JP6426770B2 - サーボ制御装置 - Google Patents
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- JP6426770B2 JP6426770B2 JP2017019710A JP2017019710A JP6426770B2 JP 6426770 B2 JP6426770 B2 JP 6426770B2 JP 2017019710 A JP2017019710 A JP 2017019710A JP 2017019710 A JP2017019710 A JP 2017019710A JP 6426770 B2 JP6426770 B2 JP 6426770B2
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- 230000014509 gene expression Effects 0.000 claims description 15
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- 230000005540 biological transmission Effects 0.000 description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/39—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using a combination of the means covered by at least two of the preceding groups G05B19/21, G05B19/27 and G05B19/33
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35473—Input limit values of speed, position, acceleration or force
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41011—Adapt gain as function of followup error, model can be used
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Electric Motors In General (AREA)
Description
s:ラプラス演算子、a0:分子多項式の定数項、a1:分子多項式の1次の係数、a2:分子多項式の2次の係数、a3:分子多項式の3次の係数、a4:分子多項式の4次の係数、b0:分母多項式の定数項、b1:分母多項式の1次の係数、b2:分母多項式の2次の係数、b3:分母多項式の3次の係数
本実施形態のサーボ制御装置10は、速度指令作成部11と、トルク指令作成部12と、速度検出部13と、速度制御ループ30と、速度制御ゲイン14と、正弦波外乱入力部15と、実周波数特性算出部16と、規範特性変更部17と、規範周波数特性計算部18と、制御ゲイン調整部19と、を具備する。
正弦波外乱入力部15が逐次周波数を変更し、規範周波数特性計算部18は規範特性変更部17の指定する特徴に対する規範周波数特性を周波数ごとに逐次算出し、実周波数特性算出部16は制御系の実周波数特性を周波数ごとに逐次算出し、規範周波数特性計算部18は、規範周波数特性と実周波数特性とが最も一致するときの規範特性変更部の特性式を記憶する。
2 伝達機構(送り軸)
3 サーボモータ
10 サーボ制御装置
11 速度指令作成部
12 トルク指令作成部
13 速度検出部
14 速度制御ゲイン
15 正弦波外乱入力部
16 実周波数特性算出部
17 規範特性変更部
18 規範周波数特性計算部
19 制御ゲイン調整部
30 速度制御ループ
Claims (2)
- サーボモータで駆動される送り軸を有する工作機械におけるサーボ制御装置において、
前記サーボモータの速度指令値を作成する速度指令作成部と、
前記サーボモータのトルク指令値を作成するトルク指令作成部と、
前記サーボモータの速度を検出する速度検出部と、
前記速度指令作成部と前記トルク指令作成部と前記速度検出部とで構成する速度制御ループと、
前記速度制御ループの制御ゲインである速度制御ゲインと、
前記速度制御ループへの正弦波掃引を行う正弦波外乱入力部と、
正弦波を前記速度制御ループへ入力したときの前記速度制御ループの出力から、速度制御ループ入出力信号の利得と位相を推定するための実周波数特性算出部と、
前記速度制御ループの規範周波数特性を特徴づける特性式を変更する規範特性変更部と、
前記規範特性変更部が指定する特徴に対する規範周波数特性を計算する規範周波数特性計算部と、
前記実周波数特性算出部が算出する実周波数応答と前記規範周波数特性計算部が計算する規範周波数特性とに基づいて速度制御ゲインを調整する制御ゲイン調整部と、
を具備し、
前記正弦波外乱入力部が逐次周波数を変更し、前記規範周波数特性計算部は前記規範特性変更部の指定する特徴に対する規範周波数特性を周波数ごとに逐次算出し、前記実周波数特性算出部は制御系の実周波数特性を周波数ごとに逐次算出し、
前記規範周波数特性計算部は、規範周波数特性と実周波数特性とが最も一致するときの規範特性変更部の特性式を記憶するサーボ制御装置。 - 前記規範周波数特性計算部は、制御ゲイン調整前の実周波数特性に対して規範周波数特性の特性式を1つの剛体モードおよび少なくとも1つの二慣性モードとして表現したものを逐次計算で決定する請求項1に記載のサーボ制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2017019710A JP6426770B2 (ja) | 2017-02-06 | 2017-02-06 | サーボ制御装置 |
US15/882,041 US10310489B2 (en) | 2017-02-06 | 2018-01-29 | Servo controller |
DE102018000788.0A DE102018000788A1 (de) | 2017-02-06 | 2018-01-31 | Servosteuereinheit |
CN201810101873.XA CN108398920B (zh) | 2017-02-06 | 2018-02-01 | 伺服控制装置 |
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JP2017019710A JP6426770B2 (ja) | 2017-02-06 | 2017-02-06 | サーボ制御装置 |
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JP2018128734A JP2018128734A (ja) | 2018-08-16 |
JP6426770B2 true JP6426770B2 (ja) | 2018-11-21 |
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US (1) | US10310489B2 (ja) |
JP (1) | JP6426770B2 (ja) |
CN (1) | CN108398920B (ja) |
DE (1) | DE102018000788A1 (ja) |
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JP6875329B2 (ja) * | 2018-06-26 | 2021-05-19 | ファナック株式会社 | 学習制御を行うロボットシステム |
TWI681274B (zh) * | 2018-11-14 | 2020-01-01 | 財團法人工業技術研究院 | 工具機頻率響應參數的調整方法及應用其之調整系統 |
JP7057312B2 (ja) | 2019-04-02 | 2022-04-19 | ファナック株式会社 | 工作機械 |
JP6885436B2 (ja) * | 2019-09-11 | 2021-06-16 | 富士電機株式会社 | サーボアンプ及びサーボシステム |
US11697424B2 (en) * | 2020-02-14 | 2023-07-11 | Hamilton Sundstrand Corporation | Health diagnosis of hybrid powerplant |
CN117678155A (zh) | 2021-09-03 | 2024-03-08 | 发那科株式会社 | 频率特性预测装置及频率特性预测方法 |
JP2023155768A (ja) | 2022-04-11 | 2023-10-23 | オークマ株式会社 | 負荷装置の位置による特性変動を考慮したパラメータ調整装置および方法 |
JP7482201B1 (ja) | 2022-12-22 | 2024-05-13 | 株式会社安川電機 | モータ制御システム、制御パラメータ自動調整方法、及び、自動調整プログラム |
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JPH08123553A (ja) * | 1994-10-28 | 1996-05-17 | Canon Inc | 位置決め装置 |
US20020022903A1 (en) * | 2000-08-14 | 2002-02-21 | Krah Jens Onno | Frequency domain auto-tune for an internal motor controller |
JP4110358B2 (ja) | 2001-09-04 | 2008-07-02 | 株式会社安川電機 | 電動機制御装置の機械モデル推定装置 |
CN101246353A (zh) * | 2008-03-17 | 2008-08-20 | 湖南宇晶机器实业有限公司 | Ic材料线切割机床多电机系统速度同步自适应逆控制方法 |
JP5333905B2 (ja) * | 2008-10-22 | 2013-11-06 | 株式会社ニイガタマシンテクノ | 工作機械の制御方法及び制御装置 |
CN101727092B (zh) * | 2008-10-31 | 2012-06-20 | 鸿富锦精密工业(深圳)有限公司 | 频谱分析系统及方法 |
JP4648468B2 (ja) * | 2009-06-05 | 2011-03-09 | ファナック株式会社 | 加工状態判定機能を備えたワイヤカット放電加工機 |
DE112012005841T5 (de) * | 2012-02-08 | 2014-10-23 | Mitsubishi Electric Corporation | Servoregelungsvorrichtung |
CN103143988A (zh) * | 2013-03-31 | 2013-06-12 | 苏州科技学院 | 一种切削过程中微型刀具与工件接触精确检测的方法 |
JP6312548B2 (ja) * | 2014-07-31 | 2018-04-18 | ファナック株式会社 | 機械剛性の自己測定機能および自己監視機能を有するサーボモータ制御装置 |
JP5980890B2 (ja) * | 2014-12-10 | 2016-08-31 | ファナック株式会社 | 実験モード解析を用いたフィルタ自動調整機能を有するサーボ制御装置 |
JP6407076B2 (ja) * | 2015-03-25 | 2018-10-17 | Dmg森精機株式会社 | 位置決め装置のパラメータ設定方法、及び位置決め装置 |
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- 2018-01-29 US US15/882,041 patent/US10310489B2/en active Active
- 2018-01-31 DE DE102018000788.0A patent/DE102018000788A1/de active Pending
- 2018-02-01 CN CN201810101873.XA patent/CN108398920B/zh active Active
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US10310489B2 (en) | 2019-06-04 |
CN108398920A (zh) | 2018-08-14 |
US20180224830A1 (en) | 2018-08-09 |
JP2018128734A (ja) | 2018-08-16 |
CN108398920B (zh) | 2019-07-12 |
DE102018000788A1 (de) | 2018-08-09 |
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