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WO1988002140A1 - Procede permettant d'eliminer le retard de poursuite par l'utilisation d'un servosysteme numerique dans un systeme de commande numerique a boucle de reaction completement fermee - Google Patents

Procede permettant d'eliminer le retard de poursuite par l'utilisation d'un servosysteme numerique dans un systeme de commande numerique a boucle de reaction completement fermee Download PDF

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Publication number
WO1988002140A1
WO1988002140A1 PCT/JP1987/000680 JP8700680W WO8802140A1 WO 1988002140 A1 WO1988002140 A1 WO 1988002140A1 JP 8700680 W JP8700680 W JP 8700680W WO 8802140 A1 WO8802140 A1 WO 8802140A1
Authority
WO
WIPO (PCT)
Prior art keywords
command
full
servo motor
correction
output
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/JP1987/000680
Other languages
English (en)
Japanese (ja)
Inventor
Kanemasa Okuda
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
Publication of WO1988002140A1 publication Critical patent/WO1988002140A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G05B19/19—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
    • 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
    • G05B2219/41068—Measuring and feedback
    • 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
    • G05B2219/41081—Approach position from same direction
    • 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
    • G05B2219/41085—Compensation pulses on inversion of direction of rotation, 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
    • G05B2219/41186—Lag

Definitions

  • the present invention relates to a method for removing a tracking delay using a digital servo system in a numerical control (NC) machine tool using full-closed feedback.
  • NC servo mechanism for machine tools: full-feedback type and semi-closed feedback type.
  • the former performs position feedback by attaching a position detector to the table of a machine tool.
  • the accuracy is higher than the latter, and errors due to play in the mechanical system are compensated.
  • Semi-closed-feedback type machine tools detect the position from the rotating shaft of the motor and have a larger position error than the full-closed feedback type. Can be made smaller.
  • Full-closed feed A machine tool that uses a feedback cannot logically be affected by mechanical system play, but when the feed rate of the table increases, there is a delay in following the servo system. , which c resulting shape errors when an arc quadrant switching unit such as the moving direction is changed even motor is reversed past the apex of the shape, the table This is because there is a period during which there is no movement, and even after the vertex, a flat part will cause an error with respect to the command value. Disclosure of the invention
  • An object of the present invention is to provide an NC machine tool having a small difference between positions even when a mechanical system has an unstable factor such as friction, and thus has a small shape error of a workpiece.
  • FIG. 1 is a block diagram showing each step of performing a method using a non-digital servo system in the prior art
  • FIG. 2 is a block diagram showing each step of a control system for performing a method for removing a tracking delay using a digital servo system in a full-closed-dock NC system as one embodiment of the present invention.
  • FIG. 2 is a block diagram showing each step of a control system for performing a method of removing a tracking delay using a digital servo system in a full-closed hook NC system as one embodiment of the present invention.
  • FIG. 1 shows a similar diagram for performing a method using a prior art non-digital servo system.
  • the position command (P0S.CO.fm.NC C0NT.) 1 1 from NC controller D— is obtained by integrating the position gain Ps.
  • the speed command to the servo motor (VEL.COM. To SERV M.) 1 2 becomes the torque command to the servo motor (T0 a.COM. To SBRV0M.) 13 and the servo motor (SERV0M .) Drive 14.
  • the servomotor 14 drives the table of the machine tool, and operates the table position detector (T.POS.DET.) 16 according to the movement of the table.
  • a machine play (MACH.PLAY) 15 exists between the servomotor 14 and the table.
  • the output of servo motor 14 is fed back to the speed command as motor speed feedback (M.VEL.FB.).
  • M.VEL.FB. motor speed feedback
  • the output of the table position detector 16 is fed back to the position command as a table position feedback (T. POS. FB.).
  • a loss motion correction pulse is used as a correction command for the position command from the C control ⁇ -controller. Is added.
  • ⁇ X, Pg, and K are as described above.
  • the end time of the timing of the capturing is defined as follows. In the digital servo system, the motor position feedback signal (M.
  • P0S. FB. Is obtained from the output of the servo motor 14 and is compared with the table position signal (C0 P.) (17).
  • the servo motor position becomes equal to the table position, Storm — Correction period control (CORR. TERM C0NT.) 1 8 so that LOST MOT. CORR. PULSE 1 9 is not added to position command 11 from the NC controller. Control.
  • the process shown by the broken line in FIG. 2 is performed by the correction pulse (CORR. PULSE) 20 shown in FIG. Since it is provided instead, the stop timing of the correction pulse can be controlled, and even if there is an uncertain element such as friction of the table of the machine tool, finer position control becomes possible.
  • CORR. PULSE correction pulse
  • an appropriate correction command can be given, and the end time of the correction can be controlled by the difference between the position of the servomotor and the table. Even if there are unstable factors such as friction in the mechanical system, an NC machine tool with a small position error and a small shape error of the workpiece can be obtained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)

Abstract

Dans ce système un contrôleur de commande numérique (11) reçoit une instruction de position, et une instruction de vitesse (12) et une instruction de couple (13) sont fournies, afin de commander le plateau d'une machine-outil via un servomoteur (14). Une valeur de détection de position est produite par le servomoteur. Est également prévue une étape (18) dans laquelle une instruction de correction (19) possédant une quantité de correction (K.DELTAX) et un temps de correction (1:Pg:K) (où DELTA X représente le jeu du plateau, Pg représente un gain de position du servosystème et K représente un coefficient de correction) est ajoutée à l'instruction de position (11) à l'instant où le sens de défilement du plateau est inversé, de sorte que l'erreur de position devient égale à zéro. Dans ladite étape, l'addition cesse à l'instant où une valeur de détection de position du servomoteur devient égale à une valeur de détection de position du plateau, ce qui permet de réaliser une machine-outil dans laquelle les erreurs de position sont réduites au minimum.
PCT/JP1987/000680 1986-09-22 1987-09-16 Procede permettant d'eliminer le retard de poursuite par l'utilisation d'un servosysteme numerique dans un systeme de commande numerique a boucle de reaction completement fermee Ceased WO1988002140A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP22218886A JPS6378206A (ja) 1986-09-22 1986-09-22 フルクロ−ズフイ−ドバツクｎｃシステムにおけるデジタルサ−ボシステムを用いた追従遅れを除去する方法
JP61/222188 1986-09-22

Publications (1)

Publication Number Publication Date
WO1988002140A1 true WO1988002140A1 (fr) 1988-03-24

Family

ID=16778533

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1987/000680 Ceased WO1988002140A1 (fr) 1986-09-22 1987-09-16 Procede permettant d'eliminer le retard de poursuite par l'utilisation d'un servosysteme numerique dans un systeme de commande numerique a boucle de reaction completement fermee

Country Status (2)

Country Link
JP (1) JPS6378206A (fr)
WO (1) WO1988002140A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0302943A4 (fr) * 1987-02-04 1990-06-05 Fanuc Ltd Procede de commande numerique comprenant une fonction de compensation du retard dans le temps de reaction.
EP0311127A3 (en) * 1987-10-09 1990-08-29 Kabushiki Kaisha Toshiba Control device for servo motor
CN113778022A (zh) * 2021-07-22 2021-12-10 江苏开璇智能科技有限公司 一种谐波数控转台主从控制系统

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3615596B2 (ja) * 1995-08-22 2005-02-02 ファナック株式会社 数値制御装置
JP4595271B2 (ja) * 2001-09-19 2010-12-08 パナソニック株式会社 部品実装装置
JP5788560B1 (ja) 2014-04-24 2015-09-30 ファナック株式会社 回転方向反転時に補正処理を行うモータ制御装置

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60116004A (ja) * 1983-11-29 1985-06-22 Fanuc Ltd フルクロ−ズドル−プ制御方式における数値制御装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5866121A (ja) * 1981-10-16 1983-04-20 Hitachi Ltd 数値制御装置の偏差位相変調器
JPS59106009A (ja) * 1982-12-10 1984-06-19 Hitachi Ltd バツクラツシユ補正方法
JPS6048505A (ja) * 1983-08-26 1985-03-16 Hitachi Ltd バツクラツシユ補正装置
JPS6172312A (ja) * 1984-09-14 1986-04-14 Yaskawa Electric Mfg Co Ltd 位置決め方式

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60116004A (ja) * 1983-11-29 1985-06-22 Fanuc Ltd フルクロ−ズドル−プ制御方式における数値制御装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0302943A4 (fr) * 1987-02-04 1990-06-05 Fanuc Ltd Procede de commande numerique comprenant une fonction de compensation du retard dans le temps de reaction.
EP0311127A3 (en) * 1987-10-09 1990-08-29 Kabushiki Kaisha Toshiba Control device for servo motor
CN113778022A (zh) * 2021-07-22 2021-12-10 江苏开璇智能科技有限公司 一种谐波数控转台主从控制系统
CN113778022B (zh) * 2021-07-22 2023-09-15 江苏开璇智能科技有限公司 一种谐波数控转台主从控制系统

Also Published As

Publication number Publication date
JPS6378206A (ja) 1988-04-08

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