WO2013136412A1 - 指令生成装置および指令生成方法 - Google Patents

指令生成装置および指令生成方法 Download PDF

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Publication number
WO2013136412A1
WO2013136412A1 PCT/JP2012/056273 JP2012056273W WO2013136412A1 WO 2013136412 A1 WO2013136412 A1 WO 2013136412A1 JP 2012056273 W JP2012056273 W JP 2012056273W WO 2013136412 A1 WO2013136412 A1 WO 2013136412A1
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WO
WIPO (PCT)
Prior art keywords
command
movable shaft
movable
time
axis
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PCT/JP2012/056273
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English (en)
French (fr)
Japanese (ja)
Inventor
仁之 高橋
貴弘 丸下
Original Assignee
三菱電機株式会社
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 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2012/056273 priority Critical patent/WO2013136412A1/ja
Priority to KR1020147020230A priority patent/KR101535046B1/ko
Priority to JP2012539136A priority patent/JP5220241B1/ja
Priority to CN201280069582.8A priority patent/CN104106016B/zh
Priority to TW101129686A priority patent/TWI481977B/zh
Publication of WO2013136412A1 publication Critical patent/WO2013136412A1/ja

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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
    • G05B19/416—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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction

Definitions

  • the present invention relates to a command generation device and a command generation method for generating a command for driving various industrial machines (controlled devices) having a plurality of movable axes such as a mounting machine, a machine tool, an XY table, and a robot arm.
  • the simplest technique for performing a positioning operation so that a plurality of movable axes do not interfere with each other is a method of starting the positioning operation of the own axis after moving the other axes to a position where they do not interfere.
  • the waiting time is reduced while avoiding the interference by reducing the moving speed of the own axis until the other axis retracts to a position where it does not interfere with the other axis. Techniques that enable this are disclosed.
  • the command generation device uses a motor control gain that is optimized and set in advance according to the speed, the moving location, and the moving amount for vibration suppression. Is generated.
  • the moving speed of one of the axes is reduced in order to avoid interference, and thus a preset gain is not appropriate. Therefore, there is a possibility that unintentional vibration may occur in the mounting machine. Further, in an area where it can be determined that there is no interference, acceleration occurs again during the movement, causing vibration. As a result, there is a problem that the settling time of positioning becomes long and the tact time of the controlled device becomes long.
  • the present invention has been made in view of the above, and an object thereof is to obtain a command generation device and a command generation method that realize an interference avoiding operation without changing an operation pattern of a movable shaft.
  • the present invention is a command generation device that generates commands for driving a first movable shaft and a second movable shaft included in a controlled device, respectively. Based on the interference distance between the first movable shaft and the second movable shaft, and the operation pattern of the first movable shaft and the second movable shaft, both movable shafts are operated during operation.
  • a standby time calculation unit for calculating a standby time for delaying the operation start timing of the first movable shaft so that the distance between them is always larger than the interference distance, and the operation based on the operation pattern of the second movable shaft.
  • the operation pattern of the first movable shaft is changed. Based on the command to drive the first movable shaft
  • the starts characterized in that it comprises a command output unit.
  • the command generation device avoids interference between the own axis and the other axis (second movable axis) by delaying the output of the command based on the operation pattern of the own axis (first movable axis). Therefore, the interference avoidance operation can be realized without changing the operation pattern of the movable shaft.
  • FIG. 1-1 is a diagram for explaining the characteristics of the positioning operation performed by the command generation device according to the first embodiment of the present invention.
  • FIG. 1-2 is a diagram for explaining the characteristics of the positioning operation performed by the command generation device according to the first embodiment of the present invention.
  • FIG. 2 is a block diagram of a functional configuration of the command generation device according to the first embodiment of the present invention.
  • FIG. 3A is a diagram for explaining a safety distance used in the first embodiment.
  • FIG. 3-2 is a diagram for explaining the safety distance used in the first embodiment.
  • FIG. 4 is a diagram for explaining the outline of the method for calculating the activation standby time Tw and the principle that the interference between the own axis and the other axis can be avoided.
  • FIG. 1-1 is a diagram for explaining the characteristics of the positioning operation performed by the command generation device according to the first embodiment of the present invention.
  • FIG. 1-2 is a diagram for explaining the characteristics of the positioning operation performed by the command generation device according to the first embodiment of the present
  • FIG. 5 is a diagram illustrating a hardware configuration example of the command generation device according to the first embodiment.
  • FIG. 6 is a flowchart illustrating the command generation method according to the first embodiment.
  • FIG. 7 is a flowchart illustrating the standby time calculation process according to the first embodiment.
  • FIG. 8-1 is a diagram for explaining the safety distance used in the second embodiment.
  • FIG. 8-2 is a diagram for explaining the safety distance used in the second embodiment.
  • FIG. 9 is a block diagram of a functional configuration of the command generation device according to the second embodiment of the present invention.
  • FIG. 10 is a flowchart for explaining the standby time calculation process according to the second embodiment.
  • FIG. 11 is a diagram for explaining how interference is avoided by the command generation device of the second embodiment.
  • FIG. FIGS. 1-1 and 1-2 are diagrams for explaining the characteristics of the positioning operation performed by the command generation device according to the first embodiment of the present invention.
  • the machine (controlled device) to be controlled by the command generation device has two movable axes (hereinafter simply referred to as axes) (own axis and other axes).
  • axes two movable axes
  • FIG. 1-1 shows an operation example when the own axis (first movable axis) and the other axis (second movable axis) move in a direction approaching each other.
  • the safe distance is a predetermined distance between the own axis and the other axis, and is a distance between the own axis and the other axis for avoiding interference.
  • Fig. 1-2 shows an operation example when the other axis moves away from its own axis.
  • the other axis is moving in a direction away from its own axis, even if the distance between the current position of both movable axes and the target position of both movable axes is a distance greater than the safe distance, May interfere with each other.
  • the command generation device of the first embodiment when the other axis moves away from the own axis, the control for avoiding interference is executed. That is, the command generation device according to the first embodiment calculates a standby time for avoiding the own axis from interfering with another axis that is stopped or operating, and reaches the target position of the own axis after the standby time has elapsed. Start positioning.
  • FIG. 2 is a block diagram showing a functional configuration of the command generation device according to the first exemplary embodiment of the present invention.
  • the command generation device 100 includes a startup standby time calculation unit 110, a startup standby unit 120, a command calculation unit 130, and a position update unit 140.
  • the command generation device 100 receives a target position (own axis target position X1 and other axis target position X2), target speed (own axis target speed V1 and other axis target speed V2), and safety distance Ds. Then, the command generation device 100 outputs command speeds (output command speeds vo1, vo2) for each axis to a motor drive control unit 150 such as a servo amplifier.
  • the target position (own axis target position X1 and other axis target position X2) and target speed (own axis target speed V1 and other axis target speed V2) are given from an NC program or the like.
  • the safe distance is the time when the own axis stops in time (can avoid interference) even if the other axis starts to stop due to the user's stop command or error occurrence.
  • the amount of movement (hereinafter referred to as deceleration moving amount) is included.
  • the deceleration moving amount is the moving amount of the movable shaft from the start of the emergency stop to the completion of the stop.
  • FIGS. 3A and 3B are diagrams illustrating the safety distance used in the first embodiment. As shown in the figure, the safety distance is the offset between the axes even when the own axis and the other axis move in a direction approaching each other, or even when the other axis moves in a direction away from the own axis.
  • the deceleration moving amount is defined by the following equation 1.
  • the start standby time calculation unit 110 includes target positions X1 and X2, target speeds V1 and V2, current command positions xo1 and xo2 of each axis calculated by the position update unit 140 inside the command generation device 100, and a safety distance. Based on the operation pattern of the own axis and other axes, the operation start timing of the own axis is set so that the distance between both movable axes is always larger than the safe distance during operation. An activation standby time Tw that is a delay amount delayed from the start timing is calculated.
  • the operation pattern of the own axis is described by a command speed function w1 [t] obtained by time differentiation of the command position function p1 [t] or / and the command position function p1 [t] with the time t as a variable.
  • the operation pattern of the other axis is described by the command position function p2 [t] or / and the command speed function w2 [t] obtained by time differentiation of the command position function p2 [t].
  • the start standby time calculation unit 110 integrates the command speed functions w1 [t] and w2 [t], respectively,
  • the functions p1 [t] and p2 [t] can be obtained, and when the operation pattern is given by the command position functions p1 [t] and p2 [t], the command position functions p1 [t] and p2 [t ] Can be differentiated to obtain command speed functions w1 [t] and w2 [t].
  • the operation pattern of each movable axis is expressed by, for example, a function including a variable other than time t (for example, a function that realizes trapezoidal acceleration / deceleration or a function that realizes S-shaped acceleration / deceleration).
  • Variables other than time t are determined based on the target positions X1 and X2, target speeds V1 and V2, and current command positions xo1 and xo2, and a function describing the operation pattern of each axis is determined.
  • the start standby time calculation unit 110 calculates a time Tb when the distance between the own axis and the other axis is less than the safe distance based on the own axis target position X1 and the command position function p2 [t].
  • the start standby unit 120 and the command calculation unit 130 cooperate to function as the command output unit of the first embodiment.
  • the command output unit starts outputting the command for driving the other axis based on the operation pattern of the other axis, and when the start waiting time Tw has elapsed after starting the output of the command for driving the other axis, Based on the operation pattern, output of a command for driving the own axis is started.
  • the start standby unit 120 delays the output of the start command by the start standby time Tw for the own axis calculated by the start standby time calculation unit 110. That is, the start standby unit 120 outputs a start command for the other axis, and outputs a start command for the own axis when the start standby time Tw elapses after the start command for the other axis is output.
  • the calculated start waiting time Tw is equal to or less than the zero value, when the start command for the other axis is output, the start command for the own axis is immediately output.
  • the command calculation unit 130 receives the start command, the target position, and the target speed, and calculates each axis command speed for each control cycle from the target position and target speed of the corresponding axis after inputting the start command for each axis.
  • the calculated command speed of the own axis is vo1
  • the command speed of the other axis is vo2.
  • the command calculation unit 130 receives the start command for the other axis, it starts outputting the command speed vo2 for each calculation cycle of the other axis, and when it receives the start command for its own axis, Output of the command speed vo1 is started.
  • the position update unit 140 integrates the command velocities vo1 and vo2 output to the respective axes, and calculates the current command positions xo1 and xo2 of the respective axes.
  • the motor drive control unit 150 is, for example, a servo amplifier, and receives command speeds vo1 and vo2 and controls motor drive.
  • the activation standby time calculation unit 110 obtains the time Tb of the intersection of the target position X1 of the own axis and the command position function p2 [t], so that the command position function p2 [t] needs to consider interference. Calculate the category. That is, the time after time Tb is a time segment in which no interference occurs because the own axis and the other axis are separated from each other by more than a safe distance, and time 0 to time Tb are time segments that need to be considered for interference. is there. Next, the activation standby time calculation unit 110 obtains a time Ta at which the command speed of the own axis coincides with the command speed (differentiation of the command position) V of the other axis at time Tb.
  • the activation standby time calculation unit 110 sets the value of Tb ⁇ Ta as the activation standby time Tw.
  • Tw Tb ⁇ Ta (p1 [t ⁇ Tw])
  • the command position function of the own axis and the other axis at time Tb is equal to V
  • the command position function of the own axis and the other axis is in contact with or apart from each other at time Tb (at a safety distance of 0). There is no interference when touching). Accordingly, since the two command position functions do not have an intersection, the activation standby time for avoiding interference can be calculated.
  • FIG. 5 is a diagram illustrating a hardware configuration example of the command generation device 100 according to the first embodiment.
  • the command generation device 100 includes a CPU (Central Processing Unit) 1, a RAM (Random Access Memory) 2, and a ROM (Read Only Memory) 3.
  • the CPU 1, RAM 2 and ROM 3 are connected to each other via a bus line.
  • the ROM 3 is a recording medium that stores in advance a command generation program 4 that executes the command generation method of the first embodiment.
  • the CPU 1 reads out the command generation program 4 from the ROM 3 via the bus line, loads it into the RAM 2, and executes the command generation program 4 loaded in the RAM 2.
  • program modules corresponding to the activation standby time calculation unit 110, the activation standby unit 120, the command calculation unit 130, and the position update unit 140 are generated on the RAM 2.
  • the CPU 1 functions as a corresponding functional component by executing each program module.
  • the command generation program 4 may be provided or distributed via a network such as the Internet. Further, as a recording medium from which the command generation program 4 is loaded, an external storage device, a removable memory device, and an optical disk device can be employed.
  • the activation standby time calculation unit 110 the activation standby unit 120, the command calculation unit 130, and the position update unit 140 are described as being implemented by the CPU 1, that is, software. You may make it implement
  • FIG. 6 is a flowchart for explaining the command generation method according to the first embodiment, which is executed by the command generation device 100.
  • the activation standby time calculation unit 110 includes target positions X1 and X2 and target speeds V1 and V2 that are input from the outside, and current command positions xo1 of each axis that are calculated by the position update unit 140. xo2 is acquired (step S1). Then, the activation standby time calculation unit 110 calculates the difference between the target positions of the own axis and the other axis, and determines whether or not the target position is within the safety distance Ds (step S2).
  • step S2 If the difference between the target position of the own axis and the other axis is less than the safe distance Ds (Yes in step S2), the command generating apparatus 100 cannot execute the movement of the own axis without avoiding interference.
  • the operation start of the shaft is canceled (step S3), and the command generation device 100 ends the operation.
  • the command generation device 100 cancels the start of operation of its own axis, for example, the command generation device 100 prohibits output of a command for driving its own axis, and the command generation device 100 outputs an instruction for driving its own axis. Is prohibited by the command calculation unit 130 not outputting the command speed xo1.
  • the command generation device 100 permits the output of the command for driving the own axis, and the output of the command for driving the own axis is permitted.
  • the command calculation unit 130 can output a command for driving its own axis when receiving a startup command from the startup standby unit 120.
  • the command generation device 100 may execute predetermined error processing such as notifying the operator of an error when canceling the start of operation of the own axis.
  • the activation standby time calculation unit 110 determines whether or not the other axis and the own axis intersect, and also when the other axis and the own axis intersect, step S3. These processes may be executed.
  • the command generation device 100 starts positioning of the other axis (step S4).
  • the start standby time calculation unit 110 outputs a start command for starting the other axis by instructing the start standby unit 120 to the command calculation unit 130, and receives the start command for starting the other axis.
  • the unit 130 calculates and outputs the command speed vo2 of the other axis for each control cycle based on the target position X2 and the target speed V2.
  • the activation standby time calculation unit 110 determines whether or not the other axis is stopped (step S5), and determines whether or not the other axis is moving in a direction away from the own axis (step S6). ) And execute.
  • the activation standby time calculation unit 110 can determine the determinations in step S5 and step S6 based on the difference between the current command position xo2 calculated by the position update unit 140 and the target position xo2.
  • the activation standby time calculation unit 110 sets the activation standby time Tw. A zero value is set (step S7).
  • step S8 When the other axis is moving (No in step S5) and the moving direction of the other axis is a direction away from the own axis (step S6, Yes), the activation standby time calculation unit 110 avoids interference.
  • the waiting time calculation process for calculating the start waiting time Tw of the own axis is executed (step S8).
  • FIG. 7 is a flowchart for explaining the standby time calculation process according to the first embodiment.
  • the activation standby time Tw calculated in step S7 or step S8 is input to the activation standby unit 120.
  • the activation standby unit 120 waits for the activation standby time Tw (step S9). That is, the start standby unit 120 waits until the start standby time Tw elapses after the start command for the other axis is output.
  • the command generation device 100 starts positioning of the own axis (step S10). Specifically, the start standby unit 120 inputs a start command for the own axis to the command calculation unit 130, and the command calculation unit 130 to which the start command for the own axis is input is based on the target speed V1 and the target speed V1. The speed command vo1 is calculated and output. When both the own axis and the other axis reach the target position by positioning, the command generating device 100 ends the operation.
  • the command generation device 100 executes the processing of steps S2 to S8 for each other axis.
  • the process of step S3 is not executed, the interference between the own axis and the other axis can be avoided by executing the process of step S9 using the maximum value of the start waiting time Tw for each other axis. .
  • the safe distance (interference distance) between the own axis (first movable axis) and the other axis (second movable axis), and the operation of the own axis and the other axis.
  • an activation standby time calculation unit 110 that calculates a standby time for delaying the operation start timing of the own axis so that the distance between the two movable axes is always greater than the safe distance during operation, and the other axis
  • the output of the command to drive the other axis is started based on the operation pattern of the first axis, and when the calculated waiting time has elapsed after the start of the output of the command to the other axis, the own axis is changed based on the operation pattern of the own axis.
  • the command generation device 100 Since the command generation device 100 is configured to include the start standby unit 120 and the command calculation unit 130 that function as a command output unit that starts outputting a command to be driven, the command generation device 100 operates the own axis. Directives based on patterns It is possible to avoid interference between its own axis and the other axis by allowed to delay the force, it is possible to realize the interference avoidance operation without changing the operation pattern of the movable shaft.
  • the start standby time calculation unit 110 moves in a direction in which the other axis approaches the own axis or moves in a direction in which the other axis moves away from the own axis based on the target position and the current command position of the own axis and the other axis. If the other axis is moving in the direction approaching its own axis or if the other axis is stopped, the waiting time is set to zero. Thus, when it can be determined that interference cannot be avoided only from the target positions of both movable axes, the start-up waiting time calculation unit 110 can omit the calculation of the waiting time. 100 calculation costs can be reduced.
  • the start standby time calculation unit 110 calculates a time Tb at which the command position p2 [t] matches the sum of the target position of the own axis and the safety distance, and the command speed w1 [t] of the own axis is calculated from the other axis.
  • the time Ta corresponding to the command speed w2 [Tb] is calculated, the time Ta is subtracted from the time Tb, and the value obtained by the subtraction is used as the waiting time.
  • the activation standby time calculation unit 110 determines whether or not the distance between the target positions of both movable axes is larger than the safe distance, and when the distance between the target positions of both movable axes is larger than the safe distance , Functioning as a safety confirmation unit that permits output of a command to drive the own axis and prohibits output of a command to drive the own axis when the distance between the target positions of both movable axes is smaller than the safe distance. Since it did in this way, when it can be judged that interference cannot be avoided only from the target position of both movable axes, the operation of the own axis can be canceled without calculating the standby time.
  • the start-up waiting time calculation unit 110 determines whether or not both movable axes intersect, and if both movable axes do not intersect, permits the output of a command for driving the own axis. In the case of crossing, the output of the command to drive the own axis is prohibited, so even if the distance between both movable axes is longer than the safe distance, when both movable axes intersect Can cancel the operation of its own axis.
  • FIG. The command generation device of the second embodiment can input a value that does not include the deceleration movement amount as the safe distance.
  • 8A and 8B are diagrams illustrating the safety distance used in the second embodiment. As shown in the figure, even when the own axis and the other axis move in a direction approaching each other, or when the other axis moves in a direction away from the own axis, the offset between the axes is the safe distance. used.
  • FIG. 9 is a block diagram illustrating a functional configuration of the command generation device according to the second embodiment of the present invention.
  • the same components and elements as those of the first embodiment are denoted by the same names and reference numerals as those of the first embodiment, and redundant description is omitted.
  • the command generation device 200 includes a startup standby time calculation unit 210, a startup standby unit 120, a command calculation unit 130, and a position update unit 140.
  • the start standby time calculation unit 210 is configured to calculate the target positions X1 and X2, the target speeds V1 and V2, the safe distance, and the current command positions xo1 and xo2 of each axis calculated by the position update unit 140 inside the command generation device 100. Based on the above, the standby time calculation process of the second embodiment is executed.
  • the command position function pd [t] obtained by adding the deceleration amount when the own axis and the other axis are decelerated and stopped according to the deceleration dcc from the command speed w [t]
  • the command A command speed function wd [t] obtained from the differentiation of the position function pd [t] is used. That is, the command position function pd [t] and the command speed function wd [t] are described by the following equations 2 and 3, respectively.
  • wd [t] p [t] ⁇ w [t] 2 / (2 ⁇ dcc) (Formula 2)
  • wd [t] w [t] ⁇ (1 ⁇ w ′ [t] / dcc) (Formula 3)
  • w ′ [t] is a derivative of w [t].
  • FIG. 10 is a flowchart for explaining the standby time calculation process according to the second embodiment.
  • FIG. 11 is a diagram for explaining how interference is avoided by the command generation device 200 of the second embodiment.
  • the deceleration movement amount is set so that the command position function of the other axis and the command position function of the own axis do not intersect. Since the command position function of the own axis is delayed in consideration of the above, interference is avoided.
  • the activation standby time calculation unit 210 adds the function pd1 [t] obtained by adding the deceleration movement amount of its own axis to the command position p1 [t], and the function pd1 [t ] Is obtained by differentiating the function pd1 [t] obtained by time differentiation, the function pd2 [t] obtained by adding the deceleration movement amount of the other axis to the command position p2 [t], and the function pd2 [t].
  • the user can move both movable axes without considering the deceleration movement amount of both axes. Because of entering it allows the offset distance in the stationary state as a safety distance, it is possible to simplify the examination of the set value of the safety distance.
  • the command generation device and the command generation method according to the present invention are suitable for application to a command generation device and a command generation method for generating commands for driving various industrial machines having a plurality of movable shafts. is there.

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PCT/JP2012/056273 2012-03-12 2012-03-12 指令生成装置および指令生成方法 WO2013136412A1 (ja)

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PCT/JP2012/056273 WO2013136412A1 (ja) 2012-03-12 2012-03-12 指令生成装置および指令生成方法
KR1020147020230A KR101535046B1 (ko) 2012-03-12 2012-03-12 지령 생성 장치 및 지령 생성 방법
JP2012539136A JP5220241B1 (ja) 2012-03-12 2012-03-12 指令生成装置および指令生成方法
CN201280069582.8A CN104106016B (zh) 2012-03-12 2012-03-12 指令生成装置以及指令生成方法
TW101129686A TWI481977B (zh) 2012-03-12 2012-08-16 指令產生裝置及指令產生方法

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JP2018101338A (ja) * 2016-12-21 2018-06-28 ファナック株式会社 数値制御装置
JP7494575B2 (ja) 2020-05-29 2024-06-04 ブラザー工業株式会社 制御装置、工作機械、制御方法、及び制御プログラム

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JP5911645B1 (ja) * 2014-05-12 2016-04-27 三菱電機株式会社 位置決め装置
CN110825035A (zh) * 2019-11-28 2020-02-21 苏州威兹泰克软件科技有限公司 多轴设备控制方法、计算设备及存储介质

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