JPH08290552A - Synchronization control of sectional drive - Google Patents

Abstract

PURPOSE: To make it possible to shift a phase angle between drive shafts without stopping a system by shifting the phase either by adding an adjustment amount which is previously set with a concurrent action to continue a synchronous operation or continuing addition/subtraction. CONSTITUTION: A position feedback signal generator 52 gives a value obtained by multiplying an integrated amount of speed feedback N by a specified factor, as a position feedback P, to an adder/subtractor 53. The adder/subtractor 53 performs a comparative calculation between a positional command P* and the position feedback P, and an integrator 54 obtains a differential integration signal for a synchronous operation error. An adjustor 55 generates firstly an adjustment signal A* which is previously set and equal to the shift amount of a phase angle in a unit time, and an adder/subtractor 56 generates a correct signal C obtained by adding the adjustment signal A* to the differential integration signal I. Further, an adder/subtractor 57 controls a servo driver 4 by adding the correction signal C to a speed setting N*. Secondly the shift adjustor 55 passes the adjustment signal A* for adding the shift amount of a phase angle in units of time. Consequently, it is possible to shift the phase angle, while continuing the synchronous operation of a drive shaft 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous control method for a sectional drive capable of shifting the phase angle of the drive shaft to an arbitrary angle while continuing the synchronous operation.

[0002]

2. Description of the Related Art Based on the speed setting sent to each drive shaft,
2. Description of the Related Art There is known a synchronous operation control method for a sectional drive that uses a controller of each servo system to obtain a synchronous operation error and correct the speed setting. That is, the control device that controls the electric motor of each drive axis compares the reference position command obtained from the speed setting with the position feedback obtained from the speed feedback of the electric motor, and synchronizes each drive axis with the reference position command. The operation error is obtained as the difference integration amount of the calculation result and is corrected.

[0003]

However, in the synchronous drive system of the sectional drive of this kind, when the phase between the drive shafts changes due to an accident or a change in the object performing the synchronous drive. , The system was temporarily stopped to adjust the phase angle between the drive shafts, and then synchronous operation was started. Further, in order to mount the drive shaft and adjust the phase angle, complicated calculation and highly accurate mounting work are required.

The present invention has been made in view of the above points, and its purpose is to change the phase angle of the drive shaft when it is necessary to change the phase angle of the drive shaft due to a sudden accident or change in the controlled object. In addition, it is said that it is possible to shift the phase angle between multiple drive axes without stopping the system during synchronous operation, and actually adjust the phase between each drive axis when mounting the drive axis and starting control. It is an object of the present invention to provide a system that can be corrected by software so that an optimum phase angle can be obtained visually or using a measuring device while continuing the synchronous operation operation of the system.

[0005]

In order to achieve such an object, the solution means of the present invention is constructed as follows. (B) Convert the speed command sent to each drive axis into a position command. (B) Position feedback is obtained from the feedback of the electric motor that operates each drive shaft. (C) These position commands and position feedback are compared and calculated, and the difference between the calculation results is integrated to obtain the synchronous operation error of each drive axis with respect to the reference position command. (D) The phase angle is shifted while continuing the synchronous operation by adding or subtracting the adjustment amount corresponding to the shift angle of an arbitrary phase to the obtained integrated amount when a certain condition is satisfied. Is. (E) Furthermore, while a certain condition is satisfied, the adjustment amount corresponding to the phase shift amount is continuously added and subtracted, so that the phase shift is performed while continuing the tuning control.

[0006]

Here, the reference position command obtained by integrating the value obtained by multiplying the speed setting by a constant coefficient is compared with the position feedback obtained by integrating the value obtained by multiplying the speed feedback of the electric motor by a constant coefficient. The constant coefficient is multiplied in order to correct the mechanical error of each drive shaft and the difference in shaft diameter. Further, by adding the adjustment amount corresponding to the shift angle to the difference integration amount every unit time, it is possible to shift the phase angle arbitrarily.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the essential structure of an embodiment to which the present invention is applied, in which 1 is a drive shaft and 2 is a speed detector 3.
An electric motor 4 for driving the drive shaft 1 is provided with 4, a servo driver 4 for driving the electric motor 2, and a controller 5. Here, the controller 5 controls the servo driver 4 by obtaining the speed setting N * and the speed feedback N from the speed detector 3 and 51, 52 are position command signal generators and position feedback signal generators. 53, 56, 57 adder / subtractor, 54 integrator, 55
Is a shift adjuster, P * and P are position commands and position feedback, I is a difference integration signal, A * is an adjustment signal, and C is a correction signal.

That is, the speed setting N * is given as a pulse train from the setter, and the position command signal generator 51
The pulse train frequency is used as the speed and expressed as a position command by integrating the pulses, and the value multiplied by the above-mentioned coefficient is given to the adder / subtractor 53 as the position command P *. Position feedback signal generator
A value 52 obtained by multiplying the integrated amount of the speed feedback N by the above-mentioned coefficient is given to the adder / subtractor 53 as a position feedback P. The adder / subtractor 53 compares and calculates the position command P * and the position feedback P, and further the integrator
The difference integration signal I as a synchronous operation error is obtained by 54.

Here, the shift adjuster 55 first generates a preset adjustment signal A * corresponding to the shift amount of the phase angle in a unit time. The adder / subtractor 56 generates a correction signal C by adding the adjustment signal A * to the difference integration signal I, and the adder / subtractor 57 controls the servo driver 4 by adding the correction signal C to the speed setting N *. Furthermore, the shift adjuster 55 can secondly provide the adjustment signal A * for adding the shift amount of the phase angle per unit time. It is obvious that the thus-configured one can shift the phase angle while continuing the synchronous operation of the drive shaft 1.

[0010]

As described above, according to the present invention, it is not necessary to stop the system for phase alignment between the drive shafts, the system operating rate is improved, and high accuracy is required. It is possible to provide a special control method that eliminates the work of attaching and adjusting the drive shaft.

[Brief description of drawings]

FIG. 1 is a system diagram showing an embodiment to which the present invention is applied.

[Explanation of symbols]

 1 Drive axis 2 Electric motor 3 Speed detector 4 Servo driver 5 Control device 51 Position command signal generator 52 Position feedback signal generator 54 Integrator 55 Shift adjuster N * Speed command N Speed feedback P * Position command P Position feedback I Difference integration signal A * adjustment signal C correction signal

Claims (1)

[Claims] 1. A speed setting sent to each drive shaft is converted into a reference position command, and speed feedback of an electric motor for operating each drive shaft is converted into a position feedback, so that the position command and the position feedback In a synchronous control method for a sectional drive that corrects the speed command by using the integrated amount of difference obtained by comparison calculation as a synchronous operation error, an adjusting means for adding / subtracting a phase shift amount to / from the integrated amount of difference is provided, and the adjustment is performed. A synchronous control method for a sectional drive, wherein a phase adjustment is performed by continuously adding or subtracting a predetermined adjustment amount while continuing the synchronous operation using the means.