JPH0651832A - Method and device for control for synchronous operation - Google Patents

Abstract

PURPOSE:To provide the method and device for control for synchronous operation which makes the environmental resistance of a position detecting means for a master shaft strong and easily changes the operation pattern of a slave shaft concerning a machine tool synchronously operating the master and slave shafts. CONSTITUTION:As the position detecting means, a resolver 10 is arranged at a master shaft 16, and the position of the master shaft 16 is detected. The position of the master shaft 16 detected by the resolver 10 is corrected by a resolver position detection part 11 and outputted to a slave shaft position pattern generation part 12 as position information. Based on the position information, the slave shaft position pattern generation part 12 outputs the operation pattern of a slave shaft 15 through a slave shaft interface part 13 to a servo amplifier 14. According to the output of the servo amplifier 14, the slave shaft 15 is operated and performs a prescribed operation synchronized with the master shaft 16. The slave shaft 15 can be operated by rewriting information to the slave shaft position pattern generation part 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo control method and apparatus for synchronous operation in a machine having a master axis and at least one slave axis, and the master axis and the slave axis operate in synchronization with each other.

[0002]

2. Description of the Related Art As a control method and apparatus for a synchronous operation of a master axis and a slave axis of a machine having a master axis and at least one slave axis in which the master axis and the slave axis operate in synchronization with each other. The following are known. As a synchronous operation control method and device using mechanical means, the rotation of a master shaft is controlled by a gear or the like arranged on the master shaft, and one or more other ones provided between the master shaft and a slave shaft. The rotation speed, the direction of the rotation axis, and the operation pattern by changing the rotation speed, the direction of the rotation axis, and the operation pattern by means of gears, cam mechanisms, etc. arranged on the auxiliary axis, and further transmitting the operation obtained by the auxiliary axis to the slave axis. , A predetermined number of rotations of the slave shaft, a direction of the rotation shaft, and an operation pattern.

There is also a method of using a numerical controller (NC) to synchronize the operations of the master axis and the slave axis. In this method, an encoder is arranged on the master shaft as a position detecting device, and the position and operating state of the master shaft are detected by signals obtained from this encoder. Based on the information of the position of the master axis and the operation state, the operation of the slave axis is numerically controlled to realize the synchronous control.

[0004]

Since the conventional control method for synchronous operation and its apparatus are constructed as described above, in the method and apparatus using the above mechanical means, the slave shaft When changing the operation pattern, it is necessary to replace the above-mentioned cam mechanism, etc. Furthermore, if there is no suitable one for the operation of the target slave axis, it is necessary to design and process the above-mentioned cam mechanism, etc. And costs are required.

Further, in the method and the apparatus using the above numerical control device, the encoder has a problem in seismic resistance and environment resistance, which causes a problem in reliability. Also,
When an incremental encoder is used as the encoder, if a pulse reading error occurs in the incremental encoder, the errors may be integrated and a positional deviation may occur in the synchronous operation of the master axis and the slave axis. Further, when an absolute encoder is used as the encoder, there is a problem that the cost becomes high. The control method for synchronous operation of the present invention and the device thereof are made in view of the problems of the above-mentioned conventional technology, and it is easy to change the operation pattern of the slave axis, the number of steps is small, and the cost is low. , The master axis position detector has excellent earthquake resistance and environment resistance, and the generated errors are not accumulated. Therefore, it is less likely to cause misalignment in the synchronous operation of the master axis and slave axis, and highly reliable synchronous operation. An object of the present invention is to obtain a control method and a device therefor.

[0006]

In order to solve the above-mentioned problems, a synchronous operation control method and apparatus according to the present invention has a master shaft and at least one slave shaft, and is adapted to operate the master shaft. A synchronous operation control device for synchronously operating the slave axis, comprising means for generating an operation pattern signal of the slave axis, means for controlling the operation of the slave axis based on the operation pattern signal, In order to detect the position of the master axis, it has a resolver arranged on the master axis, and controls the means for generating the operation pattern signal of the slave axis based on the position information of the master axis detected by the resolver. And means.

Further, an operation pattern signal for the slave axis is generated, the operation of the slave axis is controlled based on the operation pattern signal, and the position of the master axis is detected by a resolver provided on the master axis. A means for generating an operation pattern signal of the slave axis is controlled based on position information of the master axis detected by the resolver, and the slave axis is operated in synchronization with the operation of the master axis.

[0008]

In the control method and apparatus for synchronous operation of the present invention, the means for generating the operation pattern signal of the slave axis and the means for controlling the operation of the slave axis based on the operation pattern signal are the operation pattern of the slave axis. Is specified and the slave axis is operated according to the specified operation pattern. Further, the resolver arranged on the master shaft detects the position of the master shaft and outputs position information of the master shaft. Further, the means for generating the operation pattern signal of the slave axis based on the position information of the master axis detected by the resolver generates the operation pattern signal of the slave axis in synchronization with the operation of the master axis.

[0009]

EXAMPLE A first example of the present invention will be described below. In this embodiment, the synchronous operation control method and apparatus of the present invention is applied to a machine having a master axis and one slave axis. FIG. 1 is a diagram showing a configuration of a first synchronous operation control device 1 of the present embodiment. In FIG. 1, the resolver 10 is a sensor that is arranged on the master shaft 16 and detects position information of the master shaft 16, more accurately, angle information. The resolver position detection unit 11 is a position detection circuit that processes and corrects the output signal of the resolver 10 and outputs the position information of the master axis. The structure of the resolver position detector 11 is as follows.
It will be described later with reference to FIG. The slave axis position pattern generation unit 12 is a signal generation circuit that generates an operation pattern signal of the slave axis and controls the slave axis 15 via the slave axis interface unit 13 and the servo amplifier 14.

The slave axis interface section 13 is a circuit for interfacing the slave axis position pattern generating section 12 and the servo amplifier 14. Servo amplifier 14
Is controlled by an operation pattern signal of the slave axis from the slave axis position pattern generator 12,
Is a drive circuit for driving the. The resolver position detection unit 11, the slave axis position pattern generation unit 12, and the slave axis interface unit 13 described above constitute the servo controller 2. The slave axis 15 is the servo amplifier 14
An electric motor, which is controlled by an output and performs an operation defined by an operation pattern signal of a slave shaft, for example, a mechanism that performs a reciprocating operation. The master shaft 16 is an electric motor that performs a predetermined operation, for example, a motor. The connection relation of each part described above is as shown in FIG.

FIG. 2 is a diagram showing the structure of the resolver position detector 11. In FIG. 2, the speed detector 110 is an arithmetic circuit that calculates the angle information of the master shaft 16 from the resolver 10 and calculates the rotation speed of the master shaft 16. The correction unit 111 is an arithmetic circuit that calculates the correction information of the angle information from the resolver 10 based on the rotation speed information of the master shaft 16 output from the speed detection unit 110. The position detection unit 112 is an arithmetic circuit that corrects the angle information from the resolver 10 based on the information from the speed detection unit 110 and the correction unit 111, and calculates and outputs the position information of the master shaft 16.

FIG. 3 shows the slave axis position pattern generator 1.
It is a figure which shows the structure of 2. In FIG. 3, the calculation unit 120
Is an arithmetic circuit that generates an operation pattern signal L ′ of the slave shaft 15 based on the output position of the basic pattern generation unit 121. The basic pattern generation unit 121 calculates a signal that defines the position of the slave shaft 15 from the basic pattern of operation of the slave shaft 15 preset in the parameter unit 122, various parameters, and position information, and outputs the signal as an infinite position signal. It is an arithmetic circuit that outputs. Parameter part 122
Is a memory circuit that stores information regarding the operation of the slave shaft 15.

The information set in the parameter section 122 is
These are the following values. θ _A : Start position θ _B : Stop position θ _C : Return start position θ _D : Return stop position L: Slave axis stroke N: Basic pattern number Here, the basic pattern number N is a plurality of patterns output by the basic pattern generator. It is a number given to each position pattern of the slave axis. Using the basic pattern number N, the calculation unit 120 selects the position patterns of the plurality of slave axes, performs the processing, and outputs the result. Other symbols indicating the above-mentioned respective values correspond to the symbols in the drawings. The arithmetic circuits shown in FIGS. 2 and 3 may be analog arithmetic circuits or digital arithmetic circuits.
Further, various data set in the parameter unit 122 may be set to any data other than the above-mentioned data.

The operation will be described below. FIG. 4 is a diagram for explaining the operation of the synchronous operation control method and apparatus according to this embodiment. FIG. 4A shows the master shaft 1
It is a figure which shows the angle of 6. The angle of the master shaft 16 is detected by the resolver 10, and the angle information is input to the resolver position detection unit 11, and further input to the speed detection unit 110 and the position detection unit 112. FIG. 5 is a diagram showing the relationship between the excitation, output, and reference clock of the resolver 10. The speed detection unit 110 detects the phase θ ₁ detected by the resolver 10.
And the rotational speed F per sampling period from θ ₂
Ask for. The correction unit 111 obtains the movement amount Δθ per sampling cycle from the phases θ ₁ and θ ₂ detected by the resolver 10. Here, the moving amount Δθ and the rotation speed F are defined as Δθ = θ ₁ −θ ₂ ... Equation 1 F = Δθ / Δt Equation 2 However, Δt is the sampling period shown in the figure.

The position detector 112 corrects θ ₂ from the above-mentioned movement amount Δθ, rotation speed F, detection time and time delay t until the output of the slave axis operation pattern information L ′, and outputs position information θ _n . Here, the position information θ _n is defined as θ _n = θ ₂ + F · t ...

FIG. 4B is a diagram for explaining the operation of the slave axis position pattern generator 12. The position information θ _n obtained from the resolver position detector 11 is input to the basic pattern generator 121 and the calculator 120. further,
The basic pattern generation unit 121 and the calculation unit 120 include
Basic pattern information of the operation of the slave shaft 15 output by the parameter unit 122, various parameter information, and detected position information corresponding to the two pieces of information are input.

FIG. 6 is a flow chart showing the processing in the basic pattern generator 121. In FIG. 6, in step 00 (S00), the basic pattern generation unit 121
Determines the value of θ _n , and if θ _D ≦ θ _n <θ _A , S0
If θ _A ≦ θ _n <θ _B , then the process of S02 is performed. If θ _B ≦ θ _n <θ _C , the process of S03 is performed, and θ _C ≦
If θ _n <θ _D , the process proceeds to S04. Step 01
In (S01), the basic pattern generation unit 121 outputs θ
_The position output S _n corresponding to _A is calculated. Step 02
In (S02), the basic pattern generation unit 121 outputs θ
_The detected position A _n is calculated based on _n , N and the information stored in the parameter unit 122, and the position output corresponding to this is calculated. At this step, A _n is defined as A _n = (θ _n −θ _A ) / (θ _B −θ _A ).

In step 03 (S03), the basic pattern generator 121 calculates the position output S _n corresponding to θ _C. In step 04 (S 04), the basic pattern generation unit 121 determines the θ _n , N and the parameter unit 12
Calculating the detected position A _n based on the information stored in 2.
The position output S _n corresponding to this is calculated. In this step, A _n is defined as A _n = (θ _D −θ _n ) / (θ _D −θ _C ).

In step 05 (S05), the basic pattern generating section 121 obtains infinite position information from the position output S _n and outputs it to the calculating section 120. Here, the infinite position information is operation pattern information L ′ of the slave axis 15 when the movement amount of the master axis and the slave axis in one cycle is 1. FIG. 7 is a diagram showing the relationship between the positions of the slave axis and the master axis and the infinite position information. The infinite position information and the positions of the slave axis and the master axis correspond as shown in the figure. With that, the process in the basic pattern generation unit 121 is completed. The calculation unit 120 calculates the motion pattern information (stroke L ′) of the slave shaft 15 from the infinite position signal output from the basic pattern generation unit 121, and outputs it to the servo amplifier 14 via the slave shaft interface unit 13. .

FIG. 8 is a flowchart showing the processing of the arithmetic unit 120. In FIG. 8, step 10 (S1
In 0), the calculation unit 120 calculates the position C _n of the slave axis at that time. Here, the position C _n of the slave axis at that time is defined as C _n = S _n · L ...

In step 11 (S11), the arithmetic unit 120 calculates the movement amount ΔC _n per unit time. Here, the movement amount ΔC _n per unit time is defined as ΔC _n = C _n −C _n−1 . However, C _n-1 is the position C _n of the slave axis in the previous sampling cycle. Step 12 (S
In 12), the arithmetic unit 120 outputs the operation pattern information L ′ of the slave shaft 15 to the slave shaft 15 via the servo amplifier 14. Here, L ′ = ΔC _n ... With that, the processing in the arithmetic unit 120 is completed.

The slave shaft 15 moves to the position defined by the stroke L in accordance with the operation pattern information L'of the slave shaft 15 output from the servo amplifier 14, and ends the operation. FIG. 4C is a diagram for explaining the angle of the master shaft 16 and the position of the slave shaft 15. Slave axis 15
The master shaft 16 reciprocates between the strokes 0 to L in synchronization with the change of the angle of the master shaft 16 from θ _A to θ _B to θ _{C to} θ _D.

The second embodiment will be described below. FIG. 9 is a diagram showing a configuration of the second synchronous operation control device 3 applied to a machine having a plurality of slave shafts 15a to 15n. In the second synchronous operation control device 3, the slave axis position pattern generators 12a to 12n and the servo amplifier 14 are associated with the slave axes 15a to 15n.
a to 14n are provided. The operation of each slave axis position pattern generator 12 and the servo amplifier 14 is the same as the corresponding portion described in the first embodiment. With the above configuration, it is possible to support a machine having a plurality of slave shafts 15.

The third embodiment will be described below. FIG. 10 is a diagram illustrating the positions of the master shaft 16 and the slave shaft 15 when the slave shaft 15 of the machine to which the first synchronous operation control device 1 is applied performs unidirectional movement or rotary movement. In this embodiment, the position of the slave shaft 15 is defined by the same operation as described with reference to FIG. 4 in the first embodiment, and in synchronization with the change of the angle of the master shaft 16 from θ _A to θ _B. The slave shaft 15 makes a unidirectional movement or a rotational movement during the strokes 0 to L to 2L.

The operation of the slave axis 15 in the first embodiment and the operation of the slave axis 15 in the second embodiment are changed by changing the data setting in the parameter section 122 of the slave axis position pattern generating section 12. This can be done easily. The control method for synchronous operation and the apparatus thereof of the present invention can have various configurations other than the configuration described above. The embodiments described herein are exemplary.

[0026]

As described above, according to the control method and apparatus for synchronous operation of the present invention, the operation pattern of the slave axis can be easily changed, the number of steps is small, and the cost is low. The position detection device has excellent earthquake resistance and environment resistance, and the generated errors are not integrated. Therefore, a position shift is less likely to occur in the synchronous operation of the master axis and the slave axis, and a highly reliable synchronous operation control method and The device can be obtained.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a first synchronous operation control device of the present invention.

FIG. 2 is a diagram showing a configuration of a resolver position detection unit.

FIG. 3 is a diagram showing a configuration of a slave axis position pattern generator.

FIG. 4 is a diagram for explaining the operation of the synchronous operation control method and apparatus of the present invention.

FIG. 5 is a diagram showing a relationship among excitation of a resolver, output, and a reference clock.

FIG. 6 is a flowchart showing processing in a basic pattern generation unit.

FIG. 7 is a diagram showing a relationship between positions of a slave axis and a master axis and infinite position information.

FIG. 8 is a flowchart showing a process of a calculation unit.

FIG. 9 is applied to a machine having multiple slave axes,
It is the figure which showed the structure of the 2nd synchronous operation control apparatus of this invention.

FIG. 10 is a diagram illustrating the positions of the master axis and the slave axis when the slave axis of the machine to which the first synchronous operation control device of the present invention is applied performs unidirectional movement or rotational movement.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... First synchronous operation control device 2 ... Servo controller 3 ... Second synchronous operation control device 10 ... Resolver 11 ... Resolver position detector 12 ... Slave shaft position Pattern generation unit 13 ... Slave axis interface unit 14 ... Servo amplifier 15 ... Slave axis 16 ... Master axis 110 ... Speed detection unit 111 ... Correction unit 112 ... Position detection unit 120・ ・ ・ Calculator 121 ・ ・ ・ Basic pattern generator 122 ・ ・ ・ Parameter

Claims (2)

[Claims] 1. A synchronous operation control device having a master axis and at least one slave axis and operating the slave axis in synchronization with the operation of the master axis, wherein an operation pattern signal of the slave axis. And a means for controlling the operation of the slave axis based on the operation pattern signal, and a resolver arranged on the master axis for detecting the position of the master axis. And a means for controlling a means for generating the operation pattern signal of the slave axis based on the detected position information of the master axis. 2. A slave axis operation pattern signal is generated, the operation of the slave axis is controlled based on the operation pattern signal, and the position of the master axis is detected by a resolver provided on the master axis. Synchronous operation characterized by controlling the means for generating the operation pattern signal of the slave axis based on the position information of the master axis detected by the resolver, and operating the slave axis in synchronization with the operation of the master axis. Control method.