JP7277265B2 - 振動を抑制するモータ制御装置及び産業機械 - Google Patents
振動を抑制するモータ制御装置及び産業機械 Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B23Q17/12—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring vibration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- 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
- B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
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- 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
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- 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
- B23Q17/0971—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 mechanical vibrations of parts of the machine
-
- 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
- B23Q17/0971—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 mechanical vibrations of parts of the machine
- B23Q17/0976—Detection or control of chatter
-
- 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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
- B23Q5/10—Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
-
- 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
- G05B19/182—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 the machine tool function, e.g. thread cutting, cam making, tool direction control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- 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
- B23Q2705/00—Driving working spindles or feeding members carrying tools or work
- B23Q2705/10—Feeding members carrying tools or work
- B23Q2705/104—Feeding members carrying tools or work for milling machines
-
- 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
- B23Q2705/00—Driving working spindles or feeding members carrying tools or work
- B23Q2705/10—Feeding members carrying tools or work
- B23Q2705/14—Electric drives
- B23Q2705/145—Electric drives for milling machines
-
- 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
- B23Q2717/00—Arrangements for indicating or measuring
- B23Q2717/006—Arrangements for indicating or measuring in milling machines
-
- 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
- G05B2219/37—Measurements
- G05B2219/37351—Detect vibration, ultrasound
-
- 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
- G05B2219/42077—Position, speed or current, combined with vibration feedback
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
Description
前記フィルタ特性周波数は、ねじり振動特性に基づき変更され、
前記ねじり振動特性は、前記制御対象の位置に応じて変化するバネ定数k 1 、前記制御対象のイナーシャJ L 、及び前記制御対象の角周波数ω 1 に基づく次式によって記述されており、
さらに、制御対象の加速度を検出する加速度検出部と、検出した前記加速度に基づいて前記制御対象を駆動するモータの加速度を制御する加速度制御部と、を備え、前記加速度制御部は前記モータと前記制御対象との間で発生する振動成分を抽出する振動成分抽出フィルタを備え、前記振動成分抽出フィルタは前記制御対象の位置及び質量の少なくとも一方に応じてフィルタ特性周波数を変更し、
前記フィルタ特性周波数は、板バネ振動特性に基づき変更され、
前記板バネ振動特性は、前記制御対象の位置に応じて変化するバネ定数k 2 、前記制御対象の質量M、及び前記制御対象の角周波数ω 2 に基づく次式によって記述されており、
本開示の他の態様は、モータと、モータによって駆動される自軸と、自軸によって移動可能な制御対象と、前述のモータ制御装置と、を備える産業機械を提供する。
本開示の別の態様は、モータと、モータによって駆動される自軸と、モータとは異なるモータによって駆動される他軸と、自軸及び他軸の少なくとも一方によって移動可能な制御対象と、前述のモータ制御装置と、を備える産業機械を提供する。
2 モータ
3 制御対象
4 モータ
10 位置指令部
11 加速度制御部
12 サーボ制御部
13 位置検出部
14 加速度検出部
20 微分器
21a、21b 振動成分抽出フィルタ
22 減算器
23 加速度制御器
24 加算器
30 産業機械
31 ボールねじ(自軸)
32 支持要素
33 他軸
V1 ねじり振動
V2 板バネ振動
L ボールねじの長さ(制御対象の位置)
d ボールねじの直径
Lx X軸ボールねじの長さ(制御対象の位置)
Ly Y軸ボールねじの長さ(制御対象の位置)
Lz Z軸ボールねじの長さ(制御対象の位置)
Claims (9)
- 制御対象の加速度を検出する加速度検出部と、
検出した前記加速度に基づいて前記制御対象を駆動するモータの加速度を制御する加速度制御部と、
を備え、
前記加速度制御部は前記モータと前記制御対象との間で発生する振動成分を抽出する振動成分抽出フィルタを備え、
前記振動成分抽出フィルタは前記制御対象の位置及び質量の少なくとも一方に応じてフィルタ特性周波数を変更し、
前記フィルタ特性周波数は、ねじり振動特性に基づき変更され、
前記ねじり振動特性は、前記制御対象の位置に応じて変化するバネ定数k 1 、前記制御対象のイナーシャJ L 、及び前記制御対象の角周波数ω 1 に基づく次式によって記述されており、
- 制御対象の加速度を検出する加速度検出部と、
検出した前記加速度に基づいて前記制御対象を駆動するモータの加速度を制御する加速度制御部と、
を備え、
前記加速度制御部は前記モータと前記制御対象との間で発生する振動成分を抽出する振動成分抽出フィルタを備え、
前記振動成分抽出フィルタは前記制御対象の位置及び質量の少なくとも一方に応じてフィルタ特性周波数を変更し、
前記フィルタ特性周波数は、板バネ振動特性に基づき変更され、
前記板バネ振動特性は、前記制御対象の位置に応じて変化するバネ定数k 2 、前記制御対象の質量M、及び前記制御対象の角周波数ω 2 に基づく次式によって記述されており、
- 前記制御対象の位置は、前記モータによって駆動される自軸における前記制御対象の位置であるか、又は前記モータとは異なるモータによって駆動される他軸における前記制御対象の位置である、請求項1または2に記載のモータ制御装置。
- 前記制御対象の重量は、オペレータが予め入力するか、又は前記制御対象もしくは前記モータのトルク及び加速度の関係に基づき推定される、請求項1から3のいずれか一項に記載のモータ制御装置。
- 前記振動成分抽出フィルタはローパスフィルタ及びバンドパスフィルタの少なくとも一方であり、前記フィルタ特性周波数は、前記ローパスフィルタのカットオフ周波数であるか、又は前記バンドパスフィルタの中心周波数もしくは上側カットオフ周波数及び下側カットオフ周波数である、請求項1から4のいずれか一項に記載のモータ制御装置。
- 前記振動成分抽出フィルタは前記加速度検出部の後段に設けられたフィルタである、請求項1から5のいずれか一項に記載のモータ制御装置。
- 前記加速度制御部は前記モータの加速度を制御する加速度制御器をさらに備え、前記振動成分抽出フィルタは前記加速度制御器の前段又は後段に設けられたフィルタである、請求項1から6のいずれか一項に記載のモータ制御装置。
- モータと、
前記モータによって駆動される自軸と、
前記自軸によって移動可能な制御対象と、
請求項1から7のいずれか一項に記載のモータ制御装置と、
を備える産業機械。 - モータと、
前記モータによって駆動される自軸と、
前記モータとは異なるモータによって駆動される他軸と、
前記自軸及び前記他軸の少なくとも一方によって移動可能な制御対象と、
請求項1から7のいずれか一項に記載のモータ制御装置と、
を備える産業機械。
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JP2019105568A JP7277265B2 (ja) | 2019-06-05 | 2019-06-05 | 振動を抑制するモータ制御装置及び産業機械 |
DE102020003273.7A DE102020003273A1 (de) | 2019-06-05 | 2020-05-29 | Motorsteuervorrichtung und Industriemaschine zur Unterdrückung von Schwingungen |
US16/891,768 US11559867B2 (en) | 2019-06-05 | 2020-06-03 | Motor control device and industrial machine for suppressing vibration |
CN202010501806.4A CN112054737A (zh) | 2019-06-05 | 2020-06-04 | 抑制振动的电动机控制装置和产业机械 |
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JP2017130989A (ja) | 2016-01-18 | 2017-07-27 | Ntn株式会社 | 電動モータ装置 |
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JP2004005469A (ja) | 2002-03-29 | 2004-01-08 | Matsushita Electric Ind Co Ltd | 電動機の制御方法及び制御装置 |
JP2009070396A (ja) | 2003-02-20 | 2009-04-02 | Mitsubishi Electric Corp | サーボ制御装置 |
JP2009015448A (ja) | 2007-07-02 | 2009-01-22 | Fanuc Ltd | 制御装置 |
JP2009159774A (ja) | 2007-12-27 | 2009-07-16 | Yaskawa Electric Corp | モータ制御装置とその制御方法とその適用機械システム |
WO2011058874A1 (ja) | 2009-11-12 | 2011-05-19 | コニカミノルタホールディングス株式会社 | 平行移動機構、干渉計および分光器 |
JP2017130989A (ja) | 2016-01-18 | 2017-07-27 | Ntn株式会社 | 電動モータ装置 |
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US20200384593A1 (en) | 2020-12-10 |
DE102020003273A1 (de) | 2021-01-07 |
CN112054737A (zh) | 2020-12-08 |
JP2020198049A (ja) | 2020-12-10 |
US11559867B2 (en) | 2023-01-24 |
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