WO2017158932A1 - 機械運動軌跡測定装置 - Google Patents
機械運動軌跡測定装置 Download PDFInfo
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- WO2017158932A1 WO2017158932A1 PCT/JP2016/084562 JP2016084562W WO2017158932A1 WO 2017158932 A1 WO2017158932 A1 WO 2017158932A1 JP 2016084562 W JP2016084562 W JP 2016084562W WO 2017158932 A1 WO2017158932 A1 WO 2017158932A1
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- motion trajectory
- sensor signal
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- acceleration sensor
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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
- G05B19/404—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 arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/12—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2717/00—Arrangements for indicating or measuring
-
- 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
- G05B2219/37—Measurements
- G05B2219/37388—Acceleration or deceleration, inertial measurement
-
- 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
- G05B2219/37—Measurements
- G05B2219/37392—Motion
-
- 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
- G05B2219/37—Measurements
- G05B2219/37493—Use of different frequency band pass filters to separate different signals
Definitions
- the present invention relates to a machine motion trajectory measuring apparatus for measuring a motion trajectory of a mechanical device such as a numerically controlled machine tool, an industrial machine, a robot, or a conveyor.
- the servo control device is a device that performs control using an actuator so that the position of a driven body that is a drive target detected using a position detector matches a command position.
- a mechanical device having a multi-degree of freedom such as a two-dimensional plane or a three-dimensional space such as a numerically controlled machine tool, an industrial machine, a robot, or a conveyor has a servo control device called an axis of one degree of freedom. Have multiple.
- an actuator attached to each axis drives and controls a driven body of each axis.
- the mechanical device combines these axial motions to achieve multi-degree-of-freedom mechanical motion.
- trajectory control Servo control performed so that the motion trajectory accurately follows the command trajectory that is the commanded path. If a response error occurs in the servo controller of each axis due to disturbance factors such as friction generated during trajectory control or mechanical structure vibration generated during trajectory control, the motion trajectory of the driven body deviates from the command trajectory. A trajectory error occurs.
- Patent Documents 1, 2, and 3 disclose a method for measuring and detecting a machine motion trajectory.
- this displacement is read when an arc motion is performed to keep the relative distance between two steel balls coupled via a displacement detector constant.
- This measuring method is called a ball bar method and is widely used.
- the general ball bar method two steel balls are mechanically connected, and the displacement of the moving bar is measured with a displacement sensor, thereby measuring the trajectory error during arc movement with an accuracy of several micrometers. it can.
- Patent Document 2 detects either the speed or acceleration of a control target, and compares any of the detected speed or acceleration with a planned speed or acceleration, thereby detecting a trajectory error. Detect outbreaks.
- Patent Document 2 discloses a method for suppressing a trajectory error by feeding back a speed or acceleration component of the detected trajectory error.
- Patent Document 3 discloses a method for estimating the motion trajectory of a driven body by second-order integration of the acceleration of the driven body when performing sinusoidal motion using one or more axes. Further, Patent Document 3 discloses a method for estimating a motion trajectory with high accuracy by changing a sensitivity coefficient so that an error that occurs during integration does not exceed a threshold value.
- the motion accuracy test method disclosed in Patent Document 1 has a problem that a measurable locus is limited to an arc.
- the position of the rotation center is calculated in advance to set up the apparatus, and the installation position of one sphere is matched with the rotation center at the time of trajectory measurement. There is a problem that it takes time and effort to set up.
- the method for suppressing the trajectory error disclosed in Patent Document 2 there is no limit on the measurable trajectory.
- the locus error suppression method disclosed in Patent Document 2 since the occurrence of an error is detected using acceleration or velocity, there is a problem that the amount of locus error from the command locus of the driven body cannot be obtained. Further, in the locus error suppression method disclosed in Patent Document 2, the locus error can be suppressed by feeding back acceleration or velocity.
- the trajectory error suppression method disclosed in Patent Document 2 can suppress trajectory errors by feeding back acceleration or velocity, but has a problem that it cannot be used for parameter adjustment of other trajectory error suppression methods.
- Another trajectory error suppression method is a correction method that suppresses trajectory errors derived from friction, which is called lost motion using a friction model or stick motion.
- the motion trajectory estimation method disclosed in Patent Document 3 has a problem that measurable trajectories are limited to arc trajectories, elliptical trajectories, and spherical trajectories that can be realized by combining sine waves or sine waves.
- the accuracy of the relative motion trajectory between two points on the movable side and the fixed side may be important. More specifically, in a machine in which a tool is mounted on the fixed side of a casting, which is a mechanical structure, and the servo controller for each axis and the workpiece are mounted on the casting, the workpiece is contour controlled. Then, the process of removing the material from the workpiece is performed by causing the tool and the workpiece to interfere with each other. In such a case, the driving reaction force generated by the reaction of the driving force of the shaft that is the movable part is transmitted to the fixed side via the mechanical structure, and deformation or vibration may occur on the fixed side. Therefore, it is necessary to measure the relative motion trajectory between the movable side and the fixed side.
- the methods disclosed in Patent Documents 1 to 3 have a problem that the measurement accuracy is low because the relative locus error on the fixed side cannot be taken into consideration.
- the present invention has been made in view of the above, and an object thereof is to obtain a mechanical motion trajectory measuring apparatus capable of measuring a trajectory error in an arbitrary motion trajectory with high accuracy with a simple setup.
- the mechanical motion trajectory measuring apparatus of the present invention has an actuator, and the position of the actuator or the driven state is such that the motion trajectory of the driven body follows the command trajectory.
- a machine motion trajectory measuring device that feeds back a detected position signal output from a position detector that detects the position of the body and measures the motion trajectory of the mechanical device that drives the actuator, and measures the acceleration of the motion trajectory measurement object
- an acceleration sensor that outputs the acceleration sensor signal
- a sensor signal separation unit that separates the acceleration sensor signal into two or more frequency bands.
- the machine movement trajectory measuring device separates the detected position signal into the same frequency band as the sensor signal separating unit, the acceleration sensor signal separated by the sensor signal separating unit, and the detected position signal separating unit.
- a data calibration unit that calibrates an acceleration sensor signal in each of two or more frequency bands using the detected detection position signal to obtain a motion trajectory component of each of the two or more frequency bands, and two or more frequencies
- a motion trajectory calculation unit that combines the motion trajectory components of the bands and outputs the motion trajectory components is provided.
- FIG. 1 is a perspective view of a machine movement trajectory measuring apparatus and a numerically controlled machine tool according to a first embodiment.
- 1 is a diagram showing a machine motion trajectory measuring apparatus according to a first embodiment, a numerically controlled machine tool to which the machine motion trajectory measuring apparatus according to the first embodiment is applied, and a servo control device. Configuration diagram of the motor drive section shown in FIG.
- a plot of the operation trajectory at the detector position, the motion trajectory to be controlled, and the command trajectory during arc motion on the xy plane The figure which shows the acceleration waveform of the x-axis direction when noise does not exist, and the displacement amount of the x-axis direction calculated from the acceleration.
- trajectory error in xy plane on the conditions similar to FIG. The figure which shows the acceleration waveform of the x-axis direction in case noise exists, and the displacement amount of the x-axis direction calculated from the acceleration
- Configuration diagram of the data calibration unit shown in FIG. Configuration diagram of the motion trajectory calculation unit shown in FIG.
- FIG. 4 The figure which shows the machine motion locus measuring apparatus which concerns on Embodiment 4, the numerical control machine tool to which the machine motion locus measuring apparatus which concerns on Embodiment 4 is applied, and a servo control apparatus.
- the block diagram of the data calibration part with which the mechanical-motion-trajectory measuring apparatus which concerns on Embodiment 5 is provided
- FIG. 1 is a perspective view of a machine motion trajectory measuring apparatus and a numerically controlled machine tool according to the first embodiment.
- FIG. 2 is a diagram showing a detailed configuration of the x-axis drive mechanism shown in FIG. 1 and a configuration of a servo control device that controls the operation of the x-axis drive mechanism.
- a numerically controlled machine tool 99 shown in FIG. 1 is an example of an object whose machine motion trajectory measuring apparatus measures a mechanical motion trajectory.
- the numerically controlled machine tool 99 is a vertical three-axis vertical machine tool, and has a machine structure called a C column structure.
- the numerically controlled machine tool 99 includes a gantry 21, a saddle 24 installed on the gantry 21 and driven in the y-axis direction, a work table 4 installed on the saddle 24, and fixed to the gantry 21 and above the gantry 21. And a column 5 extending.
- a ram 6 is attached to the column 5, and a workpiece 17, which is an object for measuring a movement locus, is installed on the work table 4.
- the numerically controlled machine tool 99 is an x-axis drive mechanism 15x that is an actuator that is attached to the saddle 24 and drives the work table 4 in the x-axis direction, and an actuator that is attached to the mount 21 and drives the saddle 24 in the y-axis direction.
- a y-axis drive mechanism 15y and a z-axis drive mechanism 15z, which is an actuator attached to the column 5 and driving the ram 6 in the z-axis direction, are provided.
- the x-axis drive mechanism 15x includes an x-axis motor 1x, a feed screw 2x that is a feed shaft driven by the x-axis motor 1x, and a rotation angle detector 3x that detects a rotation angle of the feed screw 2x.
- the y-axis drive mechanism 15y includes a y-axis motor 1y, a feed screw 2y that is a feed shaft driven by the y-axis motor 1y, and a rotation angle detector 3y that detects a rotation angle of the feed screw 2y.
- the z-axis drive mechanism 15z includes a z-axis motor 1z, a feed screw 2z driven by the z-axis motor 1z, and a rotation angle detector 3z that detects a rotation angle of the feed screw 2z.
- the work table 4 is driven by the x-axis drive mechanism 15x, and the saddle 24 and the x-axis drive mechanism 15x installed thereon are driven by the y-axis drive mechanism 15y.
- the ram 6, the main shaft 7 and the tool 16 are driven by the z-axis drive mechanism 15 z attached to the column 5, and the workpiece 17 is machined by the tool 16.
- FIG. 2 shows a detailed configuration of the x-axis drive mechanism 15x shown in FIG. 1, and shows a servo control device 101 for controlling the position of the driven body in the x-axis direction.
- FIG. 2 shows only the configuration of the x-axis drive mechanism 15x among the three drive mechanisms shown in FIG.
- the configurations of the y-axis drive mechanism 15y and the z-axis drive mechanism 15z are the same as the configurations of the x-axis drive mechanism 15x.
- the x-axis drive mechanism 15x, the y-axis drive mechanism 15y, and the z-axis drive mechanism 15z differ in the following points.
- the driven body that is the control target of the x-axis drive mechanism 15 x is the work table 4, whereas the driven body that is the control target of the y-axis drive mechanism 15 y is located above the saddle 24 and the saddle 24. It differs from the attached x-axis drive mechanism 15x in that the driven body that is the control target of the z-axis drive mechanism 15z is the column 5 and the main shaft 7 attached to the column 5.
- the x-axis drive mechanism 15x shown in FIG. 2 includes a saddle 24, and two support bearings 10x each outer ring fixed to the saddle 24 and each inner ring rotatably supporting the feed screw 2x.
- the x-axis drive mechanism 15x fixes the nut 9x meshed with the feed screw 2x, the work table 4 that moves in the axial direction of the feed screw 2x by the nut 9x, and one end of the feed screw 2x when the x-axis motor 1x rotates. Coupling 8x.
- Rotational motion of the x-axis motor 1x is transmitted to the feed screw 2x via the coupling 8x, and the rotational motion of the feed screw 2x is converted into linear motion by the nut 9x.
- the work table 4 fixed to the nut 9x moves along the axial direction of the feed screw 2x.
- the feed screw 2x is supported by the support bearing 10x, the x-axis motor 1x and the support bearing 10x are supported by the saddle 24, and the rotation angle detector 3x is supported by the x-axis motor 1x.
- the servo control device 101 for controlling the position of the driven body in the x-axis direction includes a position command generation section 11x that generates a position command for controlling the position of the driven body in the x-axis direction, and a position command generation section 11x. And a motor drive unit 12x that controls the rotation angle of the x-axis motor 1x according to the generated position command.
- FIG. 2 shows only the servo control device 101 for controlling the position of the driven body in the x-axis direction, but the servo control device for controlling the position of the driven body in each of the y-axis direction and the z-axis direction. Is similarly configured.
- the position command generated by the position command generation unit 11x is transmitted to the motor drive unit 12x, and the motor drive unit 12x that has received the position command sets the screw of the feed screw 2x to the motor rotation angle detected by the rotation angle detector 3x.
- the rotation angle of the x-axis motor 1x is controlled so that the error between the detection position obtained by multiplying the pitch and the position command becomes small.
- a linear motor may be used as the movable shaft of the numerically controlled machine tool 99 instead of the x-axis motor 1x and the feed screw 2x.
- a linear encoder or a laser displacement meter that can directly detect the position of the work table 4 may be used for the movable shaft of the numerically controlled machine tool 99 instead of the rotation angle detector 3x.
- the relative displacement between the tool 16 and the workpiece 17 is important. If a relative displacement occurs between the tool 16 and the workpiece 17 during machining while performing contour control, a machining error occurs if material remains uncut or overcut in the workpiece 17. It is. In the servo control device 101, feedback control is performed in the motor drive unit 12x in order to prevent such processing errors from occurring.
- Dynamic disturbances include elastic deformation caused by the coupling 8x, the feed screw 2x or the support bearing 10x, vibration caused by the feed screw 2x or the support bearing 10x, and a change in the posture of the column 5 or the ram 6 shown in FIG.
- vibrations of the column 5 or ram 6 and errors due to the frictional force of the movable shaft include the mass of the workpiece 17, the aging of the machine, the wear of the feed screw 2x or the support bearing 10x, the amount of lubricating oil on each movable shaft, the temperature change, and other factors in the factory. It is known to change depending on the operating status of the machine.
- the position command generation unit 11x and the motor drive unit 12x use a friction and vibration model to maintain an accurate amount of error in order to maintain highly accurate contour control performance.
- a model-based error correction method in which a correction amount for canceling the error is generated and feedforward control is performed is used.
- a triaxial acceleration sensor 13 which is an example of an object acceleration sensor for measuring the acceleration of the workpiece 17, is attached near the workpiece 17 that is an object for measuring the movement locus.
- the triaxial acceleration sensor 13 measures accelerations in three orthogonal directions.
- the triaxial acceleration sensor 13 and the machine motion trajectory measuring apparatus 100 are connected to each other via a cable 40.
- Acceleration sensor signals indicating the respective accelerations in the three-axis directions detected by the three-axis acceleration sensor 13 are input to the machine motion trajectory measuring apparatus 100 via the cable 40.
- the respective acceleration components in the three-axis direction detected by the three-axis acceleration sensor 13 are referred to as an x-axis direction acceleration component, a y-axis direction acceleration component, and a z-axis direction acceleration component.
- the three-axis acceleration sensor 13 can measure the acceleration in the three-axis directions orthogonal to each other by using one sensor, the acceleration in three dimensions can be measured by using one three-axis acceleration sensor 13.
- three uniaxial acceleration sensors that measure the respective accelerations in the three axial directions may be used instead of the triaxial acceleration sensor 13.
- the triaxial acceleration sensor 13 there are methods for attaching the triaxial acceleration sensor 13 such as attachment using a magnetic force by a magnet, fastening using a jig and a screw, fixation using wax, or fixation using an adhesive. Since measurement is possible simply by fixing to the work table 4 which is a measurement object, it can be attached by a simple operation immediately before measurement. In addition, since no special adjustment work is required when installing the acceleration sensor, even a beginner can easily install it.
- the number of cableless acceleration sensors using wireless has increased, and when a wireless acceleration sensor is used, it is not necessary to consider the handling of the cable 40, so that it can be installed more easily.
- the triaxial acceleration sensor 13 is always attached to the back side or inside the work table 4. Also good.
- the machine motion trajectory measuring apparatus 100 may be mounted outside the numerically controlled machine tool 99, or may be mounted inside the numerically controlled machine tool 99.
- FIG. 3 is a diagram showing a machine motion trajectory measuring apparatus according to the first embodiment, a numerically controlled machine tool to which the machine motion trajectory measuring apparatus according to the first embodiment is applied, and a servo control apparatus.
- FIG. 4 is a block diagram of the motor drive unit shown in FIG.
- FIG. 3 differs from the servo control device 101 shown in FIG. 2 in that the servo control device 101 shown in FIG. 3 generates a position command in addition to the position command generation unit 11x and the motor drive unit 12x. A portion 11y and a motor drive portion 12y.
- the motor drive unit 12x is inputted position command Pix generated by the position command generating unit 11x, a motor rotation angle detected by the rotation angle detector 3x feedback position Pd x is inputted.
- the motor drive unit 12x based on the position command Pix and feedback position Pd x, and outputs a torque command Icx a drive command of the x-axis motor 1x.
- the motor drive unit 12y the position command Piy generated by the position command generating unit 11y is input, a motor rotation angle detected by the rotation angle detector 3y feedback position Pd y is input.
- the motor drive unit 12y based on the position command Piy and feedback position Pd y, and outputs a torque command Icy a drive command y-axis motor 1y.
- FIG. 4 shows the configuration of the motor drive unit 12x shown in FIG.
- the motor drive unit 12x includes a subtraction unit 124a for determining the position deviation which is a response error between a response position as command Pix feedback position Pd x, velocity command executes the control with respect to the position deviation subtraction unit 124a is determined And a position control unit 123 for generating.
- the motor drive unit 12x performs differential operation of the feedback position Pd x, a differentiating unit 122 that calculates the velocity feedback value, obtained by the speed command and the differentiating unit 122 obtained by the position control unit 123
- An adder / subtractor 124b that calculates a speed deviation from the feedback value and a speed controller 121 that outputs a torque command Icx that is a drive command are provided.
- the addition / subtraction unit 124 a obtains a position deviation that is a deviation between the position command Pix and the feedback position Pd x and outputs the position deviation to the position control unit 123.
- the position control unit 123 performs position control processing such as proportional control, PI (Proportional Integral Differential) control, or PID (Proportional Integral Differential) control so as to reduce the positional deviation output from the adder / subtractor 124a, thereby reducing the positional deviation.
- the speed command to be output is output.
- an actual speed obtained by differentiating the feedback position Pd x is obtained.
- the adder / subtractor 124 b obtains a speed deviation that is a deviation between the speed command obtained by the position controller 123 and the actual speed of the feedback position Pd x obtained by the differential calculator 122, and outputs it to the speed controller 121.
- the speed control unit 121 performs a PI control speed control process so as to reduce the speed deviation output from the addition / subtraction unit 124b, and outputs a torque command Icx. 3 is configured similarly to the motor drive unit 12x shown in FIG.
- Control that uses the rotation angle detectors 3x and 3y to obtain the feedback positions Pd x and Pd y is called semi-closed loop control.
- the rotation angle detector 3x is positioned between the mounting position of the rotation angle detector 3x and the work table 4 that is the true control object, or the rotation angle detector 3x.
- the rotation angle detector 3x Between the mounting position and the workpiece 17 shown in FIG. 1, there are mechanical structures such as a feed screw 2x and a nut 9x. Therefore, a mechanical transmission delay occurs between the rotation angle detector 3x and the work table 4, or between the rotation angle detector 3x and the workpiece 17. Therefore, the feedback position Pd x detected by the rotation angle detector 3x does not coincide with the movement locus of the work table 4 or the workpiece 17.
- a sudden disturbance force acts on the movable shaft by reversing the direction of the applied friction. Therefore, it is known that in the feedback control, the generated position deviation cannot be completely suppressed and an error occurs.
- a typical example is a trajectory error called lost motion or stick motion during arc motion.
- a sine wave command having a phase difference of 90 degrees is commanded between the x-axis motor 1x and the y-axis motor 1y.
- FIG. 5 is a diagram in which an operation trajectory at the detector position, a motion trajectory to be controlled, and a command trajectory during arc motion are plotted on an xy plane.
- the detector position represents the feedback position Pd x and the feedback position Pd y described above.
- the operation trajectory at the detector position is indicated by a dotted line
- the motion trajectory to be controlled is indicated by a solid line
- the command trajectory during the arc motion is indicated by a one-dot chain line.
- the trajectory error is enlarged and displayed 400 times in the radial direction.
- the command trajectory is a circle, whereas the motion trajectory at the detector position and the motion trajectory of the workpiece 17 to be controlled indicate a protruding error pattern at the quadrant switching position.
- stick motion occurs because feedback control is delayed due to reversal of the direction in which friction is applied.
- the motion trajectory of the control target shows a trajectory that jumps outward at the quadrant switching position and then bites inward. This is a phenomenon called lost motion that occurs due to a delay in the response of the controlled object because mechanical elements such as the feed screw 2x and the nut 9x are present in addition to the stick motion caused by friction.
- the triaxial acceleration sensor 13 is located near the workpiece 17 on the work table 4. is set up.
- the machine motion trajectory measuring apparatus 100 includes an acceleration component a x in the x-axis direction measured by the three-axis acceleration sensor 13, an acceleration component a y in the y-axis direction measured by the three-axis acceleration sensor 13, and an x-axis motor.
- a feedback position Pd x that is a 1x detector position and a feedback position Pd y that is a detector position of the y-axis motor 1y are input.
- the acceleration component in the z-axis direction can be ignored when adjusting the parameter for friction correction.
- the acceleration component a x and the acceleration component a y may be simply referred to as an acceleration sensor signal.
- the feedback positions Pd x and Pd y may be referred to as detector positions.
- a machine motion trajectory measuring apparatus 100 shown in FIG. 3 includes a sensor signal separation unit 30 that separates each of an acceleration component a x in the x- axis direction and an acceleration component a y in the y-axis direction into two or more frequency bands, and a feedback.
- a motor signal separation unit 31 that is a detection position signal separation unit that separates each of the positions Pd x and Pd y into two or more frequency bands that are the same as the sensor signal separation unit 30 is provided.
- the machine motion trajectory measuring apparatus 100 uses the feedback positions Pd x and Pd y as reference signals for the separated frequency bands of the sensor signal separation unit 30 and the motor signal separation unit 31 to obtain acceleration components a x and a y .
- the data calibration unit 32 that calibrates and calculates and outputs a position response in each frequency band, and adds the position response for each frequency band calculated by the data calibration unit 32, and operates on the x-axis and the y-axis.
- a motion trajectory calculation unit 33 that calculates a motion trajectory of the workpiece 17 and outputs the motion trajectory as information indicating the motion trajectory.
- Information indicating the driving trajectory calculated by the motion trajectory calculating unit 33 is output to a trajectory display device 35 connected to the mechanical motion trajectory measuring device 100.
- the trajectory display device 35 is a display device represented by a video monitor, and the driving trajectory calculated by the trajectory display device 35 is displayed on the screen of the display device. As a result, the driving trajectory is presented to the experimenter.
- the trajectory display device 35 inputs the motion trajectory and the command trajectory at the feedback positions Pd x and Pd y , and displays the measurement result of the command trajectory and the motion trajectory at a plurality of positions as shown in FIG. Also good.
- the velocity Vx can be calculated from the numerical sequence shown in the following equation (1) using the acceleration component a x and the sampling time dt.
- the displacement amount Px is calculated from the numerical sequence shown in the following equation (2) using the velocity Vx and the sampling time dt.
- the initial values of speed Vx and Px are set to zero.
- the displacement amount Py can be calculated from the acceleration with respect to the y-axis, the motion locus can be calculated from the displacement amounts Px and Py.
- FIG. 6 is a diagram showing an acceleration waveform in the x-axis direction when there is no noise, and a displacement amount in the x-axis direction calculated from the acceleration.
- the horizontal axis represents time
- the vertical axis represents acceleration.
- the horizontal axis represents time
- the vertical axis represents the amount of displacement.
- the respective waveforms of acceleration and displacement shown in FIG. 6 are obtained when the acceleration sampling time dt is 1 ms.
- FIG. 7 is a diagram showing the result of calculating the trajectory error in the xy plane under the same conditions as in FIG.
- the actual trajectory that is an actual driving trajectory is indicated by a dotted line
- the calculation result of the trajectory error calculated using the above formulas (1) and (2) is indicated by a solid line.
- the dotted real trajectory overlaps with the solid line calculation result.
- the motion trajectory can be calculated from the acceleration with a simple calculation.
- Noise refers to all signal components other than the acceleration component of the motion trajectory, and is not strictly distinguished. Further, since it is difficult to actually observe the acceleration component of the true motion trajectory from which noise has been completely removed, an ideal acceleration sensor signal is generated by simulation in FIG.
- FIG. 8 is a diagram showing an acceleration waveform in the x-axis direction when noise is present, and a displacement amount in the x-axis direction calculated from the acceleration.
- the horizontal axis represents time
- the vertical axis represents acceleration.
- the horizontal axis represents time
- the vertical axis represents the amount of displacement.
- FIG. 9 is a diagram showing the result of calculating the trajectory error in the xy plane under the same conditions as in FIG.
- the actual trajectory that is the actual driving trajectory is indicated by a dotted line
- the calculation result of the trajectory error is indicated by a solid line.
- FIG. 9 shows that the trajectory error calculated by the calculation does not match the actual trajectory.
- a calculation error resulting from such an integration operation is called an integration error.
- the sensor signal separation unit 30 and the motor signal separation unit 31 separate frequency bands, and the data calibration unit 32 generates an integration error by using an acceleration sensor signal for each frequency band. Reduce.
- the configuration of the sensor signal separation unit 30, the motor signal separation unit 31, and the data calibration unit 32 will be specifically described below.
- FIG. 10 is a block diagram of the sensor signal separation unit shown in FIG.
- the sensor signal separation unit 30 separates the acceleration sensor signal into a noise band in order to remove noise components included in the acceleration components a x and a y that are acceleration sensor signals.
- the noise band is a noise component of the acceleration sensor signal. By removing the noise component, the error during acceleration compensation can be reduced.
- the acceleration components a x and a y input to the sensor signal separation unit 30 are separated from the noise components a xn and a yn by the first noise removal unit 301.
- signal components a xs and a ys other than the noise components a xn and a yn are extracted.
- First noise removing unit 301 as a low-pass filter described by the transfer function G filt represented by the following formula (3), is mounted on the sensor signal separating unit 30.
- Tfilt in the following formula (3) is a cutoff time constant of the low-pass filter.
- Each of the signal components a xs and a ys output from the first noise removal unit 301 is converted into a low frequency band component a xl and a yl and a high frequency by the first signal extraction unit 302 and the second signal extraction unit 303.
- the band components are separated into a xh and a yh .
- the first signal extraction unit 302 is a low-pass filter described by a transfer function Gl expressed by the following equation (4).
- T cutoff in the following equation (4) is a cutoff time constant. However, in order to effectively remove the noise component, it is preferable that Tfilt ⁇ Tcutoff .
- the second signal extraction unit 303 is a high-pass filter described by a transfer function Gh expressed by the following equation (5).
- each filter is designed so that the sum of the transfer function of the first signal extraction unit 302 and the transfer function of the second signal extraction unit 303 is 1, the signals of the signal components a xs and a ys Can be extracted without excess or deficiency. That is, in order to prevent the signal from becoming excessive or insufficient before and after the frequency separation, it is necessary to design each filter so as to satisfy the following relational expression (6). That is, the sensor signal separation unit 30 includes a high frequency band filter designed so that the sum of transfer functions with the low frequency band filter is 1.
- the high frequency band is a vibration frequency component of the mechanical device that drives the actuator.
- FIG. 11 is a block diagram of the motor signal separation unit shown in FIG. Motor signal separation section 31, feedback position Pd x, each of the noise component Pd xn of Pd y, the Pd yn removed, the noise component Pd xn, signal components Pd xs other than Pd yn, and outputs the separated Pd ys a second noise removing unit 311, the signal component Pd xs, low frequency band component Pd xl of Pd ys, the first signal extraction unit 312 for extracting a Pd yl, signal components Pd xs, Pd ys of the high frequency band components Pd and a second signal extraction unit 313 for extracting xh and Pd yh .
- the transfer function Gl is equal to the transfer function Gh expressed by the above equation (5).
- FIG. 12 is a block diagram of the data calibration unit shown in FIG.
- the data calibration unit 32 includes the low frequency band components a xl and a yl separated by the sensor signal separation unit 30 shown in FIG. 10 and the low frequency band components Pd xl and Pd separated by the motor signal separation unit 31 shown in FIG.
- the first data calibration unit 321 for calculating the low frequency band components PT xl and PT yl of the motion trajectory using yl and the high frequency band components a xh , a separated by the sensor signal separation unit 30 shown in FIG. yh and high frequency band components Pd xh separated in the motor signal separation unit 31 shown in FIG. 11, by using the Pd yh, frequency band components PT xh movement trajectory, and the second data calibration unit 322 which calculates the PT yh Is provided.
- the displacement amounts Pxl and Pyl calculated by numerically integrating the low frequency band components a xl and a yl of acceleration, and the low frequency band Since the difference between the components Pd xl and Pd yl is an integration error, the integration error can be reduced by compensating for the difference.
- a compensation method of the integral error there is a method of calculating the low frequency band components PT xl and PT yl by approximating the integral error with a polynomial and subtracting the approximated integral error from the displacement amounts Pxl and Pyl.
- the unknown parameter of the approximate expression may be determined by the least square method, or a numerical solution method such as the downhill simplex method may be used.
- an integration error compensation method in the second data calibration unit 322 an integration error compensation method in a low frequency band may be used.
- the low frequency band is a control band of the mechanical device that drives the actuator.
- the second data calibration unit 322 uses the high frequency band components Pd xh and Pd yh calculated by numerical integration as low frequency band components. May be passed through a high-pass filter that excludes and outputs the result as high-frequency band components PT xh and PT yh .
- the low frequency band components PT xl and PT yl and the high frequency band components PT xh and PT yh calculated by the data calibration unit 32 are input to the motion trajectory calculation unit 33 shown in FIG.
- FIG. 13 is a block diagram of the motion trajectory calculation unit shown in FIG.
- the motion trajectory calculation unit 33 includes a trajectory coupling unit 331 and a trajectory error calculation unit 332.
- the trajectory coupling unit 331 couples the low frequency band components PT xl and PT yl and the high frequency band components PT xh and PT yh of the motion trajectory calculated by the data calibration unit 32 shown in FIG. That is, the trajectory coupling unit 331 calculates the x-axis direction component PT x of the motion trajectory at the mounting position of the triaxial acceleration sensor 13 based on the following equation (7), and the triaxial acceleration sensor 13 of the triaxial acceleration sensor 13 based on the following equation (8). calculating the y-axis direction component PT y motion trajectory in the mounting position.
- Trajectory error calculation unit 332 based on the calculated x-axis direction component PT x and y-axis direction component PT y a locus coupling portion 331, x-axis direction of the trajectory error PT 'x and y-axis direction of the trajectory error PT' Calculate y and output.
- a method for displaying the trajectory error of the arc motion a method of displaying the trajectory error in the radial direction as shown in the following formulas (9) and (10) is known.
- Rcom shown in the following formulas (9) and (10) represents a command radius
- MAG represents an enlarged display magnification of a trajectory error.
- FIG. 14 is a diagram comparing the actual motion trajectory, the calculation result of the trajectory error calculated by the mechanical motion trajectory measuring apparatus according to Embodiment 1, and the operation trajectory at the detector position.
- the actual motion trajectory is indicated by a one-dot chain line
- the calculation result of the trajectory error is indicated by a solid line
- the operation trajectory at the detector position is indicated by a dotted line.
- FIG. 14 by using the machine motion trajectory measuring apparatus 100 according to the first embodiment, it is possible to calculate the motion trajectory of the workpiece 17 with an accuracy of 1 micrometer.
- the acceleration sensor signal and the detected position signal are separated into two or more bands and calibrated, so that an arbitrary setup is possible with a simple setup.
- the trajectory error in the motion trajectory can be measured with high accuracy.
- the data calibration unit corrects the calculation error of the motion trajectory component for each frequency band from the acceleration sensor signal separated by the sensor signal separation unit, and the frequency band separated by the detection position signal separation unit. Each detection position signal is used.
- the calculation error can be effectively corrected by using the detected position signal as a reference signal.
- the data calibration unit is configured to perform second-order integration of the acceleration input signal at the time of data calibration and correct the integration error so that the average value of the integration results becomes zero.
- the reference position does not move, it is only necessary to correct the integration error so that the average value of the integration results becomes 0, and the integration error can be easily compensated.
- the data calibration unit according to Embodiment 1 has a low frequency that cannot be passed by the high-pass filter used in the sensor signal separation unit with respect to the signal output as an integration result when performing data calibration in the high frequency band. It is configured to cut the components and output them. It is possible to remove the integration error component by cutting and outputting the low frequency component caused by the integration error.
- the difference between the second-order integration result of the acceleration sensor signal separated by the sensor signal separation unit and the low frequency band component of the detection position signal when the data calibration of the low frequency band is performed.
- An error is corrected so as not to exceed the allowable value, and the motion trajectory of the object in the low frequency band is calculated.
- the machine motion trajectory measuring apparatus 100 includes a motion trajectory display unit that displays a motion trajectory of the mechanical device, and the motion trajectory display unit obtains a target trajectory from a target position input to the position command generation unit.
- the command locus is synthesized from the command position output from the position command generation unit
- the detection portion trajectory is synthesized from the detection position signal
- one of the target locus, the command locus, and the detection portion locus is The motion trajectory is displayed on the motion trajectory display unit in an overlapping manner.
- FIG. FIG. 15 is a diagram showing a machine motion trajectory measuring apparatus according to the second embodiment, a numerically controlled machine tool to which the machine motion trajectory measuring apparatus according to the second embodiment is applied, and a servo control apparatus. Differences between the first embodiment and the second embodiment are as follows. In the following description, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. Only different parts will be described here. (1) The machine motion trajectory measuring apparatus 100 according to the second embodiment includes a machine response simulation unit 34 in addition to the sensor signal separation unit 30, the motor signal separation unit 31, the data calibration unit 32, and the motion trajectory calculation unit 33. thing.
- the mechanical motion trajectory measuring apparatus 100 instead of the feedback position Pd y of the feedback position Pd x and y-axis motor 1y of the x-axis motor 1x, generated by the position command generating unit 11x.
- the position command Pix and the position command Py generated by the position command generation unit 11y are input.
- the data calibration unit 32 of the machine motion trajectory measuring apparatus 100 according to the second embodiment calibrates the acceleration components a x and a y using the feedback position Pm calculated by the machine response simulation unit 34 as a reference signal, Calculating the position response in the frequency band of.
- FIG. 16 is a block diagram of the machine response simulation unit shown in FIG.
- the machine response simulation unit 34 includes a position control unit 123A, a speed control unit 121, a differential operation unit 122, and a machine model 341 configured in the same manner as the motor drive unit 12x illustrated in FIG.
- Examples of the machine model 341 include a 2-inertia model and a 3-inertia model.
- the 2-inertia model is a model obtained by approximating the reciprocal 1 / J of the load inertia J of the inertia model movable shaft or the inertia of the motor and the driven body by a 2-inertia vibration system.
- the three-inertia model is a model in which the motor inertia, the driven body, and the inertia of the feed screw are approximated by a three-inertia vibration system.
- the machine response simulation unit 34 that generates the feedback position Pm using the position command Pix, but the machine response simulation unit 34 that generates the feedback position Pm using the position command Piy has the same configuration.
- the position control unit 123 is configured similarly to the motor drive unit 12y shown in FIG.
- the rotation angle detectors 3x and 3y have a low resolution, and thus the rotation angle detector. Even when the feedback positions output from 3x and 3y cannot be used as reference signals, the feedback positions calculated by the machine model 341 can be used as reference signals.
- the mechanical motion trajectory measuring apparatus 100 according to the second embodiment can virtually calculate the driven body position in the semi-closed loop control motor driving units 12x and 12y, and can use the calculated driven body position as a reference signal. .
- Embodiment 3 The difference between the first embodiment and the third embodiment is that, in the mechanical motion trajectory measuring apparatus 100 according to the third embodiment, the filter of the first signal extraction unit 302 shown in FIG. 10 is a motor drive unit 12x, 12y. This is a point simulating the response of the position control system.
- the transfer function of the position control unit 123 shown in FIG. 4 is Gp (s)
- the response of the position control system can be approximated by the following equation (11).
- An example of the simple position control unit 123 is a proportional controller represented by the following equation (12).
- the relationship between the first signal extraction unit 302 and the second signal extraction unit 303 is as described above ( Since it is necessary to satisfy the equation (6), the transfer function of the second signal extraction unit 303 may be expressed by the following equation (13).
- the acceleration component extracted by the second signal extraction unit 303 does not include a drive component.
- the high frequency band components Pd xh and Pd yh extracted by the second signal extraction unit 313 shown in FIG. 11 become 0, the high frequency band components are used in the data calibration in the second data calibration unit 322 shown in FIG. There is no need to use Pd xh and Pd yh .
- the average value of the displacement amounts Pxh and Pyh after the integration operation becomes 0, so that the error correction process is simplified.
- the drive component included in the trajectory component that is, the component whose final value of the signal when integrated for one period is not necessarily zero is extracted as the low-frequency component. it can.
- FIG. 17 is a diagram showing a machine motion trajectory measuring apparatus according to the fourth embodiment, a numerically controlled machine tool to which the machine motion trajectory measuring apparatus according to the fourth embodiment is applied, and a servo control apparatus.
- FIG. 18 is a block diagram of the sensor signal separation unit shown in FIG. Differences between the first embodiment and the fourth embodiment are as follows. In the following description, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. Only different parts will be described here. (1) The motion trajectory to be measured by the mechanical motion trajectory measuring apparatus 100 according to the fourth embodiment is an assumed motion trajectory between the tool 16 and the workpiece 17.
- a numerically controlled machine tool 99 to which the machine motion trajectory measuring apparatus 100 according to the fourth embodiment is applied includes an object acceleration sensor 13a and a reference acceleration sensor 13b.
- the object acceleration sensor 13a is an acceleration sensor installed on the work table 4 near the workpiece 17, and corresponds to the three-axis acceleration sensor 13 of the first embodiment.
- the reference acceleration sensor 13 b is installed in the column 5 near the tool 16.
- the column 5 is vibrated by the reaction force of the work table 4 and the tool 16 may vibrate due to the vibration of the column 5. Since vibrations generated during machining of the workpiece 17 cause machining errors, it is necessary to measure the relative displacement between the tool 16 and the workpiece 17 when vibration occurs in the tool 16.
- the mechanical motion trajectory measuring apparatus 100 according to the fourth embodiment is close to the object acceleration sensor 13a installed on the work table 4 near the workpiece 17 and the tool 16.
- a reference acceleration sensor 13b installed in the column 5 is used.
- FIG. 18 is a block diagram of the sensor signal separation unit shown in FIG.
- the difference between the sensor signal separation unit 30 of the first embodiment and the sensor signal separation unit 30 of the fourth embodiment is that the sensor signal separation unit 30 of the fourth embodiment includes the first noise removal unit 301, the first noise removal unit 301, In addition to the signal extraction unit 302 and the second signal extraction unit 303, a relative acceleration calculation unit 304 is provided.
- the relative acceleration calculation unit 304 calculates the relative acceleration between the acceleration measured by the reference acceleration sensor 13b and the acceleration measured by the object acceleration sensor 13a in order to calculate the relative acceleration. That relative acceleration computing unit 304, from the difference between the measured acceleration component a x in the acceleration component measured by the reference acceleration sensor 13b A x and the object acceleration sensor 13a, obtains the relative acceleration component in the x-axis direction, the reference The relative acceleration component in the y-axis direction is obtained from the difference between the acceleration component Ay measured by the acceleration sensor 13b and the acceleration component ay measured by the object acceleration sensor 13a.
- the relative acceleration calculated by the relative acceleration calculation unit 304 is input to the first noise removal unit 301.
- the first noise removing unit 301 removes the noise components a xn and a yn from the relative acceleration components of the x-axis and the y-axis calculated by the relative acceleration calculating unit 304, and other than the noise components a xn and a yn
- the signal components a xs and a ys are separated and output.
- the signal components a xs, low frequency band component a xl of a ys, a yl is extracted
- the second signal extraction section 303 the signal components a xs, frequency band components of a ys a xh and a yh are extracted.
- the relative displacement amount can be calculated from the relative acceleration, the relative motion trajectory can be measured.
- Embodiment 5 When the frequency of the generated mechanical vibration is less than the cut-off frequency of the first signal extraction unit 302, the motion trajectory is calculated by the method shown in the fourth embodiment, and when the integration error is compensated in the data calibration unit 32, It is not possible to distinguish between vibration components and integration errors. In such a case, the amplitude of the vibration component may be underestimated in the motion trajectory of the calculation result.
- the reference acceleration sensor 13b and the object acceleration sensor 13a are used as in the fourth embodiment.
- a sensor signal separation unit 30 configured similarly to the sensor signal separation unit 30 of the first embodiment is used.
- the acceleration components A x and A y measured by the reference acceleration sensor 13b are converted into the high frequency band components A xh and A yh and the low frequency band components A xl and A yl . To be separated.
- the acceleration components a x and a y measured by the object acceleration sensor 13a are divided into the high frequency band components a xh and a yh and the low frequency band components a xl and a yl. And separated.
- FIG. 19 is a configuration diagram of a data calibration unit provided in the mechanical motion trajectory measuring apparatus according to the fifth embodiment.
- the data calibration unit 32 illustrated in FIG. 19 includes a first reference data calibration unit 323 and a second reference data calibration unit 324 in addition to the first data calibration unit 321 and the second data calibration unit 322.
- the first reference data calibration unit 323 receives the low frequency band components Ad xl and Ad yl of the reference acceleration separated by the sensor signal separation unit 30.
- the second reference data calibration unit 324 receives the high frequency band components Ad xh and Ad yh of the reference acceleration separated by the sensor signal separation unit 30. Since the reference point is not a movable part but a fixed point, there is no need to use a motor detector signal as a reference signal.
- the first reference data calibration unit 323 calculates reference point displacements PS xl and PS yl from the low frequency band components Ad xl and Ad yl of the reference acceleration.
- the second reference data calibration unit 324 calculates reference point displacements PS xh and PS yh from the high frequency band components Ad xh and Ad yh of the reference acceleration.
- a method for calculating the reference point displacements PS xl and PS yl will be described.
- Axl (t) which is time series data, is converted into a frequency region of AXL (j ⁇ ) by Fourier transform.
- j is an imaginary unit
- ⁇ is an angular frequency.
- the integration operation in the frequency domain corresponds to calculating PSXL (j ⁇ ) shown in the following equation (14) at the angular frequency ⁇ .
- PSXL (j ⁇ ) shown in the following equation (14) at the angular frequency ⁇ .
- the frequency component is regarded as a noise component, and if the integration operation is not performed, the noise Accumulation of components can be prevented.
- the low frequency band component PRxl of the relative displacement between the tool 16 and the workpiece 17 can be calculated from the difference between the reference point displacement PS xl and the low frequency band component PT xl .
- the high frequency band component PRxh of the relative displacement can be calculated from the reference point displacement PS xh and the high frequency band component PT xh .
- the relative displacement PRx between the tool 16 and the workpiece 17 can be calculated from the low frequency band component PRxl and the high frequency band component PRxh.
- FIG. 20 is a diagram comparing the calculation result when the relative motion trajectory is measured by the mechanical motion trajectory measuring apparatus according to the fifth embodiment, the actual relative motion trajectory, and the motion trajectory at the detector position.
- the actual driving locus is indicated by a one-dot chain line
- the calculation result of the locus error calculated by the mechanical movement locus measuring apparatus 100 is indicated by a solid line
- the driving locus at the detector position is indicated by a dotted line.
- the relative displacement between the actual tool 16 and the workpiece 17 can be measured with an error of 1 micrometer, and the relative displacement can be measured with higher accuracy. is there.
- the data calibration unit 32 of the mechanical motion trajectory measuring apparatus 100 performs the object motion trajectory for each frequency band from the acceleration sensor signal and the reference acceleration sensor signal separated by the sensor signal separation unit.
- the calculation error of the object motion trajectory component and the reference motion trajectory component is corrected using the detection position signal for each frequency band separated by the detection position signal separation unit, and the target object is corrected.
- the difference between the motion trajectory component and the reference motion trajectory component is output as a relative motion trajectory in that band. It is possible to calculate a relative motion trajectory with respect to the reference position by calculating the reference motion trajectory.
- Embodiment 6 The configuration of the mechanical motion trajectory measuring apparatus 100 according to the sixth embodiment is the same as that of the first embodiment.
- the difference from the first embodiment is that the velocity Vxl, Vyl calculated by integrating the low frequency band components a xl , a yl of the acceleration into the first rank and the low frequency band component of the motor signal when correcting the integration error.
- the difference between Vdxl and Vdyl calculated by first-order differentiation of Pd xl and Pd yl is compensated as an integral error of speed, and Pxl ′, Pyl ′ and Pd xl calculated by further first-order integration after compensation. , Pd yl is compensated for.
- error compensation can be performed before the integration error is accumulated. Therefore, even if the integration error cannot be compensated after the second-order integration with a large noise level, the integration error can be corrected with high accuracy.
- the data calibration unit converts an input signal into a low frequency domain signal when performing high frequency band data calibration, performs an integration operation in the low frequency domain, and then converts the signal into the time domain by inverse transformation.
- the output signal is output as a high frequency band component of the motion trajectory. It is possible to remove the integration error component by cutting and outputting the low frequency component caused by the integration error.
- the data calibration unit of the sixth embodiment performs the first-order integration result of the acceleration sensor signal separated by the sensor signal separation unit and the first-order differentiation result of the low-frequency band component of the detection position signal at the time of data calibration in the low frequency band.
- the error is corrected so that the difference between and does not exceed the allowable value.
- Embodiment 7 FIG.
- the configuration of the mechanical motion trajectory measuring apparatus 100 according to the seventh embodiment is the same as the configuration of the first embodiment.
- the difference from the first embodiment is that the motion trajectory to be measured in the mechanical motion trajectory measuring apparatus 100 according to the seventh embodiment is not a circle but a quadrangle motion trajectory.
- FIG. 21 shows a comparison between the actual trajectory when a square motion trajectory is commanded, the calculation result of the trajectory error calculated by the mechanical motion trajectory measuring apparatus according to the seventh embodiment, and the operation trajectory at the detector position.
- FIG. FIG. 21 is an enlarged view of a corner portion when a square motion trajectory is commanded.
- the actual trajectory is indicated by a solid line
- the calculation result of the trajectory error calculated by the mechanical motion trajectory measuring apparatus 100 is indicated by a dotted line
- the operation trajectory at the detector position is indicated by a one-dot chain line.
- FIG. 21 shows that the actual trajectory and the motion trajectory of the calculation result are in good agreement.
- the mechanical motion trajectory measuring apparatus 100 according to Embodiment 7 can be used not only for motion trajectory measurement in a two-dimensional plane but also for motion trajectory measurement in a three-dimensional space, and for any motion waveform.
- the motion trajectory can be calculated with high accuracy.
- FIG. FIG. 22 is a diagram showing a machine motion trajectory measuring apparatus according to the eighth embodiment, a numerically controlled machine tool to which the machine motion trajectory measuring apparatus according to the eighth embodiment is applied, and a servo control apparatus.
- the difference from the second embodiment is that the machine motion trajectory measuring apparatus 100 according to the eighth embodiment has a parameter setting unit 500.
- the parameter setting unit 500 notifies the sensor signal separation unit 30 and the motor signal separation unit 31 of a filter parameter setting command that is a filter design parameter.
- the sensor signal separation unit 30 and the motor signal separation unit 31 generate a filter to be used based on the received filter parameter setting command. For example, when using a second-order low-pass filter to separate a low-frequency band signal in the first signal extraction unit 312, the parameters notified here are filter coefficients a, b.
- the notified parameter is a filter cutoff which is a physical parameter expressing a filter characteristic formulated as shown in the following equation (16) instead of the filter coefficients a and b in the above equation (15). It may be the frequency ⁇ and the attenuation ⁇ .
- the parameter setting unit 500 designs filters of the nth order shown in the following equation (17) in the sensor signal separation unit 30 and the motor signal separation unit 31, and transmits the filter parameters.
- a filter having an arbitrary characteristic expressed by a transfer function up to the nth order is set by setting the high-order coefficients of the denominator and the numerator in equation (17) to 0 according to the required filter order. realizable.
- the optimum filter characteristics may differ depending on the conditions. In such a case, the optimum filter can always be used by changing the parameter for each measurement condition from the parameter setting unit 500 every time the measurement condition is changed.
- the parameter setting unit 500 sets the filter parameters, and notifies the sensor signal separation unit 30 and the motor signal separation unit 31 of the parameters, thereby The trouble of setting the filters of the signal separation unit 30 and the motor signal separation unit 31 individually can be saved.
- the filter characteristics can be changed efficiently when the filter settings are changed frequently.
- FIG. 23 is a diagram showing a machine motion trajectory measuring apparatus according to the ninth embodiment, a numerically controlled machine tool to which the machine motion trajectory measuring apparatus according to the ninth embodiment is applied, and a servo control device.
- FIG. 24 is a schematic view showing an example of a numerically controlled machine tool to which the machine motion trajectory measuring apparatus according to the ninth embodiment is applied. The difference from the first embodiment is that the three-axis acceleration sensor 13 is mounted on the rotary table 501 of the numerically controlled machine tool 99b.
- the triaxial acceleration sensor 13 is installed such that one axial direction is a normal direction of the rotary table 501, that is, a direction in which a straight line (not shown) that passes through the center of rotation of the circular table extends, and the other axis is a tangential direction of rotation, that is, It is installed so as to coincide with the radial direction of the rotary table 501.
- the orientation of the sensor does not change during one round of circular motion.
- the orientation of the three-axis acceleration sensor 13 attached to the rotary table 501 changes with rotation.
- FIG. 25 is a diagram showing an example of the measurement result of the normal direction acceleration at measured when the rotary table is driven.
- FIG. 26 is a diagram illustrating an example of a measurement result of the tangential acceleration ar measured when the rotary table is driven.
- the vertical axis in FIG. 25 represents the normal direction acceleration at, and the horizontal axis in FIG. 25 represents time.
- the vertical axis in FIG. 26 represents the tangential acceleration ar, and the horizontal axis in FIG. 26 represents time.
- the normal direction acceleration at is influenced by the centripetal acceleration, and a vibration error component is superimposed around the nominal centripetal acceleration during circular motion.
- a vibration error component is superimposed around zero.
- the motor drive unit 12y outputs a tangential direction component Pdr from the feedback position Pd y as shown in the following equation (18).
- the feedback position Pdy represents the rotation angle of the table, and the unit is radians.
- the motor drive unit 12y outputs the normal direction component Pdt of the motion locus from the distance Rcom as shown in the following equation (19).
- the distance Rcom is the distance from the rotation center of the rotary table 501 to the attachment of the triaxial acceleration sensor 13.
- the sensor signal separation unit 30 and the motor signal separation unit 31 separate frequency bands using the tangential acceleration ar, the normal acceleration at, the tangential component Pdr, and the normal component Pdt. I do.
- the trajectory coupling unit 331 of the motion trajectory calculation unit 33 calculates a tangential direction trajectory PTr and a normal direction trajectory PTt.
- the X-direction component PT x is calculated by the calculation formula shown in the following formula (20)
- the Y-direction component PT y is calculated by the calculation formula shown in the following formula (21).
- the motion trajectory calculation unit 33 calculates the trajectory error in the same manner as the above equations (9) and (10) shown in the first embodiment.
- the machine motion trajectory measuring apparatus 100 it is possible to calculate the machine motion trajectory even in the machine configuration driven by the rotary table 501.
- the machine motion trajectory measuring apparatus 100 can be applied to a mechanical apparatus such as an industrial machine, a robot, or a transporter that has one or more movable axes and drives an object to be controlled using an actuator. It is.
- the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, or a part of the configuration can be used without departing from the gist of the present invention. It can be omitted or changed.
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Abstract
Description
図1は実施の形態1に係る機械運動軌跡測定装置と数値制御工作機械との斜視図である。図2は図1に示すx軸駆動機構の詳細構成と、x軸駆動機構の動作を制御するサーボ制御装置の構成とを示す図である。
図15は実施の形態2に係る機械運動軌跡測定装置と、実施の形態2に係る機械運動軌跡測定装置が適用される数値制御工作機械と、サーボ制御装置とを示す図である。実施の形態1と実施の形態2との相違点は以下の通りである。なお以下では実施の形態1と同一部分には同一符号を付してその説明を省略し、ここでは異なる部分についてのみ述べる。
(1)実施の形態2に係る機械運動軌跡測定装置100は、センサ信号分離部30、モータ信号分離部31、データ較正部32および運動軌跡算出部33に加えて、機械応答模擬部34を備えること。
(2)実施の形態2に係る機械運動軌跡測定装置100には、x軸モータ1xのフィードバック位置Pdxとy軸モータ1yのフィードバック位置Pdyとの代わりに、位置指令生成部11xで生成された位置指令Pixと位置指令生成部11yで生成された位置指令Piyとが入力されること。
(3)実施の形態2に係る機械運動軌跡測定装置100のデータ較正部32は、機械応答模擬部34で計算されたフィードバック位置Pmを参照信号として加速度成分ax,ayを較正し、各々の周波数帯域における位置応答を計算すること。
実施の形態1と実施の形態3との相違点は、実施の形態3に係る機械運動軌跡測定装置100では、図10に示す第1の信号抽出部302のフィルタが、モータ駆動部12x,12yの位置制御系の応答を模擬している点である。図4に示す位置制御部123の伝達関数をGp(s)とした場合、位置制御系の応答は、下記(11)式のように近似できる。簡単な位置制御部123の例は下記(12)式に示す比例制御器である。
図17は実施の形態4に係る機械運動軌跡測定装置と、実施の形態4に係る機械運動軌跡測定装置が適用される数値制御工作機械と、サーボ制御装置とを示す図である。図18は図17に示すセンサ信号分離部の構成図である。実施の形態1と実施の形態4との相違点は以下の通りである。なお以下では実施の形態1と同一部分には同一符号を付してその説明を省略し、ここでは異なる部分についてのみ述べる。
(1)実施の形態4に係る機械運動軌跡測定装置100の測定対象となる運動軌跡は、工具16と工作物17との間の想定運動軌跡であること。
(2)実施の形態4に係る機械運動軌跡測定装置100が適用される数値制御工作機械99は、対象物加速度センサ13aおよび基準加速度センサ13bを備えること。対象物加速度センサ13aは、工作物17の近くにおいてワークテーブル4に設置された加速度センサであり、実施の形態1の3軸加速度センサ13に相当する。基準加速度センサ13bは、工具16の近くにおいてコラム5に設置されている。
(3)実施の形態4に係る機械運動軌跡測定装置100では、対象物加速度センサ13aで測定された加速度成分axおよび加速度成分ayに加えて、基準加速度センサ13bで測定された基準加速度センサ信号である加速度成分Axおよび加速度成分Ayを用いていること。
発生する機械振動の周波数が第1の信号抽出部302のカットオフ周波数未満の場合、実施の形態4に示した方法で運動軌跡を計算すると、データ較正部32における積分誤差の補償の際に、振動成分と積分誤差とを区別することができない。このような場合、計算結果の運動軌跡において振動成分の振幅が過少に評価される場合がある。
実施の形態6に係る機械運動軌跡測定装置100の構成は、実施の形態1と同じである。実施の形態1との相違点は、積分誤差を補正する際に、加速度の低周波帯域成分axl,aylを1階数積分して算出した速度Vxl,Vylと、モータ信号の低周波帯域成分であるPdxl,Pdylを1階微分して算出したVdxl,Vdylとの差分を、速度の積分誤差として補償し、補償後にさらに1階積分して計算したPxl‘、Pyl‘と、Pdxl,Pdylとの差分を補償することである。これにより積分誤差が蓄積する前に誤差補償ができるため、ノイズレベルが大きく2階積分した後では、積分誤差を補償できない場合においても、高精度に積分誤差を補正できる。
実施の形態7に係る機械運動軌跡測定装置100の構成は実施の形態1の構成と同じである。実施の形態1との相違点は、実施の形態7の機械運動軌跡測定装置100において測定対象となる運動軌跡は、円ではなく四角形の運動軌跡であることである。
図22は実施の形態8に係る機械運動軌跡測定装置と、実施の形態8に係る機械運動軌跡測定装置が適用される数値制御工作機械と、サーボ制御装置とを示す図である。実施の形態2との相違点は、実施の形態8に係る機械運動軌跡測定装置100がパラメータ設定部500を有する点である。
図23は実施の形態9に係る機械運動軌跡測定装置と、実施の形態9に係る機械運動軌跡測定装置が適用される数値制御工作機械と、サーボ制御装置とを示す図である。また、図24は実施の形態9に係る機械運動軌跡測定装置が適用される数値制御工作機械の一例を示す概略図である。実施の形態1との相違点は、数値制御工作機械99bのロータリテーブル501上に3軸加速度センサ13が取付けられている点である。
Claims (16)
- アクチュエータを有し、被駆動体の運動軌跡が指令軌跡に追従するように、前記アクチュエータの位置または前記被駆動体の位置を検出する位置検出器から出力される検出位置信号をフィードバックし、前記アクチュエータを駆動する機械装置の運動軌跡を測定する機械運動軌跡測定装置であって、
運動軌跡測定対象物の加速度を測定し、加速度センサ信号として出力する加速度センサと、
前記加速度センサ信号を、2つ以上の周波数帯域に分離するセンサ信号分離部と、
前記検出位置信号を、前記センサ信号分離部と同じ周波数帯域に分離する検出位置信号分離部と、
前記センサ信号分離部で分離された前記加速度センサ信号と、前記検出位置信号分離部で分離された前記検出位置信号とを用いて、前記2つ以上の周波数帯域の各々において前記加速度センサ信号を較正し、前記2つ以上の周波数帯域の各々の運動軌跡成分を得るデータ較正部と、
前記2つ以上の周波数帯域の各々の運動軌跡成分を結合し、運動軌跡として出力する運動軌跡算出部と
を備えることを特徴とする機械運動軌跡測定装置。 - アクチュエータを有し、被駆動体の運動軌跡が指令軌跡に追従するように、前記アクチュエータの位置または前記被駆動体の位置を検出する位置検出器から出力される検出位置信号をフィードバックし、前記アクチュエータを駆動する機械装置の運動軌跡を測定する機械運動軌跡測定装置であって、
運動軌跡測定対象物の加速度を測定し、加速度センサ信号として出力する加速度センサと、
前記運動軌跡測定対象物の軌跡測定の基準となる点の加速度を測定し、基準加速度センサ信号として出力する基準加速度センサと、
前記加速度センサ信号と基準加速度センサ信号とを2つ以上の周波数帯域に分離するセンサ信号分離部と、
前記検出位置信号を、前記センサ信号分離部と同じ周波数帯域に分離する検出位置信号分離部と、
前記センサ信号分離部で分離された前記加速度センサ信号と、前記センサ信号分離部で分離された前記基準加速度センサ信号と、前記検出位置信号分離部で分離された前記検出位置信号とを用いて、前記2つ以上の周波数帯域の各々において前記加速度センサ信号を較正し、前記2つ以上の周波数帯域の各々の運動軌跡成分を得るデータ較正部と、
前記2つ以上の周波数帯域の各々の運動軌跡成分を結合し、運動軌跡を示す情報として出力する運動軌跡算出部と
を備えることを特徴とする機械運動軌跡測定装置。 - 前記センサ信号分離部は、前記加速度センサ信号を高周波帯域と低周波帯域の2つの帯域に分離し、周波数分離後の前記加速度センサ信号を出力することを特徴とする請求項1に記載の機械運動軌跡測定装置。
- 前記センサ信号分離部は、前記加速度センサ信号および前記基準加速度センサ信号の何れかを高周波帯域と低周波帯域の2つの帯域に分離し、周波数分離後の前記加速度センサ信号および前記基準加速度センサ信号の何れかを出力することを特徴とする請求項2に記載の機械運動軌跡測定装置。
- 前記センサ信号分離部は、前記高周波帯域、前記低周波帯域、およびノイズ帯域の3つの帯域に分離することを特徴とする請求項3に記載の機械運動軌跡測定装置。
- 前記低周波帯域は、前記アクチュエータを駆動する機械装置の制御帯域であり、前記高周波帯域は、前記アクチュエータを駆動する機械装置の振動周波数成分であり、前記ノイズ帯域は、前記加速度センサ信号のノイズ成分であることを特徴とする請求項5に記載の機械運動軌跡測定装置。
- 前記センサ信号分離部は、前記アクチュエータを駆動する機械装置が備える送り軸の位置制御系の応答を模擬した伝達関数を有することを特徴とする請求項1から請求項5の何れか一項に記載の機械運動軌跡測定装置。
- 前記センサ信号分離部は、前記低周波帯域用のフィルタとの伝達関数の和が1となるように設計された高周波帯域用のフィルタを有することを特徴とする請求項6に記載の機械運動軌跡測定装置。
- 前記データ較正部は、前記センサ信号分離部で分離された前記加速度センサ信号から周波数帯域毎に運動軌跡成分の計算誤差を補正するとき、前記検出位置信号分離部で分離された周波数帯域毎の前記検出位置信号を用いることを特徴とする請求項1に記載の機械運動軌跡測定装置。
- 前記データ較正部は、前記センサ信号分離部で分離された前記加速度センサ信号および前記基準加速度センサ信号から周波数帯域毎に対象物運動軌跡成分および基準運動軌跡成分の計算を行うとき、前記検出位置信号分離部で分離された周波数帯域毎の前記検出位置信号を用いて前記対象物運動軌跡成分および前記基準運動軌跡成分の計算誤差を補正し、前記対象物運動軌跡成分と前記基準運動軌跡成分との差をその帯域における相対運動軌跡として出力することを特徴とする請求項2に記載の機械運動軌跡測定装置。
- 前記データ較正部は、データ較正の際に加速度の入力信号を2階積分し、積分結果の平均値が0となるように積分誤差を補正することを特徴とする請求項9または請求項10に記載の機械運動軌跡測定装置。
- 前記データ較正部は、高周波帯域のデータ較正の際、前記積分結果として出力される信号に対して、ハイパスフィルタの通過帯域以下の周波成分を除去して出力することを特徴とする請求項11に記載の機械運動軌跡測定装置。
- 前記データ較正部は、高周波帯域のデータ較正の際、入力された信号を低周波数領域の信号に変換した後、低周波数領域で積分操作を行い、その後逆変換によって時間領域に変換した信号を運動軌跡の高周波帯域成分として出力することを特徴とする請求項9または請求項10に記載の機械運動軌跡測定装置。
- 前記データ較正部は、低周波帯域のデータ較正の際、前記センサ信号分離部で分離された加速度センサ信号の1階積分結果と前記検出位置信号の低周波帯域成分の1階微分結果との差が許容値を超えないように誤差を補正することを特徴とする請求項9または請求項10に記載の機械運動軌跡測定装置。
- 前記データ較正部は、低周波帯域のデータ較正の際、前記センサ信号分離部で分離された加速度センサ信号の2階積分結果と前記検出位置信号の低周波帯域成分との差が許容値を超えないように誤差を補正し、低周波帯域における対象物の運動軌跡を計算することを特徴とする請求項9、請求項10または請求項14に記載の機械運動軌跡測定装置。
- 前記機械装置の運動軌跡を表示する運動軌跡表示部を備え、
前記運動軌跡表示部は、位置指令生成部に入力される目標位置から目標軌跡を合成し、前記位置指令生成部から出力される指令位置から指令軌跡を合成し、前記検出位置信号から検出部軌跡を合成し、前記目標軌跡、前記指令軌跡および前記検出部軌跡の何れか一の軌跡と前記機械装置の運動軌跡とを重ねて前記運動軌跡表示部に表示させることを特徴とする請求項1または請求項2に記載の機械運動軌跡測定装置。
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DE112016006602T5 (de) | 2018-12-13 |
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CN107533325B (zh) | 2020-01-21 |
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