KR20020014533A - drive control device for addition and substruction of motor - Google Patents

Abstract

PURPOSE: An acceleration/deceleration driving control apparatus of a motor is provided to realize simultaneously location accuracy and motion continuity to be proper for smooth movement and block continuous movement. CONSTITUTION: An acceleration/deceleration driving control apparatus comprises a high level controller(10) including an interpolation and acceleration/deceleration unit(12) for interpolating and accelerating/decelerating a locating instruction and a motor control loop(14) for adding/subtracting a fed-back location value to/from the instruction from the unit(12) to generate a speed instruction, and a servo driver(20) for adding/subtracting a fed back value from a motor(40) to/from the speed instruction to instruct rotation of the motor(40). The motor control loop(14) includes a pulse signal generator for generating a location pulse signal from the location instruction, a location compensator for adding/subtracting a fed-back location value to/from the location pulse signal, and a D/A converter for converting the compensated location pulse signal to an analog signal.

Description

Accel / Decel drive control device for motors {drive control device for addition and substruction of motor}

The present invention relates to an acceleration / deceleration drive control apparatus for a motor, and more particularly, to an acceleration / deceleration drive control apparatus for a motor so as to be suitable for smooth continuous movement and small block continuous movement.

In general, during motor control, the moving block and the block are moved by interpolation with acceleration and deceleration control. In this case, even when the accuracy of positioning is improved, it is often unsuitable for continuous movement and high speed movement.

The acceleration / deceleration control method according to the related art can be divided into two types, acceleration and deceleration before interpolation and acceleration and deceleration after interpolation.

That is, the acceleration and deceleration control before interpolation is a method of distributing and finally outputting the composite component for each axis after interpolation and acceleration by the composite component of each axis to be moved, as shown in FIG. As shown in Fig. 2, after calculating the compounding speed according to the acceleration and deceleration time constants given in the acceleration, constant speed, and deceleration intervals, S (synthetic distance to be moved in the sampling time) is calculated for each x, y (X, The acceleration / deceleration is performed by obtaining the Y-axis distance) and outputting it to the motor side. The relationship between speed and time at this time is as shown in Fig. 3A.

In addition, as shown in FIG. 1 (b), the acceleration / deceleration control after interpolation is performed only by the synthesis component of each axis to be moved, and then the composite component is distributed for each axis and the acceleration / deceleration for each axis is controlled. After calculating the synthesis speed of the constant speed section, S (composite distance to be moved in the sampling time) of FIG. 2 is obtained, and each x, y (X, Y axis distance to be moved to the sampling time) is calculated and given the acceleration and deceleration visibility. Acceleration and deceleration are performed on the numbers and output to the motor side to accelerate and decelerate. The relationship between speed and time at this time is as shown in Fig. 3B.

By the way, the acceleration / deceleration control can realize the accuracy of positioning in the case of the acceleration / deceleration control before interpolation, that is, the shape error and the radius reduction error during arc movement can be reduced, but the frequent acceleration / deceleration between the moving block and the block is performed. The illuminance worsens and the discontinuity of velocity is not suitable for high-speed movement or microblock continuous movement.On the contrary, the acceleration and deceleration control method realizes the continuity of the speed in the high-speed movement and microblock continuous movement. The speed moves smoothly between blocks, but there is a problem of shape error, reduction of circular arc radius during arc movement, and high accuracy circular interpolation.

The present invention has been made to solve the above problems, to solve the problem that does not satisfy the accuracy and continuity at the same time to provide an acceleration and deceleration drive control apparatus for the motor to realize the positioning accuracy and movement continuity at the same time , Its purpose is.

The above object is, according to the present invention, an acceleration / deceleration drive control apparatus for accurately and continuously rotating a motor; An upper controller having an interpolation and acceleration / deceleration unit for interpolating and accelerating and decelerating a position command generated from an external device and a motor control loop unit for generating a speed command by adding and subtracting a position command generated from the interpolation and acceleration / deceleration unit with a feedback position value. Wow; And a servo driver which commands rotation of the motor by adding and subtracting a speed command of the motor control loop unit and a position value fed back from the motor; The motor control loop unit includes a pulse signal generation unit for converting and generating a position command of the acceleration / deceleration unit into a position pulse signal, a position compensation unit for compensating the position value fed back with the position pulse signal by addition and subtraction, and the compensated position. It is achieved by an acceleration / deceleration drive control apparatus for a motor including a D / A converter that converts a pulse signal into an analog signal and outputs the same to the servo driver.

1 (a) to (b) is a flow chart showing the acceleration and deceleration control algorithm according to the prior art,

2 is a graph showing the distance between Y and X made before interpolation by the acceleration / deceleration control method of FIG.

3 (a) to (b) is a graph showing the relationship between speed and time made after interpolation by the acceleration / deceleration control method of FIG.

4 is a block diagram showing an acceleration / deceleration drive control apparatus for a motor according to the present invention;

5 is a block diagram showing in detail the control loop of FIG. 1 according to the present invention;

6 is a flowchart showing the operation of the acceleration / deceleration drive control apparatus of the motor according to the present invention;

7 (a) to (c) are graphs showing a deceleration control state according to a moving condition of a block according to the present invention;

8 is a graph showing the deceleration control state at the corner between the block and the block according to the present invention.

Explanation of symbols on the main parts of the drawing

10; Host controller 12; Interpolation and acceleration / deceleration

14; Motor control loop section 15; Pulse signal generator

16; Position compensation 17; D / A Converter

20; Servo driver 40; motor

42; Encoder

Hereinafter, an acceleration / deceleration drive control apparatus for a motor according to the present invention will be described in detail with reference to the accompanying drawings. Figure 4 is a block diagram showing the acceleration and deceleration drive control apparatus of the motor according to the invention, Figure 5 is a block diagram showing in detail the control loop of Figure 1 according to the present invention, Figure 6 is an acceleration and deceleration of the motor according to the present invention 7A and 7C are flowcharts illustrating the operation of the speed drive control apparatus, and FIGS. 7A to 7C are graphs showing a deceleration control state according to a moving condition of a block according to the present invention, and FIG. 8 is a block and a block according to the present invention. It is a graph showing the deceleration control state in the corner section.

As shown in FIG. 4, the acceleration / deceleration drive control device receives a movement command from the upper controller 10, controls the interpolation and acceleration / deceleration unit 12, and then rotates the servo drive 20 in the motor control loop unit 14. ) And commands the servo drive 20 at speed again. At this time, the servo drive 20 receives the feedback of the position of the encoder 30 of the motor 40 and adds or subtracts it to command rotation of the motor.

As shown in FIG. 5, the motor control loop unit 14 is fed back with the pulse signal generator 15 for converting and generating the position command of the acceleration / deceleration unit into a position pulse signal. And a D / A converter 17 for converting the compensated position pulse signal into an analog signal and outputting the compensated position pulse signal to the servo driver 20. Interpreters and interpolates the movement command commanded from the outside, and transmits the command to the motor control loop 14. At this time, the interpolation unit 12 can satisfy the accuracy and continuity at the same time by the acceleration / deceleration control or the early start of the next moving block with reference to the analyzed next moving command.

As shown in FIG. 6, the operation of the drive control apparatus of the present invention as described above determines the deceleration of the current moving block according to the vector component of the next block to be moved when the acceleration is started in the interpolation unit.

That is, when the difference between the vector component of the current moving block and the vector component of the next moving block is less than 45 degrees (S10), the deceleration of the current moving block is performed by the speed of the next moving block (S20). For example, if the speed of the next moving block is greater than or equal to the speed of the current moving block, there is no deceleration of the current moving block. If the speed of the next moving block is less than the speed of the current moving block, the deceleration of the current moving block is the next move. Only up to the speed of the block is performed (S30 to S50).

When the difference between the vector component of the current moving block and the vector component of the next moving block is greater than 45 degrees (S10), if the remaining distance of the current moving block is smaller than the set value (S60), acceleration control of the next block is started ( S70), the position to go to the next block is added to the position to go to the current block (S80). At this time, this value is transmitted to the control loop of the motor (S90). It repeats until the movement of the current block is completed (S100), and then resets in consideration of starting the starting point, the starting speed, etc. of the next moving block in advance (S110). Acceleration and deceleration control in the above two cases ensures accuracy and continuity at the same time.

For example, when the difference between the vector components of the current moving block and the next moving block is 45 degrees or less, the deceleration control is as shown in Fig. 7A.

In other words,

Therefore, the speed f in deceleration control is as follows.

The same applies to the case where the next moving block speed is equal to or larger than the current moving block speed. That is, as shown in Figs. 7B and 7C, the distance S required for deceleration is zero.

When the difference between the vector component of the current moving block and the vector component of the next moving block is greater than 45 degrees, if the remaining distance of the current moving block is smaller than the set value, the next moving block is started as follows. That is, as shown in FIG. 8, a round is naturally made at a corner portion between the current movement block and the next movement block.

Therefore, if the above two cases are applied to acceleration / deceleration control, speed continuity can be realized while maintaining the position accuracy with acceleration / deceleration before interpolation.

Another embodiment of the acceleration / deceleration drive control apparatus of the motor of the present invention as described above can ensure the accuracy of the position and continuity of the speed at the same time to implement the Continuos Path during the driving of the robot, and also in the machine tool or engraver Micro-block continuous processing can be easily realized. In the structure in which the interpreter of the moving program is executed at a high speed, and the interpreted data is sufficiently stored in memory in advance, the effect of the continuous moving can be doubled.

In addition, it is possible to meet various movement conditions by adjusting and applying 45 degrees, which is a standard of the difference between the vector component of the current moving block and the vector component of the next moving block, as appropriate.

The present invention can solve the problem of not satisfying the accuracy and continuity at the same time, so that the accuracy of positioning and the continuity of movement can be realized at the same time, so that the effect of improving the functional performance that can easily realize the continuous microblock machining in the machine tool or the engraver There is.

In addition, when the acceleration / deceleration control of the motor control is maintained, the acceleration / deceleration is eliminated based on the difference between the vector component of the current moving block and the vector component of the next moving block while maintaining the accuracy before the interpolation. In this way, the continuity of the speed is realized to reduce the shape error, the reduction of the circular arc radius during circular interpolation, and to realize the micro block continuous movement and the improvement of the processing roughness.

Claims (1)

An acceleration / deceleration drive control apparatus for accurately and continuously rotating a motor; An upper controller having an interpolation and acceleration / deceleration unit for interpolating and accelerating and decelerating a position command generated from an external device and a motor control loop unit for generating a speed command by adding and subtracting a position command generated from the interpolation and acceleration / deceleration unit with a feedback position value. Wow; And a servo driver which commands rotation of the motor by adding and subtracting a speed command of the motor control loop unit and a position value fed back from the motor; The motor control loop unit includes a pulse signal generation unit for converting and generating a position command of the acceleration / deceleration unit into a position pulse signal, a position compensation unit for compensating the position value fed back with the position pulse signal by addition and subtraction, and the compensated position. And a D / A converter for converting a pulse signal into an analog signal and outputting the analog signal to the servo driver.