JPS59212912A - Positioning control method of servo system - Google Patents

Abstract

PURPOSE:To attain the quick positioning control and at the same time to improve the positioning accuracy by putting a residual distance produced from an allotment calculation into an acceleration or deceleration area. CONSTITUTION:The command shift distance is allotted to the acceleration and deceleration areas respectively based on an acceleration/deceleration table which decides acceleration and deceleration slopes and the maximum speed conditions. A residual distance DELTAx produced from the above-mentioned allotment calculation is put into the acceleration or deceleration area. Then a servo system is driven at said acceleration and deceleration areas and at maximum speed Vm. Thus the quick positioning is possible together with improvement of the positioning accuracy.

Description

[Detailed Description of the Invention] Q's invention is based on the number fii'i ili control country) I:;
- Regarding the positioning control Il method of the system, especially the movement i2'
- evening processing)&IF conversion (this, 1, correction 1if
l' and quick j* 17/place II: lll 4 S
What a monkey J: There is a sea urchin C.

&l l surface control K11-11'r i, late IFII
1lilJ lit a Hola t-1,) II (1) 11f4 Control equipment (hereinafter referred to as NCI firearms)'s XYZ axes, rotation axes, rotation axes, etc.
A predetermined pulse is sent to the balloon lambda distributor every predetermined minute time unit such as IllS[IC, and this pulse is distributed to each axis through an amplifier to operate each axis.

Generally, an acceleration table that is an acceleration condition and a device limit value or a maximum speed that is a desired speed are determined in advance, and the movement amount for each predetermined minute time is sequentially reduced from the overall movement data, and the remaining distance is the distance required for deceleration. J! Be sure to start decelerating when you reach the bottom. At this time, a remainder of rule 1i'7 is generated. This remainder is processed so that, for example, one bean in the middle (minimum) is held and the movement data is output from 4T until it reaches zero (J).

According to this conventional method, ('+' +I-11:
'+ +,': Extend j and adjust the remainder, so the 111th stop of J is stopped (the Q position is not +E 1iil), and the positioning of one small system is 14 The amount of work provided by the substitute product 7'
In particular, the positioning performance is deteriorated due to the generation of a remainder due to the calculation processing process, even though the reduction (in particular, the table) has been achieved with great effort.

This invention improves the problems of the prior art described in J. By optimizing the processing of movement data, i'[Tri
(i.e., a control method that allows quick positioning control.
′? The purpose is to do something.

The 112 positioning control method of the small system according to the present invention for achieving the opening purpose) is applicable to the 112 positioning control method of the numerical control equipment that performs positioning control based on movement commands.
The command travel distance is divided into the acceleration/deceleration daple that determines the 1st speed and deceleration slope and the In high-speed grinding groove fl that determines the maximum speed. t1
It is characterized in that the distance remaining beyond the stop is interrupted into the acceleration/deceleration area, and the relibo system is driven in the 1111 deceleration area and the highest speed area where the interruption is processed.

This invention will be explained in detail below with examples.1
゜Fig.
1. qVm, set the deceleration table 5 to C, issue a movement command for the movement distance xo, and divide the IC11,'l (=J tj, depending on the processing situation, there is a special PI F<I C.Acceleration table 3
Both the curve and deceleration curve 5 have a linear step-like shape, and the resulting Norse suspension is distributed between Δ110 and the horizontal axis. is 11, and the vertical axis 4j is 19, which is represented by C, and the moving distance is represented by a virtual line at 11:'l, which is 17.
enter.

Divide the moving distance by 1. The acceleration region is minute and is performed by repeating 0 times of △t,
Assuming that 1 speed rotation is n-1 times, the distance traveled in the mid range is Q.
+ and the sum of the moving distance Q3 in the deceleration area (yo, △[・1)
・Represented by \1111. Therefore, in the linear stepwise acceleration and deceleration table shown in this example, specifying the maximum (moderate) is the same as specifying the number of accelerations n. acceleration n
The motor rotates until the maximum speed VlII is reached, performs constant speed operation τ times, and then decelerates Cn-1 times.

ΔX indicates the remainder iIl[. Incidentally, the arrangement position of the remainder ΔX shown in FIG. 1 corresponds to Equation 13, which avoids the lowest speed shown in the conventional example.

FIG. 3 is a reflow chart showing the determination of tin according to the assignment (work).The explanation will be explained step by step from step 101.Step 102 is the procedure for determining numerical values, and for the first time, 1! Now (there is. Sudatasu Hatsuno!
・Noda Q Ryo Hiiragi is replayed from 1 to 1, and it stops: C Ritz is cleared.
'L/' Ui, put the movement rate data into the 1st bullet. Repeat 1,, 1jil I'd II O') Setting C'b is good. Step 103 c movement amount 1: lII
X and the movement Φ horn distance in the acceleration and deceleration range! Sum of 1 Q1''0
3. Compare) Jru. This (, 1, determine whether the maximum speed V m (acceleration II) is possible. Step 10
/1's [\/111 decision-1 indicates the maximum 13th speed VIl
1 of l. Bonjo 11 (i J)': Which note "1. I understand that it can be used. The amount of movement li! IIX is sufficient (there is maximum speed Vm.
Move to. In step 105, j1 constant velocity 1 (
The distribution coefficient τ of the highest traceable area) is Q out of 1, and at the same time the remainder △
X is found (step 107).

If the distance traveled is determined to be smaller in the step 7103, the process moves to step f109. Steps 109 to 1
'l OI is the setting position iff [il J % V In is decreased by 1 (minimum speed 1) by 1 η Hold
), the appropriate maximum speed value is determined by using the speed V1 shown in FIG. Movement (ThX
When the sum of the reduced acceleration/deceleration ranges (04 in FIG. 1) is exceeded, the process moves to step 111. Step 112 (Subtract the sum Q4 of the reduced acceleration/deceleration range from the movement amount X to find the remainder (Step 1'+3).

The above M-frame procedure is used to determine the I[remainder ΔX as an interrupt value and perform interrupt processing within the acceleration/deceleration region. The results of the interrupt processing are shown in FIG. 2, and a flowchart of the processing procedure is shown in FIG. 4. FIG. 4 will be explained sequentially from step 201. In step 202, it is determined whether an interrupt value has been set. If the interrupt 11f1 is not set, that is, if there is no surplus ΔX, the process moves to step 203 and the value of the speed table is directly substituted into the data buffer. In this example, the buffer value of the output pointer is incremented by +2iI (step 204), assuming that the output pointer is configured with -i-ta-puff-nor 2-by-1-. If there is a remainder, that is, if the interrupt 11r4 flag is 1, the process moves to step 206.

At step 20G, the table and interrupt 1i1ff B
Which person ut3 is I"I Il/i c(rel.sj:n7' 2 C'l 6 r, -y--/' /L/ j
j-Tsuru hl:I for I interval where 1 no of l white 1) is small
'a-j-Kubanono. -) Go to step 207 for 111+ data
I can fit 48 IB7 B mowers in Reno'. After that, repeat steps 201 to 205 to move the data.
・Storage.

As shown in Figure 2, travel amount X GJ, acceleration area and constant velocity 1
1 sentence per fire), which corresponds to the excess △× (the distance factor 1 is
IJII i Interrupt between \/2 and \/3 in the middle range J:
1. ! Ru. (L-) and ε1) F corresponding to △X shown in Figure 1 ()? :, part disappears.

Suzu JJ-1 at this time! l'ji nature slows down 7 - full 5 to 1
It is interesting to obtain 1t (-11 4') (J, right Ilr F↑+L 'l, 'itake-.

) 1 (Implementation F"I tjI rl, ii-U 4J: Execute the remaining interrupt processing within the acceleration range (.2 interrupt J1.1.!I,:
(] But b'+ 1-]1 enters into the speed range) 1:) 1-IJ (There is (in i).

Also, regarding acceleration and O-deceleration-7-nor in a straight line (
1st grade. ．． /,,: lJ, but curved change,
Or 1. L, curve I that turns right at t1 intermediate speed curve on the way
- Specify as appropriate.

-1- As is clear from the explanation, :', 11 fll
) in the 4th direction (accelerating or decelerating the remaining distance) (
Please note that the positioning control method according to the present invention allows rapid positioning.
Position 1] (Position 1) (Position 1)

[Brief explanation of the drawing]

Fig. 11 shows the conventional example between IIl'1 and Okima 1! i l! lExplanatory diagram, Figure 2 shows the time to receive the example ~ number of letters '4IJ1/1.1i
l) Opening, Fig. 3 (, 1, Showing the four main points)]]
1- To Char. FIG. 4 shows the interrupt processing routine a --f-p-
1~. X...Traveling distance Ql...Acceleration area moving distance (
Q-1...Deceleration range movement distance τ...High speed range repetition count D...Daple value 13...Interrupt value Figure 1 Figure 2 Figure 3 01 Procedure (Voluntary initiative) June 1986, Director General of Tama δ Nittoku Bq Agency, Kazuo Wakasugi, 1. Indication of the incident: Japanese Patent Application No. 58-086633 2. Name of the invention: Positioning control method for Revo system 3. Matters to be corrected Relationship with A'1 Patent Applicant Address (Residence) 200 Ishida, Asehara City, Kanayo Prefecture Name (Name) AMADA Co., Ltd. Representative Ten 1) Yutoranomon Building 5th Floor Telephone Tokyo (504) 3075・3076・3077
No. Name Patent Attorney (6834) Yasuo Miyoshi 6, Column 7 for detailed explanation of the invention of the specification subject to amendment, Contents of amendment (+> Akira #11mffi6iml 6trFBl,
Correct the word “buffer” to read “buffer 1.” (2) From line 5 to line 6 of page 7 of the specification, the phrase ``in the interrupt value area of the data buffer'' has been corrected to ``in the data buffer.''

Claims (1)

[Claims] Positioning control based on movement command 9. In the value control equipment board system, d3-C1 determines the acceleration and deceleration gradient. Acceleration/deceleration 7-pull and the maximum speed grinding line ('l) which determines the maximum speed are used to set the commanded travel distance into the acceleration/deceleration range and the maximum speed range. ^11f・H
), this school] J fJ number 5th), the remainder of January
l: +η (1 to t'lll:!self-rabbit) Separate into the pirate speed area, and add this interrupt processing to the insect area and the maximum l:
A positioning control method for a Liho system in which Riruko 3! drives the 11-bo system from 'f+i 1...y and (, l) as 1!iij!<.