WO1997001805A1 - Procede de regulation d'acceleration/deceleration pour servomoteur - Google Patents

Procede de regulation d'acceleration/deceleration pour servomoteur Download PDF

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Publication number
WO1997001805A1
WO1997001805A1 PCT/JP1996/001785 JP9601785W WO9701805A1 WO 1997001805 A1 WO1997001805 A1 WO 1997001805A1 JP 9601785 W JP9601785 W JP 9601785W WO 9701805 A1 WO9701805 A1 WO 9701805A1
Authority
WO
WIPO (PCT)
Prior art keywords
acceleration
deceleration
command
filter
time constant
Prior art date
Application number
PCT/JP1996/001785
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English (en)
Japanese (ja)
Inventor
Yasusuke Iwashita
Tadashi Okita
Original Assignee
Fanuc Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Publication of WO1997001805A1 publication Critical patent/WO1997001805A1/fr

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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
    • G05B19/416—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 of velocity, acceleration or deceleration

Definitions

  • the present invention relates to an acceleration / deceleration control method for a servomotor used for controlling a feed shaft of a machine tool, a robot arm, and the like.
  • an exponential function type acceleration / deceleration control method and a linear type acceleration / deceleration control method are known.
  • the exponential function type acceleration / deceleration control method is an acceleration / deceleration control that provides an exponential response to a step input.
  • the acceleration at the start-up is large due to the effect of high frequency components.
  • the load system is subject to shock and vibration is likely to occur, and it takes time to decelerate to a stop. This causes the machine tool table or the like to move in an arc shape using the X-axis and Y-axis servomotors, so that it follows the locus inside the command value.
  • the linear acceleration / deceleration control method has a problem that the acceleration rapidly changes, giving a shock to the servo control system and its load system, and causing vibration to occur easily. .
  • the acceleration is generated by a method having two stages of acceleration / deceleration filters, which is known as bell-shaped acceleration / deceleration control. Discontinuities are being reduced.
  • a position loop may be fed to the position loop in order to reduce the shape error due to the normal delay of the servo system.
  • the feedforward in this position loop increases the gain of the position loop, compensates for the servo delay, and reduces shape errors.
  • t-Tc (A / ⁇ Tc) ⁇ ⁇ cos ⁇ (t— Tc) — cos ⁇ t ⁇
  • the shape error due to the error of the command itself due to the command time constant is on the order of a fraction of the shape error due to the delay generated by the servo system (primary delay system). You. However, in order to realize high-speed and high-precision machining, the feed error is applied to the servo loop by approximately 100%, and the shape error due to the delay of the servo system is reduced. If it is reduced, the shape error due to the error of the command itself due to the command time constant relatively increases, and the shape error due to the command time constant during high-speed machining becomes a problem. Disclosure of the invention
  • the present invention provides an acceleration / deceleration control method for a servo motor that can reduce a shape error due to a command delay generated by a command time constant of an acceleration / deceleration filter. Aim.
  • the step of processing the interpolated movement command with the command time constant by the acceleration / deceleration filter, the step of differentiating the output of the acceleration / deceleration filter, and the value obtained by differentiation A step for giving a time delay corresponding to the command time constant of the acceleration / deceleration filter, and adding the value given the time delay to the output of the position loop as a feed-forward amount. And a step for performing feed-forward control for obtaining a speed command by a controller, and a step for controlling the servo control based on the obtained speed command.
  • Interpolated movement commands distributed to each axis are input to the acceleration / deceleration filter, and these movement commands are processed with command time constants to reduce the shocks associated with acceleration / deceleration. Output.
  • the present invention it is possible to reduce the shape error due to the delay of the servo system and the shape error due to the error of the command itself due to the command time constant of the acceleration / deceleration filter.
  • the shape error due to the delay of the speed is compensated by the feedforward term of the feedforward control, and the shape error due to the command time constant of the acceleration / deceleration filter is corrected. It is compensated by the term of time delay of feed-forward control.
  • the amount of time lag in the feed It is determined according to the acceleration / deceleration filter command time constant so as to compensate for the form error due to the filter command time constant.
  • the acceleration / deceleration filter gain and the filter It is possible to define that the product of the gains of the loops in the foreground is constant.
  • the time delay in the feedforward is K p * Ts' T s.
  • the constant k that determines the time delay of the feedback data can be set to 1 Z24.
  • the constant k can be set to 148.
  • FIG. 1 is a block diagram of a servo system for implementing the servomotor acceleration / deceleration control method of the present invention.
  • FIG. 2 is a diagram showing the compensation of the shape error by the method of the present invention.
  • FIG. 3 is a diagram showing a bell-shaped filter in which the time constant of the filter is 24 msec and the feed-forward data is shown. Figure showing the shape error when the delay is 0.48 msec.
  • Figure 4 is a diagram showing the shape error in the case of a bell-shaped filter when the time constant of the filter is 34 msec and the delay of the feed-forward data is 0.48 msec.
  • Figure 5 shows the filter in the case of a bell-shaped filter. It is a figure which shows the shape error when the time constant force is 34 nisec, and the delay of the feed-off data is 0.48 msec + 0.5 msec.
  • FIG. 1 is a block diagram illustrating a servo motor acceleration / deceleration control method according to the present invention.
  • the acceleration / deceleration filer 1 processes a command after interpolation distributed by a numerical controller (not shown) for each axis with a command time constant to form a position command M.
  • the transfer function 2 is a position feed-forward term for differentiating the position command M, and ⁇ is a position feed-forward coefficient.
  • the transfer function 3 is a time delay term, and is often a time constant.
  • ⁇ of the transfer function 4 is the position gain in the position loop, and the transfer function 5 is an integral term for obtaining the actual position ⁇ ⁇ from the position command.
  • the feedforward data delayed by the time delay item 3 is used as the feedforward amount of the position, and the position gain ⁇ ⁇ is calculated as the position deviation.
  • the speed command is obtained by adding it to the output of the position loop obtained by multiplication.
  • the servomotor is controlled based on this speed command, and its actual position ⁇ is fed back to the position command as position feedback.
  • the compensation of the shape error by the command time constant of the acceleration / deceleration filter is based on the product of the gain G2 of the acceleration / deceleration filter 1 and the gain G1 of the loop of the feed-forward filter. It can be adjusted by setting the acceleration / deceleration filter according to the command time constant of the acceleration / deceleration filter.
  • acceleration / deceleration filter 1 indicates the command after interpolation. This is a term processed with a fixed time constant. As described above, the absolute value of the gain characteristic G 2 (j ⁇ ) of the position command by the acceleration / deceleration fin 1 is 1 or less.
  • the gain characteristic Gl is obtained by taking the ratio of P and M as shown in the following equation.
  • I Gl (j ⁇ ) I 2 ⁇ K ⁇ 2 + 2 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ( ⁇ te) + ⁇ 2 ⁇ ⁇ 2 ⁇
  • I Gl (j ⁇ ) I 2 l + (2.K p 'co .sin (o Tr Z iK p 2 ⁇ 2 )
  • ⁇ is the command angular frequency [1 / sec:]
  • Kp is the position gain [lZsec]
  • ⁇ is the delay of the feed-forward data [sec].
  • ⁇ is much smaller than K p.
  • the acceleration / deceleration filter 1 is a single-stage linear filter having a linear time constant ⁇ c
  • the acceleration / deceleration filter is multiplied by the command time constant of this acceleration / deceleration filter.
  • the gain G2 of the above command can be obtained by equation (1).
  • the gain characteristic Gl (j ⁇ ) and the gain characteristic G Using 2 (j ⁇ ), adjust the feed-forward data delay so that the relationship shown in equation (7) is obtained.
  • the gain G from the command before processing by the acceleration / deceleration filter 1 to the actual position is
  • the feed-forward data delay is set to 1.44 msec, and when the time constant T is 24 msec, the feed-forward delay is set to 0.36 m.
  • the shape error can be reduced.
  • FIG. 2 is a diagram illustrating compensation of a shape error by the servomotor acceleration / deceleration control method of the present invention.
  • the solid line 10 indicates the machining shape according to the command M.
  • This command shape is multiplied by the command time constant indicated by the broken line 11 by the shape error due to the command time constant of the acceleration / deceleration filter 1 indicated by arrow A.
  • the machining shape is determined by the position command.
  • the shape error due to the delay of the servo system indicated by the arrow B results in the additive shape indicated by the dashed-dotted line 12.
  • the shape error B is compensated for by the feedforward system as shown by the arrow b, and the feedforward system is shown by the arrow a.
  • the shape error A is compensated by the delay of the feed-forward data in the mode.
  • Fig. 3 to Fig. 5 show comparative examples when the position gain Kp is set to 40 [lZsec] in the case of a bell-shaped filter. W 0
  • Fig. 3 shows the shape error when the delay of the feed-forward data corresponding to the time constant T of the acceleration / deceleration filter is set
  • Fig. 4 shows the feed-forward of Fig. 3.
  • Fig. 5 shows the shape error when the time constant of the acceleration / deceleration filter is changed while keeping the delay of the command.
  • Fig. 5 shows the delay of the filter data corresponding to the changed time constant of the acceleration / deceleration filter.
  • the figure shows the shape error when ⁇ is set.
  • the position gain Kp is sec]
  • the delay of the feedforward data corresponding to the time constant T of the acceleration / deceleration field of 24 msec is 0.48 msec.
  • the servo mode is accelerated / decelerated by the feed-forward with this setting, and when an arc with a radius R of 10 cm is machined, the decrease in radius can be reduced. .
  • the applicable feed-forward data delay is 0.963 msec.
  • the shape when a circular arc of cm is machined is shown. In this case, a radius reduction of about 7 m occurs.
  • Fig. 5 shows that the time constant T of the acceleration / deceleration filter is set to 34 msec, and the delay of the feed-forward data is set to 0.48 + 0.5 [msec]. Value 0 ⁇
  • T of the acceleration / deceleration filter is set to 34 msec
  • the delay of the feed-forward data is set to 0.48 + 0.5 [msec].
  • a servomotor acceleration / deceleration control method capable of reducing a shape error due to a command delay caused by a command time constant. I can do it.

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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)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)

Abstract

L'invention se rapporte à un procédé de régulation d'accélération/décélération pour un servomoteur, diminuant les erreurs résultant d'un retard de la commande dû à une constante de temps de commande d'un filtre d'accélération/décélération. Une commande de mouvement sujette à interpolation est traitée selon une constante de temps de commande par un filtre d'accélération/décélération. Le signal de sortie du filtre d'accélération/décélération est différentié, et une temporisation correspondant à la constante de temps de commande du filtre d'accélération/décélération est appliquée à la valeur différentiée. La valeur de précompensation présentant la temporisation est ajoutée au signal de sortie d'une boucle de positionnement en tant que valeur de précompensation de la position afin d'exécuter la régulation par anticipation.
PCT/JP1996/001785 1995-06-27 1996-06-27 Procede de regulation d'acceleration/deceleration pour servomoteur WO1997001805A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7/182238 1995-06-27
JP18223895A JP3876010B2 (ja) 1995-06-27 1995-06-27 サーボモータの加減速制御装置

Publications (1)

Publication Number Publication Date
WO1997001805A1 true WO1997001805A1 (fr) 1997-01-16

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WO (1) WO1997001805A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3834815B2 (ja) * 2001-12-10 2006-10-18 株式会社安川電機 最適指令作成装置
JP4362762B2 (ja) * 2003-10-29 2009-11-11 株式会社安川電機 サーボ制御装置およびその調整方法
JP6440725B2 (ja) * 2014-09-30 2018-12-19 株式会社牧野フライス製作所 送り軸制御方法および数値制御工作機械

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01108607A (ja) * 1987-10-21 1989-04-25 Kobe Steel Ltd 産業用ロボットのフィードフォワード制御装置
JPH0315911A (ja) * 1989-03-20 1991-01-24 Fanuc Ltd サーボモータのフィードフォワード制御方法
JPH04109305A (ja) * 1990-08-30 1992-04-10 Fanuc Ltd サーボモータ制御方式
JPH04271412A (ja) * 1991-02-26 1992-09-28 Toyoda Mach Works Ltd ディジタルサーボ制御装置
JPH04289904A (ja) * 1991-03-19 1992-10-14 Nec Corp モータの位置制御方式
JPH07123762A (ja) * 1993-10-26 1995-05-12 Matsushita Electric Ind Co Ltd モータドライブ装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01108607A (ja) * 1987-10-21 1989-04-25 Kobe Steel Ltd 産業用ロボットのフィードフォワード制御装置
JPH0315911A (ja) * 1989-03-20 1991-01-24 Fanuc Ltd サーボモータのフィードフォワード制御方法
JPH04109305A (ja) * 1990-08-30 1992-04-10 Fanuc Ltd サーボモータ制御方式
JPH04271412A (ja) * 1991-02-26 1992-09-28 Toyoda Mach Works Ltd ディジタルサーボ制御装置
JPH04289904A (ja) * 1991-03-19 1992-10-14 Nec Corp モータの位置制御方式
JPH07123762A (ja) * 1993-10-26 1995-05-12 Matsushita Electric Ind Co Ltd モータドライブ装置

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JPH0916265A (ja) 1997-01-17
JP3876010B2 (ja) 2007-01-31

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