CN117693897A - Servo motor control device - Google Patents
Servo motor control device Download PDFInfo
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- CN117693897A CN117693897A CN202180100787.7A CN202180100787A CN117693897A CN 117693897 A CN117693897 A CN 117693897A CN 202180100787 A CN202180100787 A CN 202180100787A CN 117693897 A CN117693897 A CN 117693897A
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- servo motor
- command
- adjustment
- control device
- adjustment command
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- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000036461 convulsion Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000000470 constituent Substances 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
Classifications
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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
- G05B19/19—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
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- 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
- H02P23/06—Controlling the motor in four quadrants
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- 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
- H02P23/24—Controlling the direction, e.g. clockwise or counterclockwise
-
- 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
- G05B2219/41001—Servo problems
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
A servo motor control device capable of suppressing quadrant protrusion in a relatively short time controls a servo motor according to an original command, the servo motor control device comprising: a reverse rotation detection unit that detects a reverse rotation point at which the rotation direction of the servomotor is reversed, based on the original command or a feedback value from the servomotor; an adjustment command generating unit that generates an adjustment command for repeatedly designating an operation of the servo motor in accordance with the original command in a reverse range including the reverse point; an output control unit that calculates a control output value to the servo motor based on the adjustment command; and a learning control unit that calculates a deviation of the feedback value from the adjustment command in the inversion range when the servo motor is controlled based on the control output value of the adjustment command, and inputs a correction value for reducing the deviation of the feedback value from the adjustment command to the output control unit, for each cycle of the adjustment command.
Description
Technical Field
The present invention relates to a servomotor control device.
Background
When the driven body is driven by the servomotor, the operation of the driven body may be different from the intended operation due to the mechanical play when the rotation direction of the servomotor is reversed. The driving error of the driven body caused by the reversal of the rotation direction of the servo motor is called a quadrant projection.
As a method for suppressing such quadrant protrusion, the following has been proposed: detecting the quadrant protrusion, adding a correction value for suppressing the quadrant protrusion to a feedback loop for controlling the servo motor at the timing when the quadrant protrusion is detected, and adjusting the value of the correction value by machine learning (for example, refer to patent document 1).
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open publication No. 2019-185529
Disclosure of Invention
Problems to be solved by the invention
In order to appropriately suppress the quadrant protrusion by machine learning, it is necessary to repeatedly execute a program for driving the driven body to collect sufficient data about the quadrant protrusion. However, when the speed of the overall operation is low or the moving distance is large as a program, a considerable time may be required until the object limit projection can be sufficiently restrained from being corrected. Therefore, a technique capable of suppressing quadrant protrusion in a short time is desired.
Means for solving the problems
A servo motor control device according to an aspect of the present disclosure controls a servo motor in accordance with an original command, the servo motor control device including: a reverse rotation detection unit that detects a reverse rotation point at which the rotation direction of the servomotor is reversed, based on the original command or a feedback value from the servomotor; an adjustment command generating unit that generates an adjustment command for repeatedly designating an operation of the servo motor in accordance with the original command in a reverse range including the reverse point; an output control unit that calculates a control output value for the servo motor based on the adjustment command; and a learning control unit that calculates a deviation of the feedback value from the adjustment command in the inversion range when the servo motor is controlled based on the control output value of the adjustment command, and inputs a correction value for reducing the deviation of the feedback value from the adjustment command to the output control unit, for each cycle of the adjustment command.
Effects of the invention
According to the present disclosure, quadrant protrusion can be suppressed in a relatively short time.
Drawings
Fig. 1 is a block diagram showing a configuration of a drive system including a servomotor control device according to a first embodiment of the present disclosure.
Fig. 2 is a schematic diagram showing a movement path based on an original command of a driven body and a movement path based on an adjustment command in the servo motor control device of fig. 1.
Fig. 3 is a flowchart showing an initial step of the actual command generation step of the servomotor control apparatus shown in fig. 1.
Fig. 4 is a flowchart showing a step next to the actual command generation step of the servomotor control apparatus shown in fig. 1.
Fig. 5 is a flowchart showing the final step of the actual command generation step of the servomotor control apparatus shown in fig. 1.
Detailed Description
Embodiments of the present disclosure will be described below with reference to the drawings. Fig. 1 is a block diagram showing a configuration of a drive system 1 including a servomotor control device 10 according to a first embodiment of the present disclosure. In fig. 1, for convenience of explanation, the structure of the servomotor control device 10 is partially described in the form of a block diagram, but it is not intended to explain the functions of all the constituent elements as transfer functions, and it is also intended to make all the information transfer indicated by the arrows always effective and all the constituent elements shown in the drawings always effectively function.
The driving system 1 includes a servomotor control device 10, a servo amplifier 20, and a servomotor 30, and drives a driven object (not shown) by the servomotor 30. In the drive system 1, the servomotor control device 10 controls the servomotor 30 via the servo amplifier 20 in accordance with the original command. Although only one set of servo amplifier 20 and servo motor 30 is shown in fig. 1, the drive system 1 includes a plurality of sets of servo amplifier 20 and servo motor 30, and the servo motor control device 10 controls the plurality of sets of servo amplifier 20 and servo motor 30.
Specifically, the servo motor control device 10 generates an actual command for suppressing the occurrence of a quadrant protrusion caused by the reversal of the rotation direction of the servo motor 30, and the servo motor 30 can more accurately reproduce the intended operation of the original command, and inputs the generated actual command to the servo amplifier 20, thereby operating the servo motor 30.
The servo motor control device 10 includes a reverse rotation detection unit 11, an adjustment command generation unit 12, an output control unit 13, a learning control unit 14, and an actual command generation unit 15. The servomotor control device 10 can be realized by, for example, executing an appropriate control program on a computer device having a memory, a processor (CPU), an input/output interface, and the like. The components of the above-described servomotor control device 10 are classified into the functions of the servomotor control device 10, and may not be clearly distinguishable from the physical structure and the program structure.
The reverse rotation detecting unit 11 detects a reverse point at which the rotation direction of the servomotor 30 is reversed, based on the original command or the feedback value from the servomotor 30. That is, the reverse rotation detection unit 11 may analyze the original command without actually driving the servomotor 30, and determine a point at which the rotation direction of the servomotor 30 is supposed to be reversed in theory, may actually drive the servomotor 30 by executing the original command for 1 cycle, may determine a point at which the rotation direction of the servomotor 30 is supposed to be reversed based on the feedback value from the servomotor 30, or may detect a point at which the rotation direction of the servomotor 30 is supposed to be reversed at the same time among a plurality of references as the reverse rotation point.
Specifically, the reverse rotation detecting unit 11 may determine that the rotation direction of the servomotor 30 is reversed when the differential value of the position designated by the original command or the sign of the speed designated by the original command changes. When the original command designates a position, the servo motor 30 is intended to be rotated in the original command when the sign of the differential value changes, and when the sign of the differential value changes, the speed is designated. Therefore, the inversion point is theoretically determined based on the original command without actually driving the servomotor 30, and thus the inversion point can be detected promptly.
The reverse rotation detection unit 11 may determine that the rotation direction of the servomotor 30 is reversed when the sign of at least one of the speed and the load torque indicated by the feedback value is changed. The change in the sign of the load torque and the speed due to the reversal of the actual rotation direction of the servomotor 30 can be detected by executing the original command for one cycle, and the reversal point can be detected more accurately.
The reverse rotation detection unit 11 may determine that the rotation direction of the servomotor 30 is reversed when the deviation of the feedback value from at least one of the position, the speed, the acceleration, and the jerk of the original command exceeds a predetermined threshold value. When the difference between the command value and the output value of the servomotor 30 is actually generated by executing the original command for 1 cycle, it is considered that the quadrant projection is caused by the reversal of the rotation direction of the servomotor 30. In this determination method, even if there is a reversal of the rotation direction of the servomotor 30, the reversal point is not detected without generating a large quadrant projection, and therefore only the reversal point where a problem may actually occur can be extracted.
The adjustment command generation unit 12 generates an adjustment command for repeatedly designating the operation of the servomotor 30 in the inversion range including the inversion point in accordance with the original command. That is, the adjustment command generated by the adjustment command generating unit 12 is a command for designating an operation of reciprocating on a path designated by the original command for the inversion range including the inversion point, or an operation of circulating on a loop path formed by combining a path of the inversion range designated by the original command and an arbitrary path returning from the end point to the start point of the inversion range. The number of repetitions of the reciprocation or the circulation operation may be a predetermined number in the adjustment command or may be dynamically increased until the deviation of the feedback value from the servo motor 30 with respect to the adjustment command becomes sufficiently small at the time of execution of the adjustment command.
The adjustment instruction generation unit 12 may set a preset distance range or time range including the inversion point as the inversion range. The adjustment instruction generation unit 12 preferably provides an interface by which the user can set the distance width or the time width of the inversion range. By setting the inversion range to a range having a certain distance width, the deviation of the ratio of the width of the inversion range to the width of the quadrant projection that may occur can be reduced, and thus the execution time of the adjustment instruction can be suppressed. In addition, since the inversion range is set to a range having a constant time width, the user can intuitively adjust the inversion range, and thus the adjustment work becomes easy.
Preferably, as shown in fig. 2, the adjustment instruction generation unit 12 generates the following adjustment instructions: after repeating the reciprocating or cyclic operation of the driven body in one inversion range, the driven body is moved to the start point of the next inversion range, and the reciprocating or cyclic operation of the driven body in the next inversion range is repeated. That is, the adjustment command is preferably capable of continuously generating an actual command capable of suppressing quadrant protrusion in a plurality of inversion ranges. Fig. 2 shows a case where a servo motor 30 for moving the driven body in the X direction and a servo motor 30 for moving the driven body in the Y direction are provided. In fig. 2, for ease of understanding, the repetitive motion shift positions in the reverse range are illustrated, but actually the repetitive motion is repeated on the same path.
The movement between the inversion ranges can be determined independently of the path designated by the original command shown by the one-dot chain line in fig. 2, and can be determined so that the path is moved as simply as possible, for example, in a straight line, an arc, a line formed by combining a small number of straight lines and arcs, or the like shown by the solid line in fig. 2. In this way, by moving between inversion ranges in a simple path regardless of the path specified by the original instruction, the time required for executing the adjustment instruction can be shortened.
The output control unit 13 calculates a control output value to the servo motor 30 (servo amplifier 20) based on the original command, the adjustment command, and the actual command. The configuration of the output control unit 13 can be the same as that of the conventional servomotor control device that generates a control output for the servo amplifier based on the original command. Specifically, the output control unit 13 may be configured to include a position control unit 131 and a speed control unit 132.
The learning control unit 14 calculates a deviation of the feedback value from the servo motor 30 in the inversion range when the servo motor 30 is controlled based on the control output value of the adjustment command for each repetition period of the inversion range in the adjustment command, generates a correction value for reducing the deviation of the feedback value from the adjustment command, and inputs the correction value to the output control unit 13. As an example, the learning control unit 14 may be configured to include: a correction amount calculation unit that calculates a correction amount based on a deviation between the adjustment command and a current value of the feedback value; and an adjustment unit that adjusts the correction amount calculation parameter of the correction amount calculation unit based on the deviation for each cycle.
The actual command generating unit 15 generates an actual command capable of suppressing the quadrant protrusion and more accurately reproducing the intended operation of the original command, based on the original command and the correction value derived by the learning control unit 14. As an example, the actual command generating unit 15 may be configured to generate an actual command for realizing an intended operation close to the original command by adding the correction value output by the learning control unit 14 to the inversion range of the original command when the deviation of the feedback value from the adjustment command becomes sufficiently small by the execution of the adjustment command.
The actual command generating unit 15 may generate the actual command in real time when the servo motor 30 is actually driven, calculate the actual command generated in advance, store the actual command, and output the actual command as needed.
The servo amplifier 20 performs feedback control of the current input to the servo motor 30 in accordance with the control output value input from the servo motor control device 10. As the servo amplifier 20, a known configuration can be used. Specifically, the servo amplifier 20 may be configured to have a current control unit 21 and a current amplifying unit 22.
The servo motor 30 is driven by the current output from the servo amplifier 20, and is configured to output a rotational position, a rotational speed, and the like detected by a rotary encoder or the like as feedback values, for example.
Fig. 3 to 5 show steps for generating an actual command by the servomotor control device 10. The method for generating an actual command by the servomotor control device 10 includes a step of generating an adjustment command as shown in fig. 3, a step of calculating a correction value as shown in fig. 4, and a step of generating an actual command as shown in fig. 5.
The generation of the adjustment instruction includes: a step (S11) of confirming whether the reverse rotation is detected according to the original instruction or the reverse rotation is detected according to the feedback value; detecting a reversal based on the original command when detection based on the original command is selected (step S12); a step (step S13) of executing the original instruction when the detection based on the feedback value is selected; a step (step S14) of detecting inversion from the feedback value; and a step (step S15) of generating an adjustment command when the inversion is detected.
The correction value calculation includes a step of executing an adjustment command (step S21) and a step of calculating a correction value for convergence of the deviation by the learning control unit (step S22).
The generation of the actual command includes a step of generating an actual command capable of suppressing the quadrant projection by correcting the portion of the original command where the inversion is detected by the correction value of the learning control unit (step S31).
In this way, the servomotor control device 10 detects the inversion point at which the rotation direction of the servomotor 30 is inverted based on the original command or the feedback value from the servomotor 30 in the inversion detection unit 11, and generates the adjustment command for repeatedly designating the operation of the servomotor 30 in the inversion range including the inversion point in the adjustment command generation unit 12. Accordingly, the servomotor control device 10 can optimize the command of the learning control unit 14 in a short time using the adjustment command, and therefore can suppress the quadrant protrusion in a relatively short time.
The embodiments of the present disclosure have been described above, but the present invention is not limited to the described embodiments. The effects described in the above embodiments are merely the best effects obtained by the present invention, and the effects of the present invention are not limited to the effects described in the above embodiments.
As an example, the servo motor control device of the present disclosure may be integrated with the servo amplifier. The servo motor control device of the present disclosure may further include a function of storing an operation program for determining an operation of the servo motor and generating an original command based on the operation program.
Description of the reference numerals
1 a driving system,
10 servo motor control device,
11 a reverse rotation detecting part,
A 12 adjustment instruction generating unit,
13 an output control part,
14 a learning control unit,
15 an actual command generating section,
20 servo amplifier,
30 servo motor.
Claims (6)
1. A servo motor control device for controlling a servo motor in accordance with an original command, characterized in that,
the servo motor control device comprises:
a reverse rotation detection unit that detects a reverse rotation point at which the rotation direction of the servomotor is reversed, based on the original command or a feedback value from the servomotor;
an adjustment command generating unit that generates an adjustment command for repeatedly designating an operation of the servo motor in accordance with the original command in a reverse range including the reverse point;
an output control unit that calculates a control output value for the servo motor based on the adjustment command; and
and a learning control unit that calculates a deviation of the feedback value from the adjustment command in the inversion range when the servo motor is controlled based on the control output value of the adjustment command, and inputs a correction value for reducing the deviation of the feedback value from the adjustment command to the output control unit, for each cycle of the adjustment command.
2. The servo motor control device according to claim 1, wherein,
the reverse rotation detecting unit determines that the rotation direction of the servo motor is reversed when the differential value of the position specified by the original command or the sign of the speed specified by the original command changes.
3. A servo motor control apparatus according to claim 1 or 2, wherein,
the reverse rotation detecting unit determines that the rotation direction of the servo motor is reversed when the sign of at least one of the speed and the load torque indicated by the feedback value changes.
4. A servo motor control apparatus according to any one of claims 1 to 3, wherein,
the reverse rotation detecting unit determines that the rotation direction of the servo motor is reversed when a deviation between the feedback value and at least one of the position, the speed, the acceleration, and the jerk of the original command exceeds a predetermined threshold value.
5. The servo motor control device according to any one of claims 1 to 4, wherein,
the adjustment instruction generation unit sets a preset distance range or time range including the inversion point as the inversion range.
6. The servo motor control device according to any one of claims 1 to 5, wherein,
the adjustment instruction generation unit generates the following adjustment instructions: after repeating the operation of the servo motor in one of the inversion ranges, the motor is moved to the start point of the next inversion range, and the operation of the servo motor in the next inversion range is repeated.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2021/028817 WO2023012902A1 (en) | 2021-08-03 | 2021-08-03 | Servo motor control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117693897A true CN117693897A (en) | 2024-03-12 |
Family
ID=85154344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202180100787.7A Pending CN117693897A (en) | 2021-08-03 | 2021-08-03 | Servo motor control device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JPWO2023012902A1 (en) |
| CN (1) | CN117693897A (en) |
| DE (1) | DE112021007625T5 (en) |
| WO (1) | WO2023012902A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0384603A (en) * | 1989-08-29 | 1991-04-10 | Fanuc Ltd | Automatic control system for backlash acceleration value |
| JP3496404B2 (en) * | 1996-08-30 | 2004-02-09 | 三菱電機株式会社 | Numerical control unit with auto tuning function |
| DE10085354B3 (en) * | 2000-11-01 | 2013-11-21 | Mitsubishi Denki K.K. | Servo control method and servo control device |
| JP4741637B2 (en) * | 2008-06-30 | 2011-08-03 | ファナック株式会社 | Servo motor drive control device and drive control method |
| JP5183399B2 (en) * | 2008-09-29 | 2013-04-17 | 三菱電機株式会社 | Numerical controller |
| JP6740277B2 (en) | 2018-04-13 | 2020-08-12 | ファナック株式会社 | Machine learning device, control device, and machine learning method |
-
2021
- 2021-08-03 WO PCT/JP2021/028817 patent/WO2023012902A1/en active Application Filing
- 2021-08-03 JP JP2023539424A patent/JPWO2023012902A1/ja active Pending
- 2021-08-03 DE DE112021007625.6T patent/DE112021007625T5/en active Pending
- 2021-08-03 CN CN202180100787.7A patent/CN117693897A/en active Pending
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| Publication number | Publication date |
|---|---|
| DE112021007625T5 (en) | 2024-02-29 |
| JPWO2023012902A1 (en) | 2023-02-09 |
| WO2023012902A1 (en) | 2023-02-09 |
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