JPH02100105A - Servo-follow-up error correcting system for nc machine tool - Google Patents
Servo-follow-up error correcting system for nc machine toolInfo
- Publication number
- JPH02100105A JPH02100105A JP25258088A JP25258088A JPH02100105A JP H02100105 A JPH02100105 A JP H02100105A JP 25258088 A JP25258088 A JP 25258088A JP 25258088 A JP25258088 A JP 25258088A JP H02100105 A JPH02100105 A JP H02100105A
- Authority
- JP
- Japan
- Prior art keywords
- servo
- feedforward
- machine tool
- follow
- speed command
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 claims 1
- 238000005070 sampling Methods 0.000 abstract description 2
- 230000004069 differentiation Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明はＮＣ工作機械の同時複数軸駆動における。サ
ーボ追従誤差補正に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to simultaneous multi-axis driving of an NC machine tool. This relates to servo tracking error correction.
第２図は従来ＮＣ工作機械のサーボ系のブロック図であ
る。位置指令（−、’）と出力位置（”ｏ）の差に対し
１位置ループゲイン（にｐ）を乗じさらに速度ループで
処理されるフィードバック系となっている。図において
、ｌ／ （Ｔ８＋ １） は速度ループ伝達関数であ
り、Ｔは速度ループ時定数である。また、１／Ｓは速度
の出力の積分が出力位置であることを表す。FIG. 2 is a block diagram of a servo system of a conventional NC machine tool. It is a feedback system in which the difference between the position command (-,') and the output position ("o) is multiplied by the 1-position loop gain (p) and further processed in the speed loop. In the figure, l/(T8+1 ) is the velocity loop transfer function, T is the velocity loop time constant, and 1/S indicates that the integral of the velocity output is the output position.
第２図のサーボ系に於いて位置指令Ｚ＋と出力位置ｘｏ
の関係は次式（１）となる。In the servo system shown in Figure 2, position command Z+ and output position xo
The relationship is expressed by the following equation (1).
これは２次遅れの系であり、出力−Ｚ’０は入力ｘ１に
対し時間遅れを持つことになる。This is a second-order delay system, and the output -Z'0 has a time delay with respect to the input x1.
従来のサーボ系は時間遅れを持つため、このサーボ系で
同時複数軸制御を行うと追従誤差を生じた。例えば、マ
シニングセンターにおいて、真円の切削を行おうとする
とサーボ系の時間遅れにより、実際の軌跡は指令軌跡よ
りも内側へ入り小さな円を描くことになる等の問題点が
あった。Conventional servo systems have a time delay, so when multiple axes are controlled simultaneously with this servo system, tracking errors occur. For example, when a machining center attempts to cut a perfect circle, there is a problem in that due to the time delay of the servo system, the actual trajectory ends up inside the commanded trajectory, drawing a small circle.
この発明は、上記の問題点を解消するために。This invention aims to solve the above problems.
時間遅れのないサーボ系をＮＣ工作機械に適用し。Applying a servo system without time delay to NC machine tools.
ＮＣ工作機械の追従誤差のない加工を実現することを目
的とする。The purpose is to realize machining without following errors of NC machine tools.
この発明に係るＮＣ工作機械の追従誤差補正は。 Following error correction of the NC machine tool according to this invention is as follows.
従来のサーボ系１ζフイードフオワード速度指令Ｆ／工
と伝達関数に／からなるフィードフォワードを持たせ、
サーボ系の時間遅れをなくすことによりＮＣ工作機械の
追従誤差を補正するものである。The conventional servo system 1ζ feed forward speed command F/ has a feed forward consisting of / in the transfer function,
This corrects the tracking error of the NC machine tool by eliminating the time delay of the servo system.
この発明におけるＮＣ工作機械のサーボ系の時間おくれ
は、伝達関数にｆにより追従誤差補正をされ、速度指令
する。In this invention, the time lag in the servo system of the NC machine tool is corrected for tracking error by f in the transfer function, and then the speed is commanded.
以下、この発明の一実施例を図について説明する。 An embodiment of the present invention will be described below with reference to the drawings.
第１図はフィードフォワードを持つサーボ系のブロック
図を示す。従来のサーボ系に対して、フィードフォワー
ド速度指令 Ｆｆ、 にフィードフォワード伝達関数
にｆを乗じたものを加えている。FIG. 1 shows a block diagram of a servo system with feedforward. For the conventional servo system, the feedforward transfer function multiplied by f is added to the feedforward speed command Ff.
その他の記号は従来例と同一である。Other symbols are the same as in the conventional example.
式（２）にこの系の入出力の関係を示す。Equation (2) shows the input/output relationship of this system.
ここでＦｆＪを入力位置指令ｊｃ：の微分、即ち速度指
令ＳＺ’ｉＫ／を（１＋７８）とすると９式（２）％式
％
となる。即ちサーボ系の時間遅れがなくなり、指令位置
と出力位置は常に一致する。Here, if FfJ is the differential of the input position command jc:, that is, the speed command SZ'iK/ is (1+78), then the equation 9 (2)% is obtained. That is, there is no time delay in the servo system, and the command position and output position always match.
このサーボ系はデジタルサーボにおいて、ソフトウェア
で容易に実現できる。フィードフォワード速度指令は位
置指令の微分を与えるが、これはサンプリング時間にお
ける位置指令の変化量を計算してやるとそれが速度指令
に相当する。This servo system can be easily implemented with software using digital servos. The feedforward speed command gives a differential of the position command, which corresponds to the speed command by calculating the amount of change in the position command during the sampling time.
このサーボ系は時間遅れを持たないため追従誤差のない
切削が可能となる。Since this servo system has no time delay, it is possible to perform cutting without tracking errors.
以上のように、この発明によればフィードフォワードを
有するサーボ系を構成することにより。As described above, according to the present invention, by configuring a servo system having feedforward.
ＮＣ工作機械の追従誤差を補正する。Correct the tracking error of NC machine tools.
第１図はこの発明に用いたフィードフォワードを持つサ
ーボ系のブロック図、第２図は従来用いられてきたサー
ボ系のブロック図である。FIG. 1 is a block diagram of a servo system with feedforward used in the present invention, and FIG. 2 is a block diagram of a conventional servo system.
Claims (1)
ワード伝達関数Ｋ＿ｆを有する第１図に示したサーボ系
を、同時複数軸駆動ＮＣ工作機械へ適用することにより
実現させる、ＮＣ工作機械のサーボ追従誤差補正方式。Servo tracking error correction for NC machine tools is realized by applying the servo system shown in Figure 1, which has a feedforward speed command F_f_x and a feedforward transfer function K_f, to a simultaneous multi-axis drive NC machine tool. method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25258088A JPH02100105A (en) | 1988-10-06 | 1988-10-06 | Servo-follow-up error correcting system for nc machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25258088A JPH02100105A (en) | 1988-10-06 | 1988-10-06 | Servo-follow-up error correcting system for nc machine tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02100105A true JPH02100105A (en) | 1990-04-12 |
Family
ID=17239348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25258088A Pending JPH02100105A (en) | 1988-10-06 | 1988-10-06 | Servo-follow-up error correcting system for nc machine tool |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02100105A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6677722B2 (en) * | 2001-04-19 | 2004-01-13 | Toshiba Kikai Kabushiki Kaisha | Servo control method |
| US7891276B2 (en) | 2007-08-31 | 2011-02-22 | Kimbelry-Clark Worldwide, Inc. | System and method for controlling the length of a discrete segment of a continuous web of elastic material |
-
1988
- 1988-10-06 JP JP25258088A patent/JPH02100105A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6677722B2 (en) * | 2001-04-19 | 2004-01-13 | Toshiba Kikai Kabushiki Kaisha | Servo control method |
| KR100450455B1 (en) * | 2001-04-19 | 2004-10-01 | 도시바 기카이 가부시키가이샤 | Servo control method |
| US7891276B2 (en) | 2007-08-31 | 2011-02-22 | Kimbelry-Clark Worldwide, Inc. | System and method for controlling the length of a discrete segment of a continuous web of elastic material |
| US8196497B2 (en) | 2007-08-31 | 2012-06-12 | Kimberly-Clark Worldwide, Inc. | System and method for controlling the length of a discrete segment of a continuous web of elastic material |
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