WO1988002141A1 - Method of removing follow-up delay in a full-close feedback nc system - Google Patents

Method of removing follow-up delay in a full-close feedback nc system Download PDF

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Publication number
WO1988002141A1
WO1988002141A1 PCT/JP1987/000686 JP8700686W WO8802141A1 WO 1988002141 A1 WO1988002141 A1 WO 1988002141A1 JP 8700686 W JP8700686 W JP 8700686W WO 8802141 A1 WO8802141 A1 WO 8802141A1
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WIPO (PCT)
Prior art keywords
correction
full
time
delay
moving direction
Prior art date
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PCT/JP1987/000686
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French (fr)
Japanese (ja)
Inventor
Kanemasa Okuda
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Fanuc Ltd
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Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Publication of WO1988002141A1 publication Critical patent/WO1988002141A1/en

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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
    • G05B2219/41032—Backlash

Definitions

  • the present invention relates to a method of eliminating a tracking delay in full-closed feedback control of a numerical control (NC) system machine or the like.
  • NC numerical control
  • Full-closed feedback and semi-closed feedback methods are available for the NC servo mechanism of the machine.
  • the former performs position feedback by attaching a position detector etc. to the table of the machine, etc.
  • the latter is highly accurate and compensates for errors due to backlash.
  • the semi-closed feedback system is capable of detecting the position from the rotating shaft of the motor, and the position error is large due to the full-closed feedback system.
  • the position error can be reduced by performing backlash correction.
  • the motor operates on the right side of the line L 'one L' where the quadrant is switched and operates outside the arc by the amount of the backlash with respect to the command value, and on the left side of the line 'one L' the backlash Operates inside the flash for the amount of the flash.
  • the table position indicated by the solid line 21 coincides with the command value on the right side of the line L'-L ', but after passing through the line L'-L', the movement direction changes. If the motor cannot immediately follow the backlash, and the command value is indicated by a broken line 24, the position of the table is separated from the command value by a solid line 23.
  • a method of removing a tracking delay in a full-closed feedback NC system that captures a command signal when the moving direction is reversed, and the mechanism of the moving direction is controlled.
  • the amount of backlash is ⁇ ⁇
  • the position gain of the servo system of the system is P g
  • the correction coefficient is K
  • Fig. 1 is a diagram illustrating the operation of the conventional method in a full-closed-back NC system.
  • FIG. 2 is a diagram for explaining a method of removing a tracking delay in a full-closed-knock NC system as an embodiment of the present invention.
  • the operation in the case of « is enlarged.
  • the amount of backlash is exaggerated compared to the actual case.
  • Curve 11 shows the command value and the table position. These two are almost the same.
  • the command value is corrected when the moving direction is reversed (when passing the line L-L).
  • the correction amount Xc and the correction time Tc are corrected as indicated by the broken line 13.
  • Curve 12 shows the operation of the motor and is separated from curve 11 by the amount of backlash.
  • the position gain P g is a value obtained by dividing the machine speed in the servo system by the tracking deviation, and is usually about 30 per second.
  • For the collection coefficient K select an appropriate value so that the collection time Tc is a multiple of ITP.
  • ITP is the time division period of this system.
  • the timing for performing the correction is desirably such that the servomotor delayed in the center of the capturing time Tc passes through the vertex, but in practice, it is the closest ITP cycle at that time.
  • the start time of the capture can be set when the droop amount (servo system position error) of the reversing axis becomes zero.
  • an appropriate correction command can be given to the full-closed feedback NC system when reversing the moving direction, the position error is small, and the table position * is highly accurate. It is possible to obtain a controllable NC machine.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

A method of removing follow-up delay in a full-close feedback NC system, wherein an instruction signal is corrected in the following manner when the direction of movement is inverted. That is, when a backlash quantity in the mechanical system is denoted by DELTAX, a position gain of the servo system by Pg, and a correction coefficient by K, the correction quantity (Xc) is determined to be K.DELTAX, and the correction time (Tc) is determined to be l:Pg:K. This correction makes it possible to control the position of the table of a machine tool maintaining high precision and permitting little error in position to develop.

Description

明 細 書 フルク ロ ーズフ ィ ー ドノ ッ ク N C システム に ぉ け る 追 従 遅 れ の 除 去 方 法 技術分野  Description Full-closed-feed knocking NC Follow-up method for NC system Elimination method
本発明は、 数値制御 （N C ) システムのェ作機械等のフル クロ—ズフィ ー ドバック制御にぉける追従遅れの除去方法に 関する。 背景技術  The present invention relates to a method of eliminating a tracking delay in full-closed feedback control of a numerical control (NC) system machine or the like. Background art
ェ作機械の N Cサ—ボ機構にフルク ロ —ズフ ィ ― ドバッ ク 方式とセ ミ クローズフィ 一 ドバック方式がぁる。 前者はェ作 機械のデ—ブル等に位置検出器等を取付けて位置フィ ― ドバ ックを行ぅ ものでー般に後者ょり は精度が高く バック ラ ッ シ ュにょ る誤差が補償される。 セ ミ ク ロ ーズフ ィ 一 ドバ ッ ク方 式のェ作機械はモータの回転軸から位置検出が行ゎれる もの で、 フルク ロ ーズフ ィ ー ドバッ ク方式ょり位置誤差は大きぃ が、 適切なバック ラ ッ シュ補正を行って位置誤差を小さ く す る こ とができ る。  Full-closed feedback and semi-closed feedback methods are available for the NC servo mechanism of the machine. The former performs position feedback by attaching a position detector etc. to the table of the machine, etc. Generally, the latter is highly accurate and compensates for errors due to backlash. You. The semi-closed feedback system is capable of detecting the position from the rotating shaft of the motor, and the position error is large due to the full-closed feedback system. The position error can be reduced by performing backlash correction.
フルク ローズフィ ー ドバックを用ぃたェ作機械では理論的 にはバック ラ ッ シュの影響はぁり得なぃが、 テ一ブルの送り 速度が大き く なると、 サ―ボ系の追従遅れに起因して、 円弧 の象限切り換ぇ部等移動方向が変化した時に形状誤差を生ず る。 この様子が第 1図に示される。 第 1図にぉぃて、 曲線 2 1 はブログラムにょる指令値ぉょびテ一ブル位置を表ゎし この両者は大部分重なってぃるが、 曲線 2 3ぉょび 2 4の部 分で分かれ、 指令値は破線 2 でテ—ブル位置は実線 2 3で 示される。 曲線 2 2 はモータの動作を示す。 モ一タの動作は 象限の切り換ぇられる線 L ' 一 L ' の右側では指令値に対し バックラ ッシュ分だけ円弧の外側で動作し、 線し ' 一 L ' の 左側のー部ではバック ラ ッ シュ分だけ内側で動作する。 実線 2 1で示されるテ一ブル位置は線 L ' — L ' の右側では指令 値と合致してぃるが、 線 L ' — L ' を通過した所で、 移動方 向の変化のため、 バックラ ッ シュに対しモ一タが直ちにば追 従できず、 指令値が破線 2 4でぁるにもかかゎらず、 実線 2 3のょぅにテ一ブルの位置が指令値から離れる。 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 ぃ時間がぁるため、 頂点を過ぎても平らな部分が繞き、 凸状 の誤差 （曲線 2 3 ) を生ずるためでぁる。 発明の開示 The effect of backlash can be theoretically observed on a machine using full-closed feedback, but if the feed rate of the table increases, the servo system will cause a delay in following. Therefore, a shape error occurs when the moving direction of the quadrant switching part of the arc changes. This is shown in FIG. As shown in Fig. 1, the curve 2 1 indicates the command value and the table position in the program, which are mostly overlapped with each other, but are divided by the curve 23 and 24, and the command value is indicated by the broken line 2 And the table position is indicated by the solid line 23. Curve 22 shows the operation of the motor. The motor operates on the right side of the line L 'one L' where the quadrant is switched and operates outside the arc by the amount of the backlash with respect to the command value, and on the left side of the line 'one L' the backlash Operates inside the flash for the amount of the flash. The table position indicated by the solid line 21 coincides with the command value on the right side of the line L'-L ', but after passing through the line L'-L', the movement direction changes. If the motor cannot immediately follow the backlash, and the command value is indicated by a broken line 24, the position of the table is separated from the command value by a solid line 23. This is because even if the motor is reversed past the top of the shape, the table does not move for a long time, so even after passing the top, a flat part is surrounded and a convex error (curve 23) occurs. I'm sorry. Disclosure of the invention
本発明の百的は、 位置誤差の少なぃ、 すなゎちェ作機械の テーブル位置が高精度に制御できるょぅな方法を得ることに ある。  It is an object of the present invention to provide a method that can control the table position of a machine with a small position error and high accuracy.
本発明にぉぃては、 移動方向の反転時に指令信号を捕正す るフルクローズフ ィ一ドバッ ク N Cシステムにぉける追従遅 れの除去方法でぁって、 該移動方向の機梂系のバックラッシ ュ量を Δ Χ、 該システムのサーボ系のポジショ ンゲィ ンを P g 、 捕正係数を Kとする時、 該指令信号を捕正時間 T c = 1 ÷ P g ÷ Kの間、 補正量 X c = K · Δ Χだけ補正するェ程を 具備する方法が提供される。 According to the present invention, there is provided a method of removing a tracking delay in a full-closed feedback NC system that captures a command signal when the moving direction is reversed, and the mechanism of the moving direction is controlled. When the amount of backlash is Δ Χ, the position gain of the servo system of the system is P g, and the correction coefficient is K, the command signal is captured T c = A method is provided that includes a step of correcting by a correction amount Xc = K · ΔΧ during 1 ÷ Pg ÷ K.
前述の方法を用ぃれば、 補正された指令にょりモ—タの動 作を迅速に制御して、 テ—ブル位置を所望の指令値に対し高 精度に追従させることができる。 図面の簡単な説明  By using the above-described method, the operation of the motor can be quickly controlled in accordance with the corrected command, and the table position can follow the desired command value with high accuracy. BRIEF DESCRIPTION OF THE FIGURES
第 1 図は従来方法にょる フルク ロ—ズフ ィ - ドバック N C システムにぉける動作を説明する図、 ぉょび  Fig. 1 is a diagram illustrating the operation of the conventional method in a full-closed-back NC system.
第 2図は本発明のー実施例としてのフルク ロ ーズフ ィ ― ド ノ ッ ク N Cシステムにぉける追従遅れの除去方法を説明する 図でぁる。 発明を実施するための最良の形態  FIG. 2 is a diagram for explaining a method of removing a tracking delay in a full-closed-knock NC system as an embodiment of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION
第 2図を参照して本発明の実施例にっぃて説明する。 第 2 図にはー例として、 フルク ロ ーズフ ィ ー ドバ 'ン クを用ぃた N C システムにぉぃて、 半径 1 0 η、 テーブル送り速度 1000 m /min 、 ノ ック ラ ッ シュ Δ X = 0. 5 «の場合の動作が拡大 して示される。 バックラ ッ シュ量は実際の場合に比べ誇張し てぁる。 曲線 1 1 は指令値とテ—ブル位置を示す。 この両者 はほぼー致してぃる。 指令値は移動方向反転時 （線 L - Lを 通過する時） 破線 1 3で示されるょぅに補正量 X c 、 捕正時 間 T c の補正が行ゎれる。 曲線 1 2 はモータの動作が示され、 曲線 1 1 に対しバックラ ッ シュの量だけ離間してぃる。  An embodiment of the present invention will be described with reference to FIG. Fig. 2 shows an example of an NC system using a full-closed feedback, a radius of 10 η, a table feed speed of 1000 m / min, and a knock lash ΔX. = 0.5 The operation in the case of «is enlarged. The amount of backlash is exaggerated compared to the actual case. Curve 11 shows the command value and the table position. These two are almost the same. The command value is corrected when the moving direction is reversed (when passing the line L-L). The correction amount Xc and the correction time Tc are corrected as indicated by the broken line 13. Curve 12 shows the operation of the motor and is separated from curve 11 by the amount of backlash.
補正量 X c は X c = K · Δ Xの量でぁり、 捕正時間 T c は Tc= l ÷ Pg÷ Kの時間でぁる。 The correction amount X c is the amount of X c = K · ΔX, and the collection time T c is Tc = l ÷ Pg ÷ K time.
ポジショ ンゲィ ン P g はサ一ボ系にぉける機械の速度を追 従偏差で割った値で通常 3 0毎秒程度の値でぁる。 捕正係数 Kは捕正時間 Tc が I T Pの螯数倍になるょぅ適切な値を選 択する。 I T Pはこのシステムの時分割周期でぁる。 補正を 行ぅタィ ミ ングは、 捕正時間 Tc の中央で遅れたサ—ボモ— タが頂点を通過することが望ましぃが、 実際にはその時に最 も近ぃ I T P周期となる。 また、 捕正の開始時期は反転する 軸の ドループ量 （サーボ系の位置誤差） が零になる時とする こともできる。  The position gain P g is a value obtained by dividing the machine speed in the servo system by the tracking deviation, and is usually about 30 per second. For the collection coefficient K, select an appropriate value so that the collection time Tc is a multiple of ITP. ITP is the time division period of this system. The timing for performing the correction is desirably such that the servomotor delayed in the center of the capturing time Tc passes through the vertex, but in practice, it is the closest ITP cycle at that time. In addition, the start time of the capture can be set when the droop amount (servo system position error) of the reversing axis becomes zero.
本発明にょれば、 フルク ローズフ ィ ー ドバッ ク N Cシステ ムにぉぃて、 移勖方向反転時に適切な補正指令を与ぇること ができ、 位置誤差の少なぃ、 従ってテーブル位 *が高精度に 制御できる N Cェ作機械を得ることができる。  According to the present invention, an appropriate correction command can be given to the full-closed feedback NC system when reversing the moving direction, the position error is small, and the table position * is highly accurate. It is possible to obtain a controllable NC machine.

Claims

請 求 の 範 囲 The scope of the claims
1. 移動方向の反転時に指令信号を補正するフルク 口ーズフ ィ ― ドバック N Cシステムにぉける追従遅れの除去方法でぁ って、 該移動方向の機械系のバック ラ ッ シュを Δ X、 該シス テムのサ―ボ系のポジショ ンゲィ ンを P g 、 補正係数を Kと する時、 1. Full-closed feedback that corrects the command signal when the moving direction is reversed The method of removing the tracking delay in the NC system removes the backlash of the mechanical system in the moving direction by ΔX and the system. When the servo gain of the system is P g and the correction factor is K,
該指令信号を捕正時間 Tc= 1 ÷ Pg÷ Kの間、 捕正量 Xc= K · Δ Χだけ補正するェ程を具備する フルク ロ一ズフ ィ ー ドバック N Cシステムにぉける追従遅れの除ま方法。 Eliminating the follow-up delay in the full-closed feedback NC system, which has a step of correcting the command signal by the amount Xc = K · ΔΧ during the collection time Tc = 1 1Pg ÷ K. The way.
2. 該補正係数 Kは捕正時間 Tc が該システムの時分割周期 の整数倍になるょぅに選択される請求の範囲第 1項記載の方 法。 2. The method according to claim 1, wherein the correction coefficient K is selected such that the sampling time Tc becomes an integral multiple of the time division period of the system.
3. 該補正量 Xc の適用開始時期は、 該システムの時分割周 期に合致し、 該開始時期が、 該補正時間 Tc の中央に最も接 近して該サーボ系のモータの回転が反転するょぅに選択され る請求の範囲第 1項記載の方法。  3. The application start time of the correction amount Xc matches the time division period of the system, and the start time is closest to the center of the correction time Tc, and the rotation of the motor of the servo system is reversed. 2. The method of claim 1 which is selected at the same time.
4. 該補正量 Xc の適用開始時期は、 該サ—ボ系の該移動方 向の位置誤差が零に達した時とする請求の範囲第 1項記載の 方法。  4. The method according to claim 1, wherein application of the correction amount Xc is started when a position error of the servo system in the moving direction reaches zero.
PCT/JP1987/000686 1986-09-19 1987-09-17 Method of removing follow-up delay in a full-close feedback nc system WO1988002141A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP21983386A JPS6375907A (en) 1986-09-19 1986-09-19 Method for eliminating follow-up delay in full-close feedback nc system
JP61/219833 1986-09-19

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0302943A1 (en) * 1987-02-04 1989-02-15 Fanuc Ltd. Numerical control method having a function for compensating the delay in the follow-up operation
EP0311127A2 (en) * 1987-10-09 1989-04-12 Kabushiki Kaisha Toshiba Control device for servo motor

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JP2703575B2 (en) * 1988-09-30 1998-01-26 ファナック株式会社 Servo control device
JP2800124B2 (en) * 1988-12-31 1998-09-21 シチズン時計株式会社 Control method of numerically controlled machine tool and control device therefor
JP2826391B2 (en) * 1991-05-24 1998-11-18 ファナック株式会社 Backlash acceleration control method
JP2875646B2 (en) * 1991-07-04 1999-03-31 ファナック株式会社 Backlash acceleration correction device
US5448145A (en) * 1991-09-09 1995-09-05 Fanuc Ltd. Feedforward control method for a servomotor
KR970003877B1 (en) * 1991-09-09 1997-03-22 화낙 가부시끼가이샤 Method of controlling feed-forward of servo motor

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JPS60116004A (en) * 1983-11-29 1985-06-22 Fanuc Ltd Numerical controller of full-closed-loop control system

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JPS5866121A (en) * 1981-10-16 1983-04-20 Hitachi Ltd Deviation phase modulator for numerical controlling device
JPS59106009A (en) * 1982-12-10 1984-06-19 Hitachi Ltd Backlash correcting method
JPS63182714A (en) * 1987-01-26 1988-07-28 Natl Space Dev Agency Japan<Nasda> Antenna drive control device

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
JPS60116004A (en) * 1983-11-29 1985-06-22 Fanuc Ltd Numerical controller of full-closed-loop control system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0302943A1 (en) * 1987-02-04 1989-02-15 Fanuc Ltd. Numerical control method having a function for compensating the delay in the follow-up operation
EP0302943A4 (en) * 1987-02-04 1990-06-05 Fanuc Ltd Numerical control method having a function for compensating the delay in the follow-up operation.
EP0311127A2 (en) * 1987-10-09 1989-04-12 Kabushiki Kaisha Toshiba Control device for servo motor
EP0311127A3 (en) * 1987-10-09 1990-08-29 Kabushiki Kaisha Toshiba Control device for servo motor

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