KR100450455B1 - 서보 제어 방법 - Google Patents
서보 제어 방법 Download PDFInfo
- Publication number
- KR100450455B1 KR100450455B1 KR10-2002-0020669A KR20020020669A KR100450455B1 KR 100450455 B1 KR100450455 B1 KR 100450455B1 KR 20020020669 A KR20020020669 A KR 20020020669A KR 100450455 B1 KR100450455 B1 KR 100450455B1
- Authority
- KR
- South Korea
- Prior art keywords
- axis
- change
- axes
- mechanical
- feedforward
- Prior art date
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Classifications
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- 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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
-
- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/20—Calculating means; Controlling methods
- B65H2557/262—Calculating means; Controlling methods with key characteristics based on feed forward control
-
- 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
- G05B2219/41434—Feedforward FFW
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49182—Tapping, overshoot after reversal, elasticity compensation
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49199—For non linear interpolation movement
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Human Computer Interaction (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Software Systems (AREA)
- Medical Informatics (AREA)
- Evolutionary Computation (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (6)
- 적어도 위치 루프 게인, 1차 지연 주파수, 가속/감속 시정수, 각속도 및 두 축 이상의 축에 대한 전달 함수의 비에 관한 정보를 NC 파라미터로서 입력하는 단계;기계적 파라미터를 입력하는 단계;상기 NC 파라미터와 기계적 파라미터에 기초하여 축들 사이의 게인비의 보정값을 연산하는 단계;상기 보정값에 기초하여 속도 피드포워드 세트 값과 가속도 피드포워드 세트 값을 보정하는 단계; 및상기 보정된 피드포워드값에 기초하여 피드포워드 제어를 행하는 단계를 포함하는 서보 제어 방법.
- 제 1 항에 있어서,부하 질량의 변화량을 검출하는 단계,부하 질량의 변화량에 기인한 관성력의 변화량을 연산하는 단계, 및관성력의 변화량을 고려하여 각 축에 대한 전달 함수를 계산하는 단계를 더 포함하는 것을 특징으로 하는 서보 제어 방법.
- 제 2 항에 있어서,부하 질량의 기계적 위치에 대응하는 각 축에 대한 강성의 변화량을 연산하는 단계, 및강성의 변화량을 고려하여 각 축에 대한 전달 함수를 계산하는 단계를 더 포함하는 것을 특징으로 하는 서보 제어 방법.
- 제 3 항에 있어서,피드 속도에 대한 점성 감쇠 계수의 변화 및 마찰력의 변화 모두를 고려하여, 각 축에 대한 전달 함수가 계산되는 것을 특징으로 하는 서보 제어 방법.
- 제 4 항에 있어서,축들 사이의 열 변위량의 차이가 탄성 변위량에 더해지는 것을 특징으로 하는 서보 제어 방법.
- 제 1 항에 있어서,상기 기계적 파라미터는 적어도 질량, 스프링 상수, 점성 감쇠 상수, 피드 구동의 강성, 마찰력, 마찰 토크 및 고유 주파수를 포함하는 것을 특징으로 하는 서보 제어 방법.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001121239 | 2001-04-19 | ||
JPJP-P-2001-00121239 | 2001-04-19 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20020082753A KR20020082753A (ko) | 2002-10-31 |
KR100450455B1 true KR100450455B1 (ko) | 2004-10-01 |
Family
ID=18971155
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR10-2002-0020669A KR100450455B1 (ko) | 2001-04-19 | 2002-04-16 | 서보 제어 방법 |
Country Status (2)
Country | Link |
---|---|
US (1) | US6677722B2 (ko) |
KR (1) | KR100450455B1 (ko) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002091570A (ja) * | 2000-09-20 | 2002-03-29 | Yaskawa Electric Corp | サーボ制御方法 |
DE102005061570A1 (de) * | 2005-12-22 | 2007-07-05 | Siemens Ag | Ermittlungsverfahren für eine lagegeführte abzufahrende Grobbahn |
JP2008302449A (ja) * | 2007-06-06 | 2008-12-18 | Fanuc Ltd | ロボット制御装置 |
US7891276B2 (en) | 2007-08-31 | 2011-02-22 | Kimbelry-Clark Worldwide, Inc. | System and method for controlling the length of a discrete segment of a continuous web of elastic material |
JP4575508B1 (ja) * | 2009-05-20 | 2010-11-04 | ファナック株式会社 | デュアル位置フィードバック制御を行うサーボ制御装置 |
JP4728422B2 (ja) * | 2009-12-09 | 2011-07-20 | ファナック株式会社 | 高速揺動動作を高精度化するサーボ制御システム |
JP5695555B2 (ja) * | 2011-01-28 | 2015-04-08 | オークマ株式会社 | 位置制御装置 |
CN103760816B (zh) * | 2013-12-30 | 2016-07-13 | 哈尔滨工业大学深圳研究生院 | 基于任务极坐标系的伺服系统轮廓控制方法 |
JP6017595B2 (ja) * | 2015-01-16 | 2016-11-02 | ファナック株式会社 | 振動を抑制するモータ制御装置 |
EP3176657A1 (de) * | 2015-12-02 | 2017-06-07 | Siemens Aktiengesellschaft | Bestimmung der steifigkeit eines antriebsstranges einer maschine, insbesondere einer werkzeug- oder produktionsmaschine |
CN106227154B (zh) * | 2016-08-17 | 2018-10-12 | 义乌朝晖智能科技有限公司 | 一种两轴联动机械臂运动控制的同步误差补偿方法 |
JP6490127B2 (ja) * | 2017-03-15 | 2019-03-27 | ファナック株式会社 | 機械学習装置、サーボ制御装置、サーボ制御システム、及び機械学習方法 |
CN110134073B (zh) * | 2018-02-09 | 2020-08-21 | 合肥欣奕华智能机器有限公司 | 一种控制机器人多轴同步运动的方法、装置 |
CN108563122B (zh) * | 2018-04-12 | 2021-03-26 | 江南大学 | 一种移动机器人速度平滑插值方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60231207A (ja) * | 1984-04-28 | 1985-11-16 | Yaskawa Electric Mfg Co Ltd | 多軸サ−ボ系の指令発生方式 |
JPS63303402A (ja) * | 1987-06-04 | 1988-12-12 | Nkk Corp | 多軸サ−ボ機構の円弧軌跡制御装置 |
JPH02100105A (ja) * | 1988-10-06 | 1990-04-12 | Mitsubishi Electric Corp | Nc工作機械のサーボ追従誤差補正方式 |
JPH04271290A (ja) * | 1991-02-25 | 1992-09-28 | Okuma Mach Works Ltd | 駆動制御装置 |
JPH11184529A (ja) * | 1997-10-14 | 1999-07-09 | Toshiba Mach Co Ltd | 送り駆動系のサーボ制御方法およびサーボ制御装置 |
US6147468A (en) * | 1998-04-30 | 2000-11-14 | Toshiba Kikai Kabushiki Kaisha | Servo control method for orbital machining with cutting tool and servo control system for orbital machining |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
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US4947336A (en) * | 1988-04-15 | 1990-08-07 | Froyd Stanley G | Multiple axis motion control system |
JP3308656B2 (ja) | 1993-06-17 | 2002-07-29 | ファナック株式会社 | サーボモータの制御方法 |
JPH0895643A (ja) * | 1994-09-26 | 1996-04-12 | Fanuc Ltd | サーボモータのフィードフォワード制御方法 |
US5751585A (en) * | 1995-03-20 | 1998-05-12 | Electro Scientific Industries, Inc. | High speed, high accuracy multi-stage tool positioning system |
JPH0982050A (ja) * | 1995-09-11 | 1997-03-28 | Toshiba Corp | ディスク装置の制御装置 |
JPH11102211A (ja) * | 1997-09-25 | 1999-04-13 | Toshiba Mach Co Ltd | サーボ調整方法およびその装置 |
JP3621278B2 (ja) | 1998-12-10 | 2005-02-16 | 三菱電機株式会社 | サーボ制御装置 |
US6470225B1 (en) * | 1999-04-16 | 2002-10-22 | Siemens Energy & Automation, Inc. | Method and apparatus for automatically tuning feedforward parameters |
US6563666B1 (en) * | 1999-04-21 | 2003-05-13 | Seagate Technology Llc | Disc drive model reference seek algorithm |
-
2002
- 2002-04-16 KR KR10-2002-0020669A patent/KR100450455B1/ko active IP Right Grant
- 2002-04-16 US US10/122,298 patent/US6677722B2/en not_active Expired - Lifetime
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60231207A (ja) * | 1984-04-28 | 1985-11-16 | Yaskawa Electric Mfg Co Ltd | 多軸サ−ボ系の指令発生方式 |
JPS63303402A (ja) * | 1987-06-04 | 1988-12-12 | Nkk Corp | 多軸サ−ボ機構の円弧軌跡制御装置 |
JPH02100105A (ja) * | 1988-10-06 | 1990-04-12 | Mitsubishi Electric Corp | Nc工作機械のサーボ追従誤差補正方式 |
JPH04271290A (ja) * | 1991-02-25 | 1992-09-28 | Okuma Mach Works Ltd | 駆動制御装置 |
JPH11184529A (ja) * | 1997-10-14 | 1999-07-09 | Toshiba Mach Co Ltd | 送り駆動系のサーボ制御方法およびサーボ制御装置 |
US6147468A (en) * | 1998-04-30 | 2000-11-14 | Toshiba Kikai Kabushiki Kaisha | Servo control method for orbital machining with cutting tool and servo control system for orbital machining |
Also Published As
Publication number | Publication date |
---|---|
US20030020427A1 (en) | 2003-01-30 |
US6677722B2 (en) | 2004-01-13 |
KR20020082753A (ko) | 2002-10-31 |
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