JPH0619552A - Method and device for positioning control - Google Patents

Abstract

PURPOSE:To finely position a body which is, specially, heavy and large in inertia with high precision. CONSTITUTION:The positioning control method and device integrate the deviation between the detection signal 10a from the sensor 10 of an inertia body 9 and an inputted position command 2, multiply the result with rectangular wave pulses, and control the position of the inertia body 9 with the pulselike torque command 6a which is obtained as a result.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning control method and apparatus and, more particularly, to a novel improvement for highly precise fine positioning of an object having a large weight and a large inertial body.

[0002]

2. Description of the Related Art As a positioning control method and apparatus of this type which has been used conventionally, no reference is disclosed here, but generally, the position control of an object having a large inertia is well known by a hydraulic or servo motor. When the PID control is used, the mechanical time constant becomes large and the phase margin becomes small. In addition, the natural frequency was low, and it was unstable and difficult to control. Therefore, in order to solve the above-mentioned inconvenience, the positioning control is performed using the modern control theory such as a well-known observer and the fuzzy control theory.

[0003]

Since the conventional positioning control method and apparatus are configured as described above, there are the following problems. That is, the hardware configuration and software configuration of the control device for performing the above-mentioned control theories are extremely complicated and expensive, and maintenance for maintaining accuracy has not been easy. In addition, the weight of the inertial body to be controlled is extremely large and is a high inertial body.
It is extremely difficult to perform chattering around the natural frequency with respect to the target position as shown in (a) and to perform high-precision positioning.

The present invention has been made in order to solve the above problems, and particularly, a positioning control method and a positioning control method for performing minute positioning of an object having a large weight and a large inertia with high accuracy. The purpose is to provide a device.

[0005]

In the positioning control method according to the present invention, the post-integration deviation obtained by integrating based on the deviation between the detection signal from the sensor provided in the inertial body and the input position command is calculated. This is a method of multiplying by a pulse width of a plurality of square wave pulses, and supplying a pulsed torque command to the driver of the inertial body based on the multiplication.

Further, the positioning control device according to the present invention is
A deviation detection unit to which a detection signal from a sensor provided in the inertial body and a position command input from the outside are input, an integration unit that integrates the deviation from the deviation detection unit, and a deviation after integration from the integration unit. And a square wave pulse from the square wave oscillator circuit section are input, a waveform control section connected to the multiplication circuit section, and a torque command from the waveform control section for controlling the inertial body. And a driver.

[0007]

In the positioning control method and apparatus according to the present invention, the deviation between the position command and the detection signal from the sensor provided in the large-weight inertial body and the position command from the outside are input to the deviation detection unit. The integrated deviation obtained by integrating this deviation is input to the multiplication circuit section. In this multiplication circuit unit, the post-integration deviation and the square wave pulse from the square oscillation circuit unit are input and multiplied by the pulse width, and after the waveform control by the waveform control unit including the proportional element and the limiter element, the pulse shape The torque command is input to the inertial driver. Since this torque command is pulsed, the inertial body driven by the driver output from the driver is not continuous, but intermittently driven, and it is as if driven slightly with a hammer, and minute positioning is easy and reliable. Can be done.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a positioning control method and apparatus according to the present invention will be described in detail below with reference to the drawings.
1 to 5 show a positioning control method and apparatus according to the present invention. FIG. 1 is a block diagram showing the entire configuration, FIG. 2 is a waveform diagram, and FIG. 3 is a block diagram showing a configuration using a hydraulic servo. 4 is a block diagram showing the configuration of a servo motor, and FIG. 5 is a waveform diagram showing a step response waveform according to the related art and the present invention.

A reference numeral 1 in FIG. 1 denotes a deviation detecting section to which a position command 2 from the outside is inputted. The deviation 1a from the deviation detecting section 1 is integrated by an integrating section 3 and the integrating section 3 The post-integration deviation 3a from is input to the multiplication circuit unit 4.

A square wave pulse 5a from a square wave oscillating circuit section 5 is input to the multiplying circuit section 4, and the multiplication circuit section 4 multiplies it by the pulse width of the square wave pulse 5a. The multiplication output 4a is input to the driver 7 as a pulsed torque command 6a via the waveform control unit 6 including a limiter and a proportional element.

The driver 7 is configured to drive an inertial body 9, which is a heavy inertial body such as a gun, through a driving means 8 including an actuator, a servomotor, a hydraulic servo, and the like. The detection signal 10a obtained from the sensor 10 such as the position provided at the position is input to the deviation detection unit 1. The sensor 10 is not limited to the position sensor and may be a speed sensor.

Next, a control method of the positioning control device according to the present invention having the above-mentioned structure will be described. First, the position command 2 from the outside is input to the deviation detection unit 1, and the deviation 1a from the detection signal 10a from the position sensor 10 is determined. Input to the part 4.

The data is input to the multiplication circuit section 4 and is shown in FIG.
The post-integration deviation 3a shown in FIG. 2 takes values of “0” and “1” from the square wave oscillation circuit unit 5 and is a period of “1” which is the pulse width of the square wave pulse 5a shown in FIG. 2B. Is output as a multiplication output 4a, and a torque command 6a shown in (c) of FIG. 2 is obtained via the waveform controller 6 including a limiter and a proportional element. The upper end of the waveform of the torque command 6a is pointed because the deviation 1a is integrated, and the torque command 6a increases with the lapse of time at that time.

Since the torque command 6a is sent to the driving means 8 via the driver 7, the inertia member 9 is driven by the driving means 8. In this case, the torque command 6a is used.
2 is pulsed as shown in FIG. 2 (c), the driving means 8 moves the inertial body 9 with a hammer so that the inertial body 9 is moved in a state of tapping. In the case of the inertial body 9, the extremely fine alignment can be performed, and as shown in FIG. 5B, the alignment can be accurately performed with respect to the target position without causing chattering.

In the above case, the frequency of the square wave pulse 5a of the square wave oscillating circuit section 5 should be sufficiently higher than the natural frequency of the inertial body 9 of interest to resonate with the natural frequency. There is no need to improve the resolution. Further, the deviation unit 1, the multiplication circuit unit 4, the square wave oscillation circuit unit 5, and the waveform control unit 6 constitute the control unit 20. The control unit 20 has a plurality of hardware configurations or a software configuration such as a CPU. It goes without saying that any of the above can be used.

The configuration shown in FIG. 3 shows a case where the inertia body 9 is positioned by a hydraulic servo as another embodiment of FIG. 1, and a position sensor 10 provided on the inertia body 9 is provided.
Deviation signal 1a from the deviation detection unit 1 to which the detection signal 10a and the position command 2 are input to the second deviation detection unit to which the detection signal 10Aa of the speed sensor 10A of the inertial body 9 is input via the first PID compensation unit 30. Input 1A, deviation 1
a'is corrected through the second PID compensating unit 31 and the deviation 1a 'is corrected.
A is input to the third deviation detection unit 1B of the control unit 20. A differential pressure signal 8ba from a differential pressure sensor 8b connected to an oil chamber 8a of a driving means 8 composed of a hydraulic cylinder is inputted to the third deviation detecting section 1B, and a deviation 1a'B thereof is inputted to an integrating section 3. The torque command 6a can be obtained as in the case of the embodiment shown in FIG.

Torque command 6 obtained from the control unit 20
a is input to the hydraulic servo valve 8c connected to the oil chamber 8a of the drive means 8, and the position of the inertial body 9 can be controlled by the piston 8d of the drive means 8 driven by the control of the hydraulic servo valve 8c. Is configured. The same parts as those in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted to avoid duplication.

Further, FIG. 4 shows a case where the inertial body 9 is positioned by an electric servo which is another embodiment of FIG. 1, and the detection signal 1 of the position sensor 10 provided on the inertial body 9 is detected.
0a and the deviation 1a from the deviation detection unit 1 to which the position command 2 is input are input to the second deviation detection unit 1A to which the detection signal 10Aa of the speed sensor 10A of the inertial body 9 is input via the first PID compensation unit 30. , Its deviation 1a 'is the second PID
The deviation 1a′A is input to the integration unit 3 of the control unit 20 via the compensation unit 31.

A torque command 6a obtained by the control unit 20 in the same manner as in the embodiment of FIG. 1 is driven by a servo motor through a driver 7 which is a servo amplifier.
The inertial body 9 can be moved to position the inertial body 9 in the same manner as the configuration of FIG. 1 described above. In addition,
The same parts as those in FIG. 1 are designated by the same reference numerals and the description thereof is omitted.

[0020]

Since the positioning control method and device according to the present invention are configured as described above, the following effects can be obtained. That is, since the driving means for driving the inertial body is driven by the pulsed torque command,
By driving the inertial body as if to strike it with a hammer, fine positioning can be performed easily and reliably. Further, by setting the frequency of the torque command higher than the natural frequency of the inertial body, stable positioning can be performed without chattering regardless of the natural frequency.

[Brief description of drawings]

FIG. 1 is a block diagram showing a positioning control device according to the present invention.

FIG. 2 is a waveform diagram showing signals from respective parts of FIG.

FIG. 3 is a block diagram showing another embodiment of FIG.

FIG. 4 is a block diagram showing another embodiment of FIG.

FIG. 5 is a characteristic diagram showing a control state of an inertial body at a target position according to the related art and the present invention.

[Explanation of symbols]

 1 Deviation detection part 1a Deviation 2 Position command 3 Integration part 3a Deviation after integration 4 Multiplication circuit part 5 Square wave oscillation circuit part 5a Square wave pulse 6 Waveform control part 6a Torque command 7 Driver 9 Inertial body 10 Sensor 10a Detection signal

Claims (2)

[Claims] 1. A deviation (1a) between a detection signal (10a) from a sensor (10) provided on the inertial body (9) and an input position command (2).
The integrated deviation (3a) obtained by integration based on is multiplied by the pulse width of a plurality of square wave pulses (5a), based on the multiplication pulsed torque command (6a) the inertial body ( Positioning control method characterized by supplying to the driver (7) of 9). 2. A deviation detection unit (1) to which a detection signal (10a) from a sensor (10) provided on an inertial body (9) and a position command (2) input from the outside are inputted, and the deviation. An integrating unit (3) that integrates the deviation (1a) from the detecting unit (1), the integrated deviation (3a) from the integrating unit (3), and the square wave pulse (5) from the square wave oscillator circuit unit (5). 5a) is input to the multiplication circuit unit (4), the waveform control unit (6) connected to the multiplication circuit unit (4), the waveform control unit
Positioning characterized by comprising a driver (7) for controlling the inertial body (9) with a torque command (6a) from (6), the torque command (6a) being configured in a pulse shape. Control device.