WO2004095683A1 - ツイン同期制御方法 - Google Patents
ツイン同期制御方法 Download PDFInfo
- Publication number
- WO2004095683A1 WO2004095683A1 PCT/JP2004/005617 JP2004005617W WO2004095683A1 WO 2004095683 A1 WO2004095683 A1 WO 2004095683A1 JP 2004005617 W JP2004005617 W JP 2004005617W WO 2004095683 A1 WO2004095683 A1 WO 2004095683A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- axis
- function
- axes
- command
- control method
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/48—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds
- H02P5/485—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds using differential movement of the two motors, e.g. using differential gearboxes
Definitions
- the present invention relates to an applied machine applied to high-speed positioning control of a gantry type machine such as a high-speed transfer machine and other machines, and particularly to a control method for high-speed and high-precision applications.
- a gantry type machine such as a high-speed transfer machine and other machines
- a control method for high-speed and high-precision applications BACKGROUND ART
- so-called gantry type machines that operate in synchronization with two axes have been introduced as high-speed, high-precision transfer machines in the field of industrial machinery.
- an object of the present invention is to provide a twin synchronization method for a machine having a gantry-type structure, which can avoid such a problem and easily realize a high-speed and high-precision operation. .
- the present invention 1 provides a twin synchronous control method for synchronously operating two motors that drive two shafts mechanically fastened by a fastening portion, the method comprising: One axis is operated at low speed by position control, the other axis is followed by a free run to perform origin return, and the positional deviation between the one axis and the other axis is measured at an arbitrary pitch.
- the position deviation corresponding to the position where the vehicle travels is recorded as a function in the database, one position command is distributed as it is to the one axis as the main position command, and the other axis is recorded in the database.
- the operation is performed by distributing as a position command corrected using the function described above.
- the main axis (either of the two axes is possible) is operated at low speed by position control, and the other axis is followed by free run to perform home return by one side drive.
- the deviation between the two axes should be 0 at any position, but in a real machine, the installation error, the mounting error of the position sensor, Since there is always shaft distortion and backlash, there is always a deviation between the two axes depending on the location. Therefore, the deviation between the two axes is automatically measured at an arbitrary pitch and recorded in the database. Even at this time, if two axes are simultaneously operated by speed control and position control at the same time as in the case of home return, the motors of each axis apply stress to the machine side, and the characteristics such as distortion of the machine itself cannot be grasped. Therefore, during measurement, the main axis is operated at a low speed by position control, and the other axis is followed by a free run to measure the deviation between the two axes. Do.
- one position command is distributed to two axes as a main position command.
- the main position command to be distributed is distributed as it is to the first axis, and for the other axes, the function recorded in the database is used, the main position command is used for input, and the output is used.
- Main position command One function output value Position command of other axis (Position command of the second axis) That is, the position command is distributed taking into account the correction considering the twist, and distributed.
- the present invention 2 is characterized in that the deviation measured at the arbitrary pitch is output by performing a linear interpolation process inside the function.
- the deviation measured at an arbitrary pitch is arbitrarily changed according to the moving distance.
- the present invention 3 is characterized in that the position command to the other axis advances the phase of the correction value by using the traveling speed as a parameter.
- the function of using the traveling speed as a parameter to advance the phase of the correction value is used. Perform synchronization control.
- the present invention 4 provides a function for detecting a position of the center of gravity of the fastening portion, generating a function of inertia compensation for each axis by using the position signal as an input, and calculating the inertia compensation gain at the position of the center of gravity of the fastening portion. It is characterized in that the required torque calculated based on the acceleration obtained from the position command of the two axes and the mass of each axis is added to the torque command.
- FIG. 1A and 1B show a configuration according to an embodiment of the present invention, wherein FIG. 1A is a front view, FIG. 1B is a side view, and FIG. 1C is a plan view.
- FIG. 2 is a control block diagram according to the first embodiment of the present invention.
- FIG. 3 is a flowchart showing a procedure for generating a torsional correction function in the first embodiment of the present invention.
- FIG. 4 is a diagram illustrating an example of an output of a twist correction amount according to the first embodiment of the present invention.
- FIG. 5 is a diagram showing a relationship between a main position command, a main torque command, and a correction-side torque command in the first embodiment of the present invention without torsion correction.
- FIG. 6 is a diagram illustrating a relationship between a main position command, a main torque command, and a correction-side torque command when torsion correction is performed in the first embodiment of the present invention.
- FIG. 7 is a 'broadness correction control block diagram according to the second embodiment of the present invention.
- FIG. 8 is a detailed explanatory diagram of generation of the inertia correction gain in the second embodiment of the present invention.
- FIG. 9 is a diagram illustrating a relationship between a main position command, a main torque command, and a correction-side torque command in a case where no inertia correction control is performed in the second embodiment of the present invention.
- FIG. 10 is a diagram showing the relationship between the main position command, the main torque command, and the correction-side torque command when the inertia correction control is performed in the second embodiment of the present invention.
- 1 is a controller
- 2, 2-1, 2-2 are Servo Drives 3 is a mover
- 4 is a stator
- 5 is a linear scale
- 6 is a fastening jig
- 7-1 is 1 Axis motor
- 7-2 Axis 2 motor
- 11 Main position command generator
- 12 Interpolator
- 13 Phase lead compensator
- 14 Torsion correction value generator
- 1 5 16 are differential operation units
- 17 is a scale conversion unit
- 18 is a gain amplifier
- 21 is a position loop control unit
- 22 is a speed loop control unit
- 23 is a current loop control unit
- 24 is a linear unit.
- 3 1 is the main position command generator
- 3 2 is the interpolator
- 33 and 3 are the differential calculators
- 35 and 37 are the inertia calculators
- 36 is y 1-axis torque FF compensator
- 38 is y 2-axis torque FF compensation section
- 39 is an X-axis position detection section
- 40 is an inertia compensation gain generation function section
- 41 and 42 are inertia compensation sections.
- FIGS. 1A and 1B show a configuration of a first embodiment in which the present invention is constructed using a lower motor, wherein FIG. 1A is a front view, FIG. 1B is a side view, and FIG. 1C is a plan view.
- 1 is a controller
- 2 is a servo drive
- 3 is a mover
- 4 is a stator
- 5 is a linear scale
- 6 is a fastening jig for mechanically fastening two axes.
- FIG. 2 is a control block diagram of the present embodiment.
- the controller 1 includes a main position command generation unit 11, an interception unit 12, a phase lead compensation unit 13, a torsional correction value generation function unit 14, a differentiation operation unit 15, 16, a Skeinole conversion unit 17, and a gain amplifier 18.
- the servo drives 2-1 and 2-2 each include a position loop control unit 21, a speed loop control unit 22, a current loop control unit 23, and a power loop.
- 7-1 is the motor for the first axis
- 7-2 is the motor for the second axis
- 24 is the lower scale that detects the mover position of the motors 7-1 and 7-2.
- a main position command is generated by a main position command generation unit 11 and is interpolated by an intercepting unit 12, whereby the main position command is momentarily changed.
- the main position command generated as the main axis and the position command are differentiated by the second-order time in the two-stage differential calculation units 15 and 16, and the scale conversion unit Perform scale conversion in 17 and multiply by gain K tff in gain amplifier 18. This generates T—FF (Torque Feed Forward).
- FIG. 3 is a flowchart showing a procedure for generating a torsion correction function in the torsion correction value generation function unit 14.
- Step 1 Return to origin
- the first axis, the main axis, is position-controlled, and the second axis, the other axis, is returned to the home position by free-run.
- Step 2 Measurement of torsional data between two axes
- the deviation between the two axes (position 1 on axis 8 – position 8 on axis 2) is automatically measured at an arbitrary pitch and recorded in a database. Even at this point, if two axes are simultaneously operated by speed control and position control at the same time as in home return, the characteristics of the machine itself, such as distortion, cannot be grasped because the motor of each axis applies stress to the machine side. . Therefore, when measuring, the main axis (either of the two axes) is operated at low speed by position control, and the other axis is followed by free-run to measure the deviation between the two axes.
- Step 3 Function of torsional data
- FIG. 4 is a graph of the torsional correction amount measured by the procedure specifically shown in FIG.
- A is the amount of torsion actually measured by attaching a laser displacement gauge to the machine
- B is the amount of torsion measured by the procedure shown in Fig. 3. Since the above-mentioned offset amount is added, the offset is offset by that amount. However, it can be seen that the amount of torsion of the machine can be accurately measured by the method shown in FIG.
- FIG. 5 and 6 show the relationship between the main position command, the main torque command, and the correction-side torque command.
- FIG. 5 shows an example in which the method of the present embodiment is not used, and FIG. This is an example using the method of (1).
- Fig. 6 it can be seen that the deviation between the two axes is remarkably improved to about 1/3.
- a second embodiment of the present invention will be described.
- FIG. 7 is a block diagram of a controller according to the second embodiment of the present invention.
- the controller 1 includes a main position command generation unit 31, an interpolation unit 32, differential operation units 33 and 34, inertia operation units 35 and 37, and an yl-axis torque FF (feed Forward) Compensation section 36, y 2-axis torque FF compensation section 38, X-axis position detection section 39, inertia compensation gain generation function section 40, and inertia compensation sections 41, 42 ing.
- FF feedforward
- the X-axis movement position is grasped by the X-axis position detection unit 39, and the position signal is input, and the inertia compensation source generation function unit is used.
- the slope of the inertia compensation gain Kt ffx is based on the change in the load applied to the shaft due to the change in the center of gravity. That is, when the object on the X-axis moves, the center of gravity of the X-axis changes, and the load applied to Yl, Y2 changes. Therefore, the correction is performed based only on the change.
- the slope is calculated by first subtracting the neutral position of the X-axis from the current position of the X-axis and multiplying by an adjustment coefficient, that is, a coefficient for adjusting the output torque correction amount and the actual overall torque command to match. Then, in order to incline the value according to the position of Yl and ⁇ 2 axis according to the position of the X axis, for ⁇ 1, subtract from 1.0 and for ⁇ 2, as shown in Fig. 8. 1. By adding 0, the inertia compensation coefficients K tffy 1 and K tffy 2 for the ⁇ 1 and ⁇ 2 axes are generated.
- the inertial compensation units 41 and 42 calculate the masses Wwy1 'and Wwy2' of the Yl and Y2 axes when the X axis moves, based on the following equations.
- Wwy 1 and Wwy 2 are the masses of the Y 1 axis and the Y 2 axis before movement.
- the actual torque FF command is generated by the main position command generation unit 31, and the main position command interpolated by the interpolation unit 32 is second-order differentiated by the two-stage differential calculation units 33 and 34 to generate the acceleration aref .
- the acceleration ref, the mass Wwy 1 ', Wwy 2 after the movement of the Y1 and ⁇ 2 axes, the mass Wt of the fastening jig 6, the mass Wm of the motor, and the load
- the torque required for operation is calculated by the following equation.
- one of the two axes is operated at a low speed by position control, and the other axis is followed by free-run to perform home position return.
- Measure the position deviation of the axis with an arbitrary pitch record the position deviation corresponding to the position where the one axis travels in a database as a function, and use one position command as the main position command as it is on the one axis
- twin-synchronous control capable of realizing high-speed, high-precision operation is facilitated. Can be realized.
- a function for detecting the position of the center of gravity of the fastening portion preparing a function for generating an inertia compensation gain for each axis by using the position signal as an input, changing the inertia compensation gain at the position of the center of gravity of the fastening portion,
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Position Or Direction (AREA)
- Paper (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/553,287 US7292002B2 (en) | 2003-04-22 | 2004-04-20 | Control method for twin synchronization |
DE112004000639T DE112004000639T5 (de) | 2003-04-22 | 2004-04-20 | Steuerverfahren für eine Doppelsynchronisation |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-117287 | 2003-04-22 | ||
JP2003117287A JP4258262B2 (ja) | 2003-04-22 | 2003-04-22 | ツイン同期制御方法及び装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004095683A1 true WO2004095683A1 (ja) | 2004-11-04 |
Family
ID=33308028
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/005617 WO2004095683A1 (ja) | 2003-04-22 | 2004-04-20 | ツイン同期制御方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7292002B2 (ja) |
JP (1) | JP4258262B2 (ja) |
KR (1) | KR100987853B1 (ja) |
CN (1) | CN100385785C (ja) |
DE (1) | DE112004000639T5 (ja) |
TW (1) | TWI276935B (ja) |
WO (1) | WO2004095683A1 (ja) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NO20075383A (no) * | 2007-10-22 | 2008-10-13 | In Motion As | Regulering av tyngre maskiner |
JP2010159146A (ja) * | 2009-01-09 | 2010-07-22 | Canon Machinery Inc | 搬送装置 |
JP2011010533A (ja) * | 2009-05-25 | 2011-01-13 | Yaskawa Electric Corp | モータ制御装置及びモータ制御システム |
CN102201766A (zh) * | 2010-03-22 | 2011-09-28 | 东元电机股份有限公司 | 马达驱动器 |
CN101976083B (zh) * | 2010-10-19 | 2011-12-07 | 上海海事大学 | 四轴驱动电动小车多电机定位协调控制系统 |
CN102468790A (zh) * | 2010-10-28 | 2012-05-23 | 东元电机股份有限公司 | 一种电机驱动装置 |
CN102487261B (zh) * | 2010-12-02 | 2014-04-16 | 上海微电子装备有限公司 | 具有附加转矩补偿功能的双边驱动系统及方法 |
CN102298357B (zh) * | 2011-03-28 | 2012-09-19 | 中国科学院沈阳计算技术研究所有限公司 | 基于现场总线的cnc双轴协调式同步控制方法 |
CN103219930A (zh) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | 用于双电机驱动轴回原点的方法 |
KR101347921B1 (ko) * | 2012-10-25 | 2014-01-07 | 미쓰비시덴키 가부시키가이샤 | 서보 제어 장치 |
WO2016002076A1 (ja) * | 2014-07-04 | 2016-01-07 | 三菱電機株式会社 | 位置決め制御装置の同期制御設定方法 |
JP6384195B2 (ja) | 2014-08-20 | 2018-09-05 | 株式会社安川電機 | ロボットシステムおよびロボット教示方法 |
EP3457247B1 (en) * | 2016-05-10 | 2023-01-04 | Panasonic Intellectual Property Management Co., Ltd. | Motor control system |
WO2018110601A1 (ja) * | 2016-12-13 | 2018-06-21 | 川崎重工業株式会社 | ロボットの教示方法 |
CN107482958B (zh) * | 2017-09-04 | 2019-10-25 | 武汉理工大学 | 基于二自由度机械伺服高速精冲机双电机协同控制方法 |
CN116683811B (zh) * | 2023-05-23 | 2024-07-26 | 深圳市杰美康机电有限公司 | 双轴一体驱动器同步控制方法及装置 |
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JPH11305839A (ja) * | 1998-04-21 | 1999-11-05 | Fanuc Ltd | 複数のサーボモータの制御方法 |
JP2001154737A (ja) * | 1999-11-29 | 2001-06-08 | Yokogawa Electric Corp | 位置決め装置とその原点復帰方法 |
JP2001242937A (ja) * | 2000-03-01 | 2001-09-07 | Sharp Corp | ステージ装置 |
JP2001353677A (ja) * | 2000-06-16 | 2001-12-25 | Mitsubishi Electric Corp | ロボット制御装置 |
JP2002126947A (ja) * | 2000-10-20 | 2002-05-08 | Kanzaki Kokyukoki Mfg Co Ltd | 同期駆動による歯車仕上げ加工方法 |
JP2003025178A (ja) * | 2001-07-11 | 2003-01-29 | Yaskawa Electric Corp | 同期制御装置 |
Family Cites Families (5)
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US4249704A (en) * | 1978-04-25 | 1981-02-10 | Mitsubishi Denki Kabushiki Kaisha | Automatic taping apparatus |
JPS6152178A (ja) * | 1984-08-20 | 1986-03-14 | Yaskawa Electric Mfg Co Ltd | 電動機の周期運転制御方式 |
US4714400A (en) * | 1986-04-14 | 1987-12-22 | Ibm Corporation | Plural robotic drive |
JPH01217604A (ja) * | 1988-02-26 | 1989-08-31 | Fanuc Ltd | 同期制御方式 |
JP2899075B2 (ja) * | 1990-06-29 | 1999-06-02 | 三菱電機株式会社 | 同期駆動装置および同期駆動方法 |
-
2003
- 2003-04-22 JP JP2003117287A patent/JP4258262B2/ja not_active Expired - Fee Related
-
2004
- 2004-04-20 WO PCT/JP2004/005617 patent/WO2004095683A1/ja active Application Filing
- 2004-04-20 KR KR1020057019860A patent/KR100987853B1/ko active IP Right Grant
- 2004-04-20 CN CNB2004800107446A patent/CN100385785C/zh not_active Expired - Fee Related
- 2004-04-20 DE DE112004000639T patent/DE112004000639T5/de not_active Ceased
- 2004-04-20 US US10/553,287 patent/US7292002B2/en not_active Expired - Lifetime
- 2004-04-22 TW TW093111263A patent/TWI276935B/zh not_active IP Right Cessation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH11305839A (ja) * | 1998-04-21 | 1999-11-05 | Fanuc Ltd | 複数のサーボモータの制御方法 |
JP2001154737A (ja) * | 1999-11-29 | 2001-06-08 | Yokogawa Electric Corp | 位置決め装置とその原点復帰方法 |
JP2001242937A (ja) * | 2000-03-01 | 2001-09-07 | Sharp Corp | ステージ装置 |
JP2001353677A (ja) * | 2000-06-16 | 2001-12-25 | Mitsubishi Electric Corp | ロボット制御装置 |
JP2002126947A (ja) * | 2000-10-20 | 2002-05-08 | Kanzaki Kokyukoki Mfg Co Ltd | 同期駆動による歯車仕上げ加工方法 |
JP2003025178A (ja) * | 2001-07-11 | 2003-01-29 | Yaskawa Electric Corp | 同期制御装置 |
Also Published As
Publication number | Publication date |
---|---|
TWI276935B (en) | 2007-03-21 |
DE112004000639T5 (de) | 2006-04-13 |
KR20060003030A (ko) | 2006-01-09 |
JP2004326252A (ja) | 2004-11-18 |
TW200500826A (en) | 2005-01-01 |
CN100385785C (zh) | 2008-04-30 |
JP4258262B2 (ja) | 2009-04-30 |
KR100987853B1 (ko) | 2010-10-13 |
CN1778031A (zh) | 2006-05-24 |
US20070067052A1 (en) | 2007-03-22 |
US7292002B2 (en) | 2007-11-06 |
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