JPH05324026A - Motor driving controller - Google Patents

Abstract

PURPOSE:To obtain an NC device which is more improved in servo control performance by switching a control loop and a control parameter in real time according to an external control mode switching signal and performing dividing control or outline control. CONSTITUTION:A servocontrol part 20 switches the control loop and control parameter in real time with the control mode switching signal MODE. When the control mode MODE indicates a position control mode, switches 29a and 29b are switched to the sides of a position control part 21 and a parameter storage part 27 for outline axis control respectively. When the switching signal MODE indicates a dividing control mode, on the other hand, the switches 29a and 29b are switched to the sides of a dividing position function generation part 28 and a parameter storage part 27b for dividing control respectively. Consequently, an NC main processing part need not perform a function generating process which is large in load at the time of the dividing control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor drive control device for controlling the drive of a motor, and more particularly to a motor drive control device for performing indexing control or contour control according to a control mode switching signal.

[0002]

2. Description of the Related Art FIG. 5 shows the configuration of a conventional motor drive control device, FIG. 6 shows the configuration of an NC device constructed using this device, and FIG. 7 shows the operation of each part of this NC device. It is shown.

FIG. 6 shows only the portion directly involved in servo control of each axis of the machine tool. The NC program is stored in a program buffer (not shown)
The NC program interpreting unit 11 in the main processing unit 10 reads the NC program to be executed line by line from the program buffer. The NC program interpretation unit 11 decomposes this for each address character such as N, G, X, and Z,
Intermediate buffer BDB with accompanying numerical data
Stored in a specified location in (Block Data Buffer) (Fig. 7
Medium Sm1). When this read / syntactic analysis process is completed for all lines of the NC program, the NC program interpretation unit 11
Converts the data in the intermediate buffer BDB from the unit system (for example, mm) of the NC program into the processing unit system (for example, μm) in the NC device,
ta Buffer). The contents of the intermediate buffer CDB are converted into the machine coordinate system after being combined with the data such as the origin offset and the tool offset, and the intermediate buffer EDB is used.
It is stored in (Execution Data Buffer) (Sm2).

The NC program execution unit 12 checks whether or not there is data to be executed in the intermediate buffer EDB (S
m3), if “present”, take in the relevant data, and if not, end the execution. For the data to be executed, see S,
When there are T and M commands, first the NC program execution unit 12
The so-called S, T, M processing is preferentially performed by
m50). When there is no S, T, or M command, the NC program execution unit 12 sends a contour axis (feed axis such as X, Y, Z axis of machine tool) movement command to the function generation unit 13. Furthermore, if there is no contour axis movement command, the process returns to step Sm3 (Sm
6). On the other hand, the NC program execution unit 12 uses the S, T, M
During the processing, it is checked whether or not there is an indexing axis movement command such as a tool post turning command in the lathe (Sm51), and if there is an indexing axis movement command, the function generating unit 13 performs this processing.

The function generating unit 13 generates a movement path coordinate function to reach the final position (command position) based on the movement command for the indexing / contour axis. Consider, for example, a case where the turning of the lathe tool post is instructed by the G code and the T command of the NC program. G13 / G for 2-saddle lathe
14 designates the first / second turret, and the T command designates the tool (turret station position) of each turret.
The turret station position is the index command position when the turret rotation command is issued, and is determined when the machine specifications are designed. For example, a tool post called V8 or V12 is one in which eight or twelve tools can be mounted on one tool post, and there are eight or twelve indexing positioning points or the like within one turn of the tool post, that is, 360 degrees. Alternatively, specifications are set at unequal intervals when designing the turret. The function generator 13
First, the index command position is obtained from the G code and T command in the processing unit system in the NC unit, and the movement path coordinates to reach this index command position are the servo system control unit time (function generation cycle).
A post-interpolation movement command is generated by performing calculation for each time, that is, performing interpolation for each function generation cycle (Sm52). This interpolation is linear interpolation. After the completion of this interpolation processing, the function generator 13
Outputs one post-interpolation movement command to the servo control unit 20 of the indexing axis in synchronization with the function generation cycle (Sm5
3). After that, the function generating unit 13 reads the indexing axis current position data transferred from the indexing axis servo control unit 20 (Sm54), and determines whether this current position matches the indexing command value (Sm55). ). If they do not match, the process returns to step Sm53, and if there is a post-interpolation movement command output to be output, it is output to the servo control unit 20, and if not, the process proceeds to step Sm54. If they match, step Sm51
Then, it is judged whether or not another indexing axis movement command remains, and if there is any indexing axis movement command, the indexing axis control of steps Sm53 to Sm55 is repeated. If not, the process proceeds to step Sm6 to perform the feed axis moving process.

The operation of the function generator 13 for contour axis control is basically the same as that for indexing positioning control.
However, in the case of contour axis control, the NC program specifies the midway path (eg, three-dimensional arc locus, spline locus, etc.) to the final positioning position, and the feed rate.
The function is generated to satisfy this condition, and post-interpolation movement commands for all contour control axes involved in the contour control are generated (Sm7). After the completion of the interpolation processing, the post-interpolation movement commands are output one by one to the servo control unit 20 of each contour axis in synchronization with the function generation cycle (Sm8). After that, each contour axis current position data transferred from the servo control unit 20 of each contour axis is read (Sm9), and it is determined whether or not this current position matches a command value (final positioning position) (Sm10). If they do not match, the process returns to step Sm8, and if there is a post-interpolation movement command output to be output, it is output to the servo control unit 20, and if not, the process proceeds to step Sm9. If they match, the process returns to step Sm3, and the intermediate buffer ED
Check to see if B has data to execute.

Next, the operation of the motor drive control device shown in FIG. 5 will be described. An acceleration / deceleration processing unit (not shown) performs acceleration / deceleration processing according to the post-interpolation movement position command Pr for the motor 5 created by the function generation unit 13 in the NC main processing unit 10 (Sc1). Further, the signal from the position detector 4 mechanically coupled to the motor 5 is processed by the position detector 25, and the current position data Pa of the motor 5 is obtained thereby. Further, by subtracting the current position data Pa from the movement command value after the acceleration / deceleration processing, the position error amount P
e is obtained, and the speed command Vr for the motor 5 is generated in the position control unit 21 based on the position error amount Pe.
The speed detection unit 23 sequentially inputs the current position data obtained by the position detection unit 25, and obtains the current speed data Va of the motor 5 from two temporally continuous current position data. The speed error amount Ve is obtained as a difference between the speed command Vr obtained by the position control unit 21 and the current speed data Va obtained by the speed detection unit 23. The speed control unit 22 generates a torque command Tr for the motor 5 by performing a known proportional / integral control calculation based on the speed error amount Ve. On the other hand, the U and V phase winding currents of the motor 5 detected by the current sensor are transferred as data to the current detection unit 26, and the current detection unit 26 generates feedback current data. The current detection unit 26 obtains the amount of current error in each phase by obtaining the difference between the current command value and the feedback current data. In the current control unit 24, a voltage command to be applied to each phase winding of the motor 5 is generated by performing a known proportional / integral control calculation based on each phase current error amount, and these voltage commands are applied. Based on known PWM
The output voltage of the power amplifier 3 is controlled by executing the control operation. As described above, the current, speed, and position are controlled by the current feedback loop, the speed feedback loop, and the position feedback loop, respectively, so that the current error amount, the speed error amount, and the position error amount of each phase are controlled to zero. Is executed (step Sc2). It should be noted that control parameters such as position loop gains or P and I gains used in each part of the servo control unit 20 are collectively stored in the control parameter storage unit 27, and as necessary, each unit stores them on the control parameter storage unit 27. Parameter is referenced.

[0008]

In the NC device constructed by using such a motor drive control device, the function generating unit in the NC main processing unit generates the indexing axis function such as the turning command of the lathe tool post. Running. That is, the target indexing position is determined according to the tool number commanded by the function generating unit, the function is generated up to that position, and the command is output to the indexing axis servo control unit each time. However, in indexing positioning control, although the route on the way to the target indexing position is not usually a problem and the moving speed only needs to be high to some extent, it is similar to the function generation in contour axis positioning control. In addition, the function generation processing that requires a large CPU load is performed. The index axis function generating process at the time of indexing positioning control is configured to be executed by the function generating unit in the NC main processing unit regardless of the number of axes. However, there is a problem in that the servo control performance of the entire NC device is limited and the performance cannot be improved.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a motor drive control device capable of configuring an NC device so that the servo control performance is further improved.

[0010]

In order to achieve such an object, the present invention interprets an indexing movement command in an NC program and, based on the final indexing position data obtained as a result, at regular intervals. An indexing control loop that includes an index position function generator that generates a function, a control parameter storage that stores multiple control parameter files according to the axis control mode, and when the axis control mode is the position control mode. Selects the position control loop, speed control loop, and current control loop as the control loop, and also selects the control parameter related to the position control control parameter file on the control parameter storage unit as the control parameter, and the axis control mode is index control. Mode, select index control loop, speed control loop and current control loop as control loop And a mode switching unit for selecting a control parameter related to an indexing control parameter file on the control parameter storage unit as a data controller, and performing indexing control or contour control according to a control mode switching signal given from the outside. It is characterized by carrying out.

[0011]

In the present invention, indexing control or contour control is performed according to a control mode switching signal given from the outside. Therefore, the processing load of the NC main processing unit can be relatively reduced from the viewpoint of the entire NC device, and the NC device that can easily improve the servo control performance / function is realized.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings. However, the same components as those of the conventional example shown in FIGS. 5 to 7 are designated by the same reference numerals, and the description thereof will be omitted. FIG. 1 shows the configuration of a motor drive control device according to an embodiment of the present invention. The configuration of this embodiment is different from that of the conventional example in that an indexing control loop including an indexing position function generating section 28 is provided, and a control parameter storing section 27 is further provided.
A contour axis control parameter storage unit 27a and an index axis control parameter storage unit 27b are provided therein, and a changeover switch 29a for selecting either a position control loop or an index control loop, and a contour axis control as an axis control parameter file. The point is that a switch 29b is provided for selectively extracting either the file on the parameter storage unit 27a or the file on the index axis control parameter storage unit 27b. The switches 29a and 29b are NCs in FIG.
It is switched by the control mode switching signal MODE output from the main processing unit 10.

FIG. 2 shows the configuration of the NC device constructed by using the motor drive control device according to this embodiment, FIG. 3 shows the configuration of the index position function generator 28, and FIG. 4 shows the NC of FIG. The operation of each part of the device is shown respectively.

The NC program execution unit 12 included in the NC main processing unit 10 shown in FIG. 2 checks whether or not there is data to be executed in the intermediate buffer EDB, as in the conventional example, and if "present", the data is acquired. The capture S, T, and M processes are preferentially executed. At this time, it is checked whether there is an indexing axis movement command such as a tool post turning command on the lathe during S, T, M processing, and if there is an indexing axis movement command, NC is performed.
A program level movement command is output to the index control axis servo control unit 20. Taking the lathe / turret turn command as an example,
G1 among NC program commands such as G13T007
The axis is specified from 3 (for example, CT axis), and T0 is set as a movement command (= PTCT) to the CT axis servo control unit 20.
07 is output. At this time, a control mode switching signal MODE = turret index (index control mode) is output to the CT axis servo control unit 20 (Sm5). After that, the NC program execution unit 12 waits for the CT axis indexing completion answer to return. If there is another index axis movement command while waiting for this answer, the above-mentioned processing is performed for the index axis. S,
When it is confirmed that the indexing completion answer from all the indexing axis movement command target axis servo control sections 20 included in the T and M processings has returned, the NC program execution section 12 performs the feed axis movement processing. Therefore, the process proceeds to step Sm6.

The function generator 13 generates post-interpolation movement commands for all contour control axes involved in contour control, and then servo-controls the contour interpolation axes one by one in synchronization with the function generation cycle. It is output to the unit 20 (Sm8), but at this time, the control mode switching signal M is sent to the axis servo control unit 20.
ODE = position control (position control mode) is output.

The operation of the motor drive control device shown in FIG. 1 when in the indexing control mode will be described below. Here, turret indexing will be described as an example. In this case, the index axis movement command target axis (=
The NC main processing unit 1 is provided in the servo control unit 20 for the CT axis.
Movement command PTCT from NC program execution unit 12
= T007, control mode switching signal MODE = turret index is output. With this control mode switching signal, the changeover switch 29a in the servo control unit 20 is
In order to select each control loop of indexing / speed and current, the changeover switch 29b is provided in the parameter storage unit 2 for indexing axis control.
7b are selected respectively. By setting this changeover switch, the indexing position function generator 2 shown in FIG.
The movement command PTCT = T007 is input to 8.

The indexing command interpretation unit 28a syntactically interprets the T command and checks the validity of the command. If it is an illegal command, the index command interpreting unit 28a returns an alarm to the NC main processing unit 10. If it is legitimate, the process is moved to the index target position calculation unit 28b. The index target position calculation unit 28b obtains an index target position to be positioned from the T command and the current tool post position in a processing unit system within the servo control unit 20. On this occasion,
Since each tool post station position is stored in advance in the index position table 28c in the processing unit system in the servo control unit 20, the index target position is obtained by referring to this (Sp1).

The indexing function generating section 28 interpolates by calculating the moving path coordinates to reach the indexing target position for each servo system control unit time (function generating cycle), that is, for every function generating cycle. A backward movement command is generated. This interpolation is linear interpolation. After the completion of this interpolation processing, the post-interpolation movement commands are output one by one to the acceleration / deceleration processing unit (not shown) in the index axis servo control unit 20 in synchronization with the function generation cycle (Sp.
1, Sp2), the acceleration / deceleration processing is executed as in the conventional example (Sp3). After that, as in the conventional example, the position of the motor 5,
Speed and current control is executed (Sp4).

The index function generator 28 reads the index axis current position data and determines whether or not this current position matches the index command value (Sp5). If they do not match, the process returns to step Sp3, and if they match, the CT axis indexing completion signal is returned to the NC main processing unit 10 and the process ends.

Next, the case where the position control mode is designated will be described. In this case, the control mode switching signal M
ODE = position control (position control mode), so that the changeover switch 29a in the servo control unit 20 selects each control loop of position, speed and current, and the changeover switch 29b is changed to the contour axis control parameter storage unit 2.
It is set so that 7a is selected. Subsequent operations are similar to those in the conventional example.

The present invention is not limited to the embodiment shown in FIGS. 1 to 4. For example, as the control mode, a speed control mode and a torque (current) control mode are provided in addition to the above-mentioned examples. For example, modifications may be made without departing from the spirit of the invention.

[0022]

As described above, according to the present invention,
Since the control loop and control parameters are switched in real time according to a control mode switching signal given from the outside to perform indexing control or contour control,
The processing load on the NC main processing unit becomes relatively small when viewed from the entire NC device, and the servo control performance / function improvement of the entire NC device can be easily realized.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a motor drive control device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of an NC device configured by using the motor drive control device according to the present embodiment.

FIG. 3 is a block diagram showing the configuration of an indexing position function generator in this embodiment.

FIG. 4 is a flowchart for explaining an operation of each unit of the NC device configured by using the motor drive control device according to the present embodiment.

FIG. 5 is a block diagram showing a configuration of a motor drive control device according to a conventional example.

FIG. 6 is a block diagram showing a configuration of an NC device configured by using a motor drive control device according to a conventional example.

FIG. 7 is a flowchart for explaining the operation of each unit of the NC device configured by using the motor drive control device according to the conventional example.

[Explanation of symbols]

 4, 4X, 4Y, ... 4CT Position detector 5, 5X, 5Y, ... 5CT Motor 10 NC main processing unit 11 NC program interpreting unit 12 NC program executing unit 13 Function generating unit 20, 20X, 20Y, ... 20CT Servo control unit 21 position control unit 22 speed control unit 23 speed detection unit 24 current control unit 25 position detection unit 26 current detection unit 27 axis control parameter storage unit 28 index position function generation unit 28a index command interpretation unit 28b index target position calculation unit 28c Index position table 28d Function generator MODE Control mode switching signal

Claims (1)

[Claims] 1. A motor drive controller having a current control loop for controlling a drive current of a motor for driving an axis, a speed control loop for controlling a drive speed of the motor, and a position control loop for controlling a position of the motor, the NC comprising: An indexing control loop including an indexing position function generator that interprets the indexing movement command in the program and generates a function at fixed intervals based on the final indexing position data obtained as a result, and the axis control mode A control parameter storage unit for storing a plurality of control parameter files according to the control parameter, and when the axis control mode is the position control mode, a position control loop, a speed control loop, and a current control loop are selected as a control loop and the Select the control parameter related to the control parameter file for position control on the control parameter storage and When the control mode is the index control mode, the index control loop, the speed control loop, and the current control loop are selected as the control loop, and the control relating to the index control control parameter file on the control parameter storage unit is used as the control parameter. A motor drive control device comprising: a mode switching unit for selecting a parameter, and performing indexing control or contour control according to a control mode switching signal given from the outside.