WO2022071209A1 - 工作機械の制御装置 - Google Patents
工作機械の制御装置 Download PDFInfo
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- WO2022071209A1 WO2022071209A1 PCT/JP2021/035332 JP2021035332W WO2022071209A1 WO 2022071209 A1 WO2022071209 A1 WO 2022071209A1 JP 2021035332 W JP2021035332 W JP 2021035332W WO 2022071209 A1 WO2022071209 A1 WO 2022071209A1
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- fluctuation
- speed
- command
- spindle motor
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- 230000001629 suppression Effects 0.000 abstract description 3
- 244000145845 chattering Species 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 18
- 230000001172 regenerating effect Effects 0.000 description 7
- 238000005520 cutting process Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 2
- 229920006395 saturated elastomer Polymers 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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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
-
- 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
- G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
- G05B19/40937—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of machining or material parameters, pocket machining
- G05B19/40938—Tool management
-
- 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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
-
- 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
- G05B19/33—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 using an analogue measuring device
- G05B19/37—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 using an analogue measuring device for continuous-path control
- G05B19/371—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 using an analogue measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/378—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 using an analogue measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/373 - G05B19/376
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41256—Chattering control
Definitions
- the present invention relates to a control device for a machine tool.
- Patent Document 1 Conventionally, there has been known a technique for suppressing regenerative self-excited chatter vibration generated in cutting by periodically changing the spindle speed of a machine tool (see, for example, Patent Document 1).
- the machine tool described in Patent Document 1 changes at least one of the average rotation speed, amplitude, and period of the rotation axis of the machine tool by changing a predetermined parameter when chatter vibration occurs.
- the control device of the machine tool calculates a fluctuation command based on the speed command of the spindle motor in the machine tool and the fluctuation condition for fluctuating the rotation speed of the spindle motor, and uses the speed command and the fluctuation command.
- the speed deviation indicating the difference between the speed command and the actual speed of the spindle motor within a predetermined period is within the first allowable range with the fluctuation command calculation unit that generates the speed control command that controls the speed of the spindle motor based on the above. It is provided with a speed deviation determining unit for determining whether or not the speed deviation is, and a condition changing unit for changing the fluctuation condition when the speed deviation is outside the first permissible range.
- the machine tool control device calculates a fluctuation command based on a speed command of the spindle motor in the machine tool and a fluctuation condition for fluctuating the rotational speed of the spindle motor, and uses the speed command and the fluctuation command.
- a fluctuation command calculation unit that generates a speed control command that controls the speed of the spindle motor based on the above, and a torque that determines whether or not the torque command for the spindle motor within a predetermined period is within the second allowable range. It includes a command determination unit and a condition change unit that changes the fluctuation condition when the torque command is outside the second permissible range.
- the control device of the machine tool calculates a fluctuation command based on the speed command of the spindle motor in the machine tool and the fluctuation condition for fluctuating the rotation speed of the spindle motor, and uses the speed command and the fluctuation command.
- the fluctuation command calculation unit that generates a speed control command for controlling the speed of the spindle motor based on the speed command, and the speed deviation based on the speed command and the actual speed of the spindle motor within a predetermined period are within the first allowable range.
- the speed deviation determination unit for determining whether or not the torque command for the spindle motor within the predetermined period is within the second allowable range, and the speed deviation determination unit determines whether or not the torque command is within the second allowable range.
- FIG. 1 is a diagram showing an outline of a machine tool 1 according to the present embodiment.
- the machine tool 1 is a device for performing predetermined machining such as cutting according to the control of the numerical control device 2.
- the machine tool 1 includes a motor control device 10 for controlling a motor. Further, the motor control device 10 includes a fluctuation command calculation unit 11, a speed control unit 12, a current control unit 13, a current detection unit 14, a speed deviation determination unit 15, a torque command determination unit 16, and a condition change unit. 17 and.
- the motor control device 10 aims to suppress the regenerative self-excited chatter vibration generated during the cutting process of the machine tool 1.
- the chatter vibration means a vibration continuously generated between a tool and a work in a machine tool. Chatter vibration is generally divided into forced chatter vibration and self-excited chatter vibration according to the factors that cause vibration.
- Forced chatter vibration is generated under the influence of the forced vibration source.
- self-excited vibration occurs when a certain condition is satisfied due to the overlap of the dynamic characteristics of the machine tool and the cutting process even if there is no specific vibration source.
- the regenerative self-excited chatter vibrations are chatter vibrations caused by fluctuations in chip thickness.
- the causes of the regenerative self-excited chatter vibration in the spindle motor mainly include 1) insufficient torque of the spindle motor and 2) insufficient followability of the spindle motor.
- the torque command of the spindle motor is saturated and the actual speed amplitude of the spindle motor is reduced, so that the chatter suppression effect is unintentionally reduced and chatter vibration is generated.
- the torque command of the spindle motor includes both the load torque of the spindle motor (including inertia, cutting load, etc.) and the acceleration / deceleration torque generated by the speed fluctuation. Therefore, it is difficult for the machine tool operator to determine whether or not the torque command is saturated in order to adjust the fluctuation condition when the speed of the spindle motor fluctuates.
- the frequency response of the spindle motor is insufficient and the actual speed amplitude of the spindle motor is reduced, so that the chatter suppression effect is unintentionally reduced and chatter vibration is generated. ..
- the frequency response of the spindle motor changes depending on multiple factors such as the configuration of the machine tool (for example, motor capacity, control gain, load inertia, etc.). Therefore, it is difficult for the machine tool operator to determine whether or not the followability of the motor is insufficient in order to adjust the fluctuation condition when the speed of the spindle motor fluctuates.
- the motor control device 10 effectively suppresses such regenerative self-excited vibration by performing the control as shown below.
- the fluctuation command calculation unit 11 calculates a fluctuation command based on the speed command of the spindle motor 18 in the machine tool 1 and fluctuation conditions for changing the rotation speed of the spindle motor 18, and speed control is performed based on the speed command and the fluctuation command. Generate a command.
- the fluctuation command calculation unit 11 calculates the fluctuation command including the fluctuation condition based on the speed command and the fluctuation condition of the spindle motor 18.
- the fluctuation condition includes a fluctuation amplitude rate for changing the amplitude of the speed command and a fluctuation frequency rate for changing the frequency of the speed command.
- the fluctuation condition may be arbitrarily set by the user as a parameter, or may be a preset default value.
- the fluctuation command calculation unit 11 superimposes the speed command on the calculated fluctuation command, and generates a speed control command for controlling the speed of the spindle motor 18. That is, the speed control command includes a speed command and a fluctuation command.
- the speed control unit 12 is the difference between the speed command and the actual speed based on the speed command output from the numerical control device 2 and the actual speed feedback signal of the spindle motor 18 output from the speed detection unit 19 (for example, an encoder). Calculate the velocity deviation indicating. Then, the speed control unit 12 generates a torque command by performing proportional integral control (PI control) on the speed deviation, and outputs the torque command to the current control unit 13. Further, the speed control unit 12 outputs the calculated speed deviation to the speed deviation determination unit 15.
- PI control proportional integral control
- the current control unit 13 generates a voltage command for driving the spindle motor 18 based on the torque command output from the speed control unit 12 and the actual current feedback signal output from the current detection unit 14, and issues the voltage command. Output to the spindle motor 18. Further, the current control unit 13 outputs a torque command to the torque command determination unit 16.
- the current detection unit 14 detects the current value of the spindle motor 18 and outputs the detected current value to the current control unit 13 as an actual current feedback signal.
- the speed deviation determination unit 15 determines whether or not the speed deviation indicating the difference between the speed command and the actual speed of the spindle motor 18 within a predetermined period is within the first allowable range.
- the predetermined period may be, for example, one cycle or a half cycle of the fluctuation cycle for varying the rotation speed of the spindle motor 18. Then, the speed deviation determination unit 15 monitors the speed deviation every one cycle or half cycle of the fluctuation cycle, and determines whether or not the speed deviation is within the first permissible range.
- the speed deviation determination unit 15 determines whether or not the speed deviation exceeds the first allowable range.
- the torque command determination unit 16 determines whether the torque command for the spindle motor 18 within a predetermined period is within the second allowable range.
- the predetermined period may be, for example, one cycle or a half cycle of the fluctuation cycle for varying the rotation speed of the spindle motor 18. Then, the torque command determination unit 16 monitors the torque command every one cycle or half cycle of the fluctuation cycle, and determines whether or not the torque command is within the second allowable range.
- the torque command determination unit 16 determines whether or not the torque command exceeds the second allowable range.
- the condition changing unit 17 changes the fluctuation condition when the speed deviation is out of the first permissible range. Specifically, the condition changing unit 17 changes the fluctuation amplitude rate and / or the fluctuation frequency rate as the fluctuation condition when the velocity deviation is out of the first permissible range.
- condition changing unit 17 reduces the fluctuation amplitude rate and / or the fluctuation frequency rate when the velocity deviation exceeds the first allowable range.
- condition changing unit 17 increases the fluctuation amplitude rate and / or the fluctuation frequency rate when the velocity deviation is less than the first allowable range.
- condition changing unit 17 changes the fluctuation condition when the torque command is out of the second allowable range. Specifically, the condition changing unit 17 changes the fluctuation amplitude rate and / or the fluctuation frequency rate when the torque command is out of the second allowable range.
- condition changing unit 17 reduces the fluctuation amplitude rate and / or the fluctuation frequency rate when the torque command exceeds the second allowable range.
- condition changing unit 17 increases the fluctuation amplitude rate and / or the fluctuation frequency rate when the torque command is less than the second allowable range.
- condition changing unit 17 may change the fluctuation condition when the speed deviation is out of the first allowable range and the torque command is out of the second allowable range.
- FIG. 2 is a flowchart showing a processing flow of the motor control device 10 according to the present embodiment.
- the fluctuation command calculation unit 11 calculates the fluctuation command including the fluctuation condition based on the speed command and the fluctuation condition of the spindle motor 18.
- step S2 the fluctuation command calculation unit 11 superimposes the speed command on the fluctuation command calculated in step S1 and generates a speed control command for the spindle motor 18.
- FIG. 3 is a diagram showing an example of a speed command, a fluctuation command, and a fluctuation condition.
- the variation command has a variation amplitude and a variation frequency and is superimposed on the velocity command.
- the fluctuation amplitude is calculated based on the speed command and the fluctuation amplitude rate
- the fluctuation frequency is calculated based on the speed command and the fluctuation frequency rate.
- the fluctuation amplitude and the fluctuation frequency are calculated by the following equations as shown in FIG.
- Fluctuation amplitude [min -1 ] Velocity command [min -1 ] ⁇ (Variation amplitude rate [%] ⁇ 100)
- Fluctuating frequency [Hz] (speed command [min -1 ] / 60) x (variable frequency rate [%] x 100)
- the fluctuation command in FIG. 3 has a triangular wave type pattern, but is not limited to this, and the fluctuation command may have a pattern such as a sine wave, a square wave, or a rectangular wave. ..
- step S3 the speed deviation determination unit 15 monitors the speed deviation every one cycle or half cycle of the fluctuation cycle, and determines whether or not the speed deviation is within the first allowable range. .. If the speed deviation is within the first permissible range (YES), the process proceeds to step S4. On the other hand, when the speed deviation is out of the second permissible range (NO), the process proceeds to step S5.
- FIG. 4 is a diagram showing an example of the velocity deviation and the first allowable range.
- the fluctuation period is calculated by taking the reciprocal of the fluctuation frequency in the fluctuation command.
- the first permissible range is set to 0 to 300 min -1 .
- the first permissible range may be arbitrarily set by the user, or a preset default value may be used. Further, the first allowable range may be calculated based on the maximum rotation speed of the spindle motor 18 or the speed command from the numerical control device 2.
- the speed deviation determination unit 15 makes a determination by comparing the maximum value of the speed deviation, which is an absolute value, with the first allowable range, but the determination is not limited to this.
- the speed deviation determination unit 15 may make a determination by comparing the average value of the speed deviation within a predetermined period with the first allowable range.
- step S4 the torque command determination unit 16 monitors the torque command every one cycle or half cycle of the fluctuation cycle, and determines whether or not the torque command is within the second allowable range. .. If the torque command is within the second permissible range (YES), the process ends thereafter. On the other hand, when the torque command is out of the second allowable range (NO), the process proceeds to step S6.
- FIG. 5 is a diagram showing an example of a torque command and a second allowable range.
- the second allowable range is set from 60% (lower limit) to 90% (upper limit) of the absolute value of the torque command.
- the second allowable range may be arbitrarily set by the user, or a preset default value may be used.
- the torque command determination unit 16 makes a determination by comparing the maximum value of the torque command, which is an absolute value, with the second allowable range, but the determination is not limited to this.
- the torque command determination unit 16 may make a determination by comparing the average value of the torque commands within a predetermined period with the second allowable range.
- step S5 the speed deviation determination unit 15 determines whether or not the speed deviation exceeds the first permissible range. If the speed deviation exceeds the first permissible range (YES), the process proceeds to step S7. If the speed deviation does not exceed the first permissible range (NO), the process proceeds to step S8.
- step S6 the torque command determination unit 16 determines whether or not the torque command exceeds the second allowable range. If the torque command exceeds the second permissible range (YES), the process proceeds to step S7. If the torque command does not exceed the second permissible range (NO), the process proceeds to step S8.
- step S7 the condition changing unit 17 reduces the fluctuation amplitude rate and / or the fluctuation frequency rate as the fluctuation condition.
- step S8 the condition changing unit 17 increases the fluctuation amplitude rate and / or the fluctuation frequency rate as the fluctuation condition.
- the change ratio of the fluctuation amplitude rate and / or the fluctuation frequency rate is the current change magnification, the maximum value of the speed deviation, and the first permissible range of the speed deviation, as shown in the following equation. It may be calculated based on the maximum value of.
- Change Magnification (Current Change Magnification) + ⁇ (Current Change Magnification)-(Maximum Velocity Deviation) / (Maximum Velocity Deviation First Allowable Range) x (Current Change Magnification) ⁇
- Change magnification (Current change magnification) + ⁇ (Current change magnification)-(Maximum value of torque command) / (Maximum value of the second allowable range of torque command) x (Current change magnification) ⁇
- variable amplitude rate and / or the variable frequency rate change magnification may be arbitrarily set by the user as a parameter, or a preset change factor may be used.
- the process of step S4 is executed after the process of step S3, but instead of this, the process of step S3 may be executed after the process of step S4. In this case, the process of step S5 and the process of step S6 are switched.
- the motor control device 10 calculates the fluctuation command based on the speed command of the spindle motor 18 in the machine tool 1 and the fluctuation condition for varying the rotation speed of the spindle motor 18.
- the fluctuation command calculation unit 11 that generates a speed control command that controls the speed of the spindle motor 18 based on the speed command and the fluctuation command, and the speed deviation indicating the difference between the speed command and the actual speed of the spindle motor 18 within a predetermined period are A speed deviation determining unit 15 for determining whether or not the speed deviation is within the first allowable range, and a condition changing unit 17 for changing the fluctuation condition when the speed deviation is outside the first allowable range are provided.
- the motor control device 10 can change the fluctuation condition according to the speed deviation of the spindle motor 18. Therefore, the motor control device 10 can adjust the optimum fluctuation conditions with respect to the followability of the spindle motor 18, and can obtain a stable and chatter suppressing effect.
- the fluctuation condition includes the fluctuation amplitude rate for changing the amplitude of the speed command and the fluctuation frequency rate for changing the frequency of the speed command.
- the condition changing unit 17 changes the fluctuation amplitude rate and / or the fluctuation frequency rate when the velocity deviation is out of the first permissible range.
- the motor control device 10 can change the variable amplitude rate and / or the variable frequency rate according to the speed deviation of the spindle motor 18. Therefore, the motor control device 10 can appropriately adjust the fluctuation conditions.
- the speed deviation determination unit 15 determines whether or not the speed deviation exceeds the first allowable range.
- the condition changing unit 17 reduces the fluctuation amplitude rate and / or the fluctuation frequency rate when the velocity deviation exceeds the first allowable range. Further, the condition changing unit 17 increases the fluctuation amplitude rate and / or the fluctuation frequency rate when the velocity deviation is less than the first allowable range.
- the motor control device 10 can increase or decrease the fluctuation amplitude rate and / or the fluctuation frequency rate according to the speed deviation of the spindle motor 18. Therefore, the motor control device 10 can appropriately adjust the fluctuation conditions.
- the motor control device 10 calculates a fluctuation command based on the speed command of the spindle motor 18 in the machine tool 1 and the fluctuation condition for fluctuating the rotational speed of the spindle motor 18, and the spindle is based on the speed command and the fluctuation command.
- the fluctuation command calculation unit 11 that generates a speed control command that controls the speed of the motor 18, and the torque command determination that determines whether or not the torque command for the spindle motor 18 within a predetermined period is within the second allowable range.
- a unit 16 and a condition changing unit 17 that changes the fluctuation condition when the torque command is out of the second allowable range are provided.
- the motor control device 10 can change the fluctuation condition according to the torque command of the spindle motor 18. Therefore, the motor control device 10 can adjust the optimum fluctuation conditions with respect to the load and torque margin of the spindle motor 18, and can obtain a stable and chatter suppressing effect.
- the fluctuation condition includes the fluctuation amplitude rate for changing the amplitude of the speed command and the fluctuation frequency rate for changing the frequency of the speed command.
- the condition changing unit 17 changes the fluctuation amplitude rate and / or the fluctuation frequency rate when the torque command is out of the second allowable range.
- the motor control device 10 can change the fluctuation amplitude rate and / or the fluctuation frequency rate according to the torque command of the spindle motor 18. Therefore, the motor control device 10 can appropriately adjust the fluctuation conditions.
- the torque command determination unit 16 determines whether or not the torque command exceeds the second allowable range.
- the condition changing unit 17 reduces the fluctuation amplitude rate and / or the fluctuation frequency rate when the torque command exceeds the second allowable range. Further, the condition changing unit 17 increases the fluctuation amplitude rate and / or the fluctuation frequency rate when the torque command is less than the second allowable range.
- the motor control device 10 can increase or decrease the fluctuation amplitude rate and / or the fluctuation frequency rate according to the torque command of the spindle motor 18. Therefore, the motor control device 10 can appropriately adjust the fluctuation conditions.
- the motor control device 10 calculates a fluctuation command based on the speed command of the spindle motor 18 in the machine tool 1 and the fluctuation condition for fluctuating the rotation speed of the spindle motor 18, and the spindle is based on the speed command and the fluctuation command. Whether or not the speed deviation based on the fluctuation command calculation unit 11 that generates the speed control command that controls the speed of the motor 18 and the speed command and the actual speed of the spindle motor 18 within a predetermined period is within the first allowable range.
- the speed deviation determination unit 15 for determining whether or not the torque command for the spindle motor 18 within a predetermined period is within the second allowable range, and the torque command determination unit 16 for determining whether or not the torque command is within the second allowable range, and the speed deviation is the first.
- the condition changing unit 17 for changing the fluctuation condition is provided.
- the motor control device 10 can change the fluctuation conditions according to the speed deviation and the torque command of the spindle motor 18. Therefore, the motor control device 10 can adjust the optimum fluctuation conditions with respect to the followability of the spindle motor 18 and the margin of load and torque of the spindle motor 18, and can obtain a stable and chatter suppressing effect.
- the above-mentioned motor control device 10 can be realized by hardware, software, or a combination thereof. Further, the control method performed by the motor control device 10 can also be realized by hardware, software, or a combination thereof.
- what is realized by software means that it is realized by a computer reading and executing a program.
- Non-transitory computer-readable media include various types of tangible storage media (tangible studio media).
- Examples of non-temporary computer-readable media include magnetic recording media (eg, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-Rs / W, including semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)).
- Machine tool 1 Machine tool 2 Numerical control device 10 Motor control device 11 Fluctuation command calculation unit 12 Speed control unit 13 Current control unit 14 Current detection unit 15 Speed deviation judgment unit 16 Torque command judgment unit 17 Condition change unit 18 Main shaft motor 19 Speed detection unit
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Abstract
Description
ここで、主軸モータにおける再生型の自励びびり振動の発生要因としては、主に、1)主軸モータのトルク不足、及び2)主軸モータの追従性不足が挙げられる。
ステップS1において、変動指令算出部11は、主軸モータ18の速度指令及び変動条件に基づいて、変動条件を含む変動指令を算出する。
変動振幅[min-1]=速度指令[min-1]×(変動振幅率[%]×100)
変動周波数[Hz]=(速度指令[min-1]/60)×(変動周波数率[%]×100)
速度偏差が第1の許容範囲内である場合(YES)、処理は、ステップS4へ進む。一方、速度偏差が第2の許容範囲外である場合(NO)、処理は、ステップS5へ進む。
ステップS8において、条件変更部17は、変動条件としての変動振幅率及び/又は変動周波数率を増加させる。
変更倍率=(現在の変更倍率)+{(現在の変更倍率)-(速度偏差の最大値)/(速度偏差の第1の許容範囲の最大値)×(現在の変更倍率)}
変更倍率=(現在の変更倍率)+{(現在の変更倍率)-(トルク指令の最大値)/(トルク指令の第2の許容範囲の最大値)×(現在の変更倍率)}
2 数値制御装置
10 モータ制御装置
11 変動指令算出部
12 速度制御部
13 電流制御部
14 電流検出部
15 速度偏差判定部
16 トルク指令判定部
17 条件変更部
18 主軸モータ
19 速度検出部
Claims (7)
- 工作機械における主軸モータの速度指令及び前記主軸モータの回転速度を変動させるための変動条件に基づいて変動指令を算出し、前記速度指令及び前記変動指令に基づいて前記主軸モータの速度を制御する速度制御指令を生成する変動指令算出部と、
所定期間内における前記速度指令と前記主軸モータの実速度との差を示す速度偏差が第1の許容範囲内であるか否かを判定する速度偏差判定部と、
前記速度偏差が前記第1の許容範囲外である場合、前記変動条件を変更する条件変更部と、
を備える工作機械の制御装置。 - 前記変動条件は、前記速度指令の振幅を変動させるための変動振幅率及び前記速度指令の周波数を変動させるための変動周波数率を含み、
前記条件変更部は、前記速度偏差が前記第1の許容範囲外である場合、前記変動振幅率及び/又は前記変動周波数率を変更する、請求項1に記載の制御装置。 - 前記速度偏差判定部は、前記速度偏差が前記第1の許容範囲外である場合、前記速度偏差が前記第1の許容範囲を超えるか否かを判定し、
前記条件変更部は、前記速度偏差が前記第1の許容範囲を超える場合、前記変動振幅率及び/又は前記変動周波数率を減少させ、
前記条件変更部は、前記速度偏差が前記第1の許容範囲未満である場合、前記変動振幅率及び/又は前記変動周波数率を増加させる、請求項2に記載の制御装置。 - 工作機械における主軸モータの速度指令及び前記主軸モータの回転速度を変動させるための変動条件に基づいて変動指令を算出し、前記速度指令及び前記変動指令に基づいて前記主軸モータの速度を制御する速度制御指令を生成する変動指令算出部と、
所定期間内における前記主軸モータのためのトルク指令が第2の許容範囲内であるか否かを判定するトルク指令判定部と、
前記トルク指令が前記第2の許容範囲外である場合、前記変動条件を変更する条件変更部と、
を備える工作機械の制御装置。 - 前記変動条件は、前記速度指令の振幅を変動させるための変動振幅率及び前記速度指令の周波数を変動させるための変動周波数率を含み、
前記条件変更部は、前記トルク指令が前記第2の許容範囲外である場合、前記変動振幅率及び/又は前記変動周波数率を変更する、請求項4に記載の制御装置。 - 前記トルク指令判定部は、前記トルク指令が前記第2の許容範囲外である場合、前記トルク指令が前記第2の許容範囲を超えるか否かを判定し、
前記条件変更部は、前記トルク指令が前記第2の許容範囲を超える場合、前記変動振幅率及び/又は前記変動周波数率を減少させ、
前記条件変更部は、前記トルク指令が前記第2の許容範囲未満である場合、前記変動振幅率及び/又は前記変動周波数率を増加させる、請求項5に記載の制御装置。 - 工作機械における主軸モータの速度指令及び前記主軸モータの回転速度を変動させるための変動条件に基づいて変動指令を算出し、前記速度指令及び前記変動指令に基づいて前記主軸モータの速度を制御する速度制御指令を生成する変動指令算出部と、
所定期間内における前記速度指令と前記主軸モータの実速度とに基づく速度偏差が第1の許容範囲内であるか否かを判定する速度偏差判定部と、
前記所定期間内における前記主軸モータのためのトルク指令が第2の許容範囲内であるか否かを判定するトルク指令判定部と、
前記速度偏差が前記第1の許容範囲外であり、かつ前記トルク指令が前記第2の許容範囲外である場合、前記変動条件を変更する条件変更部と、
を備える工作機械の制御装置。
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