JPS6069711A - Numerical controller - Google Patents
Numerical controllerInfo
- Publication number
- JPS6069711A JPS6069711A JP17752183A JP17752183A JPS6069711A JP S6069711 A JPS6069711 A JP S6069711A JP 17752183 A JP17752183 A JP 17752183A JP 17752183 A JP17752183 A JP 17752183A JP S6069711 A JPS6069711 A JP S6069711A
- Authority
- JP
- Japan
- Prior art keywords
- output
- converter
- position error
- gain
- counter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
- G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
- G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
- Automatic Control Of Machine Tools (AREA)
- Numerical Control (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は、工作機械等の数値制御装置に関し、特にサ
ーボ系の位置制御に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a numerical control device for a machine tool or the like, and particularly to position control of a servo system.
一般に、数値制御装置における位置決め機構は第１図の
ごと（、指令パルス発生器１の出力Ｐと機械に取り付け
らねた位置検出器Ｉの出力Ｂとｔ比較器２で比較し、そ
の差ＩＰ−ＢｌがＤ−Ａ変換器３でアナログ電圧に変換
されて増幅器４に入り、それが送りモータ５．送りネジ
６２機械可動部８を移動させる。さらに、位置検出器Ｔ
が移動することにより出力Ｂが変化し、その結果、ＩＰ
−Ｂｌが常時零に近付き、最終的に零になるよう系全体
を制御する。In general, the positioning mechanism in a numerical control device is as shown in Figure 1 (the output P of the command pulse generator 1 is compared with the output B of the position detector I, which is not attached to the machine, by a t comparator 2, and the difference IP -Bl is converted into an analog voltage by the DA converter 3 and enters the amplifier 4, which moves the feed motor 5, feed screw 62 and mechanical movable part 8. Furthermore, the position detector T
The output B changes due to the movement of IP, and as a result, IP
- The entire system is controlled so that Bl always approaches zero and eventually becomes zero.
この系の中でＩＰ−ＢｌとＤ−Ａ変換器３の出力は、一
般には第２図に示すごとく比例関係にあり、ＩＰ−Ｂｌ
の最大を２１４（＝１６３８４）、Ｄ−Ａ変換器３の出
力の最大をＩＯＶとすると、最少単位は約０．６ｍＶと
微少電圧となるので、位置決め精度、サーボ剛性ケ向上
させる目的で増幅器４に積分要素を持たせる方法がとら
ねる。In this system, the output of IP-Bl and the D-A converter 3 generally have a proportional relationship as shown in Figure 2, and the output of IP-Bl
If the maximum output of the D-A converter 3 is 214 (=16384) and the maximum output of the D-A converter 3 is IOV, the minimum unit is approximately 0.6 mV, which is a very small voltage. The solution is to have an integral element in .
しかし、第１＠に示すような機械の終端を検出する閉ル
ープ方式の場合、モータ軸と位置検出器７間にバックラ
ッシュが存在するため積分要素ン持たせるとリミントサ
イクル現象が発生し、正確な位置決めを行うことが不可
能となる。そのため、秋分要素を持たせることができな
い。However, in the case of the closed-loop method that detects the end of the machine as shown in Part 1, there is backlash between the motor shaft and the position detector 7, so if an integral element is provided, a rimming cycle phenomenon will occur, resulting in accurate It becomes impossible to perform accurate positioning. Therefore, it cannot have an autumnal equinox element.
この発明は、ＩＰ−ＢｌとＤ−Ａ変換器の出力の関係を
非線形にすることにより積分要素を持たせることな（、
位置決め精度、サーボ剛性の向上を図るものである。This invention eliminates the need for an integral element by making the relationship between IP-Bl and the output of the D-A converter non-linear.
This aims to improve positioning accuracy and servo rigidity.
第３図はこの発明の一実施例を示すブロック図である。 FIG. 3 is a block diagram showing one embodiment of the present invention.
この図で、９はカウンタ、１０は演算器、１１は補間器
であり、その他３〜８は第１図と同じものを示す。カウ
ンタ９は機械に取り付けらねた位置検出器Ｔの出力ＢＹ
カウントするものである。演算器１０は単位時間ΔＴご
とに補間器１１の出力ΔＦとカウンタ９の出力ΔＰ’Ｙ
人カデータとし、それに変曲点を決める定数ＰＯＩＮ’
ｌ変曲点までのゲインを決める定数ＧＡＩＮとからＤ−
Ａ変換器３に出力するデータを計算するものである。補
間器１１は微小な単位時開ΔＴ時に移動すべき距離を示
す出力ΔＦを出力するものである。In this figure, 9 is a counter, 10 is an arithmetic unit, 11 is an interpolator, and the others 3 to 8 are the same as in FIG. 1. Counter 9 is the output BY of position detector T attached to the machine.
It's something to count. The arithmetic unit 10 calculates the output ΔF of the interpolator 11 and the output ΔP'Y of the counter 9 every unit time ΔT.
A constant POIN' that determines the point of inflection as the human data
The constant GAIN that determines the gain up to l inflection point and D-
It calculates the data to be output to the A converter 3. The interpolator 11 outputs an output ΔF indicating the distance to be moved at a minute unit time opening ΔT.
計算式は
１ΣΔＦ−ΣΔＰＩ＞ＰＯＩＮＴなら
１ΣΔＦ−ΣΔＰｌ＋ＰＯＩＮＴＸ （ＧＡＩＮ−１）
ＹＤ−Ａ変換器３に出力する。The calculation formula is 1ΣΔF-ΣΔPI>POINT, then 1ΣΔF-ΣΔPl+POINTX (GAIN-1)
Output to YD-A converter 3.
１ΣΔＦ−ΣΔＰ１≦ｐＯＩＮＴなら １ΣΔＦ−ΣΔＰＩＸＧＡＩＮ 乞Ｄ−Ａ変換器３に出力する。If 1ΣΔF−ΣΔP1≦pOINT 1ΣΔF−ΣΔPIXGAIN It is output to the D-A converter 3.
アナログ電圧に変換された位置誤差は増幅器４に入り、
それが送すモータ５．送りネジ６２機械可動部Ｉｎ−移
動させる。さらに、位置検出器７が移動することにより
出力Ｂが変化し、カウンタ９の出力ΔＰが変化する。そ
の結果、１ΣΔＦ−ΣΔＰ１が常時塔に近付き、最終的
に零になるように系全体を制御する。The position error converted to an analog voltage enters the amplifier 4,
The motor it sends 5. Feed screw 62 mechanical movable part In--move. Further, as the position detector 7 moves, the output B changes, and the output ΔP of the counter 9 changes. As a result, the entire system is controlled so that 1ΣΔF-ΣΔP1 always approaches the tower and eventually becomes zero.
第４図はこの発明産おける位置誤差とＤ−Ａ変換器３の
出力の関係を嚢わすものであり、この図は変曲点の定数
ＰＯＩＮＴ＝３．ゲインを決める定数ＧＡＩＮ＝３の場
合の例である。FIG. 4 covers the relationship between the position error and the output of the DA converter 3 in this invention, and this figure shows the inflection point constant POINT=3. This is an example where the constant GAIN that determines the gain is 3.
この図で明らかなよプに、零近傍でのＤ−Ａ変換器３の
出力はＧＡＩＮ倍となり、増幅器４に積分要素を持たせ
ることなく、零近傍での位置ループゲインを大きくする
ことにより、位置決め精度。As is clear from this figure, the output of the D-A converter 3 near zero is multiplied by GAIN, and by increasing the position loop gain near zero without providing an integral element in the amplifier 4, Positioning accuracy.
サーボ剛件の向上か可能である。It is possible to improve the servo rigidity.
また、上記実施例では、変曲点およびゲインを１組とし
たが、これを複数組設けることも可能である。Further, in the above embodiment, one set of inflection point and gain is provided, but it is also possible to provide a plurality of sets.
以上説明したように、この発明は、Ｄ−Ａ変換器の出力
と位置誤差との関係を非線形にしたので、従来の積分要
素を必要とすることなく、正確なザーポ系が構成できる
利点がある。As explained above, this invention has the advantage of making the relationship between the output of the D-A converter and the position error non-linear, so that an accurate zap system can be constructed without the need for a conventional integral element. .
第１図は従来の一般的な位置決め機構を説明するための
ズｐンク図、第２図は従来の位置誤差とＤ−Ａ変換器出
力との関係を示す図、第３図はこの発明の一実施例を示
すブロック図、第４図はこの発明による位置誤差とＤ−
Ａ変換器出力との関係７示す図である。
図中、３はＤ−Ａ変換器、４は増幅器、５は送りモータ
、６は送りネジ、７は位置検出器、８は機械可動部、９
はカウンタ、１０は演算器、１１は補間器である。
なお、図中の同一符号は同一または相当部分を示す。
代理人 大岩増雄 （外２名）
第１図
７
′ら ２ 図
第３図
第４図FIG. 1 is a Zunk diagram for explaining a conventional general positioning mechanism, FIG. 2 is a diagram showing the relationship between the conventional position error and the output of a D-A converter, and FIG. 3 is a diagram of the present invention. A block diagram showing one embodiment, FIG. 4 shows the position error and D-
FIG. 7 is a diagram showing the relationship with the A converter output. In the figure, 3 is a D-A converter, 4 is an amplifier, 5 is a feed motor, 6 is a feed screw, 7 is a position detector, 8 is a mechanical movable part, 9
is a counter, 10 is an arithmetic unit, and 11 is an interpolator. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Masuo Oiwa (2 others) Figure 1 7' et al. 2 Figure 3 Figure 4
Claims (1)
間器と機械に取り付けられた位置検出器からの出力パル
ス乞カウントするカウンタと、位置ループゲインの変曲
点およびゲインの倍率を記憶する手段と、位置誤差を演
算する演算器と、位置誤差を７すｐグミ圧に変換するＤ
−Ａ変換器とを備え、前記補間器の出力ΔＦとカウンタ
の出力より単位時間Δτごとの出力ΔＰをめ、１ΣΔＦ
−ΣΔＰｌｘ演算し、前記変曲点までの位置ループゲイ
ンを前記ゲインの倍率にする非線型サーボ系を具備せし
めたことを特徴とする数値制御装置。An interpolator that outputs an output ΔF indicating the amount of movement per unit time ΔT, a counter that counts output pulses from a position detector attached to the machine, and a means for storing the inflection point of the position loop gain and the magnification of the gain. , a calculator that calculates the position error, and a D that converts the position error into 7p gummy pressure.
-A converter, and calculates the output ΔP for each unit time Δτ from the output ΔF of the interpolator and the output of the counter, and calculates 1ΣΔF.
-ΣΔPlx, and a nonlinear servo system that makes a position loop gain up to the inflection point a multiplier of the gain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17752183A JPS6069711A (en) | 1983-09-26 | 1983-09-26 | Numerical controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17752183A JPS6069711A (en) | 1983-09-26 | 1983-09-26 | Numerical controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6069711A true JPS6069711A (en) | 1985-04-20 |
Family
ID=16032365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17752183A Pending JPS6069711A (en) | 1983-09-26 | 1983-09-26 | Numerical controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6069711A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5264576A (en) * | 1975-11-21 | 1977-05-28 | Fanuc Ltd | Positioning controller |
| JPS52143385A (en) * | 1976-05-24 | 1977-11-29 | Toshiba Corp | Piston control apparatus |
| JPS5487365A (en) * | 1977-12-23 | 1979-07-11 | Sony Corp | Servo-method |
| JPS58144202A (en) * | 1982-02-22 | 1983-08-27 | Hitachi Ltd | Dc servo circuit |
-
1983
- 1983-09-26 JP JP17752183A patent/JPS6069711A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5264576A (en) * | 1975-11-21 | 1977-05-28 | Fanuc Ltd | Positioning controller |
| JPS52143385A (en) * | 1976-05-24 | 1977-11-29 | Toshiba Corp | Piston control apparatus |
| JPS5487365A (en) * | 1977-12-23 | 1979-07-11 | Sony Corp | Servo-method |
| JPS58144202A (en) * | 1982-02-22 | 1983-08-27 | Hitachi Ltd | Dc servo circuit |
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