WO2022202850A1 - サーボ制御装置 - Google Patents

サーボ制御装置 Download PDF

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Publication number
WO2022202850A1
WO2022202850A1 PCT/JP2022/013296 JP2022013296W WO2022202850A1 WO 2022202850 A1 WO2022202850 A1 WO 2022202850A1 JP 2022013296 W JP2022013296 W JP 2022013296W WO 2022202850 A1 WO2022202850 A1 WO 2022202850A1
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WO
WIPO (PCT)
Prior art keywords
command
control device
repeatable
servo control
repeatability
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/013296
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English (en)
French (fr)
Japanese (ja)
Inventor
高志 岡本
有紀 森田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to US18/259,733 priority Critical patent/US12326713B2/en
Priority to JP2023509218A priority patent/JP7614332B2/ja
Priority to DE112022000206.9T priority patent/DE112022000206T5/de
Priority to CN202280021144.8A priority patent/CN117043697A/zh
Publication of WO2022202850A1 publication Critical patent/WO2022202850A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration
    • 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
    • B23Q15/0075—Controlling reciprocating movement, e.g. for planing-machine
    • 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
    • G05B2219/41074—Learn, calibrate at start for indetermined position, drive until movement
    • 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
    • G05B2219/41177—Repetitive control, adaptive, previous error during actual positioning
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49053—Break chips, spiral chips, interrupt momentarily in feed during two or more rotations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the present invention relates to a servo control device, and more particularly to a servo control device that performs motor control based on commands including repetitive motion commands.
  • the control command is a non-repeatable movement command, and if necessary, a repetitive command such as a reciprocating vibration command (oscillation command) is superimposed.
  • Formulated directives have been used.
  • Patent Document 1 describes a technique for incorporating an oscillating motion into the machining operation of a tool in order to shred chips generated by turning in the control of a machine tool that performs threading by turning a workpiece.
  • a repeatable command related to the swinging motion in the swinging amplitude and swinging direction appropriate for chip shredding is added to the movement command for relatively moving the workpiece and the tool for turning (
  • a control technique for a machine tool that superimposes is described.
  • Patent Document 2 relates to a control device for a machine tool that performs oscillating cutting.
  • the commands for the relative oscillation of the workpiece and the tool are superimposed.
  • the tool and workpiece are relatively oscillated in the direction along the machining path, and if the machining conditions indicate machining by simultaneous interpolation operations of a plurality of feed axes, the oscillating direction is changed with respect to the machining path. , or stop rocking.
  • JP 2019-185355 A Japanese Patent Application Laid-Open No. 2020-9248
  • Patent Document 1 in generating a swing command (a command with repeatability) in a control device (servo control device), a machining program is input from the outside to calculate a swing condition, and then a swing motion is generated. It is necessary to generate a command, and it is necessary to input a large amount of information from the outside, which causes a problem that the communication capacity becomes too large. In addition, it is necessary to calculate the oscillation condition from the input machining program, and due to the amount of calculation, it takes time to generate the control command, making it difficult to achieve high followability of the control operation.
  • Patent Document 2 since a higher-level control unit creates a swing command (a command with repeatability) and transmits the created swing command to a control unit (servo control unit), the frequency In the case of a high-frequency oscillating command with a very large V, the communication capacity between the upper control section and the servo control section becomes too large, causing a problem of difficulty in transmission.
  • the present invention provides a control device for a machine tool, in which a control command obtained by superimposing a repetitive command on a normal movement command as a control command, is a high-frequency repetitive motion control device that is not subject to restrictions on communication capacity. It is an object of the present invention to provide a servo control device that can adopt commands and achieve high followability.
  • the servo control device of the present disclosure is a servo control device that controls a servo motor, in which information on the type of shape of the command waveform, the amplitude, period, and and a repeatability command creation unit that acquires only parameter information of numerical information representing other feature amounts related to the shape and dimensions of the command waveform, creates and outputs repeatability commands, and normal movement from the upper control device and a command superimposing unit that acquires a command and superimposes the repeatable command output by the repeatable command generating unit on the normal movement command.
  • the servo control device of the present disclosure in order to perform servo control, it is sufficient to transmit a small amount of information from the host control device, that is, without being subject to restrictions on the communication capacity between the host control device and the servo control device. Since a repeatable command is generated in the servo control device, even a high-frequency command with a very high frequency can be adopted as a repeatable command. In addition, in the servo control device, parameter information such as the type of given waveform shape and numerical data is directly given, and repeatable commands are created only from the given parameter information. It is possible to suppress the amount of calculation for creating a certain command and achieve high followability of the control operation.
  • FIG. 1 is a control block diagram of a servo control device according to an embodiment of the present disclosure
  • FIG. [0014] Fig. 5 is a diagram illustrating normal movement commands and repeatable commands of the present disclosure
  • FIG. 11 shows a repeatable command (high frequency repeatable command)
  • FIG. 10 is a diagram showing a trapezoidal command, which is an example of a non-repetitive command.
  • FIG. 4 is a diagram showing a command composed of a linear acceleration/deceleration portion and a constant speed portion, which is an example of a non-repeatable command;
  • Fig. 10 shows a low frequency repeatable command;
  • FIG. 4 is a diagram showing a period T1 in repetitive commands;
  • FIG. 10 is a diagram showing phase data corresponding to repetitive commands;
  • FIG. 10 is a diagram equivalent to phase data corresponding to repetitive commands;
  • FIG. 4 is a diagram showing phase data for each servo control cycle;
  • FIG. 10 is a diagram showing a repeatable command in the example; It is a figure which shows the feature-value of the instruction
  • FIG. 1 is a control block diagram of a servo control device according to one embodiment of the present disclosure.
  • the host control device 20 notifies the servo control device 10 of data related to movement commands and repeatability commands (repeated commands),
  • the servo control device 10 a repeatability command and phase data are created, the repeatability command is superimposed on the movement command, learning control based on the phase data is applied, and position/speed/current control is applied. After that, it is sent to the amplifier 30, and the motor 40 is driven and controlled by its output.
  • the servo control device 10 includes a repeatability command/phase data creation unit 11 , a learning control unit 12 , a position/speed/current control unit 13 , a first adder 14 and a second adder 15 .
  • a normal movement command signal such as a non-repeatable movement command is sent from the host control device 20 to the first adder 14 of the servo control device 10, and data relating to the repetitive command signal is sent to the first adder 14 of the servo control device 10. It is sent to the phase data creating section 11 .
  • Typical movement commands include, for example, basic design commands that determine the shape of the workpiece.
  • a repeatability command is created and sent to the first adder, and phase data for each servo cycle is created and sent to the learning control unit 12 .
  • the "data relating to repetitive command signals", "preparation of phase data” and “preparation of repetitive commands” will be described later in detail.
  • the first adder 14 adds (superimposes) the repeatability command generated by the repeatability command/phase data generation unit 11 to the movement command sent from the host controller 20 to form a superimposed command. At the same time, the deviation between this superimposed command and the signal fed back from the motor 40 is obtained and sent to the learning control section 12 and the second adder 15, respectively.
  • the learning control unit 12 performs learning control for the deviation between the superimposed command and the feedback signal obtained by the first adder 14 based on the phase data created by the repeatability command/phase data creating unit 11. done.
  • the learning control based on the phase data obtains the amount of correction from the integrated deviation up to one cycle before and corrects the input command (deviation) to improve followability to the periodic command.
  • the technology itself is conventionally known and will not be described in detail here. By applying learning control, highly followable and highly accurate motion becomes possible.
  • the position/speed/current control unit 13 calculates an appropriate drive voltage for the motor 40 from the input position command, speed command, and current command. be done.
  • the host control device 20 outputs to the servo control device 10 data relating to a normal movement command 21 such as a non-repeating movement command and a repetitive command 22 .
  • data related to the repeatable command 22 data on the type of shape of the command waveform, numerical data on the amplitude and period, and numerical data representing other feature amounts of the shape and dimensions of the command waveform is output from the host control device 20 to the servo control device 10.
  • Sine wave, triangular wave, rectangular wave and the like are given as types of command waveform.
  • the communication capacity between the host control device 20 and the servo control device 10 can be small, and high-frequency repeatability commands can be generated without being subject to communication capacity restrictions. , became available.
  • a repetitive command is superimposed with a normal movement command in the direction perpendicular to the direction of the reciprocating motion by the repetitive command, and the reciprocating motion is performed by a constant amount in the vertical direction for each cycle. It depicts an operation (raster operation) that fills a certain area by moving it.
  • a repeatable command is a command that repeats a reciprocating motion, for example, a command with a waveform (such as a sine wave) shown as a representative diagram on the right side of FIG.
  • FIG. 3 shows a high-frequency one as an example.
  • a normal movement command corresponds to either a non-repeatable command, a low-frequency repeatable command, or a combination thereof.
  • Non-repeatable commands include, for example, a trapezoidal command shown as a representative diagram on the right side of FIG. 2, and a command consisting of a linear acceleration/deceleration section and a constant speed section shown as a representative diagram in FIG. .
  • a low-frequency repetitive command includes, for example, a command with a waveform (such as a low-frequency sine wave) shown as a representative diagram in FIG. It is a low frequency command compared to .
  • a command obtained by adding a non-repeating command and a low-frequency repetitive command has, for example, the waveform shown as a representative diagram in FIG.
  • FIG. 7 shows the period T1 in a repetitive command.
  • the vertical axis represents the commanded position (distance), and the horizontal axis represents the elapsed time t.
  • the commanded position returns to the original commanded position every time T1 passes due to the repeatability (reciprocity) of the command, and it can be said that the cycle is T1.
  • Fig. 8 shows the phase data corresponding to the repeatable command in Fig. 7.
  • the vertical axis represents the phase and the horizontal axis represents the elapsed time t.
  • a constant phase advances every time a certain time elapses, and every time the period T1 elapses and the phase advances 360°, the original (0°) phase back to That is, the phase is proportional to time t within the period of period T1. This situation is shown in FIG.
  • the phase returns to the original (0°) phase every time the period T1 elapses and the phase advances by 360°, but it is also possible to further add the phase from 360°. .
  • the phase is added from 360° as time elapses.
  • the phase is proportional to time t over the entire period, not limited to the period of period T1. This situation is shown in FIG.
  • the vertical axis represents the phase and the horizontal axis represents the elapsed time t.
  • FIG. 11 shows a command having a sawtooth waveform as a repeatable command.
  • the host controller 20 from the repetitive sawtooth wave command in FIG. and only parameter information of numerical data (T2, T3) for other feature quantities are extracted and sent to the servo control device 10.
  • T2, T3 numerical data
  • the numerical data (T2, T3) for the feature quantity extracted from the repetitive commands in FIG. 11 will be explained using FIG.
  • the rising and falling slopes of the sawtooth are different, represented by the rising time (T2) and the falling time (T3) of the sawtooth.
  • the ascending time (T2) and descending time (T3) in are feature quantities in the repetitive command in FIG. Needless to say, what kind of numerical data is required as a feature amount depends on the type of command waveform.
  • FIG. 13 shows the displacement (position) in the wave of the command for each servo cycle Ts by points, and a repeatable command is created by a set of these points.
  • the servo control device 10 grasps a repetitive command as a set of points indicating the relationship between the servo period Ts and the displacement (position) in the wave of the command.
  • step S1 information such as the shape, amplitude, period, etc. of a repetitive command is received from the host control device (step S1).
  • information on the shape, amplitude, cycle, etc. of repetitive commands only parameter information of command waveform shape data (sawtooth wave), amplitude numeric data, cycle numeric data, and other numerical data parameter information
  • the communication capacity can be suppressed, which enables the creation and adoption of high-frequency repeatable commands.
  • phase data that serves as a reference for creating a repeatability command and correction data is created (step S2).
  • a repeatable command is created as a set of displacement (position) points in a repeatable command wave for each servo cycle Ts, as described above.
  • repeatability commands are superimposed on normal movement commands. It should be noted that superposition of commands is started, interrupted, or terminated based on a signal from the host controller (step S3).
  • the deviation between the superimposed command obtained by superimposing the repeatability command on the normal movement command and the signal fed back from the motor is obtained, and the motor is driven and controlled based on the obtained deviation signal. be done.
  • step S4 learning control is applied based on the phase data created in step S3 (step S4), and this flow ends.
  • the servo control device of the invention of the present disclosure only parameter information consisting of information on the shape of the command and numerical information on the amplitude, period, and their feature values is acquired from the host control device. and the communication capacity between the servo control device can be suppressed.
  • the servo control device it has become possible to create and employ a high-frequency command with a very high frequency. That is, there is a remarkable effect that even a high-frequency command with a very high frequency can be adopted as a repeatable command within the servo control device without being subject to the limitation of the communication capacity.
  • parameter information such as given waveform shape types and numerical data are directly given, and repeatable commands are created only from the given parameter information.
  • the amount of calculation for creating commands can be suppressed, and high followability of control operations can be achieved.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
PCT/JP2022/013296 2021-03-26 2022-03-22 サーボ制御装置 Ceased WO2022202850A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US18/259,733 US12326713B2 (en) 2021-03-26 2022-03-22 Servo control device
JP2023509218A JP7614332B2 (ja) 2021-03-26 2022-03-22 サーボ制御装置
DE112022000206.9T DE112022000206T5 (de) 2021-03-26 2022-03-22 Servosteuerungsvorrichtung
CN202280021144.8A CN117043697A (zh) 2021-03-26 2022-03-22 伺服控制装置

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Application Number Priority Date Filing Date Title
JP2021-052693 2021-03-26
JP2021052693 2021-03-26

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WO2022202850A1 true WO2022202850A1 (ja) 2022-09-29

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JP (1) JP7614332B2 (https=)
CN (1) CN117043697A (https=)
DE (1) DE112022000206T5 (https=)
WO (1) WO2022202850A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240061389A1 (en) * 2021-03-26 2024-02-22 Fanuc Corporation Servo control device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1189291A (ja) * 1997-09-08 1999-03-30 Honda Motor Co Ltd モータの加減速制御方法
WO2005120759A1 (en) * 2004-06-14 2005-12-22 Abb Ab A method and a device for providing feedback on weaving parameters
WO2015177912A1 (ja) * 2014-05-22 2015-11-26 三菱電機株式会社 指令生成装置および方法
JP2018181210A (ja) * 2017-04-20 2018-11-15 ファナック株式会社 揺動切削を行う工作機械の制御装置
JP2018180633A (ja) * 2017-04-04 2018-11-15 ファナック株式会社 揺動切削を行う工作機械の制御装置
JP2020009248A (ja) * 2018-07-10 2020-01-16 ファナック株式会社 工作機械の制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4390835B2 (ja) * 2008-02-04 2009-12-24 ファナック株式会社 サーボモータ制御システム
CN103795544B (zh) * 2014-02-12 2017-04-19 天地融科技股份有限公司 音频信号的传输方法、移动终端和智能密钥设备
WO2015140906A1 (ja) 2014-03-17 2015-09-24 三菱電機株式会社 数値制御装置
JP6342935B2 (ja) * 2016-03-29 2018-06-13 ファナック株式会社 揺動切削を行う工作機械のサーボ制御装置、制御方法及びコンピュータプログラム
JP6784717B2 (ja) 2018-04-09 2020-11-11 ファナック株式会社 工作機械の制御装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1189291A (ja) * 1997-09-08 1999-03-30 Honda Motor Co Ltd モータの加減速制御方法
WO2005120759A1 (en) * 2004-06-14 2005-12-22 Abb Ab A method and a device for providing feedback on weaving parameters
WO2015177912A1 (ja) * 2014-05-22 2015-11-26 三菱電機株式会社 指令生成装置および方法
JP2018180633A (ja) * 2017-04-04 2018-11-15 ファナック株式会社 揺動切削を行う工作機械の制御装置
JP2018181210A (ja) * 2017-04-20 2018-11-15 ファナック株式会社 揺動切削を行う工作機械の制御装置
JP2020009248A (ja) * 2018-07-10 2020-01-16 ファナック株式会社 工作機械の制御装置

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JPWO2022202850A1 (https=) 2022-09-29
JP7614332B2 (ja) 2025-01-15
CN117043697A (zh) 2023-11-10
US20240061400A1 (en) 2024-02-22
US12326713B2 (en) 2025-06-10
DE112022000206T5 (de) 2023-08-10

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