WO1996000934A1 - Procede de commande en tandem utilisant une servocommande numerique - Google Patents
Procede de commande en tandem utilisant une servocommande numerique Download PDFInfo
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- WO1996000934A1 WO1996000934A1 PCT/JP1995/001116 JP9501116W WO9600934A1 WO 1996000934 A1 WO1996000934 A1 WO 1996000934A1 JP 9501116 W JP9501116 W JP 9501116W WO 9600934 A1 WO9600934 A1 WO 9600934A1
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- torque
- motor
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- main
- speed
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000013016 damping Methods 0.000 claims description 31
- 238000012937 correction Methods 0.000 claims description 27
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- 238000012546 transfer Methods 0.000 claims description 22
- 230000001629 suppression Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 27
- 230000036316 preload Effects 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 11
- 238000004088 simulation Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000035939 shock Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000016571 aggressive behavior Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using 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
- 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
- G05B2219/41264—Driven by two motors
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42063—Position and speed and current and force, moment, torque
Definitions
- the present invention relates to digital servo control for controlling a robot arm and a feed axis of a machine tool.
- it relates to an evening control method for driving the same movable member (same axis) with a plurality of servomotors.
- tandem control is performed in which a torque coupling is given to two motors and the same axis is driven by two motors.
- Fig. 14 to Fig. 17 are diagrams showing an example of evening dem- onm control by a conventional digital servo.
- Fig. 14 shows the first tandem control example in which the movable member is moved linearly. The two modes, the main motor 100 and the sub motor 110, make the movable member a straight line. Drive of rack 120 of the system is controlled. The driving force from the main motor 100 to the rack 120 is performed via the speed reducer 101 and the pinion 002, and the sub motor 110 drives the rack 1 The drive to 20 is effected via the speed reducer 1 1 1 and the pinion 1 1 2.
- FIG. 5 shows a second tandem control example in which the movable member is rotated.
- the rotating system which is a movable member, is driven by two motors, a main motor 100 and a sub motor 1 00.
- Drive of rack 120 is controlled.
- the transmission of the driving force from each motor to the rack is performed in the same manner as in the first tandem control example, by the reduction gears 101, 11] and the pinions 102, 1 Done through 1 2.
- Fig. 16 shows a third tandem control example in which the movable member is moved linearly.
- the driving of the movable member 121 is controlled via the members 103 and ⁇ 13.
- the movable member 121 is connected in common to two screw members 103, 113 whose one end is fixed by a fixing member 122, and is controlled by each motor.
- Drive control is performed via the members 103 and 113.
- Fig. 7 shows a fourth tandem control example in which the movable member is moved linearly.
- the movable member] 23 is driven by two motors, the main motor 100 and the sub motor 110, in the rain. Driving is controlled by a screw member # 04 connected to the end.
- Figure 18 is a control block diagram for performing tandem control using a conventional digital servo.
- the control block shown in FIG. 18 controls the machine table 12 by the numerical controller 1.
- a main servo motor 6 and a sub servo motor 7 are connected to the machine table 12 via a transmission mechanism 10.
- Each subwoofer 6 and 7 is Driven by a finger from servo amplifier 4 controlled by a current finger from digital servo controller 3.
- the numerical controller 1 and the digital servo controller 3 are connected to each other via a common RAM 2 to exchange data between them.
- FIG. 9 is a block diagram of a main part of a control yoke for performing tandem control by a conventional digital servo.
- the two motors main motor and sub motor
- the current control units respectively. Driven by finger.
- the position finger r and the position false difference e which is the difference between the actual position p and the actual position p, are multiplied by the coefficient Kp of the position gain 14 to obtain the speed finger Vc.
- the speed control unit ⁇ 6 determines the speed command Vc and the motor speed
- the speed deviation which is the difference from The torque coupling Tc is determined by control such as I control.
- the main motor is controlled by inputting the torque coupling Tc1 obtained by adding the preload torque Tp1 to the torque coupling Tc to the main motor current controller 17. It is performed by and.
- the preload torque Tp2 is added to the torque coupling Tc, and the torque coupling c2 obtained through the inverter 19 is used as the current control unit of the submotor. This is done by inputting 18.
- the inverter 19 is a control unit for reversing the sign according to the rotation direction of the main motor and the sub motor. Inverter # 9 does not change the sign when the main motor and the submotor are in the same cultivation direction, and reverses the sign when the rotation direction is different.
- Each of the current controllers 17 and 18 feeds back the current feedback fb and independently controls the current.
- the preload torque T p1 and the preload torque T p2 were calculated and calculated by the speed control unit 16 in order to attach the main motor and the sub motor to each other. This is a torque value for adding a certain offset to the torque coupling Tc.
- the signs of the rain torques P i, T p 2 are opposite signs when the rotation directions of the two motors are the same, and when the rotation directions of the two motors are opposite. Is the same sign ⁇
- the actual position ⁇ for obtaining the position difference e is the position feedback obtained from the machine or motor via the switch 20. Pulse, and the switch 20 can switch between the mechanical position feedback pulse fb and the motor position feedback pulse M fb o
- a velocity feedback averager 22 shown in FIG. 19 is provided.
- the speed feedback averager 22 inputs the speed feedback V i 1 of the main motor and the speed feedback V f 2 of the sub motor through the inverter 19 and obtains the average. Overnight speed Get the amount of return. As a result, the speed of the sub motor can be suppressed, and the stability can be improved.
- FIG. 20 is a diagram for explaining the operation S by tandem control.
- (a) to (e) show the position of each axis and the movable member and the change of the torque coupling in order, and accelerate the table, which is the movable member, from the trap state ((a)) in the figure. Then ((b) in the figure)-constant speed ((c) in the figure), then decelerate ((d) in the figure) and recapture ((e) in the figure).
- the main axis 105 and the sub-axis 115 are alternately provided with the torque finger c calculated by the speed controller.
- the preload torque should be set higher than the friction resistance.
- the resonance frequency of the transmission mechanism is low, for example, from several Hz to several tens of Hz.
- the main motor and the sub motor are driven by the tandem control, they vibrate in opposite directions, causing a problem that the system becomes unstable.
- Fig. 21 shows the simulation results by conventional evening dem- onset control.
- Figs. 21 (a) and (b) show the results when positive and negative step fingers were applied, respectively.
- the speed of the main mode and the speed of the sub mode are indicated by solid and broken lines.
- Fig. 8 is a diagram for explaining the torque engagement when the clamp device is added.
- (a) of Fig. 8 when the main motor is mainly driven and drive torque is applied to the main shaft side to pull it, position detection is performed on this main side. Therefore, control can be performed without causing a detection delay.
- (b) of Fig. 8 when the main motor is mainly driven and drive torque is applied to the main shaft side to pull it, position detection is performed on this main side. Therefore, control can be performed without causing a detection delay.
- the position feedback pulse for controlling the position is generated by the main feedback pulse. Since the speed finger that is detected on the motor side and is the input to the speed control unit that calculates the torque finger is not the sub side that is actually outputting the torque, detection delay occurs and becomes unstable.
- the present invention solves the above-mentioned conventional problems and new problems caused by means for solving the problems, and provides an evening control method using a digital servo that suppresses vibration of a transmission mechanism.
- the purpose of this is to make a proposal.
- Ma It is a second object of the present invention to provide a tandem control method that suppresses backlash even with a large torque. It is a third object of the present invention to provide a tandem control method that enables stable control even in driving mainly on the sub side.
- the first invention of the present application is a control method in which one axis is driven using two servo modes, a main mode and a sub mode.
- this control method in the tandem control method in which the position control is performed in the main mode and the current control is performed in each of the main mode and the sub mode, the speed difference between the main mode and the sub mode is calculated. Then, a correction torque is obtained by using the speed difference, and the correction torque is added to the main motor and the torque combination in the rainy weather of the sub motor overnight.
- the first object is achieved.
- the tandem control method of the present invention is a control method in the case where the same movable member is driven by two servo modes, a main mode and a sub mode.
- the first invention is a case where the position control is performed by the main motor, and the current control is performed by each of the main motor and the sub motor.
- the correction torque for suppressing the vibration of the transmission mechanism is obtained by multiplying the speed difference between the main motor and the sub motor by a damping coefficient, and adjusting the damping coefficient by a U-shape. The gain of the correction torque is adjusted by the adjustment of the damping coefficient.
- the correction torque can be obtained by multiplying the speed difference between the main motor and the submotor by the transfer function for phase correction and adjusting the first order coefficient of the transfer function.
- the phase of the correction torque is adjusted by adjustment.
- the correction torque for suppressing the vibration of the transmission mechanism is obtained by multiplying the speed difference between the main motor and the sub motor by a damping coefficient and a transfer function for phase adjustment, and calculating the damping coefficient.
- the rain coefficient of the first order coefficient of the pinning coefficient and the transfer function can be obtained by adjusting the rain coefficient. Then, by adjusting the damping coefficient and the first order coefficient, the gain of the correction torque and the rainfall of the phase are adjusted.
- the second invention of the present application is a control method for driving one axis by using two servo motors of a main motor and a sub motor. Then, in the tandem control method in which the position control is performed by the main motor and the current control is performed in each of the main motor and the sub motor, the sign of the torque sign from the speed control unit is detected, and the sign is detected. Thus, positive or negative torque fingering is suppressed depending on the current, and a different one-way torque fingering is applied to the current control part of each motor and the main motor and the submotor. Thus, the second object is achieved.
- the torque coupling corresponding to the forward direction of each motor is output as it is, and the torque coupling corresponding to the reverse direction is clamped to zero. .
- the third invention of the present application is a main mode, a sub mode.
- This is a control method that drives one axis using two servo motors of the motor. Then, in the tandem control method in which the current control is performed by each main motor and the sub motor, the current control corresponds to the moving finger which is the difference of the position finger or the torque finger which is the output of the speed control unit.
- the third object is achieved by performing position control in the side mode.
- the position control in the third invention is performed by the main motor when the moving finger is in the positive direction, and is performed by the submotor when the moving finger is in the negative direction.
- the position control according to the third aspect of the present invention is performed in the main mode when the torque coupling is in the positive direction, and is performed in the sub mode when the torque coupling is in the negative direction.
- the value obtained by multiplying a difference between the speed command on the main motor side and the speed command on the sub mode side by a switching coefficient is added to the speed command on the main mode side.
- a new speed finger is determined, and the switching coefficient is switched according to the sign of the movement finger or torque finger.
- the switching coefficient of the position control in the third invention has a time constant, and the position feedback can be gradually switched by the time constant.
- the position control is performed by the main motor, the current control is performed in each of the main motor and the sub motor, and the speed difference between the main motor and the sub motor is calculated. Then, the corrected torque is obtained using the speed difference. Sa
- the compensation torque is added to the torque of both the main motor and the sub motor, and the two servo motors, the main motor and the sub motor, are controlled in tandem to drive one axis. As a result, the speed difference between the main motor and the sub motor that performs tandem control is reduced, and even if the motor and the machine are connected by a low-rigidity transmission mechanism such as a panel system, Vibration can be suppressed.
- the correction torque for suppressing the vibration of the transmission mechanism can be obtained as follows.
- the speed difference between the main motor and the submotor is multiplied by a damping coefficient or a transfer function for phase correction, or both the damping coefficient and a transfer function for phase correction.
- UTA adjustment it is possible to obtain the proper torque or gain or phase, or the rainfall of the gain and phase.
- the position control is performed in the main mode, the current control is performed in each main mode and the sub mode, and the torque control from the speed control unit is performed.
- the sign is detected, and positive or negative torque coupling is suppressed according to the sign.
- the current control unit of each motor always controls the torque in one direction differently between the main motor and the sub motor. Is applied. Then, two servo modes, main mode and sub mode, are controlled in tandem to drive one axis. to this Therefore, the main motor and the submotor are always in a state of being tightly attached to each other, and the backlash can be suppressed even for a large torque.
- the torque fingering corresponding to the forward direction in each mode is output as it is in response to the torque fingering from the speed control unit, and the torque fingering is output in the opposite direction.
- Torque engagement can be achieved by clamping to zero.
- the current control is performed in each of the main mode and the sub mode, and the position control is performed in the mode corresponding to the moving finger.
- one servomotor is driven in tandem with two servomotors, the main motor and the submotor, to drive one axis.
- stable control can be performed even in the drive mainly on the sub side.
- control the position in the mode corresponding to the torque coupling can be performed even during deceleration.
- stable control can be performed even in the case of a moving finger in the forward direction, even when the sub-side is mainly driven, such as during deceleration.
- the position control is performed in the main mode when the moving finger or the torque finger is in the positive direction, and in the sub mode when the moving finger or the torque finger is in the negative direction. .
- a value obtained by multiplying the difference between the speed command on the main motor side and the speed command on the sub mode side by a switching coefficient is added to the speed command on the main motor side to obtain a new speed command. , That The switching coefficient is changed according to the sign of the moving finger or the torque finger.
- the torque order can be calculated based on the speed output of the sub side that is actually outputting the torque, and the effect on stability due to the detection delay can be suppressed.
- a time constant is given to the position control switching coefficient, and position feedback is gradually switched according to the time constant.
- the position control is set to be performed by the main motor, so that the positioning is always performed in the main motor, and the problem of the displacement Does not occur.
- FIG. 1 is a control block diagram illustrating the configuration of an embodiment of the first invention of the present application
- FIG. 2 is a block diagram of a transfer function for phase correction in the embodiment of the first invention of the present application
- FIG. 3 is a flowchart illustrating the operation of the first embodiment of the present invention
- FIG. 4 is a frequency characteristic diagram of the embodiment of the first invention of the present application when the purging coefficient is changed
- FIG. 5 is a simulation result of the first invention of the present application.
- FIG. 6 is a control block diagram illustrating a configuration of the embodiment of the second invention of the present application.
- FIG. 7 is a characteristic diagram of the clamp circuit according to the second invention, and
- FIG. 8 is a diagram illustrating a torque coupling when a clamp device is added.
- FIG. 9 is a simulation result according to the second invention.
- FIG. 10 is a flowchart illustrating the operation of the third invention.
- FIG. 11 shows a simulation result when the time constant of position switching is “0” in the third invention.
- FIG. 12 shows a simulation result when the time constant of position switching is “10 Oms” in the third invention.
- FIG. 3 shows a simulation result when damping assistance was performed with the time constant of position switching being “1 O O ms s J” in the third invention.
- FIG. 14 is a diagram of a first tandem control example for linearly moving a movable member.
- FIG. 15 is a diagram of a second tandem control example of rotating the movable member
- FIG. 16 is a diagram of a third tandem control example for linearly moving the movable member
- FIG. 17 is a diagram of a fourth tandem control example in which the movable member is moved linearly.
- Fig. 8 is a control block diagram for performing tandem control using a conventional digital servo.
- Fig. 19 is a block diagram of the main part of a control block for performing tandem control using a conventional digital servo.
- Fig. 20 is a diagram illustrating torque matching when a clamp is added.
- Fig. 21 shows the simulation results of the conventional tandem control.
- FIG. 1 is a block diagram of a main part of a control block for explaining a configuration of an embodiment of the first invention of the present application.
- the block diagram of the embodiment shown in FIG. 1 is almost the same as the conventional control block shown in FIG. 7 except for the configuration of the damping compensator 23.
- the damping assist device 23 calculates the speed difference between the main motor and the sub motor, obtains a correction torque using the speed difference, and further calculates the correction torque between the main motor and the sub motor. This block is used to add torque on the rainy side.
- the current controllers 17 and 18 drive two modes (main mode and sub mode) (not shown) according to the current command.
- the velocity finger Vc is obtained by multiplying the position difference r, which is the difference between the position finger r and the actual position p, by the coefficient K p of the position gain 14. Then, this speed reference Vc is compared with the motor speed feedback. The speed deviation, which is the difference, is controlled by the speed control unit 16 such as normal PI control to obtain the torque finger c.
- the control of the main motor is performed by adding the torque coupling Tc1 obtained by adding the preload torque P1 to the torque coupling c to the current controller 17 of the main motor. This is done by inputting.
- the preload torque Tp2 is added to the torque coupling Tc, and the torque coupling Tc2 obtained through the inverter 19 is supplied to the submotor current controller 18. This is done by inputting.
- the inverter 19 is a control unit for inverting the sign according to the rotation direction of the main motor and the sub motor. The reversing unit 19 does not change the sign when the rotation directions of the main motor and the sub motor are the same, and reverses the sign when the rotation directions are different.
- Each of the current control sections 17 and 18 feedbacks the current feedback ib and independently controls the current.
- the preload torque Tp1 and the preload torque Tp2 to be applied to the torque finger c are used to add a certain offset to the torque finger Tc from the speed controller 16. This is the torque value for the main motor and the sub motor.
- the signs of preload torques p] and p2 are opposite signs when the rotation directions of the two motors are the same, and when the rotation directions of the two motors are opposite. Has the same sign.
- the actual position P for obtaining the position deviation e is determined by the position feedback obtained from the machine or motor via the switch 20. It is a pulse.
- Switch 20 can switch between machine position feedback pulse ⁇ b and motor position feedback pulse M ib c
- the speed feedback averager 22 inputs the speed return Vf1 of the main mode and the speed feedback Vi2 of the sub mode through the inverter 19, and calculates the average to obtain the speed index. Feedback to Vc. As a result, the average of the speed of the main motor and the speed of the rain of the submotor is fed back as the speed feedback amount, and the speed of the submotor can be suppressed to improve the stability.
- the position control is performed by the main motor
- the current control is performed in each of the main motor and the sub motor
- the position control is performed by the damping auxiliary device 23.
- Speed control is performed so that the difference in speed between the main mode and sub mode is reduced by the correction torque.
- This damping compensator 23 can be composed of a term of a damping coefficient Kc and a term of a transfer function for phase adjustment. For example, if the transfer function is a constant, the adjustment factor is S, and S is a Laplace operator, the transfer function represented by ⁇ (1 + 3) / (1 + na3) ⁇ can be used. It can be.
- Figure 2 shows a block diagram of the transfer function for phase adjustment in a discrete system when the sampling time is T s. And this transfer function is ((1 + 2 L / T s) + (1-2 L / T s) Z " 1 / (l + 2 a L / T s) + (1-2 a L / T s) ⁇ - ⁇ ⁇ .
- N. (1 + 2 L / T s)
- N i (1-2 L /
- the gain can be IS adjusted by the magnitude of the damping coefficient Kc, and the phase can be adjusted by the adjustment coefficient a. .
- T is a coefficient for adjusting the phase advance or the peak of the phase delay.
- the correction torque from the damping compensator 23 is subtracted for the torque finger c1 to the main side and the torque side Tc2 for the sub mode. Is added. This sign relationship is because the direction on the main motor side is set to the positive direction, so that a correction torque is added in the direction to reduce the speed difference between the main motor and the sub motor. Can be done.
- the above damping assist device 23 shows an example including two terms of the term of the damping coefficient K c and the term of the transfer function for phase adjustment, but only one of the terms is used. It can also be configured. In this case, either the magnitude or the phase of the correction torque is corrected.
- the operation of the first invention of the present invention will be described with reference to the flowcharts of FIGS. Note that here, The speed difference between the in-motor and the sub-motor is calculated, the corrected torque is calculated using the speed difference, and the corrected torque is added to the rain torque of the main motor and the sub-motor to obtain the main torque.
- This section describes only the part that controls the two servo motors, i.e., the servo mode and the sub mode, in the evening mode, and also describes the case where the damping magnitude and the phase are corrected.
- the rotation direction used for the control of each motor is checked, and if the rain direction is the same, flag F is changed to "
- the flag F is set to "1" if the direction of rotation of the rain person is different from that of "0" (step S1).
- the inverter 19 inverts and non-inverts the sign according to the flag F.
- the adjustment coefficient ⁇ and the constant L which determine the damping coefficient K c of the damping compensator 23 and the first-order coefficient of the transfer function term for phase adjustment, are set to the initial values, respectively. K c.
- step S 4 it is determined whether the value of the flag F checked in step S1 is "0" or "1". If the value of the flag F is “0”, the process proceeds to step S6. If the value of the flag F is “1”, the process proceeds to step S7, and the speed feedback amount V The difference between f1 and Vi2 is obtained (step S5).
- the correction torque T a is calculated from the difference d V between the motor speed feedback amount V ⁇ 1 and V i 2 obtained. (Step S8). This correction torque a is obtained by adding the damping coefficient K c and the transfer function ⁇ (N. + NL • Z— 1 ) / (D) to the difference d V between the motor speed feedback amounts Vi 1 and Vi 2. + D i * Z- 1 ) ⁇ . Note that in Fig. 1, the speed feedback amount 2 in the sub mode is in the same direction as the main mode speed by the inverter 19, so the damping compensator 23 subtracts o.
- the corrected torque Ta obtained in step S8 is reflected on the torque orders Tc1 and Tc2, and the speed is controlled based on the corrected torque order (step S9). Then, it is determined whether or not the characteristics of the system have been improved by the speed control (step S10). If the characteristics are not good, the damping coefficient Kc and the adjustment coefficient are changed (step S11), and the steps S4 to S10 are repeated. Do.
- step S1 can be set once and commonly used for similar tandem control thereafter. Further, the processing in steps S2 to S1 is performed every time an interrupt occurs in the tandem control.
- FIG. 5 shows a simulation of the first invention of the present application when the damping coefficient Kc is set to 0.1 without performing phase correction. The result.
- FIG. 6 is a block diagram of a main part of a control block for explaining a configuration of an embodiment of the second invention of the present application.
- the components of the second invention of the present application are shown by dashed lines
- the components of the third invention of the present application are shown by dashed lines. It is indicated by.
- only the components of the second invention surrounded by the dashed line will be described, and the other components are the same as the configuration of the embodiment of the first invention, and will not be described.
- the configuration of the embodiment of the second invention is almost the same as that of the control block of the first embodiment of the first invention shown in FIG. 1 except for the configuration of the clamp circuits 24 and 25 enclosed by a chain line. It is.
- the clamp circuits 24 and 25 receive the torque command obtained by adding the preload torque Tp1 or ⁇ 2 to the torque finger c from the speed controller 16 and When the torque command has the code corresponding to the forward direction in each motor, the torque is output as it is, and when the torque command has the code corresponding to the reverse direction, it is clamped to zero.
- the position control is performed in the main mode
- the current control is performed in each of the main mode and the sub mode
- the main mode and the sub mode are controlled.
- Torque coordination Tc given to each current control section 1 7,] 8 in the evening 1 and Tc2 are adjusted by the clamp circuits 24 and 25. o
- two servo motors, the main motor and the sub motor, are controlled in the evening and one axis is controlled. Drive.
- the clamp circuit 24 is a clamp circuit connected between the speed controller 16 and the current controller 17 on the main motor side.
- (A) in Fig. 7 shows the characteristics.
- this clamp circuit 24 outputs the torque sign as it is as a torque sign, and the sign is reversed.
- the direction is negative,. Is clamped to zero.
- torque coupling Tc1 on the main side is controlled so as to emit a positive torque.
- the clamp circuit 25 is a clamp circuit connected between the speed controller 16 and the inverter 19 on the sub mode side.
- (B) in Fig. 7 shows the characteristics.
- this clamp circuit 25 outputs the torque sign as it is, and outputs the sign in the reverse direction. If it is positive, it clamps to zero.
- the torque indication Tc2 on the sub side is controlled so as to output a negative torque.
- the clamp circuits 24 and 25 detect the sign of the torque sign obtained by adding the preload torque pi or TP 2 to the torque sign Tc from the speed controller 16.
- the positive or negative torque coupling is suppressed according to the sign, and the current control section of each motor always has the main motor and the sub motor. Apply different torque commands in one direction. In this way, one axis is driven by tandem control of two servo modes, the main mode and the sub mode. As a result, the main motor and the sub motor are always in a state of being adhered to each other, and the backlash is suppressed even for a large torque.
- FIG. 8 is a diagram for explaining the torque coupling when a clamp device is added.
- the main motor is mainly driven and drive torque is applied to the main shaft side to pull it, position detection is performed on this main side. ing. Therefore, control can be performed without causing a detection delay as shown in (a) of FIG.
- a third invention is to eliminate a detection delay which may occur when the sub-mode is mainly driven in the second invention.
- FIG. 6 is a block diagram of a main part of a control block for explaining the configuration of an embodiment of the third invention of the present application.
- the components are shown enclosed by a two-dot chain line.
- the configuration excluding the components of the third invention surrounded by the two-dot chain line will be described, and the other components are the same as the configuration of the embodiment of the first invention. Omitted.
- the configuration of the embodiment of the third invention is almost the same as the control block of the embodiment of the second invention shown in FIG. 6 except for the configuration for switching the position feedback enclosed by the two-dot chain line.
- this configuration for position feedback switching the difference between the speed command on the main motor side and the speed command on the sub-motor side is obtained, and the value obtained by multiplying the difference between the speed commands by the switching coefficient is used.
- the position control is performed by the main motor, and the current control is performed by each main motor. When the moving finger is in the positive direction, it is performed in the main motor, and when the moving finger is in the negative direction, it is performed in the submotor, and so on. In this case, position control is performed on the corresponding motor.
- one axis is driven by tandem control of the two servo modes, the main mode and the sub mode.
- the position control is performed by the motor on the side corresponding to the moving finger.
- the difference between the main-side velocity command Vc1 and the sub-side velocity command Vc2 is determined.
- -2 1- This difference is multiplied by the switching coefficient k, and the value is added to the main-side speed command Vc1 to create a new speed command Vc.
- the value of the output of the position gain 15 through the inverter 19 is obtained as the speed coefficient Vc 2 on the sub side, and the position gain 14 is obtained from the value. Is subtracted from the main-side speed command Vc 1, and the resulting value is multiplied by a switching coefficient k in the position feedback switching unit 21, and the calculated value is used as the speed command V c ⁇ Is subtracted from the speed to obtain the velocity finger Vc.
- Vc Vc1 + k * (Vc2—Vcl).
- the switching coefficient k is set to “0”. Position control on the main side can be performed as finger Vc 1. Conversely, if the switching coefficient k is set to “1” when driving in the negative direction of the main motor (the moving finger is in the negative direction), the speed finger V c becomes the speed finger V c from the above equation. As c2, the position control on the sub side can be performed.
- switching of the position feedback between the main side and the sub side is performed by setting the switching coefficient k to either “0” or “1”.
- K ⁇ l / (l + rs) ⁇ using constants and the position feedback can be gradually switched according to the time constants.
- the position feedback is gradually switched by using this time constant, the difference in speed fingering caused by the difference in the position feedback amount when switching the switching coefficient k is reduced, and this speed is reduced. This has the effect of reducing mechanical shock caused by the difference.
- the sampling time is denoted by s
- the successive switching coefficient in the congestion system is denoted by b (n)
- the sequential switching coefficient b (n) is
- b (n) A * b (n-1) + (1-A) * k (n). Note that k (ii) is “0” when the moving finger is positive and “1” when the moving finger is negative.
- step T1 an initial process for performing position control by position switching is performed.
- the change ⁇ ⁇ ⁇ due to the time constant used in the above equation and the sequential switching coefficients b (n) and b0 are initialized (step T1).
- step T2 by determining the sign of the moving finger ⁇ ⁇ , which is the difference between the position finger r, the position feedback on the main side is performed. It is determined whether the position feedback is performed on the sub side (step T2). In the judgment in step T2, if the sign of the moving finger r is positive, the processing is performed in step 3 where the main motor is driven at a positive speed, and the moving finger If the sign of the sign r is negative, a process is performed in step T4 when the main motor is driven at a negative speed.
- speed indicators Vc1 and Vc2 are obtained, and the speed indicator is calculated using these values and the sequential switching coefficient b (n) determined in steps T3 and T4.
- Find Vc The velocity finger Vc1 is obtained by multiplying the value (r-Mfb) obtained by subtracting the position feedback pulse M ⁇ b of the main mode from the position finger r, by the position gain Kp.
- the speed command Vc2 is obtained by multiplying the value (r-Sfb) obtained by subtracting the position feedback pulse S ⁇ b of the sub motor from the position command r by the position gain Kp. .
- speed command Vc2 is obtained by multiplying the value (r-Sfb) obtained by subtracting the position feedback pulse S ⁇ b of the sub motor from the position command r by the position gain Kp.
- V c is a value obtained by subtracting the speed command V c 1 from the speed command V c 2, multiplied by a sequential switching coefficient b (n), and the value is multiplied by the speed command.
- the value of the sequential switching coefficient b (n) at this time is set as the initial value bO of the sequential switching coefficient (step T5).
- step T6 The velocity command Vc determined in the step T5 is passed to a velocity loop to perform position control (step T6).
- step T7 It is determined whether or not to end the position control by the position switching (step T7), and if the position control by the position switching is to be continued, the above-mentioned step T2 is repeated for step T2. Repeat steps 2 to T6.
- the switching can be performed gradually, and even if the polarity of the moving finger changes, the shock and shock to the machine can be reduced.
- FIG. 12 shows a simulation result when the time constant is set to “10 Oms” in position switching.
- Fig. 13 shows the simulation results when the time constant was set to “100 ms” in the position switching and the damping assist was performed.
- the first invention of the present application it is possible to provide an evening control method using a digital servo that suppresses vibration of a transmission mechanism.
- the second invention it is possible to provide an evening control method that suppresses backlash even for a large torque.
- the third invention it is possible to provide a tandem control method that enables stable control even in driving mainly on the sub side.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Velocity Or Acceleration (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP95920269A EP0717331B1 (en) | 1994-06-30 | 1995-06-06 | Tandem control method using digital servo |
DE69522186T DE69522186T2 (de) | 1994-06-30 | 1995-06-06 | Doppelsteuerungsverfahren mit digitaler servosteuerung |
US08/591,461 US5646495A (en) | 1994-06-30 | 1995-06-06 | Tandem control method based on a digital servomechanism |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17039194A JP3595357B2 (ja) | 1994-06-30 | 1994-06-30 | ディジタルサーボによるタンデム制御方法 |
JP6/170391 | 1994-06-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996000934A1 true WO1996000934A1 (fr) | 1996-01-11 |
Family
ID=15904064
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1995/001116 WO1996000934A1 (fr) | 1994-06-30 | 1995-06-06 | Procede de commande en tandem utilisant une servocommande numerique |
Country Status (6)
Country | Link |
---|---|
US (1) | US5646495A (ja) |
EP (1) | EP0717331B1 (ja) |
JP (1) | JP3595357B2 (ja) |
KR (1) | KR0154224B1 (ja) |
DE (1) | DE69522186T2 (ja) |
WO (1) | WO1996000934A1 (ja) |
Cited By (1)
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CN102545730B (zh) * | 2010-10-18 | 2018-06-08 | 松下电器产业株式会社 | 电动机控制系统 |
Also Published As
Publication number | Publication date |
---|---|
DE69522186D1 (de) | 2001-09-20 |
JPH0816246A (ja) | 1996-01-19 |
EP0717331B1 (en) | 2001-08-16 |
EP0717331A1 (en) | 1996-06-19 |
KR0154224B1 (ko) | 1998-12-15 |
KR960001940A (ko) | 1996-01-26 |
US5646495A (en) | 1997-07-08 |
EP0717331A4 (en) | 1998-09-09 |
JP3595357B2 (ja) | 2004-12-02 |
DE69522186T2 (de) | 2002-05-02 |
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