WO2002077730A1 - Machine de finition multibroche et procede de commande de son moteur - Google Patents

Machine de finition multibroche et procede de commande de son moteur Download PDF

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Publication number
WO2002077730A1
WO2002077730A1 PCT/JP2001/002494 JP0102494W WO02077730A1 WO 2002077730 A1 WO2002077730 A1 WO 2002077730A1 JP 0102494 W JP0102494 W JP 0102494W WO 02077730 A1 WO02077730 A1 WO 02077730A1
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WO
WIPO (PCT)
Prior art keywords
speed
axis
pattern
time
target
Prior art date
Application number
PCT/JP2001/002494
Other languages
English (en)
Japanese (ja)
Inventor
Tomoaki Hachiya
Hirochika Takahashi
Masashi Nakayama
Yuuichi Komazawa
Original Assignee
Technowave, Inc.
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 Technowave, Inc. filed Critical Technowave, Inc.
Priority to PCT/JP2001/002494 priority Critical patent/WO2002077730A1/fr
Publication of WO2002077730A1 publication Critical patent/WO2002077730A1/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
    • 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • 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
    • G05B2219/42175—Velocity, speed points, profile and corresponding acceleration, delta v
    • 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
    • G05B2219/50001—Multislides, multispindles with multitool turret for each

Definitions

  • the present invention relates to a multi-axis machine capable of drawing the same trajectory regardless of whether the speed is low or high, a control method for the motor, and a software for realizing the method.
  • a general control method for a multi-axis processing machine such as a panel molding machine
  • the operation of a plurality of servo motors provided for each axis is independently processed for each step, and each axis is moved from a step start position to a target position.
  • This method creates interpolation data that moves at a constant speed from the beginning to the end until the position.
  • acceleration / deceleration processing is required to operate smoothly.
  • a filter method is generally used as a method of the acceleration / deceleration processing.
  • FIG. 1 shows, as an example, a movement trajectory in the case of moving 100 mm in the X direction from P0 to P1 and then moving 100 mm in the Y direction from P1 to P2.
  • the velocity trajectory of each axis without interpolation processing first moves 100 mm at a constant speed in the X-axis direction, and then moves 100 mm at a constant speed in the Y-axis direction.
  • it is a trajectory that immediately reaches the target speed from the current position and then becomes zero speed at the target position.
  • this kind of speed discontinuous trajectory is actually impossible due to the load on the motor.
  • the X axis accelerates from the current position, becomes constant after reaching the target speed, and then shifts to deceleration stop operation. It reaches the target position at speed 0 Draw a trapezoidal speed trajectory.
  • the deceleration stop operation of the X axis starts, it is superimposed on this and the Y axis is also operated with the trapezoidal speed trajectory similar to the X axis to reach the target position.
  • the speed trajectory shown by the broken line in Fig. 3 (a) shows the case where the speed is reduced to 50% of the constant speed trajectory (speed 100%) shown by the solid line, and acceleration and deceleration stop.
  • the moving distance S1 indicated by the triangular area at the time is 1 / 2S as compared with the case of 100% speed.
  • an inadvertent stop check mode or an in-position check mode is used. This is a function that starts the operation of the next step after confirming whether the axis has completely stopped or whether the servo deviation of the axis has become sufficiently small at each step. In this case, it is not affected by the acceleration and deceleration of the filter system, and the trajectory does not change depending on the speed. However, the tact time becomes unnecessarily long, which is a problem in productivity.
  • the present invention has been made to solve the above problems, and The goal is to create the same trajectory at low and high speeds by creating interpolation data so that the speed is continuous, given the speed and the target position of each axis for each step. It is intended to provide a method for controlling a motor in a multi-axis machine.
  • the invention described in claim 1 is to sequentially drive the motors provided on each axis of the multi-axis processing machine to sequentially reach the target position and attach each axis to each axis.
  • a motor control method characterized by performing trapezoidal speed interpolation.
  • the invention described in claim 2 is a case where a sequence of data including a position, a speed, and an acceleration is input, and at least the position data specified in all steps in the sequence is input and necessary data is missing.
  • the method for controlling a motor according to claim 1, wherein the method is automatically determined.
  • the pattern of each step is stopped at the time when the target position is reached, and the second pattern is not stopped at the time when the target position is reached.
  • the invention described in claim 4 is characterized in that in the first pattern of the first period, the time for accelerating or decelerating from the current speed to the target speed, the time for moving at the target speed, the time for decelerating from the target speed to speed 0, In the second pattern, it is assumed that two times, that is, an initial acceleration / deceleration operation time and a constant speed operation time, are used as data.
  • the input to the function for calculating the target position can be performed instead of the actual elapsed time itself, so that even if the acceleration / deceleration processing is changed to the virtual internal time, reproducibility of the trajectory accuracy can be achieved. I can do it.
  • This means that the advantages of the conventional filter method can be enjoyed by adopting the filter method as the internal time acceleration / deceleration method.
  • the above-mentioned method realized by software is the invention described in claims 5 to 8.
  • the invention described in claim 6 is a case where a sequence of data consisting of a position, a velocity, and an acceleration, at least the position data specified in all steps in the sequence is input and necessary data is missing.
  • the invention according to claim 7 is characterized in that, in the trapezoidal speed interpolation, the pattern of each step is a first pattern that stops when the target position is reached, and a second pattern that does not stop when the target position is reached.
  • the invention described in claim 8 is characterized in that in the first pattern in the first period, a time for accelerating or decelerating from the current speed to the target speed, a time for moving at the target speed, a time for decelerating from the target speed to speed 0, The three times are used as data, and in the second pattern, two times, that is, the time of the initial acceleration / deceleration operation and the time of the constant speed operation, are used as data.
  • the software described. Further, the invention described in claims 9 to 12 is a multi-axis machine capable of realizing the above method or equipped with the software.
  • the invention described in claim 9 is a multi-axis machining in which a motor provided on each axis is sequentially driven so that each axis sequentially reaches a target position and a workpiece is machined by a tool attached to each axis.
  • the machine controls each motor to perform trapezoidal speed interpolation, in which the speed of each axis is sequentially determined as a piecewise linear function so that the speed change to its target position is continuous.
  • This is a multi-axis processing machine.
  • the invention described in Claim 10 is an input of a sequence of data consisting of position, velocity, and acceleration, wherein at least the position data specified in all steps in the sequence is input, and necessary data is missing.
  • the invention according to claim 11 is characterized in that, in the trapezoidal speed interpolation, the first pattern in which the pattern of each step stops when reaching the target position, and the second pattern in which the pattern does not stop when reaching the target position.
  • the multi-axis processing machine according to claim 9 or claim 10 wherein the multi-axis processing machine is processed by being divided into two patterns.
  • the invention described in Claims 1 and 2 is characterized in that in the first pattern of the first period, the time for accelerating or decelerating from the current speed to the target speed, the time for moving at the target speed, and the time for decelerating from the target speed to speed 0
  • the three patterns are used as data
  • in the second pattern two times, that is, the time of the initial acceleration / deceleration operation and the time of the constant speed operation, are used as data.
  • 11 is a multi-axis processing machine.
  • FIG. 1 is a graph showing the movement locus of the XY axis.
  • FIG. 2 is a graph showing the velocity trajectory of the XY axis when the interpolation processing is not performed.
  • FIG. 3 (a) is a graph showing the velocity trajectory of the XY axis adopting the interpolation method by the conventional filter method
  • FIG. 3 (b) is a graph showing the movement trajectory.
  • FIG. 4 (a) is a graph showing the velocity trajectory of the XY axis adopting the interpolation method according to the present invention
  • FIG. 4 (b) is a graph showing the same trajectory.
  • FIG. 5 is a block diagram showing a system configuration of a spring forming machine to which the method of the present invention is applied.
  • FIG. 6 is a block diagram showing the contents of the software.
  • FIG. 7 is an explanatory diagram showing a screen configuration by the software.
  • FIG. 8 is a flowchart showing the entire calculation processing by the software.
  • FIGS. 9 (a), (b) and (c) are graphs showing trapezoidal speed interpolation techniques.
  • FIG. 10 is a flowchart showing details of a calculation processing method for one step by the software.
  • FIG. 11 is a flowchart continued from FIG. 10.
  • FIG. 12 is a flowchart following FIG. 11. o
  • FIGS. 13 (a), (b) and (c) are graphs for explaining the linear interpolation method.
  • FIG. 14 is a time chart showing the operation characteristics of each axis by the above calculation processing.
  • FIG. 5 is a system diagram showing a hardware configuration when the present invention is applied to a spring forming machine.
  • 1 is a spring forming machine
  • 2 is a controller for operating the spring forming machine 1 according to a predetermined program procedure.
  • the controller 2 is connected to the personal computer 4 via the IZO port 3 and sequentially drives the spring forming machine 1 in accordance with a program # 5 generated by software built in the personal computer 4.
  • Reference numeral 5 in the figure is a teaching box for manual input such as axis selection and speed selection, which is connected to the operation panel 2 via the I / O port 3 and is operated by a manual operation such as a manual pulse handle. , And the molding machine 1 is operated.
  • a plurality of tool units 14 for cutting and bending 0 are radially arranged around the supply quill 1 2 for supplying the wire W so as to be able to advance and retreat toward the tile 1 2.
  • This is a multi-axis machine in which a tool holding plate 16 provided with multiple tools for left and right winding and bending can be moved forward and backward toward the tile 12, and the wire W supplied from the quill 12 is programmed. It is added according to the content.
  • molding machines 1 have, for example, 8-axis tools, and each axis has the following axis And the relationship between the action and the action are set.
  • the software built in the personal computer 4 is software that runs on an OS having a GUI environment such as Window 95, 98, 2000, WindowNT, OS2, and Macintosh Kanji Talk, and has various means shown in FIG. It is the content.
  • the image display means 401 for displaying in a table and a graphic format on the display screen of the personal computer 4 and the axis symbol for the operator to input in an input field formed on the image using a mouse, a keyboard, or the like.
  • a conversion means 406 for converting the obtained operation program into command data of each axis by code, and an instruction for execution to the controller 2 by an operator operating an execution key.
  • the instruction means 407 and the like are included in the contents.
  • the operator starts up the software, specifies the machining shape element with the mouse in an interactive manner, and repeats the key input of numerical values sequentially along the display screen, thereby driving each step according to the numerical input.
  • a program is generated.
  • FIG. 7 shows the actual screen configuration of the above software.
  • This screen displays a menu bar, title bar, toolbar, etc. at the top of the display screen, similar to the normal Windows screen, and the first table 20 and the right at the upper left inside.
  • a first graphic display column 22 in which the figure and the description of each part are described is displayed, a second table 24 is displayed in the lower part, and a second graphic display column 26 is also displayed.
  • Table 20 shows the case where the operator specifies the dimensions by inputting numerical values while actually specifying the processing shape elements.
  • Step numbers 01, 02, 03 Are displayed in a column, and the contents of the command and the associated feed length, forming direction, bending 11, bending angle, OD (s), OD (E), number of turns, forward / reverse LR, core metal LR are displayed at the top of the horizontal axis.
  • the items such as, winding sensor, etc. are displayed in a horizontal row.
  • the inside enclosed by these vertical and horizontal lines is separated by vertical and horizontal ascending lines with the inside as a description column.
  • the first figure display field 22 displays the side view and the front view of the quill 12 and the parameters of the machining shape element. In this figure, the parameters on the same screen are changed and displayed every time the machining shape element is selected. .
  • the second table 24 is automatically converted into the operation program related to the first table 20, and the actual axis drive numbers 001, 002, 00 3.
  • the axes are displayed in columns on the left side, labels, full synchronization, speed, and displays from 1 to 8 axes, and the axis names and home positions HP below them are displayed in rows at the top of the display.
  • the operation is automatically converted into the movement and moving distance of each axis for each step after the conversion operation, and displayed.
  • Each of Tables 20 and 24 displays horizontal and vertical scroll bars along the vertical direction on the right side of the screen, and can be moved by the cursor.
  • the second graphic display field 26 is not normally displayed, but when the shape display button in the task bar is clicked with a mouse, a diagram of the processed shape according to the input content is displayed in a three-dimensional graphic.
  • the molding machine 1 is driven in accordance with the contents of the program to produce a spring having a shape corresponding to the input contents.
  • the program contents include the contents that cannot be executed, a warning is issued and the setting is made so that the program cannot be executed.
  • a warning is issued and the setting is made so that the program cannot be executed.
  • This is the case, for example, in the case where the three-dimensional shape of the spring obtained as a result of instructing the bending of each part protrudes to the back side of the quill 12 and interferes with the face plate, or has a size or position where each tool cannot reach.
  • correction processing such as rewriting the numerical value is performed again, and if the result is correct, execution becomes possible.
  • FIG. 8 shows the overall calculation processing procedure in the above software.
  • the maximum speed of each axis is read from the parameter file (ST)
  • This step is initialized as the first step, the current position is set to the home position, the current speed is set to 0 (ST3 to ST5), and the calculation processing for one step is performed (ST6).
  • trapezoidal speed interpolation means that the current position and the current speed are known, the sequence of the target position and the target speed is given, and the speed is assumed to be continuous assuming that the acceleration of each axis is specified.
  • the speed change up to each target position in the sequence is determined sequentially as a piecewise linear function.
  • Fig. 9 shows the operation for one step of continuous speed data to be output by trapezoidal speed interpolation.
  • (a) shows a time chart for one step before the interpolation processing, in which the vertical axis represents speed and the horizontal axis represents time.
  • the first is, as shown in (b), a pattern in which the speed is 0 when the vehicle reaches the target position, that is, the pattern temporarily stops (hereinafter referred to as the first pattern), and the next target position on that axis is the current target position. It is used when it is not changed or the direction of movement is reversed.
  • the second is a pattern in which the vehicle is moving at the target speed without stopping when it reaches the target position (hereinafter referred to as the second pattern) as shown in (c), and the next target position is also the current pattern. Used when it is in the same direction as the movement direction.
  • three times are prepared as data: time to accelerate or decelerate from the current speed to the target speed, time to move at the target speed, and time to decelerate from the target speed to speed 0.
  • the three are referred to as an initial acceleration / deceleration operation, a constant speed operation, and a deceleration stop operation, respectively.
  • the fact that the time data of the deceleration stop operation is 0 can be used as an expression of the second pattern.
  • the current position and current speed used when moving to the target position of the next step in the series are the target position and speed of the current step as 0. Is determined.
  • the current position and current speed used when moving to the target position of the next step in the sequence are determined as the target position of this step and the target speed of this step.
  • the speed has a positive or negative sign determined by the moving direction of the current step.
  • the moving direction is determined, and accordingly, the target speed is determined with a plus or minus sign.
  • the speed difference is determined with positive and negative signs.
  • the acceleration for accelerating or decelerating is determined. If the time data is 0, it means that acceleration or deceleration is unnecessary, and the acceleration may be indefinite.
  • the acceleration to decelerate is determined. If the time data is 0, it means that deceleration is not required, and the acceleration is not fixed.
  • the instantaneous target position can be calculated by the second-order piecewise polynomial at most.
  • the processing for one step described here is based on the given current position, current speed, target position and speed given the initial acceleration / deceleration operation, constant speed operation, deceleration stop operation time, and target speed used during constant speed operation. It is an algorithm that is automatically determined from the acceleration and acceleration.
  • FIGS. 10 to 12 show the more detailed calculation processing procedure in ST6 in the method described above.
  • the method of the present invention calculates the moving direction from the target value of the current step and the target value of the next step.
  • the acceleration is the maximum acceleration of each axis. (ST102).
  • ST104 select the first pattern (ST104) (set the bit of the first pattern), If NO, the second pattern (ST 105) is selected (pits of the second pattern are formed).
  • the travel time of the deceleration stop operation is calculated from the target speed and the acceleration, then the speed difference is calculated from the target speed and the current speed, and the travel time of the initial acceleration / deceleration operation is calculated from the speed difference and the acceleration. I do.
  • the moving distance of the initial acceleration / deceleration operation is calculated from the initial speed, acceleration, and moving time by the formula of uniform acceleration movement (ST106), and the moving distance of the deceleration / stop operation is also calculated (ST107).
  • the acceleration is adjusted to the maximum acceleration of the motor as described above, it is constant, and the target speed is given, so that the above calculation can be easily executed.
  • the moving distance of the constant speed operation is calculated from the results of STs 106 and 107 (ST 108), and the moving time of the constant speed operation is calculated from the results (ST 109).
  • each procedure in the processing for one step is performed for each axis. Therefore, in the case of the spring forming machine 1, the processing is performed for a total of eight axes.
  • the time required for the deceleration stop operation, the distance required for the deceleration operation, and the moving distance at a constant speed are calculated (ST113).
  • the entire distance is operated at a constant speed (ST114).
  • the moving time of the constant speed operation is calculated from the distance and speed of the constant operation obtained in any of the patterns (ST115).
  • one of the first and second patterns is determined (ST119).
  • the target speed in the first pattern is obtained (ST120).
  • the method of obtaining the target speed in the case of the first pattern is based on a method of obtaining a solution of the following equations (1) to (4).
  • Moving distance (known) Moving distance of initial acceleration / deceleration operation (unknown)
  • Moving distance (known) Moving distance of initial acceleration / deceleration operation (unknown)
  • FIG. 13 shows a process for drawing a trajectory moving from the position A to the position B in, for example, an XY table.
  • both the X axis and the Y axis are simultaneously displayed.
  • the initial acceleration time and deceleration stop time are different on the X-axis and Y-axis, it moves from position A to position B,
  • the trajectory is not a straight line, and the trajectory is not a straight line as shown by the broken line in (a). Therefore, as shown in (c), the initial acceleration / deceleration time This is because the movement trajectory from position A to position B can be made a straight line by synchronizing the motion and the deceleration stop time on the XY axis.
  • the acceleration in the initial acceleration / deceleration operation and the acceleration / deceleration stop operation does not always coincide with the maximum acceleration.
  • step 125 the calculation is automatically re-calculated while reducing the target speed at an appropriate step (ST 125), and the calculation from ST 102 in FIG. 10 is repeated again. If NO in ST122, that is, if not linear interpolation, the process jumps to step 124. This is the case where the trajectory from the point A to the point B described above may or may not be a straight line, that is, it is only necessary that the target positions coincide. Also in this case, it is determined whether or not there is an error as described above, and whether or not recalculation is necessary (ST124). If NO, the calculation for one step is completed, and the next step is performed. Move on to the calculation process.
  • FIG. 14 shows the operating characteristics of each axis by the above calculation process, in which the vertical axis represents speed and the horizontal axis represents time.
  • trapezoidal The operation characteristics of the second pattern in which the acceleration and deceleration are continuous are repeated, and the operation of the first pattern is performed in the final step, and the speed reaches zero.
  • the command data for each axis can be generated by specifying the shape while confirming the shape on the Windows screen and inputting a numerical value.
  • the shape can be generated by specifying the shape while confirming the shape on the Windows screen and inputting a numerical value.
  • the setup time can be greatly reduced.
  • FIGS. 4 (a) and (b) show the velocity trajectory and the movement trajectory of the XY axis when the method of the present invention is used.
  • the present invention is also applicable to other multi-shaft plastic working machines using a lot of camshafts and the like, and further to general multi-shaft processing machines. .

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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)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Numerical Control (AREA)

Abstract

L'invention porte sur une machine de finition multibroche destinée à usiner une pièce au moyen d'outils fixés à des broches respectives et entraînés séquentiellement par des moteurs sur chaque broche de la machine de façon à permettre à ces broches d'atteindre de manière séquentielle des positions cibles. Cette machine se caractérise en ce que des moteurs sont commandés de manière que les vitesses des broches soient soumises à une interpolation trapézoïdale selon laquelle les variations de vitesse jusqu'aux positions cibles sont déterminées comme fonction linéaire sectionnelle de manière à obtenir des vitesses continues. Les données utilisées dans la commande des moteurs sont des séquences de données comprenant la position, la vitesse et l'accélération, et ces données se caractérisent en ce qu'au moins les données de positions utilisent, comme entrée, des données qui sont désignées dans toutes les étapes de la séquence et sont automatiquement déterminées lorsque des données nécessaires manquent.
PCT/JP2001/002494 2001-03-27 2001-03-27 Machine de finition multibroche et procede de commande de son moteur WO2002077730A1 (fr)

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PCT/JP2001/002494 WO2002077730A1 (fr) 2001-03-27 2001-03-27 Machine de finition multibroche et procede de commande de son moteur

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59199135A (ja) * 1983-04-26 1984-11-12 Morita Tekkosho:Kk コイルばねのピツグテイル成形方法およびこれを実施するための装置
JPH05324046A (ja) * 1992-05-18 1993-12-07 Mitsubishi Electric Corp 多系統数値制御方法及びその装置
JPH10323731A (ja) * 1997-05-23 1998-12-08 Asahi Seiki Mfg Co Ltd ばね成形装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59199135A (ja) * 1983-04-26 1984-11-12 Morita Tekkosho:Kk コイルばねのピツグテイル成形方法およびこれを実施するための装置
JPH05324046A (ja) * 1992-05-18 1993-12-07 Mitsubishi Electric Corp 多系統数値制御方法及びその装置
JPH10323731A (ja) * 1997-05-23 1998-12-08 Asahi Seiki Mfg Co Ltd ばね成形装置

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