JPS62152020A - Digital servo controller - Google Patents

Abstract

PURPOSE:To minimize the delay of response regardless of the arithmetic processing time and to obtain the highly accurate servo performance, by using the outputs of a control arithmetic means and an estimation arithmetic means as the input of a motor driving means. CONSTITUTION:The command speed memory means 8 and 9 store the speed command given from a speed command means 7 and the given preceding speed command value. While the present speed memory means 10 and 11 store the present and preceding speed values of a traveling object to be controlled. A control arithmetic means 13 calculates the output value to be given to a motor driving means 14 from the speed command value and the present speed value. An estimation arithmetic means 15 estimates the output value to be given to the means during the arithmetic of the means 13 from the values stored in said memory means 8-11. Thus the means 15 performs several times of output arithmetic while the means 13 is performing the output arithmetic to the input of just a single time. In such a way, the delay of response is minimized regardless of the arithmetic time of the means 13.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a digital servo control device used for speed control.

Background of the Invention In recent years, digital servo control devices have made remarkable progress as an alternative to conventional analog servo control devices.
The scope of its use has expanded to include position and speed control for everything from single-transport NC equipment to robots and printers.

Hereinafter, a conventional digital servo control device will be explained with reference to the drawings.

FIG. 3 shows a block diagram of a conventional digital servo control device. In FIG. 3, reference numeral 2 has one input of data obtained by processing pulses generated from a pulse generator 6 mechanically connected to the motor 4 as current speed data through a pulse waveform processing circuit 6, and an externally provided The servo calculation means 3 uses the speed command from the speed command means 1 as the other input to perform servo processing calculations, and the servo calculation means 3 receives the output of the servo calculation means 2 as an input, and also serves as a motor drive means for various minor loops.

The operation of the conventional digital servo control device configured as described above will be specifically explained below.

First, a command speed is given from the speed command means 1 as a speed command value. Further, the servo calculation means 2 inputs, as a current speed value, data obtained by processing pulses generated from a pulse generator 6 mechanically connected to the motor 4 as current speed data through a pulse waveform processing circuit 6, and After the comparison calculation with the command value, various servo calculations such as proportional, integral, and differential are performed, and the calculation results are output to the motor drive means 3.

Problems to be Solved by the Invention However, in the conventional digital servo control device configured as described above, the command speed value and the current speed value are input once, and the output is performed after calculation processing. , resulting in a response delay corresponding to the calculation processing time from input to output, making it impossible to perform complex calculations, making it impossible to obtain high-precision servo performance, and requiring the use of high-speed processing calculation devices, etc., resulting in increased costs. It was becoming something big.

SUMMARY OF THE INVENTION In view of the above drawbacks, the present invention provides an inexpensive digital servo control device that minimizes response delay regardless of arithmetic processing time and has high precision and control performance.

Means for Solving the Problems In order to achieve the above object, the digital servo control device of the present invention provides two commands for storing the speed command value given from the speed command means and the previous speed command value given last time. a speed storage means, two current speed storage means for storing the current speed value of the controlled moving object and the previous current speed value;
control calculation means for calculating an output value to the motor drive means from the speed command value and the current speed value; and control calculation means for calculating an output value to the motor drive means from the values stored in the four storage means during calculation by the control calculation means and predictive calculation means for predicting and calculating the output value.

For production The effect of this technical means is as follows.

In other words, while the control calculation means performs output calculation for one input, the prediction calculation means performs several output calculations, thereby minimizing response delay without depending on the calculation time of the control calculation means. This realizes a high-performance and inexpensive digital servo control device.

EXAMPLE An example of the present invention will be described below with reference to the drawings.

- FIG. 1 is a block diagram showing the configuration of an embodiment of a digital servo control device according to the present invention. Reference numeral 8 denotes a first command speed storage means for storing the movement speed given by the speed command means 7 provided externally, 9 a second command speed storage means for storing the movement speed given last time, and 10 First current speed storage means 11 stores the speed obtained from the speed detection means 12 which detects the moving speed of the pulse generator 17 mechanically attached to the motor 16; a second current speed storage means for storing the previous value; 13 is the output of the first commanded speed storage means 8;
control calculation means for calculating the output to the motor drive means 14 using the output of the first current speed storage means 10 as an input;
Reference numeral 6 designates a control calculation means 13 which receives the respective outputs of the first command speed storage means 8, the second command speed storage means 9, the first current speed storage means 1o, and the second current speed storage means 11. This is a prediction calculation means that performs an output calculation to the motor drive means 14 during the calculation of .

The operation of the digital servo control device of this embodiment configured as described above will be explained below.

FIG. 2 is a main part of a flowchart explaining the operations of the arithmetic processing means 6 and the output prediction means 7.

A step-by-step explanation will be given below. In step 2, the commanded speed is input, and in step 2, the commanded speed and the previous commanded speed are stored.

In step 3, the previous command speed is updated. Similarly, in steps 4 to 6, the current speed is stored and updated. Next, perform the conventional servo calculation in step 7.13 or 19.
．． It is divided into 15 or 21, 17 or 23 parts, and the prediction calculation is performed between them. In the predictive calculation, the deviation between the command value and the feedback value is calculated in step 8, and the previous deviation is calculated in step 9. In step 10.11, the deviation between the previous value and the current value of the speed command value is taken, and whether the motor speed is about to increase or decrease is determined based on the sign of En. In step 12, the previous deviation and the current deviation are divided into n equal parts and added to the previous output value and output. Similar steps are performed from steps 13 to 16. Further, steps 18 to 22 are steps 12 to 16 with different signs.

As described above, according to this embodiment, the predicted output divided into n equal parts during conventional servo calculation is output regardless of the calculation time, so the response delay can be minimized regardless of the calculation time. It is possible to provide an inexpensive digital servo control device with high precision servo performance.

Effects of the Invention As described above, the present invention provides a first method for storing the speed obtained from the speed detecting means for detecting the moving speed of the controlled moving object.
a first command speed storage means for storing the moving speed given to the moving object; and an output of the first current speed storage means and the first command speed storage means. a control calculation means for calculating an output value to the motor drive means using the output as an input; a second command speed storage means for storing the movement speed previously given to the moving body; a second current speed storage means for storing the previous value of the current speed storage means, an output of the first current speed storage means and an output of the second current speed storage means, and the first commanded speed storage means and a prediction calculation means which receives the output of the second command speed storage means and the output of the second command speed storage means, and predicts and calculates an output value to the motor drive means during the calculation of the control calculation means, By outputting a predicted output by making the output and the output of the predictive calculation means input to the motor driving means, the output is made regardless of the calculation time, so response delay can be minimized and high-precision servo control can be achieved. An inexpensive digital servo control device with high performance can be provided.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an embodiment of a digital servo control device according to the present invention, FIG. 2 is a flowchart of essential parts explaining the operation of the embodiment, and FIG. 3 is a block diagram of a conventionally commonly used digital servo control device. It is a block diagram. 8...First command speed storage means, 9...
Second command speed storage means, 1o...First current speed storage means, 11...Second current speed storage means, 12...Speed detection means, 13・・・・・・
Control calculation means, 16... Prediction calculation means, 14.
...Motor drive means. Name of agent: Patent attorney Toshio Nakao and 1 other person 2nd
Figure 3: Mitsuki

Claims (1)

[Claims] a first current speed storage means for storing the speed obtained from the speed detection means for detecting the movement speed of the controlled moving object; and a first command speed storage means for storing the movement speed given to the moving object. control calculation means for calculating an output value to the motor drive means using the output of the first current speed storage means and the output of the first command speed storage means; a second command speed storage means for storing the movement speed given to the first current speed storage means; a second current speed storage means for storing the previous value of the first current speed storage means; The output, the output of the second current speed storage means, the output of the first command speed storage means, and the output of the second command speed storage means are used as inputs, and during the calculation of the control calculation fixed stage, the motor A digital servo control device comprising a prediction calculation means for predicting an output value to the drive means, and an output of the control calculation means and an output of the prediction calculation means are input to a motor drive means.