WO1995001237A1 - Procede de commande de forces pour l'embarreur d'un tour - Google Patents
Procede de commande de forces pour l'embarreur d'un tour Download PDFInfo
- Publication number
- WO1995001237A1 WO1995001237A1 PCT/JP1994/000993 JP9400993W WO9501237A1 WO 1995001237 A1 WO1995001237 A1 WO 1995001237A1 JP 9400993 W JP9400993 W JP 9400993W WO 9501237 A1 WO9501237 A1 WO 9501237A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- lathe
- bar feeder
- force
- control
- torque
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B13/00—Arrangements for automatically conveying or chucking or guiding stock
- B23B13/02—Arrangements for automatically conveying or chucking or guiding stock for turning-machines with a single working-spindle
-
- 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
- G05B19/182—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 the machine tool function, e.g. thread cutting, cam making, tool direction control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50383—Bar feeder applies torque to compensate bending of workpiece during machining
Definitions
- TECHNICAL FIELD-The present invention relates to a control method of a bar feeder that supports a work on a lathe, and more particularly to a control method of controlling a bar feeder by force control.
- a bar feeder is used to guide the work in the Z-axis direction.
- One of the works is supported by a bar feeder, and the other of the works is mounted on two axes of a lathe to perform position control in the Z-axis direction.
- the position control of the bar feeder is performed by a controller, but during lathe machining, the position control of the lathe in the Z-axis direction and the position control of the bar feeder are performed.
- the following method is known as a control method therefor.
- An object of the present invention is to eliminate the need for synchronization for controlling the Z-axis of the lathe and the position of the bar feeder in the Z-axis direction, and to prevent deflection of the work. It is to control the bar feeder of the lathe.
- a work in controlling a bar feeder of a lathe, a work is held by a Z-axis of the lathe and a bar feeder, and the Z-axis of the lathe performs position control.
- the feeder performs force control. In this way, control is performed so as to apply a constant torque to the work.
- the constant torque given to the work from this feeder is set to a magnitude that does not hinder the position control of the Z axis of the lathe.
- the work is held by the Z axis of the lathe and the bar feeder, the Z axis of the lathe performs position control, and the bar feeder performs force control. Then, the lathe bar feeder is controlled so as to apply a constant torque to the work, and the work is tensioned by the torque applied to the work, and Prevents the work from sagging between the Z axis of the lathe and the bar feeder. In addition, by setting the constant torque given to the work from the bar feeder to a magnitude that does not hinder the position control of the Z-axis of the lathe, the bar feed is achieved. Make sure that the force control of the leader does not affect the position control of the lathe.
- a load from the external world applied to the work is estimated by a disturbance estimation observer, and an estimated disturbance load torque obtained by the estimation is fed back.
- Feedback control is performed such that the estimated disturbance load torque matches the force command value.
- the feedback value of the force in the disturbance estimation observer is a value obtained by multiplying the estimated disturbance load torque by a value obtained by multiplying the motor speed of the bar feeder by the set coefficient. Things.
- the disturbance estimation job used for the bar feeder of the present invention is based on the torque reading value indicated in the mode of the feeder and the actual speed of the motor. Estimate the estimated disturbance load torque It is something.
- FIG. 1 is a diagram showing one example of a configuration of a lathe and a bar feeder according to the present invention.
- FIG. 2 is a block diagram of a main part of a control system of a bar feeder for implementing the method of the present invention.
- FIG. 3 is a block diagram of a force control system according to the embodiment of the present invention
- FIG. 4 is a flowchart of a force control process according to the embodiment of the present invention.
- one of the works 104 is attached to the Z-axis 102 of the lathe 001, and the other of the works 104 is attached to the bar feeder 105.
- the work] 04 attached to the Z-axis 102 of the lathe 10] is processed by the X-axis direction cutter 103 in the same manner as a normal lathe.
- the bar feeder 105 has a controller (not shown) independent of the control port of the lathe ⁇ 01.
- the position of the controller 105 is not controlled by the force control, but by force control.
- the direction of the torque given to the work 104 is a direction in which the work 104 is moved away from the lathe 101, and the size of the torque is set to the lathe 101- It is set to a constant value smaller than the torque given to work 104 in the control of the Z-axis. Due to the torque given by the bar feeder 105, the work 104 is always given a tension that does not affect the control of the Z-axis of the lathe 10].
- the force control of the bar feeder 105 is performed, for example, by controlling a servo motor that drives a drive shaft of the bar feeder by a bar feeder control system. .
- the device configuration of the lathe 101 and the bar feeder 105 shown in FIG. 1 is an example, and is not limited to the illustrated configuration. ⁇ includes a device having the function of a normal lathe, and the bar feeder 105 also includes a device having the function of a normal bar feeder.
- the configuration of the control system of the bar feeder will be described with reference to the block diagram of the main part of the control system of the bar feeder that implements the method of the present invention shown in FIG.
- the bar feeder control system shown in Fig. 2 shows an example using a sub-mode.
- reference numeral 10 denotes a control device similar to a control device for controlling a general machine tool or a machine such as a robot.
- the signal is output to the digital model overnight control circuit 12 via the shared memory 11.
- the digital motor control circuit 12 is composed of a processor (CPU), ROM, RAM, etc., and executes digital motor control of position, speed, force, etc.
- the servomotors 14 of each axis are controlled via a servo amplifier 13 composed of components and the like.
- Reference numeral 15 denotes a position / speed detector for detecting the position and speed, which is composed of a pulse coder or the like attached to the motor shaft of the servomotor, and which detects the position and speed detected by the digital motor control circuit 12. Outputs feedback signal. Note that these configurations can use the same configurations as those of a conventionally known digital servo circuit, but are different from the conventional digital servo circuit in performing force control.
- a servo motor for driving a feeder will be described as an example.
- the force control is performed by proportional and integral (PI) control.
- the external force is detected using a disturbance estimation observer.
- K1 is the integration constant in caffeine knock control
- K2 is the proportionality constant.
- Kt is the torque constant
- Jm is the inertia
- 4 is the value obtained by multiplying the actual speed V of the motor by the set coefficient. This is the term to be fed back.
- Reference numeral 5 shown by a dashed line in the figure is a disturbance estimation observer that detects a disturbance load torque applied to the motor from the outside world.
- the estimated disturbance load torque d 2 is estimated from the actual speed of the vehicle. That is, the disturbance estimation observer 5 is an estimated value based on the torque finger c and the actual speed V of the motor without directly measuring the disturbance load torque that the motor actually receives from the outside world. It outputs the disturbance load torque Td2.
- D is the disturbance load torque actually received by the motor
- S represents the Laplace operator.
- the estimated disturbance load torque Td2 estimated by the disturbance estimation observer 5 is subtracted from the force fingering Fc (the estimated disturbance load torque Td2 obtained by the disturbance estimation observer 5 is obtained with the opposite polarity). Therefore, in FIG. 3, it is described that the estimated disturbance load torque d 2 is added to the force finger F c, but the torque is actually reduced.)
- proportional integral processing is performed in item 1 Run and torque
- the command (current command) T c is obtained and output to the motor.
- K3 and K4 in terms 52 and 53 of disturbance estimation observer 5 are parameters of the disturbance estimation observer, and ⁇ in term 51 is the torque that is actually output in the sub-boat evening. This is the value of the parameter multiplied by the current value c that is the index, and is obtained by dividing the estimated value K t * of the torque constant of the motor by the estimated value J m * of the inertia. (2 K t * no J m *).
- the term 55 is a term for multiplying the output from the term 53 by (1 / na) to obtain the estimated disturbance load torque d2.
- This section describes the force control that keeps the torque applied from the feeder to the work constant irrespective of the position of the work.
- V e r r v-v a
- the total disturbance torque T dl is equal to 1 Z (-J m *
- the estimated disturbance load torque d 2 is obtained by multiplying the estimated disturbance load torque d 2, and the force feedback control is performed using the estimated disturbance load torque d 2.
- the torque finger c is a current finger. By outputting this current finger to the motor, torque control of the motor can be performed.
- the force applied to the control object from the sub-mode (the force at which the sub-model is generated) is changed to the force index. Therefore, for example, if this force indication Fc is given as a certain set value, it is affected by the magnitude of the load that is actually applied over a short period of time. Therefore, the set torque always occurs from the morning and evening.
- the bar feeder is controlled by this force control, it is necessary to set a constant value smaller than the torque of the Z axis of the lathe as the force sign Fc.
- the bar feeder always outputs a constant torque irrespective of the position of the work and can apply tension to the work without having to synchronize with the lathe.
- This servo motor 14 can perform position ⁇ speed control by executing the conventional position ⁇ speed loop processing.
- the processing and the force control processing that can be selected by switching can also be used.
- the processor of the digital motor control circuit 12 executes the processing shown in FIG. 4 every predetermined main cycle (the same cycle as the normal speed loop processing cycle).
- step S description will be made using the reference numerals of step S.
- Step S1 First, the force coupling value Fc sent from the control device 10 via the shared memory 1] is read, and the position ⁇ speed detector ⁇ 5 detects the force coupling value Fc. Reads the feedback speed feedback value V.
- the force reference value F c for example, a constant torque smaller than the torque applied to the work for controlling the Z-axis position of the lathe is generated. Value is set.
- Step S2 Next, the process of the disturbance estimation observer 4 is started, and the estimated speed V stored in the register R is obtained from the speed feedback value V read in step S1. Subtract a- to find the difference V err between the actual speed and the estimated speed.
- the estimated speed stored in the register R is represented by R (V a).
- Step S3 Further, a value obtained by multiplying the error V err by the set constant K 4 is added to the accumulation time storing the total disturbance estimation value d 1, and the result is calculated in the cycle.
- the total disturbance estimate T d] is obtained. This process is the process of item 53 in Fig. 3.o
- Step S4 Next, the total disturbance estimation value Td obtained in step S3 is added to the register evening R (Va) storing the estimated speed Va, and the step is also performed.
- the value obtained by multiplying the difference V err obtained in step S 2 by a constant K 3 is added, and the speed estimation value Va of the previous cycle stored in the register R (T c) is obtained. This is stored in R (V a).
- this process is a process for obtaining the estimated speed Va by the processes of the items 51 and 54 and the like.
- Step S5 Next, the estimated disturbance load torque Td2 is obtained by dividing the estimated total disturbance value d1 obtained in the process of step S3 by the set coefficient ⁇ .
- Step S7 Next, multiply the accumulation rate Sum that acts as an integrator by the above-mentioned force deviation F err by the integration constant Kl, and the processing cycle s shown in FIG.
- the integration process is executed by adding the values obtained (integral process of item 1 in Fig. 3).
- Step S8 The torque finger c is obtained by adding the value of the accumulator Sum and the value obtained by multiplying the force deviation Ferr by the proportional constant K2. That is, the processing of item 1 of FIG. 3 is performed.
- Step S 9, 10 The torque coupling T c thus obtained is stored in the register R (T c) before being used in the next cycle, and is also transferred to the current loop. Then, the processing of the cycle ends.
- the bar feeder performs force control, and imparts a constant torque to the work.
- this constant torque By applying this constant torque to the work irrespective of the lathe's Z-axis position control, the lathe's Z-axis and the bar feeder do not move synchronously. Even so, control can be performed without causing the work to sag.
- the feedback amount a value obtained by adding the value obtained by multiplying the estimated speed Td2 of the disturbance load by the coefficient / S to the actual speed V of the motor overnight is used.
- the function of the actual speed V of the motor is used as a part of the feedback value to prevent the control system from vibrating and to improve the stability. This is to prevent In other words, when the reaction force from the control object is not applied to the motor, the estimated disturbance load torque Td 2 estimated by the disturbance estimation observer is very small, and as a result, the force deviation F Since the err does not decrease as it increases, the motor runs out of control.
- reaction force can be obtained from the Z axis in consideration of the tolerance of the characteristics of the drive system of the lathe, it is not always necessary to feed back a value proportional to the speed.
- the work force is controlled by the bar feeder.
- the work control by the force control is applied to the work clamp of the lathe. You can also do it.
- the lathe buffer In force control in a feeder synchronization for position control in the Z-axis direction of the lathe and the Z-axis of the lathe is not required, and the deflection of the work can be prevented.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automatic Control Of Machine Tools (AREA)
- Turning (AREA)
- Numerical Control (AREA)
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5/184468 | 1993-06-29 | ||
JP18446893A JPH079204A (ja) | 1993-06-29 | 1993-06-29 | 旋盤のバーフィーダにおける力制御方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995001237A1 true WO1995001237A1 (fr) | 1995-01-12 |
Family
ID=16153689
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1994/000993 WO1995001237A1 (fr) | 1993-06-29 | 1994-06-21 | Procede de commande de forces pour l'embarreur d'un tour |
Country Status (2)
Country | Link |
---|---|
JP (1) | JPH079204A (ja) |
WO (1) | WO1995001237A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100436331B1 (ko) * | 2001-06-21 | 2004-06-18 | 최태달 | 소화방법 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5633528B2 (ja) * | 2012-03-12 | 2014-12-03 | カシオ計算機株式会社 | ネイルプリント装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6165754A (ja) * | 1984-09-05 | 1986-04-04 | Hitachi Seiko Ltd | 内面切削装置 |
JPH0210411A (ja) * | 1988-06-28 | 1990-01-16 | Mitsubishi Metal Corp | アクチュエータの制御装置 |
JPH03161203A (ja) * | 1989-11-16 | 1991-07-11 | Alps Tool:Kk | 主軸移動旋盤におけるフィードパイプ追従装置 |
JPH05116094A (ja) * | 1991-10-29 | 1993-05-14 | Fanuc Ltd | 異常負荷検出方法 |
-
1993
- 1993-06-29 JP JP18446893A patent/JPH079204A/ja active Pending
-
1994
- 1994-06-21 WO PCT/JP1994/000993 patent/WO1995001237A1/ja unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6165754A (ja) * | 1984-09-05 | 1986-04-04 | Hitachi Seiko Ltd | 内面切削装置 |
JPH0210411A (ja) * | 1988-06-28 | 1990-01-16 | Mitsubishi Metal Corp | アクチュエータの制御装置 |
JPH03161203A (ja) * | 1989-11-16 | 1991-07-11 | Alps Tool:Kk | 主軸移動旋盤におけるフィードパイプ追従装置 |
JPH05116094A (ja) * | 1991-10-29 | 1993-05-14 | Fanuc Ltd | 異常負荷検出方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100436331B1 (ko) * | 2001-06-21 | 2004-06-18 | 최태달 | 소화방법 |
Also Published As
Publication number | Publication date |
---|---|
JPH079204A (ja) | 1995-01-13 |
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