JPS61255409A - Control device for positioning double spindle - Google Patents

Abstract

PURPOSE:To suppress displacement of Y axis during shifting by updating target value to make the target value get near to the command value when there is deviation between the target value and command value. CONSTITUTION:The target value S2 of X axis read out from a memory 2 and present value S3 of X axis read out from a memory 3 are compared by a comparator 4 and the deviation is amplified by an amplifier 5 to control armature current of a motor 6. When the motor 6 rotates, a pulse S7 is generated from an encoder 7 combined to the shaft, and present value of the memory 3 is updated by the number of pulses to bring near to the target value S2 and reduce deviation S4. Similarly, Y axis also controls armature current of a motor 16. At the same time, command value S1 and target value S2 are compared by the comparator 4 and the target value is brought close to the command value by a fixed value. Similarly, if there is difference in the values in Y axis, the target value S12 is brought close to the command value S11 by the same value with the increment of X axis.

Description

Detailed Description of the Invention [Industrial Application Field] This invention relates to a drive system with two axes, XY, and especially in a drive system where an operation on the
The present invention relates to a two-axis positioning control device that performs positioning on the X-axis and Y-axis while performing a correction operation on the X-axis.

[Summary of the Invention] This invention provides a two-axis positioning control device in which a target value is provided as a control parameter in addition to a command value and a current value, and if there is a deviation between the target value and the command value, the target value gradually changes to the command value. By updating the target value so that it approaches the final target position (command value), the movement is performed while performing fine positioning operations until the final target position (command value) is reached.This allows two-axis control in which an operation on the X-axis causes a displacement on the Y-axis. This minimizes the Y-axis displacement in the system.

[Prior Art 1] In this type of conventional positioning control device, it is common to compare a command value with a current value to obtain a command voltage for a drive motor. However, in such a drive system, although correct positioning can be performed in response to a movement command for only the Y-axis, if there is a movement command for the X-axis, a positional shift occurs in the Y-axis by that amount. Therefore, in response to a movement command for the X-axis, the Y-correction amount corresponding to the X-movement amount is calculated, and the current value of Y is updated by that amount, so that the Y-axis is automatically corrected. You can get it.

[Problems to be Solved by the Invention] However, if the speeds of the X-axis and Y-axis cannot be synchronized during movement, the positions of the X-axis and Y-axis upon completion of positioning can be obtained correctly; During the movement, a displacement occurs on the Y axis by the difference in speed between X and Y. This displacement during movement has an adverse effect on various functions of the device to which positioning control is applied, such as deterioration of processing accuracy, measurement accuracy, etc.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a two-axis positioning control device that eliminates the above-mentioned drawbacks, suppresses displacement of the Y-axis during movement as much as possible, and can be constructed at low cost.

[Means for Solving the Problem] ゛In order to achieve this object, the present invention provides a drive system consisting of two axes, an X-axis and a Y-axis, a command position for the X-axis and the Y-axis, a target position, and a current position. , a comparison means that compares the target position and the current position for each axis, and generates a command voltage for the corresponding drive system based on the difference; The present invention is characterized by comprising a correction means for correcting the position.

[Function] In the present invention, in the position control of a drive system consisting of two axes, the X-axis and the Y-axis, the storage means stores the commanded positions of X and Y, the target positions of X and Y, and the current positions of X and Y. The comparison means compares the stored target positions of the X-axis and Y-axis with the current position, and generates a command voltage for instructing the amount of movement of the drive motors of the X-axis and Y-axis based on the difference. In addition, the Y-axis target position is corrected by the above-mentioned X-axis position command. In this way, if there is a deviation between the target value and the command value, by updating the target value so that the target value gradually approaches the command value, fine positioning operations can be performed up to the final target position (command value). In this way, the displacement of the Y-axis during movement is suppressed as much as possible.

[Embodiments] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows an example of the configuration of a two-axis positioning control device according to the present invention. In FIG. 1, 1 indicates a command position X with respect to the X-axis.
2 is an X target value storage device for setting and storing a target value S2 from the command value S1 read from this storage device; This is an X current value storage device that stores the current value of the X axis. 4 is a comparator, which compares the X target value S2 and the X current value S3 respectively read from the above-mentioned storage device 2.3 to obtain a difference S4 therebetween. The difference value S4 is amplified by the amplifier 5 and sent to the X-axis drive motor 6, and becomes a command voltage for driving the motor 6. The amount of rotation of the motor 6 is detected by the encoder 7 and stored in the storage device 3 described above.

Further, 8 is a calculator that calculates a Y-axis correction value from the command position X of the input signal, and the calculation result @x is sent to the Y target value storage device 12 and the Y current value storage device 13. 11 is a Y command value storage device that stores the value of the command position Y with respect to the Y axis; 14 is an X target value S12 and a Y current value S13
It is a comparator that compares the 15 is an amplifier that amplifies the difference value S14 obtained by the comparator 14 and sends it to the Y-axis drive motor te, and 17 is an encoder that detects the amount of rotation of the motor 1B.

In the above configuration, the comparator 4 compares the X-axis target value S2 read from the storage device 2 and the X-axis current value S3 read from the storage device 3, and the difference S4 is amplified by the amplifier 5 to Control amateur current. When the motor 6 rotates, an encoder 7 coupled to its shaft generates pulses S7, and the number of pulses S7 is stored in the memory device 3.
The current value S3 of is updated to bring it closer to the target value S2, and the deviation S4
Reduce.

Similarly, for the Y-axis, the target value S1 read from the storage device 12
2 and the current value 913 read from the storage device 13 is detected by the comparator 14, and the output S of the comparator 14 is detected by the comparator 14.
14 is amplified by an amplifier 15 to control the amateur current of the motor 18. At the same time, the command value S1 and the target value S2 of the X-axis are compared by the comparator 4 at an interval that allows the motors 8 and 7 to follow, and if there is a difference between the values, the target value S2 is changed by a constant value Δχ to the command value Sl. get closer to The Y-axis command value Sll and target value S12 are also compared by the comparator 14 at the same intervals as the X-axis, and if there is a difference between them, the target value S12 is changed to the command value S by the same value ΔX as the X-axis increment.
Bring it closer to ll.

At that time, the command value x (St) for the X-axis is stored in the command value storage device 1, and -x is calculated as the correction value for the Y-axis through the correction value calculator 8, and the target value S12 for the Y-axis and the current value The correction value is added to S13.

Here, K is a constant determined from experiments and the like. Further, the command value y (stt) for the Y-axis is stored in the command value storage device 11.

Note that since this example has a simple configuration, the above-mentioned components 1 to 4 are implemented using the memory and calculation functions of the microcomputer.
By realizing 11 to 14 and 8, a low-cost and compact control device can be easily realized.

[Effects of the Invention] As explained above, according to the present invention, by providing a target value parameter, it is possible to finely control the position until the movement to the commanded position. Even if this occurs, it will be absorbed at the intermediate target position, allowing accurate movement to the next target position. Therefore, according to the present invention, it is possible to obtain the effect of suppressing the displacement to a sufficiently small value compared to the conventional control method using two parameters, the command value and the current value.

Furthermore, according to the present invention, the increment Δ when updating the target value
Since the speed of the motor can be controlled by adjusting X, there is an advantage that slowing up, slowing down, etc. of the motor rotational speed can be easily realized.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an example of the configuration of a two-axis positioning control device according to the present invention. 1...X command value recording device, 2...X target value storage device, 3...X current value storage device, 4.14...comparator, 5.15...amplifier, ? , 17... Encog, 8... Correction value calculator, 11... Y command value storage device, 12... Y target value storage device, 13... Y current value storage device. Figure 1

Claims (1)

[Claims] 1) a drive system consisting of two axes, an X-axis and a Y-axis, b) the X
storage means for storing command positions, target positions, and current positions for the axes and the Y-axis, respectively; c) comparing the target positions and the current positions for each axis, and determining the corresponding drive based on the difference; A two-axis positioning control device comprising: a comparison means for generating a command voltage to a system; d) and a correction means for correcting the target position on the Y-axis based on the command position on the X-axis.