JP7068225B2 - 主軸及び送り軸を有する工作機械の制御装置 - Google Patents
主軸及び送り軸を有する工作機械の制御装置 Download PDFInfo
- Publication number
- JP7068225B2 JP7068225B2 JP2019073689A JP2019073689A JP7068225B2 JP 7068225 B2 JP7068225 B2 JP 7068225B2 JP 2019073689 A JP2019073689 A JP 2019073689A JP 2019073689 A JP2019073689 A JP 2019073689A JP 7068225 B2 JP7068225 B2 JP 7068225B2
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- JP
- Japan
- Prior art keywords
- speed
- load torque
- spindle motor
- spindle
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
- B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
- B23Q17/0961—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining by measuring power, current or torque of a motor
-
- 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
- G05B19/4163—Adaptive control of feed or cutting velocity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/08—Control or regulation of cutting velocity
-
- 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
- G05B2219/41379—Estimate torque from command torque and measured speed
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42011—PI regulator for speed loop
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42037—Adaptive pi
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49086—Adjust feeding speed or rotational speed of main spindle when load out of range
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49108—Spindle speed
Description
2 送り軸モータ
3 主軸モータ
4 工具
5 ワーク
10 送り軸モータ制御系
11 負荷トルク推定部
12 速度変更部
13 第1のゲイン変更部
14 第2のゲイン変更部
15 記憶部
16 速度制御部
17 電流制御部
20 主軸モータ制御系
21 位置指令生成部
22 位置制御部
23 速度制御部
24 電流制御部
31、32 エンコーダ
Claims (1)
- 工作機械の主軸を駆動する主軸モータに対するトルク指令と前記主軸モータの速度とに基づいて、前記主軸モータにかかる負荷トルクを推定する負荷トルク推定部と、
前記負荷トルク推定部により推定された前記負荷トルクが、予め規定された負荷トルク目標値に従うよう、送り軸モータの速度を変更する速度変更部と、
前記主軸モータの速度、または前記主軸モータの速度に前記主軸に設けられる工具の刃数を乗じた値である加工外乱の周波数に応じて、前記速度変更部における前記送り軸モータの速度の変更に用いられる制御ゲインを変更する第1のゲイン変更部と、
前記主軸モータの速度、または前記主軸モータの速度に前記主軸に設けられる工具の刃数を乗じた値である加工外乱の周波数に応じて、前記負荷トルク推定部における前記負荷トルクの推定に用いられるゲインを変更する第2のゲイン変更部と、
を備える、工作機械の制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019073689A JP7068225B2 (ja) | 2019-04-08 | 2019-04-08 | 主軸及び送り軸を有する工作機械の制御装置 |
DE102020002087.9A DE102020002087A1 (de) | 2019-04-08 | 2020-04-01 | Steuervorrichtung einer Werkzeugmaschine mit einer Spindelachse und einer Vorschubachse |
CN202010254544.6A CN111791087A (zh) | 2019-04-08 | 2020-04-02 | 具有主轴以及进给轴的机床的控制装置 |
US16/841,559 US11534880B2 (en) | 2019-04-08 | 2020-04-06 | Control apparatus of machine tool including spindle axis and feed axis |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019073689A JP7068225B2 (ja) | 2019-04-08 | 2019-04-08 | 主軸及び送り軸を有する工作機械の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020171973A JP2020171973A (ja) | 2020-10-22 |
JP7068225B2 true JP7068225B2 (ja) | 2022-05-16 |
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JP2019073689A Active JP7068225B2 (ja) | 2019-04-08 | 2019-04-08 | 主軸及び送り軸を有する工作機械の制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11534880B2 (ja) |
JP (1) | JP7068225B2 (ja) |
CN (1) | CN111791087A (ja) |
DE (1) | DE102020002087A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11349424B2 (en) * | 2020-01-10 | 2022-05-31 | Steering Solutions Ip Holding Corporation | Observer design for estimating motor velocity of brush electric power steering system |
CN115461191B (zh) * | 2020-04-27 | 2023-07-28 | 三菱电机株式会社 | 加工装置及寿命推定方法 |
DE112022000458T5 (de) * | 2021-03-02 | 2023-10-12 | Fanuc Corporation | Numerische Steuerung und computerlesbares Speichermedium |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002038332A1 (en) | 2000-11-01 | 2002-05-16 | Mitsubishi Denki Kabushiki Kaisha | Servocontrol device |
JP2016093040A (ja) | 2014-11-07 | 2016-05-23 | ファナック株式会社 | 過大負荷を検出するモータ制御装置 |
JP2016140967A (ja) | 2015-02-04 | 2016-08-08 | オークマ株式会社 | 位置制御装置 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3285663B2 (ja) * | 1993-05-11 | 2002-05-27 | ファナック株式会社 | 工具破損検出装置 |
JP3363958B2 (ja) * | 1993-07-13 | 2003-01-08 | ファナック株式会社 | ドリル加工方式 |
JPH0751996A (ja) * | 1993-08-06 | 1995-02-28 | Fanuc Ltd | Cncの過剰負荷検出方式 |
JPH0751992A (ja) * | 1993-08-06 | 1995-02-28 | Fanuc Ltd | 穴開け加工方式 |
JPH07195256A (ja) * | 1993-11-26 | 1995-08-01 | Omron Corp | 制御装置及びそれが用いられる工作機械並びにトルク測定器及び工具折損検出装置 |
JP3567620B2 (ja) * | 1996-06-20 | 2004-09-22 | 株式会社明電舎 | 加工ロボット装置及び連続送り速度制御方法 |
JP3902710B2 (ja) * | 1999-03-24 | 2007-04-11 | 株式会社牧野フライス製作所 | 数値制御による工作機械の制御方法及び装置 |
JP4299865B2 (ja) * | 2007-01-04 | 2009-07-22 | ファナック株式会社 | 工作機械の制御装置及び制御方法 |
US9785139B2 (en) * | 2013-03-07 | 2017-10-10 | Makino Milling Machine Co., Ltd. | Working machine feed axis control method and feed axis control device |
JP6058497B2 (ja) * | 2013-07-19 | 2017-01-11 | オークマ株式会社 | 工作機械及びその制御方法 |
JP5863919B1 (ja) * | 2014-09-30 | 2016-02-17 | ファナック株式会社 | 工作機械の制御装置 |
JP6457778B2 (ja) * | 2014-10-24 | 2019-01-23 | オークマ株式会社 | 数値制御装置 |
JP6647422B2 (ja) | 2016-11-16 | 2020-02-14 | 株式会社牧野フライス製作所 | 工作機械の送り軸制御方法および送り軸制御装置 |
-
2019
- 2019-04-08 JP JP2019073689A patent/JP7068225B2/ja active Active
-
2020
- 2020-04-01 DE DE102020002087.9A patent/DE102020002087A1/de active Pending
- 2020-04-02 CN CN202010254544.6A patent/CN111791087A/zh active Pending
- 2020-04-06 US US16/841,559 patent/US11534880B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002038332A1 (en) | 2000-11-01 | 2002-05-16 | Mitsubishi Denki Kabushiki Kaisha | Servocontrol device |
JP2016093040A (ja) | 2014-11-07 | 2016-05-23 | ファナック株式会社 | 過大負荷を検出するモータ制御装置 |
JP2016140967A (ja) | 2015-02-04 | 2016-08-08 | オークマ株式会社 | 位置制御装置 |
Also Published As
Publication number | Publication date |
---|---|
US11534880B2 (en) | 2022-12-27 |
US20200316743A1 (en) | 2020-10-08 |
CN111791087A (zh) | 2020-10-20 |
JP2020171973A (ja) | 2020-10-22 |
DE102020002087A1 (de) | 2020-10-22 |
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