JP7343319B2 - サーボ制御装置 - Google Patents
サーボ制御装置 Download PDFInfo
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- JP7343319B2 JP7343319B2 JP2019133481A JP2019133481A JP7343319B2 JP 7343319 B2 JP7343319 B2 JP 7343319B2 JP 2019133481 A JP2019133481 A JP 2019133481A JP 2019133481 A JP2019133481 A JP 2019133481A JP 7343319 B2 JP7343319 B2 JP 7343319B2
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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
- G05B19/4097—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 using design data to control NC machines, e.g. CAD/CAM
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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
- G05B19/4155—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 programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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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
- G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
- G05B19/40937—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of machining or material parameters, pocket machining
- G05B19/40938—Tool management
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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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
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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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
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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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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/20—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for controlling one motor used for different sequential operations
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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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36103—Adapt, update machining parameters automatically as function of state of processing
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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
- G05B2219/41435—Adapt coefficients, parameters of feedforward
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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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49065—Execute learning mode first for determining adaptive control parameters
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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)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Computing Systems (AREA)
- Power Engineering (AREA)
- Geometry (AREA)
- Numerical Control (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Description
一般に、パラメータは固定しているので、機械の変動に合わせて最も保守的な設定になっている。すなわち、加工などの機械動作によって発振しにくいように、予め、低いゲイン、減衰の大きい(遅れが大きい)フィルタ、長い時定数となるように設定されている。これにより、サイクルタイム短縮が困難となる。
あるいはパラメータをある条件で最適になるよう設定していた場合は、イナーシャや位置の変更があった時にパラメータが最適でなくなり、工作機械での加工時に、振動気味になって加工表面に傷を残すおそれなどがある。
但し、本発明に係る産業用機械は、ロボット、搬送機、計測器、試験装置、プレス機、圧入器、印刷機、ダイカストマシン、射出成型機、食品機械、包装機、溶接機、洗浄機、塗装機、組立装置、実装機、木工機械、シーリング装置又は切断機など、他の産業用機械であっても勿論構わない。
被駆動体イナーシャの時系列又はイベント系列のデータを導出する場合には、パラメータの速度ゲインを変更するスケジュールを作成でき、軸の位置の時系列又はイベント系列のデータを導出する場合には、フィルタ周波数や時定数を変更するスケジュールを作成できる。
そして、上記のようにした場合においても、上記と同様の作用効果を得ることが可能になる。
2 CAD
3 加工プログラム作成部(稼働プログラム作成部)
4 加工シミュレータ部(稼働シミュレータ部)
5 CAM
6 CNC
7 サーボモータ(駆動部)
8 モータ制御部
9 加工計画情報(稼働計画情報)
10 サーボ制御装置
11 状態値導出部
12 パラメータ変更部
Claims (1)
- 産業用機械の軸を駆動する電動機を制御するためのサーボ制御装置であって、
前記産業用機械の稼働プログラム及び/又は稼働計画情報から前記電動機又は前記電動機によって動く被駆動体のイナーシャの時系列又はイベント系列のデータを導出する状態値導出部と、
速度ゲイン、位置ゲイン、フィードフォワードゲイン、フィルタ周波数、補間後加減速時定数のうち、少なくとも一つのパラメータを、前記状態値導出部で導出したイナーシャの時系列又はイベント系列のデータに基づいて、イナーシャの時系列又はイベント系列に沿って変更するパラメータ変更部と、
を備える、サーボ制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019133481A JP7343319B2 (ja) | 2019-07-19 | 2019-07-19 | サーボ制御装置 |
US16/923,659 US11294354B2 (en) | 2019-07-19 | 2020-07-08 | Servo controller |
DE102020208597.8A DE102020208597A1 (de) | 2019-07-19 | 2020-07-09 | Servosteuerung |
CN202010680355.5A CN112241146A (zh) | 2019-07-19 | 2020-07-15 | 伺服控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2019133481A JP7343319B2 (ja) | 2019-07-19 | 2019-07-19 | サーボ制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2021018566A JP2021018566A (ja) | 2021-02-15 |
JP7343319B2 true JP7343319B2 (ja) | 2023-09-12 |
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ID=74093444
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JP2019133481A Active JP7343319B2 (ja) | 2019-07-19 | 2019-07-19 | サーボ制御装置 |
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US (1) | US11294354B2 (ja) |
JP (1) | JP7343319B2 (ja) |
CN (1) | CN112241146A (ja) |
DE (1) | DE102020208597A1 (ja) |
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DE112022000329T5 (de) * | 2021-03-02 | 2023-09-14 | Fanuc Corporation | Einstellungs-Unterstützungs-Vorrichtung, Steuersystem und Verfahren zur Einstellungs-Unterstützung |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4565034B2 (ja) | 2008-12-16 | 2010-10-20 | ファナック株式会社 | イナーシャ推定を行う制御装置及び制御システム |
JP2018118362A (ja) | 2017-01-27 | 2018-08-02 | 東芝機械株式会社 | 工作機械および振動抑制方法 |
Family Cites Families (4)
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JP6490125B2 (ja) | 2017-03-10 | 2019-03-27 | ファナック株式会社 | 数値制御装置及びcad/cam−cnc統合システム |
JP6697491B2 (ja) * | 2018-01-25 | 2020-05-20 | ファナック株式会社 | 機械学習装置、サーボモータ制御装置、サーボモータ制御システム、及び機械学習方法 |
JP2021005918A (ja) * | 2019-06-25 | 2021-01-14 | ファナック株式会社 | イナーシャの評価を行う制御装置及びイナーシャの評価方法 |
JP7269120B2 (ja) * | 2019-07-10 | 2023-05-08 | ファナック株式会社 | モータ制御装置 |
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2019
- 2019-07-19 JP JP2019133481A patent/JP7343319B2/ja active Active
-
2020
- 2020-07-08 US US16/923,659 patent/US11294354B2/en active Active
- 2020-07-09 DE DE102020208597.8A patent/DE102020208597A1/de active Pending
- 2020-07-15 CN CN202010680355.5A patent/CN112241146A/zh active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4565034B2 (ja) | 2008-12-16 | 2010-10-20 | ファナック株式会社 | イナーシャ推定を行う制御装置及び制御システム |
JP2018118362A (ja) | 2017-01-27 | 2018-08-02 | 東芝機械株式会社 | 工作機械および振動抑制方法 |
Also Published As
Publication number | Publication date |
---|---|
DE102020208597A1 (de) | 2021-01-21 |
CN112241146A (zh) | 2021-01-19 |
JP2021018566A (ja) | 2021-02-15 |
US20210018900A1 (en) | 2021-01-21 |
US11294354B2 (en) | 2022-04-05 |
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