WO2003100536A1 - Numerical value control device synchronization control method - Google Patents

Numerical value control device synchronization control method Download PDF

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Publication number
WO2003100536A1
WO2003100536A1 PCT/JP2003/005854 JP0305854W WO03100536A1 WO 2003100536 A1 WO2003100536 A1 WO 2003100536A1 JP 0305854 W JP0305854 W JP 0305854W WO 03100536 A1 WO03100536 A1 WO 03100536A1
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Prior art keywords
control
axis
synchronous
axes
position control
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PCT/JP2003/005854
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French (fr)
Japanese (ja)
Inventor
Yasuyuki Takei
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Kabushiki Kaisha Yaskawa Denki
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    • 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
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • 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
    • G05B2219/50218—Synchronize groups of axis, spindles

Definitions

  • the present invention relates to a synchronous control: ⁇ in which the same position command is simultaneously issued to a plurality of control axes to perform synchronous control between multiple axes.
  • an object of the present invention is to improve the degree of similarity by eliminating the difference between students in a restaurant by simple ISM.
  • claim 1 of the invention of the synchronous control method of the number of fibers is set in accordance with the invention, a position command is issued to the tins control axis for a plurality of motor control devices having independent position control units for each axis.
  • This is a numerical control device having a position command output unit that outputs the same position command to multiple Shuki motor controllers at the same time, and performs position synchronization independently by tin motor control devices to perform inter-synchronous control.
  • the inter-record synchronization control according to claim 2; the other invention is a position control unit that outputs a position command to a plurality of control axes at the same time, and a position control unit that performs the position of each control axis.
  • Multi-axis synchronous control in which the same position command is simultaneously issued to a plurality of control axes and position control is performed independently by the control axes to perform multi-axis synchronous control.
  • FIG. 1 shows a block diagram of a synchronous control method for a numerical controller according to the present invention.
  • a description will be given of a synchronous axis having a delay time Td such as a delay between the synchronous reference axis and the position detector.
  • the synchronous axis has a delay time ⁇ d other than the delay of the tiriB position control, such as the delay of the position detector.
  • the forward path will have a phase force corresponding to the delay of the feedback due to the effect of the feedback.
  • FIG. 1 shows a block diagram of a synchronous control method for a numerical controller according to the present invention.
  • Numeral 1 denotes a numerical controller
  • numerals 2 and 2 denote motor controllers that control the motors
  • numerals 6 and 6 denote motors
  • numerals 7 and 7 denote detectors that detect the positions of the motors 6 and 6 ', respectively.
  • the numerical controller 1 has a position command output unit 3 which outputs a position command to a plurality of synchronized control axes simultaneously.
  • the motor control device 2 includes a position control unit 4 for controlling the motor 2 according to a position command from the position command output unit 3 and a drive control unit for controlling the motor 6 according to a speed command output from the position control unit 4. 5 and a! _ Tg element 8 obtained from the position detection value of the motor 6 from the detector 7, and furthermore, the position control unit 4 has a formula according to the present invention based on the first delay element 8 based on the first ig element 8. There is a first position control loop gain 9 obtained by (1).
  • a position control unit 4 ′ for controlling the motor 2 ′ according to a position command from the position command output unit 3 and a speed command output from the position control unit 4 ′ are provided. Accordingly, there is a drive control unit 5 for controlling the motor 6 ′, and a second delay element 10 obtained by the position detection value of the motor 6 from the detector 7 ′.
  • a second position control loop gain 9' determined by equation (1) according to the present invention based on the second delay; '
  • the same position command is simultaneously issued from the position command output unit 3 to the plurality of motor controllers 2, 2 '.
  • the position control loop gain calculated from the delay of each motor control device using equation (1) is calculated for each position. Set the position control gain of the control unit to 9 or 11.
  • the position controller 4 of the motor controller 2 controls the motor 6 with the set position control gain 9 (Kp 1), and the position gfM controller 4 of the motor controller 2, sets the position control gain 1 1 ( ⁇ ⁇ 2) controls motor 6 ,.
  • a motor control device having a position control unit independent for each control axis, and a position command output unit for simultaneously outputting position commands to a plurality of tir control axes.
  • a synchronous control method for a numerical control device the same position command is simultaneously issued to a plurality of tins motor control devices, and the position is independently controlled by a knitting motor control device to perform multi-axis synchronous control. Since the synchronous adjustment is performed for the delay time of the position control unit of the m control axis by correcting the position control loop gain based on Equation (1), the control cycle of the position control unit, There is a difference in the detection cycle of the position detector. This has the effect of improving the synchronization accuracy of the synchronization control of ⁇ .

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  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

A numerical value control device synchronization control method for improving a synchronization accuracy of synchronization control when the position control section has a different control cycle and the position detector has a different detection cycle. In the synchronization control method of a numerical value control device (1) having a position instruction output section (3) for outputting a position instruction of the control axes to a plurality of motor control devices (2, 2’) having position control sections (4, 4’) independent for each of the control axes, the same position instruction is simultaneously instructed to the plurality of motor control devices (2, 2’), so that they are position-controlled independently from each other so as to perform inter-axes synchronization control and position control loop gains (9, 11) are corrected, considering the delay of the position control sections (4, 4’) of the respective control axes.

Description

数値制御装置の同期制御方法  Synchronous control method for numerical controller
[技術分野]  [Technical field]
本発明は、 同じ位置指令を同時に複数の制御軸に指令し、 多軸間の同期制御を行う 同期制御:^に関する。  The present invention relates to a synchronous control: ^ in which the same position command is simultaneously issued to a plurality of control axes to perform synchronous control between multiple axes.
[背景技術]  [Background technology]
多軸間の同期制御 には、 同じ位置指令を同時に複数の制御軸に指令し、各制御 軸の制御ゲインを同一にして、 各々独立して位置制御を行う方式と、 特開 2 0 0 1— 7 2 3 6 5号公報に見られる特定のマスタ軸に追従するマスタ一スレーブ方式がある。 前者の^:は、 特別な装置も不要であることと、 同期する全軸の位置制御ループゲイ ンを同一の設定値とし、位置制御部の応答特性を合わせることだけで、 高レ、同期精度 を実現できるため、 1つの軸を 2つのモータで制御するガントリ一運^、 主軸同士 の同期 ¾fe等で広く使用されている。  For synchronous control between multiple axes, there is a method in which the same position command is simultaneously issued to a plurality of control axes, the control gain of each control axis is made the same, and position control is performed independently of each other. — There is a master-slave system that follows a specific master axis as disclosed in Japanese Patent Application Laid-Open No. 7 2 365. The former ^: means that no special device is required, and that the position control loop gain of all axes to be synchronized is set to the same set value and the response characteristics of the position control unit are adjusted to achieve high levels and high synchronization accuracy. Because it can be realized, it is widely used for gantry operation, in which one axis is controlled by two motors, and for synchronizing the main axes.
ところが、 藤己制難の位離御部の制御周期や、位置検出器の検出周期の違いなどで、 藤己位離 I胸 プゲインを同 直に設定しても、観ではある力 ¾tfia位麟卿部の)^ 特 I·生が異なることがあった。すなわち、異なる觀の検出器の^、検出タイミングに十 数X s禾號の差が生じることがあり、例えば、 5 0 s ]の検出タイミング差がある検 出器を有した制御軸間にて同期制御を行った ¾^、速度 1 0 0 0 0 [ r Zm i n]では 3. o の同期誤差を生じる。 However, due to differences in the control period of the position control unit and the detection period of the position detector in the case of Fujimi's difficulties, even if the Fujimi position I chest gain is set in the same way, a certain force 力 tfia position (Lord's) ^ Special I · Students may be different. That is, there may be a difference of more than 10 Xs in the detection timing of the detectors of different views, for example, between control axes having detectors having a detection timing difference of 50 s]. When the synchronous control is performed, a synchronous error of 3.o occurs at a speed of 100 [00] [rZmin].
«、 ISS答特性の差による同期精 差は、許^ m差範囲以内であつたが、同期速 度、 同期精度の向上に伴い、 ttfisi^ttf"生の差を «できなくなつている。  «The synchronization accuracy due to the difference in the ISS response characteristics was within the permissible difference range, but with the improvement of the synchronization speed and synchronization accuracy, the difference in ttfisi ^ ttf“ raw ”has become impossible.
動 m¾¾の向上や、システム構成上の制約などで、同期制御を行う制御軸において異な る «の制御装置、検出器を^ fflする ¾ ^も少なくなく、同期精度向上のための新たな技 術が求められている。  Due to improvements in dynamic m¾¾ and restrictions on the system configuration, the number of different control devices and detectors on the control axis that performs synchronization control is often ^ ffl ¾ ^, a new technology for improving synchronization accuracy Is required.
[発明の開示]  [Disclosure of the Invention]
' そこで本発明は、廳 答榭生の差を簡単な ISM ^解消することによって、同¾»度を 向上させることを目的とする。  'Therefore, an object of the present invention is to improve the degree of similarity by eliminating the difference between students in a restaurant by simple ISM.
上記問題 決するため、請求項 1纖の数ィ離鹏置の同期制御方法の発明は、 啣 軸毎に独立した位置制御部を有する複数のモータ制御装置に対して tins制御軸に位置指 令を出力する位置指令出力部を有する数値制御装置であって、同じ位置指令を同時に複数 の肅己モータ制御装置に指令し、 tin己モータ制御装置で独立に位織御して 間同期制 御を行う数値制御装置の同期制御旅にお！/、て、膽&&制御軸 f立置 Φ卿部の に 対し、数式 ( 1 )に基づいて位 脚^ "プゲインを #IEすることによって同期誰を行 うことを ί敷とする。 (1) To solve the above problem, claim 1 of the invention of the synchronous control method of the number of fibers is set in accordance with the invention, a position command is issued to the tins control axis for a plurality of motor control devices having independent position control units for each axis. This is a numerical control device having a position command output unit that outputs the same position command to multiple Shuki motor controllers at the same time, and performs position synchronization independently by tin motor control devices to perform inter-synchronous control. On a journey of synchronous control of numerical controllers! /, & 膽 & 立 立 立 軸 軸 軸 軸 軸 軸 同期 同期 軸 同期 同期 同期 、 同期 、 、 同期 、 、 、 、 、 数 式 数 式 数 式 数 式 数 式 数 式 数 式 数 式 数 式 数 式 数 式 数 式. (1)
+1 請求項 2記載の録間同期制御;^去の発明は、同時に複数の制御軸に位置指令を出力す る 置指令出力部とともに、各制御軸 虫立した位婦啣を行なう位離御部を有し、同 じ位置指令を同時に複数の制御軸に指令して制御軸で独立に位置制御して多軸間同期制 御を行う多軸間同期制御:^去において、廳路制鐘の位齢卿の遅 寺間に対し、 ^ +1 The inter-record synchronization control according to claim 2; the other invention is a position control unit that outputs a position command to a plurality of control axes at the same time, and a position control unit that performs the position of each control axis. Multi-axis synchronous control in which the same position command is simultaneously issued to a plurality of control axes and position control is performed independently by the control axes to perform multi-axis synchronous control. Against the late lord of the temple, ^
( 1 )に基づ、て位 御ノ プゲインをネ SIEすることによつて同期,を行うことを特 徴とする。 Based on (1), synchronization is achieved by performing SIE on the control gain.
[図面の簡単な説明]  [Brief description of drawings]
図 1は本発明の数値制御装置の同期制御方法のプロック図を示している。  FIG. 1 shows a block diagram of a synchronous control method for a numerical controller according to the present invention.
[発明を実施するための最良の形態]  [Best Mode for Carrying Out the Invention]
以下に本発明の数式 (1) について説明する。 Hereinafter, the equation (1) of the present invention will be described.
説明を簡単にするため、 同期の基準軸と位置検出器の遅れなどの遅れ時間 T dがあ る同期軸の場合にっレ、て説明する。  For the sake of simplicity, a description will be given of a synchronous axis having a delay time Td such as a delay between the synchronous reference axis and the position detector.
まず、 基 «の位置制御ループゲインを Kpとした 、 Κρによる位置制御の遅 れ時間 Τρは、 数式 （2) によって求められる。  First, assuming that the basic position control loop gain is Kp, the delay time 位置 ρ of the position control by Κρ is obtained by Expression (2).
······ (2) ' 同期軸の位置制御ループゲインが ΚΡの場合、 同様に、 同期軸の位置制御部の遅れ 時間は τρとなる。 ところが、 同期軸には、 位置検出器の遅れなど、 tiriB位置制御の 遅れ以外の遅れ時間を τ dがある。 ...... (2) 'when the position control loop gain of the synchronization shaft is kappa [rho, similarly, the delay time of the position control section of the synchronizing shaft becomes Tauro. However, the synchronous axis has a delay time τ d other than the delay of the tiriB position control, such as the delay of the position detector.
一般にフィードバック制御系のフィードバックパス内に遅れがあると、 フィードバ ックの効果で前向きのパスがブイ一ドバックの遅れに相当する分だけ位相力 ¾iむこと になる。  In general, if there is a delay in the feedback path of the feedback control system, the forward path will have a phase force corresponding to the delay of the feedback due to the effect of the feedback.
tiff己位置制御部の遅れが τ Pであるから、 is位置制御部全体の遅れ時間は τ p一Since the delay of the position control unit is τ P , the delay time of the entire is position control unit is τ p
Tdとなり、 tiff己位置制御部の実質の位置制御ループゲイン Κρ" は、数式 (3) で 示されるように、 よりも大きくなる。Td, and the actual position control loop gain Κρ ”of the tiff self-position control unit becomes larger as shown in Expression (3).
D,= -^— (3)  D, =-^ — (3)
TP- d T P - d
しだがつて、 l己位置制御部全体から見た Sift己実質の位置制御ノ プゲインを K p とするためには、 制御系全体を遅らせる必要がある。  However, in order to set the position control knob gain of Sift self viewed from the whole position control unit to K p, it is necessary to delay the whole control system.
位置制御ノ^ "プゲインを下げると制御系が遅れるので、 (2) を遅れ時間 Td に相当する時間だけ遅らせればよい。 すなわち、 補正後の位置制御ループゲインを K ' とすると、 数式 （4) となるので、 その両辺の をとることにより数式 (1) となり、結局、数式（ 1 )で示す位置制御ノ! ^"プゲインで制御すればよいこととなる。 図 1は、 本発明の数値制御装置の同期制御方法のプロック図を示している。 If the position control gain is lowered, the control system is delayed. Therefore, it is sufficient to delay (2) by the time corresponding to the delay time Td. That is, if the corrected position control loop gain is K ′, the following equation is obtained. ), The equation (1) is obtained by taking the values of the two sides, and eventually, the position can be controlled by the position control gain shown in the equation (1). FIG. 1 shows a block diagram of a synchronous control method for a numerical controller according to the present invention.
1は数値制御装置、 2、 2， は各モータを«するモータ制御装置、 6、 6， はモ ータ、 7、 7， はそれぞれモータ 6、 6 ' の位置を検出する検出器である。  Numeral 1 denotes a numerical controller, numerals 2 and 2 denote motor controllers that control the motors, numerals 6 and 6 denote motors, and numerals 7 and 7 denote detectors that detect the positions of the motors 6 and 6 ', respectively.
数値制御装置 1内には位置指令出力部 3があり、 この位置指令出力部 3は同期する 複数の制御軸に対し同時に位置指令を出力する。  The numerical controller 1 has a position command output unit 3 which outputs a position command to a plurality of synchronized control axes simultaneously.
モータ制御装置 2内には、 位置指令出力部 3からの位置指令に従ってモータ 2を制 御する位置制御部 4と、位置制御部 4から出力される速度指令に従ってモータ 6を制 御する駆動制御部 5と、 検出器 7からのモータ 6の位置検出値によって求められた第 !_遅 t g素 8とがあり、 さらに位置制御部 4内には第 1遅 ig素 8に基づき本発明に よる数式 ( 1 ) によって求めた第 1位置制御ノレ—プゲイン 9がある。  The motor control device 2 includes a position control unit 4 for controlling the motor 2 according to a position command from the position command output unit 3 and a drive control unit for controlling the motor 6 according to a speed command output from the position control unit 4. 5 and a! _ Tg element 8 obtained from the position detection value of the motor 6 from the detector 7, and furthermore, the position control unit 4 has a formula according to the present invention based on the first delay element 8 based on the first ig element 8. There is a first position control loop gain 9 obtained by (1).
同じく、 モータ制御装置 2 ' 内には、 位置指令出力部 3からの位置指令に従ってモ -ータ 2 ' を制御する位置制御部 4 ' と、 位置制御部 4 ' 力 ら出力される速度指令に従 つてモータ 6 ' を制御する駆動制御部 5， と、 検出器 7 ' からのモータ 6， の位置検 出値によつて求められた第 2遅れ要素 1 0とがあり、 さらに位置制御部 4 ' 内には第 2遅;^素 1 2に基づき本発明による数式 ( 1 ) によって求めた第 2位置制御ループ ゲイン 9 ' がある。 . '  Similarly, in the motor control device 2 ′, a position control unit 4 ′ for controlling the motor 2 ′ according to a position command from the position command output unit 3 and a speed command output from the position control unit 4 ′ are provided. Accordingly, there is a drive control unit 5 for controlling the motor 6 ′, and a second delay element 10 obtained by the position detection value of the motor 6 from the detector 7 ′. Within 'is a second position control loop gain 9' determined by equation (1) according to the present invention based on the second delay; '
まず、 3の位置指令出力部から複数のモータ制御装置 2， 2 ' に対し、 同じ位置指 令が同時に指令される。  First, the same position command is simultaneously issued from the position command output unit 3 to the plurality of motor controllers 2, 2 '.
モータ制御装置 2、 2 ' には、各々異なる遅 素 8、 1 0を持っているため、各々 のモータ制御装置の遅 素から数式 ( 1 ) を用いて計算した位置制御ループゲイン を各々の位置制御部の位置制御ノ^ "プゲイン 9、 1 1に設定する。  Since the motor control devices 2 and 2 'have different delays 8 and 10, respectively, the position control loop gain calculated from the delay of each motor control device using equation (1) is calculated for each position. Set the position control gain of the control unit to 9 or 11.
モータ制御装置 2の位置制御部 4は、設定された位置制御ノトプゲイン 9 (Kp 1 ) でモータ 6を制御し、 またモータ制御装置 2 , の位 gfM御部 4 , は、 設定された位置 制御ノトプゲイン 1 1 (Κ Ρ 2 ) でモータ 6 , を制御する。 The position controller 4 of the motor controller 2 controls the motor 6 with the set position control gain 9 (Kp 1), and the position gfM controller 4 of the motor controller 2, sets the position control gain 1 1 (Κ Ρ 2) controls motor 6 ,.
このようにすることにより、位置制御部の制御周期や、 位置検出器の検出周期の違 いがある:^の同期制御の同期精度を向上することが可能となる。  By doing so, there is a difference in the control cycle of the position control unit and the detection cycle of the position detector: it is possible to improve the synchronization accuracy of the synchronization control of ^.
隱上の利用可能  Secret use available
以上、 述べたように、 本発明によれば、 制御軸毎に独立した位置制御部を有するモー タ制御装置と、 同時に複数の tir 制御軸に位置指令を出力する位置指令出力部と、 を 有する数値制御装置であって、 同じ位置指令を同時に複数の tinsモータ制御装置に指 令し、 編己モータ制御装置で独立に位置制御して多軸間同期制御を行う数値制御装置 の同期制御方法において、 m制御軸の位置制御部の遅れ時間に対し、数式（1 ) に基づレ、て位置制御ループゲインを補正することによつて同期調整を行なうので、位 置制御部の制御周期や、位置検出器の検出周期の違いがある ¾ ^の同期制御の同期精 度を向上する効果がある。 As described above, according to the present invention, there are provided a motor control device having a position control unit independent for each control axis, and a position command output unit for simultaneously outputting position commands to a plurality of tir control axes. In a synchronous control method for a numerical control device, the same position command is simultaneously issued to a plurality of tins motor control devices, and the position is independently controlled by a knitting motor control device to perform multi-axis synchronous control. Since the synchronous adjustment is performed for the delay time of the position control unit of the m control axis by correcting the position control loop gain based on Equation (1), the control cycle of the position control unit, There is a difference in the detection cycle of the position detector. This has the effect of improving the synchronization accuracy of the synchronization control of ^.

Claims

請求の範囲 1 - 制御軸毎に独立した位置制御部を有する複数のモータ制御装置に対して tin己制御 軸に位置指令を出力する位置指令出力部を有する数値制御装置であって、 同じ位置指 令を同時に複数の tiifBモータ制御装置に指令し、 ίίίΙΒモータ制御装置で独立に位置制 御して多軸間同期制御を行う数値制御装置の同期制御方法にお！/、て、 ΐ½·制御軸の位置制御部の遅れ時間に対し、 数式 （1 ) に基づいて位置制御ノ！^ - プゲインを補正することによつて同期調整を行うことを特徴とする数値制御装置の同 期制御方法。 1 Claims 1-A numerical controller having a position command output unit for outputting a position command to a self-controlled axis for a plurality of motor controllers having independent position control units for each control axis, wherein the same position finger is provided. Command to multiple tiifB motor controllers at the same time, and ίίίΙΒ a synchronous control method for a numerical controller that performs multi-axis synchronous control by controlling the position independently with the motor controller! / ,, ΐ½ · Position control based on equation (1) for the delay time of the position control unit of the control axis! ^-A synchronous control method for a numerical control device, wherein synchronous adjustment is performed by correcting gain. One
( 1 ) (1)
Figure imgf000006_0001
Figure imgf000006_0001
数式 （1 ) において、  In equation (1),
Κ ρは所望の応答特性を得るための基準軸の位置制御ループゲイン  Ρ ρ is the position control loop gain of the reference axis to obtain the desired response characteristics
T dは位置制御の遅れ以外の遅れ時間、  T d is a delay time other than the position control delay,
K p ' は補正後の位置制御ループゲイン、 をそれぞれ示す。  K p ′ represents the position control loop gain after correction.
2. 同時に複数の制御軸に位置指令を出力する位置指令出力部とともに、各制御軸に 独立した位置制御を行なう位置制御部を有し、 同じ位置指令を同時に複数の制御軸に 指令して制御軸で独立に位置制御して多軸間同期制御を行う多軸間同期制御方法にお いて、 2. It has a position command output unit that outputs position commands to multiple control axes at the same time, and a position control unit that performs position control independently for each control axis. The same position command is simultaneously issued to multiple control axes for control. In a multi-axis synchronous control method in which position control is independently performed on axes to perform multi-axis synchronous control,
廳路制御軸の位置制御の遅れ時間に対し、数式（1 ) に基づいて位置制御ループ ゲインを補正することによって同期調整を行うことを特徴とする多軸間同期制御: ^去。  Synchronous adjustment is performed by correcting the position control loop gain based on equation (1) with respect to the delay time of the position control of the restaurant control axis.
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