JPS6378206A - Following delay removal method using digital servo system in full close feedback nc system - Google Patents

Following delay removal method using digital servo system in full close feedback nc system

Info

Publication number
JPS6378206A
JPS6378206A JP22218886A JP22218886A JPS6378206A JP S6378206 A JPS6378206 A JP S6378206A JP 22218886 A JP22218886 A JP 22218886A JP 22218886 A JP22218886 A JP 22218886A JP S6378206 A JPS6378206 A JP S6378206A
Authority
JP
Japan
Prior art keywords
command
servo motor
correction
feedback
output
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
Application number
JP22218886A
Other languages
Japanese (ja)
Inventor
Kanemasa Okuda
奥田　兼正
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP22218886A priority Critical patent/JPS6378206A/en
Priority to PCT/JP1987/000680 priority patent/WO1988002140A1/en
Publication of JPS6378206A publication Critical patent/JPS6378206A/en
Pending legal-status Critical Current

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
    • G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • 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
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41068—Measuring and feedback
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41081—Approach position from same direction
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41085—Compensation pulses on inversion of direction of rotation, movement
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41186—Lag

Abstract

PURPOSE:To execute fine controls by comparing the rotary position of a shaft in a servomotor with the position of a table, copying with unstable factors and adjusting time when a correction command is added. CONSTITUTION:As for a position command 11 form an NC controller, a position gain Pg is calculated to become a speed command 12 to the servomotor. The speed command is translated into a torque command 13 to the servomotor to drive the servomotor 14. It dries the table in a machine tool, and according to its action, a position detector machine tool position detector 16 is operated. There is the play 15 of the tool between the motor 14 and the table. The output of the motor 14 is fed back as a motor speed feedback to the speed command. In such a full close feedback system, the output of the position detector 16 for the table is fed back as a nipple position feedback to the position command.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、フルクローズフィードバックを用いた数値制
？１ｌ（ＮＣ）工作機械におけるデジタルサーボシステ
ムを用いた追従遅れを除去する方法に関する。[Detailed description of the invention] [Industrial application field] Is the present invention a numerical system using full-close feedback? This invention relates to a method for eliminating follow-up delay using a digital servo system in a 1l (NC) machine tool.

〔従来の技術〕[Conventional technology]

工作機械のＮＣサーボ機構にフルクローズフィードバッ
ク方式とセミクローズフィードバック方式がある。前者
は工作機械のテーブルに位置検出器を取付けて位置フィ
ードバックを行うもので、一般に後者よりは精度が高く
、機械系の遊びによる誤差が補償される。セミクローズ
フィードバック方式の工作機械はモータの回転軸から位
置検出が行われるもので、フルクローズフィードバック
方式より位置誤差は大きいが、適切な遊びに対する補正
を行えば位置誤差を小さくすることができる。There are two types of NC servo mechanisms for machine tools: full-closed feedback and semi-closed feedback. The former method provides position feedback by attaching a position detector to the table of the machine tool, and is generally more accurate than the latter, and compensates for errors caused by play in the mechanical system. Semi-closed feedback type machine tools detect the position from the motor's rotation axis, and although the position error is larger than that of the fully closed feedback type, the position error can be reduced by making appropriate corrections for play.

フルクローズフィードバックを用いた工作機械では理論
的には機械系の遊びの影響はあり得ないが、テーブルの
送り速度が太き（なると、サーボ系の追従遅れに起因し
て、円弧の象限切り換え部等移動方向が変化した時に形
状誤差を生ずる。これは形状の頂点を過ぎてモータが反
転しても、テーブルが動かない時間があるため、頂点を
過ぎても平らな部分が続き指令値に対して誤差を生ずる
ためである。In a machine tool that uses full-closed feedback, there is theoretically no influence of play in the mechanical system, but if the table feed rate is large (the servo system's follow-up delay will cause the quadrant switching part of the arc to A shape error occurs when the direction of movement changes.This is because even if the motor reverses after passing the apex of the shape, there is a time when the table does not move, so even after the apex, a flat portion continues and the deviation from the command value This is because errors may occur.

〔発明が解決しようとする問題点〕 本発明の目的は、フルクローズフィードバックＮＣシス
テムの工作機械における追従遅れに起因する問題点にか
んがみ、移動方向反転時にＮＣコントローラからの位置
指令に加算する補正指令の終了タイミングを、サーボモ
ータと工作機械テーブルの位置検出値の比較によって決
定するという着想に基づき、機械系に摩擦等の不安定な
要因があっても位置誤差の少ない、従って被加工品の形
状誤差の少ないＮＣ工作機械を得ることにある。[Problems to be Solved by the Invention] In view of the problems caused by the follow-up delay in a machine tool using a full-closed feedback NC system, an object of the present invention is to provide a correction command to be added to a position command from an NC controller when the direction of movement is reversed. Based on the idea that the end timing of the process is determined by comparing the position detection values of the servo motor and the machine tool table, the position error is small even if there are unstable factors such as friction in the mechanical system, and the shape of the workpiece is determined. The objective is to obtain an NC machine tool with fewer errors.

〔問題点を解決するための手段〕[Means for solving problems]

前述の問題点を解決するため、本発明においては、ＮＣ
コントローラからの位置指令を受け、サーボモータへの
速度指令を作成し、該速度指令からサーボモータへのト
ルク指令を作成し、該トルク指令により該サーボモータ
を駆動し、該サーボモータの出力により工作機械のテー
ブルを駆動し、該テーブルに設けた位置検出器の出力を
テーブル位置フィードバックとして該ＮＣコントローラ
からの位置指令にフィードバックし、該サーボモータの
出力を該速度指令へ速度フィードバックするようにした
フルクローズフィードバックＮＣシステムにおけるデジ
タルサーボシステムを用いた追従遅れを除去する方法に
おいて、補正量がＫ・△Ｘ、補正時間が１十Ｐｇ＋にで
ある補正指令を、ＮＣコントローラからの位置指令に、
テーブルの移動方向が変化して反転するサーボ系の位置
誤差が零になった時加算し、サーボモータの出力から位
置検出値を求め、該サーボモータの出力の位置検出値と
該テーブル位置検出値を比較し、その値が等しくなった
時に該補正指令の加算を停止する、上記各工程を具備す
る方法が提供される。ここにおいて、△Ｘは該工作機械
のテーブルの遊びの量、ｐｇはサーボ系のポジションゲ
イン、Ｋは補正係数である。In order to solve the above-mentioned problems, in the present invention, the NC
Receive a position command from the controller, create a speed command to the servo motor, create a torque command to the servo motor from the speed command, drive the servo motor with the torque command, and perform machining with the output of the servo motor. A full-scale motor that drives a table of a machine, feeds back the output of a position detector provided on the table as table position feedback to the position command from the NC controller, and feeds back the output of the servo motor to the speed command. In a method for eliminating follow-up delay using a digital servo system in a close feedback NC system, a correction command with a correction amount of K△X and a correction time of 10 Pg+ is applied to a position command from an NC controller.
When the position error of the servo system that reverses as the table changes its moving direction becomes zero, it is added, the detected position value is obtained from the output of the servo motor, and the detected position value of the output of the servo motor and the detected table position value are added. Provided is a method comprising the steps described above, in which the values are compared and the addition of the correction commands is stopped when the values become equal. Here, ΔX is the amount of play in the table of the machine tool, pg is the position gain of the servo system, and K is the correction coefficient.

〔作用〕[Effect]

前述の方法を用いれば、適切な補正指令が最適なタイミ
ングで加算され、もし、機械系に摩擦等の不安定要因が
あっても、サーボモータの軸における回転位置とテーブ
ルの位置を比較して該不安定要因に対処して、該補正指
令の加算時間を調整できる。これにより単に算出された
一定の補正量および補正時間を有する補正指令を加える
場合に比較して、さらにきめ細かい制御が可能となる。If you use the method described above, the appropriate correction command will be added at the optimal timing, and even if there is an unstable factor such as friction in the mechanical system, the rotational position on the servo motor axis and the table position can be compared. The addition time of the correction command can be adjusted in response to the instability factor. This enables more fine-grained control than when simply adding a correction command having a calculated constant correction amount and correction time.

〔実施例〕〔Example〕

本発明の一実施例としてのフルクローズフィードバック
ＮＣシステムにおけるデジタルサーボシステムを用いた
追従遅れを除去する方法を行う制御系統の各工程を示す
ブロック図が第１図に示され、第２図には、先行技術と
しての非デジタルサーボシステムを用いた方法を行う同
様な図が示される。A block diagram showing each process of a control system for performing a method for eliminating follow-up delay using a digital servo system in a full-close feedback NC system as an embodiment of the present invention is shown in FIG. 1, and FIG. , a similar diagram is shown implementing the method using a prior art non-digital servo system.

第１図において、ＮＣコントローラからの位置指令１１
はポジションゲインｐ　ｇが積算されてす−ボモータへ
の速度指令１２となり、該速度指令がサーボモータへの
トルク指令１３となってサーボモータ１４を駆動する。In FIG. 1, position command 11 from the NC controller
is integrated with the position gain pg to become a speed command 12 to the servo motor, and this speed command becomes a torque command 13 to the servo motor to drive the servo motor 14.

サーボモータ１４は工作機械のテーブルを駆動し、該テ
ーブルの動きに従って位置検出器１６を動作させる。サ
ーボモータ１４とテーブルの間には機械の遊び（かた）
１５が存在する。サーボモータ１４の出力はモータ速度
フィードバックとして速度指令へフィードバックされる
。フルクローズフィードバック方式では、テーブルの位
置ネ★出器１６の出力がテーブル位置フィードバックと
して位置指令にフィードバックされる。The servo motor 14 drives the table of the machine tool and operates the position detector 16 in accordance with the movement of the table. There is mechanical play between the servo motor 14 and the table.
There are 15. The output of the servo motor 14 is fed back to the speed command as motor speed feedback. In the full-close feedback system, the output of the table position output device 16 is fed back to the position command as table position feedback.

機械系の遊びによる追従誤差を防止するため、このフル
クローズフィードバック方式ではＮＣコントローラから
の位置指令に補正指令としてロストモーション補正パル
スを加算する。この補正パルスは補正ｌＸｃとしてＸｃ
＝Ｋ・△Ｘ１補正時間Ｔｃとして、Ｔｃ＝１十Ｐｇ＋に
の値をとり、補正のタイミングとしてはテーブルの移動
方向が変化して反転するサーボ系の位置誤差が零になっ
た時開始する。なお、△ｘ、Ｐｇ　、およびＫについて
は前述したとおりである。In order to prevent tracking errors due to play in the mechanical system, this full-close feedback method adds a lost motion correction pulse as a correction command to the position command from the NC controller. This correction pulse is Xc as correction lXc.
=K·ΔX1 The correction time Tc takes a value of Tc=10Pg+, and the correction timing starts when the moving direction of the table changes and the position error of the reversing servo system becomes zero. Note that Δx, Pg, and K are as described above.

この実施例においては、前記補正のタイミングの終了時
を次のように規定する。デジタルサーボ系において、サ
ーボモータ１４の出力からモータ位置フィードバック信
号を得るようにし、テーブル位置信号と比較（１７）　
Ｌ、サーボモータ位置がテーブル位置に等しくなった時
、ロストモーション補正パルス１９がＮＣコントローラ
からの位置指令１１に加算されないよう補正期間側′４
１１１８を制御する。In this embodiment, the end of the correction timing is defined as follows. In the digital servo system, obtain a motor position feedback signal from the output of the servo motor 14 and compare it with the table position signal (17)
L, correction period side '4 so that the lost motion correction pulse 19 is not added to the position command 11 from the NC controller when the servo motor position becomes equal to the table position.
1118.

前述のような実施例によれば、第２図における先行技術
例に比較して、第１図の破線で示したような工程が第２
図の補正パルス２００代わりに設けられているから補正
パルスの停止時期を制御でき、もし、工作機械のテーブ
ルの摩擦等の不確実な要素があっても、よりきめ細かな
位置制御が可能となる。According to the embodiment described above, compared to the prior art example in FIG. 2, the steps shown by the broken lines in FIG.
Since it is provided in place of the correction pulse 200 shown in the figure, the stop timing of the correction pulse can be controlled, and even if there is an uncertain factor such as friction on the machine tool table, more fine-grained position control is possible.

〔発明の効果〕〔Effect of the invention〕

本発明によれば、フルクローズフィードバックを用いた
ＮＣシステムにおいて、適正な補正指令を加え、かつ補
正終了時期をサーボモータとテーブルの位置の差によっ
て制御できるから、機械系に摩擦等の不安定な要因があ
っても位置誤差の少ない、従って被加工品の形状誤差の
少ないＮＣ工作機械が得られる。According to the present invention, in an NC system using full-closed feedback, an appropriate correction command can be added and the correction end timing can be controlled by the difference in position between the servo motor and the table. It is possible to obtain an NC machine tool with a small positional error even if there are factors, and therefore with a small shape error of the workpiece.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の一実施例としての方法を行う各工程を
示すブロック図、および 第２図は先行技術における第１図と同様な図である。 （符号の説明） １１・・・ＮＣコントローラからの位置指令、１２・・
・サーボモータへの速度指令、１３・・・サーボモータ
へのトルク指令、１４・・・サーボモータ、 １５・・・機械の遊び、 １６・・・工作機械のテーブルの位置検出器、１７・・
・比較、 １８・・・補正期間制御、 １９・・・ロストモーション補正パルス、２０・・・補
正パルス。FIG. 1 is a block diagram showing steps for performing a method according to an embodiment of the present invention, and FIG. 2 is a diagram similar to FIG. 1 in the prior art. (Explanation of symbols) 11...Position command from NC controller, 12...
・Speed command to servo motor, 13... Torque command to servo motor, 14... Servo motor, 15... Machine play, 16... Position detector of machine tool table, 17...
- Comparison, 18... Correction period control, 19... Lost motion correction pulse, 20... Correction pulse.

Claims (1)

【特許請求の範囲】 ＮＣコントローラからの位置指令を受け、サーボモータ
への速度指令を作成し、該速度指令からサーボモータへ
のトルク指令を作成し、該トルク指令により該サーボモ
ータを駆動し、該サーボモータの出力により工作機械の
テーブルを駆動し、該テーブルに設けた位置検出器の出
力をテーブル位置フィードバックとして該ＮＣコントロ
ーラからの位置指令にフィードバックし、該サーボモー
タの出力を該速度指令へ速度フィードバックするように
したフルクローズフィードバックＮＣシステムにおける
デジタルサーボシステムを用いた追従遅れを除去する方
法において、 該サーボモータの出力から位置検出値を得るようにし、 該工作機械のテーブルの遊びを△Ｘ、 サーボ系のポジションゲインをＰｇ、 補正係数をＫ、とする時、 補正量がＫ・△Ｘ、 補正時間が１÷Ｐｇ÷Ｋ、である補正指令を、該ＮＣコ
ントローラからの位置指令に、該テーブルの移動方向が
変化して反転するサーボ系の位置誤差が零になった時加
算するようにし、 該サーボモータの出力の位置検出値と該テーブル位置検
出値を比較し、その値が等しくなった時に該補正指令の
加算を停止することを特徴とするフルクローズフィード
バックＮＣシステムにおけるデジタルサーボシステムを
用いた追従遅れを除去する方法。[Claims] Receiving a position command from an NC controller, creating a speed command to a servo motor, creating a torque command to the servo motor from the speed command, and driving the servo motor by the torque command, The output of the servo motor drives the table of the machine tool, the output of a position detector provided on the table is fed back to the position command from the NC controller as table position feedback, and the output of the servo motor is fed back to the speed command. In a method for eliminating follow-up delay using a digital servo system in a full-close feedback NC system configured to provide speed feedback, a position detection value is obtained from the output of the servo motor, and play in the table of the machine tool is reduced by △X. , When the position gain of the servo system is Pg and the correction coefficient is K, a correction command with a correction amount of K・△X and a correction time of 1÷Pg÷K is applied to the position command from the NC controller, Addition is made when the position error of the servo system, which is reversed due to a change in the moving direction of the table, becomes zero, and the position detection value of the output of the servo motor is compared with the table position detection value, and the values are equal. A method for eliminating follow-up delay using a digital servo system in a full-closed feedback NC system, characterized in that the addition of the correction command is stopped when the correction command is reached.
JP22218886A 1986-09-22 1986-09-22 Following delay removal method using digital servo system in full close feedback nc system Pending JPS6378206A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP22218886A JPS6378206A (en) 1986-09-22 1986-09-22 Following delay removal method using digital servo system in full close feedback nc system
PCT/JP1987/000680 WO1988002140A1 (en) 1986-09-22 1987-09-16 Method of removing follow-up delay using a digital servo system in a full-close feedback nc system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22218886A JPS6378206A (en) 1986-09-22 1986-09-22 Following delay removal method using digital servo system in full close feedback nc system

Publications (1)

Publication Number Publication Date
JPS6378206A true JPS6378206A (en) 1988-04-08

Family

ID=16778533

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22218886A Pending JPS6378206A (en) 1986-09-22 1986-09-22 Following delay removal method using digital servo system in full close feedback nc system

Country Status (2)

Country Link
JP (1) JPS6378206A (en)
WO (1) WO1988002140A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997008593A1 (en) * 1995-08-22 1997-03-06 Fanuc Ltd Numerical controller
JP2003091319A (en) * 2001-09-19 2003-03-28 Matsushita Electric Ind Co Ltd Positioning control apparatus
CN105045203A (en) * 2014-04-24 2015-11-11 发那科株式会社 Motor controller for performing correction when direction of rotation is reversed

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0693208B2 (en) * 1987-02-04 1994-11-16 フアナツク株式会社 Servo delay correction method
JPH0199485A (en) * 1987-10-09 1989-04-18 Toshiba Corp Controlling device for servo motor
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