a delay, and there is a problem that a tracking delay occurs between the position of the spindle motor 1 and the position of the slave motor 4. .

In recent years, in order to save wiring, the host controller 7 and the spindle drive control device 3e and the two drive control devices are often connected via a serial network. In this case, although will be transferred through the serial network the detected position of the main shaft motor 1 at spindle position detector 2 from the spindle drive control unit 3e to minor axis drive control unit 6e, by the data transfer Since a time delay occurs, the follow-up delay is further increased.

  In order to eliminate such a follow-up delay, for example, Patent Document 1 proposes a control method in which the command speed obtained by differentiating the position command and the speed of the spindle motor 1 are fed forward to the slave drive control device. Patent Document 2 proposes a control method in which a command acceleration obtained by further differentiating the command speed is fed forward to a slave drive control device. According to such a control method, the tracking delay in the steady state can be eliminated, and the position of the driven motor can be made to follow the position of the main shaft motor without error in the steady state.

JP-A 63-268011 JP-A-3-278108

  However, in the control methods according to Patent Documents 1 and 2, the tracking delay can be eliminated only in Patent Document 1 when the speed pattern of the position command given from the host controller to the spindle drive control device is trapezoidal. In Patent Document 2, the position command given from the host controller to the spindle drive control device is only a command in which the power supplied to the spindle motor is constant, and for any position command given from the host controller. The tracking delay cannot be eliminated.

  The present invention has been made in view of the above, and obtains a synchronization control device that eliminates a follow-up delay with respect to an arbitrary position command given from a host controller and realizes highly accurate synchronization control. For the purpose.

In order to achieve the above-described object, the present invention provides a synchronous control device for driving a driven shaft with a motor so as to synchronize with the position of one main operating shaft, wherein the main shaft position is the position of the main operating shaft. Main axis position detecting means for detecting main axis speed detecting means for detecting a main axis speed that is the speed of the main operating axis, main axis acceleration detecting means for detecting the main axis acceleration that is the acceleration of the main operating axis, and the slave operation A slave drive control device that drives and controls a slave motor that is the motor that drives the shaft, and a serial network that transfers spindle data including at least one of the master shaft position and the corrected spindle position to the slave drive control device in a data transfer unit, the correction by adding the product of the transfer time and the main shaft acceleration via the data transfer means required to transfer the spindle data to said spindle speed A spindle speed correcting means for generating an axis speed; and a spindle position correcting means for adding the product of the corrected spindle speed and the transfer time to the spindle position to generate the corrected spindle position, and the slave drive control The apparatus uses the corrected main shaft position as a position command for the driven shaft, position control means for generating a speed command based on the position command and the position of the driven shaft, the speed command and the corrected main shaft speed, Speed control means for generating a current command based on the sum of the current and the speed of the driven shaft, and the slave motor based on the sum of the current command and a value obtained by multiplying the spindle acceleration by a predetermined coefficient. And a current control means for controlling the supply current.

  According to the present invention, among the two causes of the follow-up delay, the transfer time delay in the data transfer means is corrected by the spindle speed correcting means and the spindle position correcting means to eliminate the follow-up delay due to the transfer time delay, In response to a response delay in the driven shaft drive control device, the corrected spindle position is used as a position command, and the corrected spindle speed and acceleration are fed forward to generate a current command. The delay can be eliminated.

  According to the present invention, the problem of both the transfer time delay in the data transfer means and the response delay in the driven shaft drive control device can be cleared at the same time. There is an effect that it is possible to obtain a highly accurate synchronous control device that can be driven in synchronization with the main shaft without causing a tracking delay.

  Exemplary embodiments of a synchronization control device according to the present invention will be explained below in detail with reference to the drawings.

Embodiment 1 FIG.
1 is a block diagram showing a configuration of a synchronous control apparatus according to Embodiment 1 of the present invention. As shown in FIG. 1, in the synchronous control device according to the first embodiment, in the configuration shown in FIG. 5 (conventional example), a main shaft drive control device 3a is provided instead of the main shaft drive control device 3e, and a driven shaft drive is provided. Instead of the control device 6e, a driven shaft drive control device 6a is provided. A data transfer means 8 is provided between the spindle drive control device 3a and the slave drive control device 6a. The data transfer means 8 is composed of a serial network. The position command input from the outside to the spindle drive control device 3a is issued by the host controller 7 shown in FIG. 5 (conventional example).

  The spindle drive control device 3 a includes a spindle position deviation detector 9, a position controller 10, a speed detector 11, a speed difference detector 12, a speed controller 13, and a current controller 14. The position information of the main shaft motor 1 detected by the main shaft position detector 2 is input to the main shaft position deviation detector 9 and the speed detector 11, and is also transferred to the slave drive control device 6a via the data transfer means 8. The This data transfer means 8 is assumed to require a transfer time Td.

  The driven shaft drive control device 6a includes a spindle speed detector 15, a spindle acceleration detector 16, a multiplier 17, an adder 18, a multiplier 19, an adder 20, a position deviation detector 21, a position control unit 22, and a speed detector. 23, a slave shaft control value calculation unit 24, a speed control unit 25, and a current control unit 28 are provided.

  Next, the operation will be described. First, in the spindle drive control device 3a, the spindle position deviation detector 9 detects a position deviation by subtracting the position information of the spindle motor 1 detected by the spindle position detector 2 from a position command issued by a host controller (not shown). The position control unit 10 generates a speed command for the spindle motor 1 from the spindle position deviation detected by the spindle position deviation detector 9. The speed detector 11 differentiates the position information of the spindle motor 1 detected by the spindle position detector 2 to detect the speed of the spindle motor 1. The speed difference detector 12 subtracts the speed of the spindle motor 1 detected by the speed detector 11 from the speed command generated by the position controller 10 to detect the speed difference of the spindle. The speed control unit 13 generates a current command based on the speed difference of the spindle detected by the speed difference detector 12. The current control unit 14 drives the spindle motor 1 based on the current command generated by the speed control unit 13.

  The position of the spindle motor 1 driven in this way is detected by the spindle position detector 2, fed back to the spindle position deviation detector 9 and the speed detector 11, and the spindle motor 1 issues a position command issued by a host controller (not shown). It is repeated that a new command is generated so as to operate following the above. At the same time, position information in the drive control process of the spindle motor 1 is detected by the spindle position detector 2, and the data transfer means 8 requires a transfer time Td and the spindle speed detector 15 of the slave drive controller 6a. Input to the adder 20.

  Next, in the slave drive control device 6 a, the spindle speed detector 15 differentiates the position information of the spindle motor 1 received from the data transfer means 8 and detects the speed of the spindle motor 1. The spindle acceleration detector 16 differentiates the spindle speed detected by the spindle speed detector 15 to detect the acceleration of the spindle motor 1. The multiplier 17 multiplies the spindle acceleration detected by the spindle acceleration detector 16 by the transfer time Td to generate a speed correction value for correcting the transfer time delay in the data transfer means 8. The adder 18 adds the spindle speed detected by the spindle speed detector 15 and the multiplication result of the multiplier 17 and outputs a corrected spindle speed obtained by correcting the transfer time delay generated in the data transfer means 8. That is, the multiplier 17 and the adder 18 constitute a spindle speed correction unit as a whole.

  The multiplier 19 multiplies the correction spindle speed output from the adder 18 by the transfer time Td to generate a position correction value for correcting the transfer time delay in the data transfer means 8. The adder 20 adds the position information of the spindle motor 1 received from the data transfer means 8 and the multiplication result of the multiplier 19 and outputs a corrected spindle position in which the transfer time delay generated in the data transfer means 8 is corrected. That is, the multiplier 19 and the adder 20 constitute a spindle position correcting unit as a whole.

  The position deviation detector 21 uses the corrected spindle position output from the spindle position correcting means (multiplier 19 and adder 20) as a position command, and the position information of the slave motor 4 detected by the slave position detector 5. The position deviation is detected by subtracting. The position controller 22 generates a speed command for the driven motor 4 based on the deviation from the corrected main spindle position detected by the position deviation detector 21. The speed detector 23 differentiates the position information of the slave motor 4 detected by the slave position detector 5 to detect the speed of the slave motor 4.

  The slave shaft control value calculation unit 24 calculates the speed based on the sum of the corrected spindle speed output from the spindle speed correction means (multiplier 17 and adder 18) and the speed command for the slave motor 4 generated by the position control unit 22. The control value for the slave motor 4 is calculated by subtracting the speed of the slave motor 4 detected by the detector 23. The speed control unit 25 generates a current command based on the control value for the driven motor 4 calculated by the driven shaft control value calculation unit 24.

  Further, the coefficient multiplier 26 adds the inertial moment J of the driven motor 4 and a load (not shown) driven by the driven motor 4 to the spindle acceleration detected by the spindle acceleration detector 16 by the torque constant Kt of the driven motor 4. The divided value “J / Kt” is multiplied. The adder 27 adds the current command generated by the speed control unit 25 and the multiplication result of the coefficient multiplier 26. The current control unit 28 drives the driven motor 4 based on the output of the adder 27.

  The position of the driven motor 4 driven in this way is detected by the driven shaft position detector 5 and fed back to the position deviation detector 21 and the speed detector 23. Then, the position deviation detector 21 and the position control unit 22 use the corrected spindle position output from the spindle position correcting means (multiplier 19 and adder 20) as a position command, and a new speed command from the position deviation from the feedback position information. Is generated by the slave shaft control value calculation unit 24 and the speed control unit 25 from the sum of the new speed command and the corrected main shaft speed output from the main shaft speed correcting means (multiplier 17 and adder 18). A new current command is generated by subtracting the information, and a value obtained by multiplying the new current command by the coefficient “J / Kt” to the spindle acceleration detected by the spindle acceleration detector 16 is added. The operation with the driving current is repeated. As a result, the driven motor 4 is driven so as to follow the position of the spindle motor 1.

  Here, in the conventional synchronous control device, the main causes of the tracking delay occurring between the position of the driven motor and the position of the driven motor are the data transfer time delay in the data transfer means and the driven drive control as described above. Response delay in the device. In response to this problem, the driven shaft drive control device 6a according to the first embodiment deals with these two problems as follows.

  That is, for the data transfer time delay in the data transfer means 8, the spindle speed correction means constituted by the multiplier 17 and the adder 18, and the spindle position correction means constituted by the multiplier 19 and the adder 20. Therefore, the tracking delay due to the data transfer time delay can be eliminated.

  Also, for response delay in the slave shaft drive control device, the corrected spindle position is used as a position command, and a current command is generated by feeding forward the corrected spindle speed and acceleration. Response delay of the device can be eliminated.

  As described above, according to the first embodiment, the problems of both the data transfer time delay in the data transfer means and the response delay in the slave drive control device can be cleared at the same time. A synchronous control device that can be driven in synchronism with the main shaft motor without causing a follow-up delay with respect to an arbitrary position command can be obtained.

  In the first embodiment, the case where the main shaft speed detector 15 and the main shaft acceleration detector 16 are provided in the sub shaft drive control device 6a is shown, but these are arranged in the main shaft drive control device 3a and the sub shaft is driven. The spindle data transferred to the drive control device 6a via the data transfer means 8 may include the spindle speed and the spindle acceleration in addition to the spindle position. This also provides the same effect.

  Similarly, in addition to the above, the spindle speed correction means (multiplier 17 and adder 18) and the spindle position correction means (multiplier 19 and adder 20) provided in the slave drive control device 6a are driven by the spindle. The spindle data arranged in the control device 3a and transferred to the slave drive control device 6a via the data transfer means 8 may be composed of the corrected spindle position, the corrected spindle speed, and the spindle acceleration. This also provides the same effect.

  In the first embodiment, the case where the main shaft, which is the main operation shaft, is driven by the motor has been described. However, the present invention is not limited to this, and is applicable even when the main shaft is moved manually. it can. When the spindle is manually operated in this way, the spindle motor 1 and the spindle drive control device 3a are eliminated in FIG. 1, and the spindle position detected by the spindle position detector 2 is directly passed through the data transfer means 8. Thus, it is configured to be transferred to the slave shaft drive control means 6a. Even in this case, it is obvious that the driven motor 4 can follow the position of the manually operated spindle without following delay.

Embodiment 2. FIG.
FIG. 2 is a block diagram showing a configuration of a synchronization control apparatus according to Embodiment 2 of the present invention. As shown in FIG. 2, the synchronous control device according to the second embodiment is provided with a driven shaft drive control device 6b in place of the driven shaft drive control device 6a in the configuration shown in FIG. 1 (Embodiment 1). ing. In the slave drive control device 6b, a ratio multiplier 29 is inserted in the interface portion with the data transfer means 8.

  That is, in the first embodiment, the configuration example in the case where the main shaft and the slave shaft operate synchronously at a ratio of 1: 1 is shown, but in the second embodiment, the main shaft and the slave shaft operate at a predetermined ratio K. A configuration example is shown in the case of making it. By multiplying the spindle position by the ratio K by the ratio multiplier 29, the spindle position, the spindle speed, and the spindle acceleration in the slave drive controller 6b are all multiplied by K, and the slave axis is K with respect to the spindle. It will work at double ratio. The configuration and operation other than the ratio multiplier 29 are the same as those in the first embodiment, and as in the first embodiment, both the data transfer time delay in the data transfer means 8 and the response delay in the slave drive control device are eliminated simultaneously. Therefore, it is possible to obtain a synchronous control device that does not have a follow-up delay.

Embodiment 3 FIG.
FIG. 3 is a block diagram showing a configuration of a synchronous control device according to Embodiment 3 of the present invention. As shown in FIG. 3, in the synchronous control device according to the third embodiment, a spindle drive control device 3b is provided in place of the spindle drive control device 3a in the configuration shown in FIG. 1 (Embodiment 1). A driven shaft drive control device 6c is provided instead of the shaft drive control device 6a. Further, a data transfer means 30 is provided instead of the data transfer means 8.

  In FIG. 3, in the spindle drive control device 3b, the position information of the spindle motor 1 detected by the spindle position detector 2 is not used as spindle data to be transferred to the slave drive control device 6c, but the spindle position deviation detector 9 The spindle position deviation to be detected and the speed information of the spindle motor 1 detected by the speed detector 11 are used as spindle data to be transferred to the slave drive controller 6c.

  Therefore, in order to facilitate understanding, the data transfer means 30 distinguishes the spindle position deviation detected by the spindle position deviation detector 9 from the speed information of the spindle motor 1 detected by the speed detector 11 to distinguish the slave shaft drive control device 6c. To be transferred to.

  In the driven shaft drive control device 6c, the spindle acceleration detector 16 and the adder 18 are configured to receive the speed information of the spindle motor 1 input from the data transfer means 30, in addition to the spindle speed detector 15, the multiplication. Instead of the detector 19 and the adder 20, a speed detector 31 for differentiating the spindle position deviation detected by the spindle position deviation detector 9 input from the data transfer means 30 to detect the deviation speed, and the output of the speed detector 31 Is multiplied by the transfer time Td, an adder 33 for adding the spindle position deviation detected by the spindle position deviation detector 9 input from the data transfer means 30 and the output of the multiplier 32, and a host controller (not shown) The subtractor 34 subtracts the output (corrected spindle position deviation) of the adder 33 from the position command issued by and supplies it to the position deviation detector 21 as the position command in the first embodiment. There has been added.

  Next, the operation will be described. Since the spindle acceleration detector 16 and the adder 18 are configured to receive the speed information of the spindle motor 1 input from the data transfer means 30, the same operation as in the first embodiment is performed. Further, in an additional component portion in which the value obtained by subtracting the corrected spindle position deviation from the position command issued by the host controller (not shown) is the position command referred to in the first embodiment, the operation equivalent to the first embodiment is performed as follows. Done.

  That is, a position command given from a host controller (not shown) is Xr, and the spindle position is X1. If there is no transfer time delay in the data transfer means 30, that is, Td = 0. Then, the corrected spindle position deviation becomes equal to the spindle position deviation, and becomes Xr−X1. When this is subtracted from the position command Xr given from the host controller, Xr− (Xr−X1) = X1. Similar to the first embodiment, this is the same as using the spindle position X1 as a slave axis position command. Actually, the data transfer means 30 causes a transfer time delay, but the influence of the transfer time delay is corrected by the spindle position deviation correction means (speed detector 31, multiplier 32, adder 33), so that a slight correction is made. Although there is an error, in the third embodiment as well, in the same manner as in the first embodiment, the main shaft position is used as the position command for the slave shaft.

  That is, in the third embodiment, the control is approximately equivalent to that in the first embodiment. Therefore, as in the first embodiment, the data transfer time delay in the data transfer means and the driven shaft drive control device. Both of the response delays can be eliminated at the same time, and a synchronous control device without a tracking delay can be obtained.

  In the third embodiment, the driven shaft drive control device 6a includes a spindle position deviation correcting means (speed detector 31, multiplier 32, adder 33) and a spindle speed correcting means (multiplier 17 and adder 18). Although the spindle acceleration detector 16 is arranged, a part of them can be arranged in the spindle drive control device 3b, and the same effect can be obtained.

Embodiment 4 FIG.
FIG. 4 is a block diagram showing a configuration of a synchronous control device according to Embodiment 4 of the present invention. As shown in FIG. 4, the synchronous control device according to the fourth embodiment is provided with a driven shaft drive control device 6d in place of the driven shaft drive control device 6c in the configuration shown in FIG. 3 (Embodiment 3). ing. In the driven shaft drive control device 6d, ratio multipliers 35, 36, and 37 are inserted into an interface portion with a host controller (not shown) and two interface portions with the data transfer means 30, respectively.

  That is, in the third embodiment, the configuration example in which the main shaft and the slave shaft are synchronously operated at a ratio of 1: 1 is shown. However, in the fourth embodiment, the main shaft and the slave shaft are operated at a predetermined ratio K. A configuration example is shown in the case of making it. The ratio multipliers 35, 36, and 37 are the same as those in the third embodiment except that the operation ratio between the main shaft and the slave shaft is changed, and there is no follow-up delay as in the third embodiment. A synchronous control device can be obtained.

  In the first to fourth embodiments, the configuration example in the case where the number of slave shafts is one is shown. However, the present invention is not limited to this, and the same is true even when there are a plurality of slave shafts. The same effect can be obtained.

  In the first to fourth embodiments, the spindle acceleration is calculated by differentiating the spindle speed. However, since the differential calculation has a characteristic of amplifying a high-frequency noise component, the obtained spindle acceleration has a large noise component. May be mixed. In order to prevent this, it is effective to insert a low-pass filter immediately before or immediately after the spindle acceleration detector. In this way, high-frequency noise components mixed in the spindle acceleration can be removed, so that the movement of the driven motor can be prevented from being disturbed by the noise components, and synchronization with higher accuracy can be achieved. A control device can be obtained.

  As described above, the synchronous control device according to the present invention performs high-precision driving control for causing the position of one or more slave axes to follow the position of one master axis without any delay in following a position command. And is particularly suitable for a control device in a machine tool having a position synchronization function.

It is a block diagram which shows the structure of the synchronous control apparatus by Embodiment 1 of this invention. It is a block diagram which shows the structure of the synchronous control apparatus by Embodiment 2 of this invention. It is a block diagram which shows the structure of the synchronous control apparatus by Embodiment 3 of this invention. It is a block diagram which shows the structure of the synchronous control apparatus by Embodiment 4 of this invention. It is a block diagram which shows the structural example of the conventional synchronous control apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main shaft motor 2 Main shaft position detector 3a, 3b Main shaft drive control device 4 Sub shaft motor 5 Sub shaft position detector 6a, 6b, 6c, 6d Main shaft drive control device 8, 30 Data transfer means 9 Main shaft position deviation detector 10 Position Control unit 11 Speed detector 12 Speed difference detector 13 Speed control unit 14 Current control unit 15 Spindle speed detector 16 Spindle acceleration detector 17, 19 Multiplier 18, 20 Adder 21 Position deviation detector 22 Position control unit 23 Speed Detector 24 Slave axis control value calculation unit 25 Speed control unit 26 Coefficient multiplier 27 Adder 28 Current control unit 29, 35, 36, 37 Ratio multiplier 31 Speed detector 32 Multiplier 33 Adder 34 Subtractor

Claims (10)

A synchronous control device that drives a driven shaft with a motor so as to synchronize with the position of one main moving shaft,
A spindle position detecting means for detecting a spindle position which is a position of the spindle axis;
A spindle speed detecting means for detecting a spindle speed which is a speed of the main operating axis;
Main axis acceleration detecting means for detecting a main axis acceleration which is an acceleration of the main operation axis;
A driven shaft drive control device for driving and controlling a driven shaft motor which is the motor for driving the driven shaft;
Data transfer means which is a serial network for transferring spindle data including at least one of the spindle position or the corrected spindle position to the slave drive control device;
Spindle speed correction means for generating a corrected spindle speed by adding a product of the transfer time required to transfer the spindle data via the data transfer means and the spindle acceleration to the spindle speed;
Spindle position correcting means for adding the product of the corrected spindle speed and the transfer time to the spindle position to generate the corrected spindle position;
The slave shaft drive control device uses the corrected master shaft position as a position command of the slave shaft, position control means for generating a speed command based on the position command and the position of the slave shaft, and the speed command Speed control means for generating a current command based on the sum of the corrected main shaft speed and the speed of the driven shaft, and based on the sum of the current command and a value obtained by multiplying the main shaft acceleration by a predetermined coefficient. A synchronous control device comprising: current control means for controlling current supplied to the driven motor. A synchronous control device that drives a driven shaft with a motor so as to synchronize with the position of one main moving shaft,
A spindle position detecting means for detecting a spindle position which is a position of the spindle axis;
A spindle position deviation detecting means for obtaining a spindle position deviation which is a difference between a position command given to the spindle axis and the spindle position;
A spindle speed detecting means for detecting a spindle speed which is a speed of the main operating axis;
Main axis acceleration detecting means for detecting a main axis acceleration which is an acceleration of the main operation axis;
A driven shaft drive control device for driving and controlling a driven shaft motor which is the motor for driving the driven shaft;
Data transfer means that is a serial network for transferring spindle data including at least one of the spindle position deviation or the corrected spindle position deviation and either the spindle speed or the corrected spindle speed to the slave drive controller; ,
Spindle speed correction means for adding the product of the transfer time required to transfer the spindle data via the data transfer means and the spindle acceleration to the spindle speed to generate the corrected spindle speed;
Spindle position deviation correction means for adding the product of the differential value of the spindle position deviation and the transfer time to the spindle position deviation to generate the corrected spindle position deviation;
The slave shaft drive control device uses a value obtained by subtracting the correction master shaft position deviation from the position command given to the master operation axis as a slave shaft position command, and a speed based on the position command and the position of the slave shaft. Position control means for generating a command; speed control means for generating a current command based on the sum of the speed command and the corrected spindle speed; and the speed of the driven shaft; and a predetermined value for the current command and the spindle acceleration. A synchronous control device comprising: current control means for controlling a current supplied to the driven motor based on a sum of a value multiplied by a coefficient of Control is performed so that a main shaft side device arranged on one main operation shaft side and a sub shaft motor arranged on the sub operation shaft side and driving the sub operation shaft are synchronized with the main shaft position which is the position of the main operation shaft. A synchronous control device comprising a driven shaft drive control device, and a data transfer means that is a serial network connecting the spindle side device and the driven shaft drive control device;
The spindle side device is
A spindle position detecting means for detecting a spindle position which is a position of the main operation axis, and means for giving spindle data including information on the detected spindle position to the data transfer means,
The driven shaft drive control device includes:
A spindle speed detecting means for detecting a spindle speed that is a speed of the main movement axis based on the information on the spindle position received from the data transfer means, and a spindle that is an acceleration of the main movement axis based on the detected spindle speed Main axis acceleration detecting means for detecting acceleration, and adding the product of the detected main axis acceleration and the transfer time required for transferring the main axis data via the data transfer means to the detected main axis speed for correction Spindle speed correction means for generating a spindle speed; spindle position correction means for generating a corrected spindle position by adding the spindle position information received from the data transfer means to the product of the corrected spindle speed and the transfer time; Position control means for setting the corrected main shaft position as a position command for the slave axis and generating a speed command based on the position command and the detected position of the slave axis; A slave shaft speed detecting means for detecting a slave shaft speed, which is the speed of the slave shaft based on the detection position of the master axis, and a current command by subtracting the slave shaft speed from the sum of the speed command and the corrected master shaft speed. A speed control means for generating; and a current control means for controlling a supply current to the driven motor based on a sum of the current command and a value obtained by multiplying the spindle acceleration by a predetermined coefficient. Control device. Control is performed so that a main shaft side device arranged on one main operation shaft side and a sub shaft motor arranged on the sub operation shaft side and driving the sub operation shaft are synchronized with the main shaft position which is the position of the main operation shaft. A synchronous control device comprising a driven shaft drive control device, and a data transfer means that is a serial network connecting the spindle side device and the driven shaft drive control device;
The spindle side device is
A main shaft position detecting means for detecting a main shaft position which is a position of the main operating axis; a main spindle speed detecting means for detecting a main shaft speed which is a speed of the main operating axis based on the detected main shaft position; Main axis acceleration detecting means for detecting a main axis acceleration which is the acceleration of the main operating axis based on the main axis speed, and means for giving main axis data including the detected main axis position, the main axis speed and the main axis acceleration to the data transfer means; With
The driven shaft drive control device includes:
Corrected spindle speed by adding the product of the spindle acceleration received from the data transfer means and the transfer time required to transfer the spindle data via the data transfer means to the spindle speed received from the data transfer means A spindle speed correcting means for generating a corrected spindle position by adding information on the spindle position received from the data transfer means to a product of the corrected spindle speed and the transfer time; and Position control means for generating a speed command on the basis of the position command and the detected position of the slave axis, using the corrected master axis position as a position command of the slave axis, and the slave axis based on the detected position of the slave axis A slave shaft speed detecting means for detecting a slave shaft speed, and a speed control device for generating a current command by subtracting the slave shaft speed from the sum of the speed command and the corrected master shaft speed. If the synchronization control unit, characterized in that it comprises a current control means for controlling the current supplied to the slave-axis motor based on the sum of said multiplied by the current command and the main shaft acceleration to a predetermined coefficient value. Control is performed so that a main shaft side device arranged on one main operation shaft side and a sub shaft motor arranged on the sub operation shaft side and driving the sub operation shaft are synchronized with the main shaft position which is the position of the main operation shaft. A synchronous control device comprising a driven shaft drive control device, and a data transfer means that is a serial network connecting the spindle side device and the driven shaft drive control device;
The spindle side device is
A main shaft position detecting means for detecting a main shaft position which is a position of the main operating axis; a main spindle speed detecting means for detecting a main shaft speed which is a speed of the main operating axis based on the detected main shaft position; A spindle acceleration detecting means for detecting a spindle acceleration which is an acceleration of the spindle moving axis based on the spindle speed, and a detected transfer time required to transfer the spindle data via the spindle transfer data and the data transfer means. A spindle speed correction unit that generates a corrected spindle speed by adding a product to the spindle speed, and generates a corrected spindle position by adding information of the detected spindle position to a product of the corrected spindle speed and the transfer time. Spindle position correcting means, and means for supplying spindle data including the spindle speed, the spindle acceleration, the corrected spindle speed, and the corrected spindle position to the data transfer means,
The driven shaft drive control device includes:
Position control means for setting the corrected spindle position received from the data transfer means as a position command for the driven axis and generating a speed command based on the position command and the detected position of the driven axis; The slave shaft speed detecting means for detecting the slave shaft speed, which is the speed of the slave operation shaft based on the detection position, and the slave shaft speed is subtracted from the sum of the speed command and the corrected master shaft speed received from the data transfer means. A speed control means for generating a current command, and a current for controlling a supply current to the slave motor based on a sum of the current command and a value obtained by multiplying the spindle acceleration received from the data transfer means by a predetermined coefficient. And a control means.   The synchronous control device according to any one of claims 3 to 5, wherein the driven shaft drive control device includes means for multiplying an operation ratio in an interface portion with the data transfer means. Control is performed so that a main shaft side device arranged on one main operation shaft side and a sub shaft motor arranged on the sub operation shaft side and driving the sub operation shaft are synchronized with the main shaft position which is the position of the main operation shaft. A synchronous control device comprising a driven shaft drive control device, and a data transfer means that is a serial network connecting the spindle side device and the driven shaft drive control device;
The spindle side device is
Main shaft position detecting means for detecting the main shaft position, which is the position of the main moving shaft, and main shaft position deviation detecting means for obtaining a main shaft position deviation which is a difference between a position command given to the main moving shaft and the detected main shaft position. And a spindle speed detecting means for detecting a spindle speed that is a speed of the main operating axis, and a means for giving spindle data including the detected spindle position deviation and the spindle speed to the data transfer means,
The driven shaft drive control device includes:
A spindle acceleration detecting means for detecting a spindle acceleration which is an acceleration of the main motion axis based on the spindle speed received from the data transferring means , and transferring the spindle data via the detected spindle acceleration and the data transferring means. A product of the spindle speed correction means for generating a corrected spindle speed by adding the product of the transfer time required to perform to the spindle speed, and the product of the differential value of the spindle position deviation received from the data transfer means and the transfer time Is added to the spindle position deviation to generate a corrected spindle position deviation, and a position obtained by subtracting the corrected spindle position deviation from the position command given to the master action axis is the position of the slave action axis. A position control means for generating a speed command based on the position command and the detected position of the driven shaft as a command, and the sum of the speed command and the corrected spindle speed Speed control means for generating a current command by reducing the driven shaft speed, and current control means for controlling a supply current to the driven motor based on a sum of the current command and a value obtained by multiplying the spindle acceleration by a predetermined coefficient. A synchronization control device comprising: Control is performed so that a main shaft side device arranged on one main operation shaft side and a sub shaft motor arranged on the sub operation shaft side and driving the sub operation shaft are synchronized with the main shaft position which is the position of the main operation shaft. A synchronous control device comprising a driven shaft drive control device, and a data transfer means that is a serial network connecting the spindle side device and the driven shaft drive control device;
The spindle side device is
Main shaft position detecting means for detecting the main shaft position, which is the position of the main moving shaft, and main shaft position deviation detecting means for obtaining a main shaft position deviation which is a difference between a position command given to the main moving shaft and the detected main shaft position. Main axis speed detecting means for detecting a main axis speed that is the speed of the main operating axis, and main axis acceleration detecting means for detecting a main axis acceleration that is an acceleration of the main operating axis based on the detected main axis speed. A spindle speed correcting means for adding a product of the spindle acceleration and a transfer time required to transfer the spindle data via the data transfer means to the spindle speed to generate a corrected spindle speed; Spindle position deviation correction means for generating a corrected spindle position deviation by adding the product of the derivative value of the spindle position deviation and the transfer time to the spindle position deviation, the detected spindle acceleration, and the correction And means for providing an axial positional deviation and the main shaft data including the correction spindle speed in the data transfer unit,
The driven shaft drive control device includes:
A value obtained by subtracting the corrected main shaft position deviation received from the data transfer means from the position command given to the main operation axis is set as the position command of the subordinate operation axis, and based on the position command and the detected position of the subordinate operation axis. Position control means for generating a speed command, speed control means for generating a current command by subtracting the slave shaft speed from the sum of the speed command and the corrected spindle speed received from the data transfer means, and the current A synchronous control device, comprising: current control means for controlling a supply current to the driven motor based on a sum of a command and a value obtained by multiplying the spindle acceleration received from the data transfer means by a predetermined coefficient. .   9. The slave shaft drive control device comprises means for multiplying an operation ratio by an interface part with the data transfer means and an interface part for receiving a position command given to the main operation axis. The synchronous control device according to 1.   The said spindle acceleration detection means is provided with the differentiator which differentiates the said spindle speed, and the low pass filter which removes a high frequency component from the output signal of the said differentiator. The synchronous control device according to one.

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