JPH0251703A - Numerical controller - Google Patents
Numerical controllerInfo
- Publication number
- JPH0251703A JPH0251703A JP20263188A JP20263188A JPH0251703A JP H0251703 A JPH0251703 A JP H0251703A JP 20263188 A JP20263188 A JP 20263188A JP 20263188 A JP20263188 A JP 20263188A JP H0251703 A JPH0251703 A JP H0251703A
- Authority
- JP
- Japan
- Prior art keywords
- ideal
- signal
- deviation
- command signal
- servo motor
- 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.)
- Pending
Links
- 230000003111 delayed effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
Landscapes
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
[産業上の利用分野]
この発明は、工作機械等の数値制御装置に係り、特に制
御対象となる移動体を高精度に追従させる補正手段を設
けた位置追従制御に関するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a numerical control device for a machine tool, etc., and particularly relates to position tracking control provided with a correction means for tracking a moving object to be controlled with high precision. It is something.
[従来の技術]
第2図は通常の数値制御装置における閉ループ制御系の
一例を示すブロック図であり、図において、(Xc)は
位置指令、(1)は位置指令(Xc)と位置検出器(6
)の出力信号とを比較して減算を行い、その偏差(E)
を出力する減算器、(2)は偏差(E)を増幅して速度
指令(Vc)を出力する増幅器、(3)は入力する速度
指令(Vc)に応じてサーボモータ(4)への駆動出力
を制御する速度制御器、(5)はサーボモータ(4)の
駆動によって、例えば加工用工具の移動あるいは被加工
物を載置する加工テーブルの移動等が行なわれる加工機
械、〈6〉は加工機械(5)における上記の移動体の位
置を検出する位置検出器である。[Prior Art] Fig. 2 is a block diagram showing an example of a closed loop control system in a normal numerical control device. In the figure, (Xc) is a position command, (1) is a position command (Xc) and a position detector. (6
) and perform subtraction to obtain the deviation (E)
(2) is an amplifier that amplifies the deviation (E) and outputs the speed command (Vc), and (3) drives the servo motor (4) according to the input speed command (Vc). A speed controller that controls the output, (5) a processing machine in which, for example, a processing tool is moved or a processing table on which a workpiece is placed is moved by driving the servo motor (4), and (6) is a processing machine that moves a processing tool or a processing table on which a workpiece is placed. This is a position detector that detects the position of the above-mentioned moving body in the processing machine (5).
上記のような構成の制御系において、位置指令(Xc)
と位置検出器(6)よりフィードバックされた位置検出
信号とによって、減算器(1)より上記両信号の偏差(
E)が出力され、この偏差(E)が増幅器(2)におい
て増幅され、サーボモータ(4)の駆動速度を定める速
度指令(We)を出力する。速度制御器(3)において
、速度指令(Vc)に基づいたサーボモータ(4)に対
する駆動制御信号を出力し、この制御信号によりサーボ
モータ(4)を駆動して加工機械(5)の加工用工具や
加工テーブル等を移動させ、この移動位置の変化を位置
検出器(6)より逐次フィードバックして位置指令(X
e)と比較し、偏差(E)を0となるように閉ループ内
で制御する。In the control system configured as above, position command (Xc)
and the position detection signal fed back from the position detector (6), the subtractor (1) calculates the deviation (
E) is output, and this deviation (E) is amplified in the amplifier (2) to output a speed command (We) that determines the driving speed of the servo motor (4). The speed controller (3) outputs a drive control signal for the servo motor (4) based on the speed command (Vc), and this control signal drives the servo motor (4) to control the processing of the processing machine (5). The tool, processing table, etc. are moved, and the position detector (6) sequentially feeds back changes in the movement position to generate a position command (X
e) and is controlled in a closed loop so that the deviation (E) becomes 0.
[発明が解決しようとする課題]
上記のような構成の従来の数値制御装置における制御系
では、特に高精度の位置制御を要する加工機械を制御す
る場合、閉ループ制御系の欠点とされているロストモー
ション、*擦、剛性、慣性などの機械特性に制御動作が
完全に対応できないと、例えば加工形状の精度の劣化や
円弧切削における象限切換時に突起が生じてしまうなど
の問題があり、これらの問題の対応策として速度制御器
(3)内でループゲインを上げると、このゲインの増大
塵によっては制御系が発振してしまうなどの問題がある
。[Problems to be Solved by the Invention] The control system of the conventional numerical control device configured as described above suffers from loss, which is a drawback of closed-loop control systems, especially when controlling processing machines that require high-precision position control. If the control operation cannot fully respond to mechanical characteristics such as motion, *friction, stiffness, and inertia, problems such as deterioration of the accuracy of the machined shape and the formation of protrusions when switching quadrants during arc cutting may occur. If the loop gain is increased in the speed controller (3) as a countermeasure to this, there is a problem that the control system may oscillate depending on the increase in gain.
この発明は上記のような問題点を解消するためになされ
たもので、上記の閉ループ制御系の欠点を改善して位置
制御の追従能力を向上するとともに、制御系が発振する
ようなおそれのない数値制御装置を得ることを目的とす
る。This invention was made in order to solve the above-mentioned problems, and improves the follow-up ability of position control by improving the above-mentioned drawbacks of the closed-loop control system. The purpose is to obtain a numerical control device.
C:s題を解決するための手段]
この発明に係る数値制御装置は、位置指令信号に基づい
て制御対象である加工機械における移動体をサーボモー
タによって駆動し、上記移動体の検出位置信号と位置指
令信号との偏差をOにするように動作する閉ループ制御
系と、上記位置指令信号に基づいてこの位置指令信号に
対して二次遅れの信号となる理想位置信号を演算する理
想位置演算器とを備え、位置指令信号と理想位置信号と
の偏差と上記閉ループ制御系の偏差との差分に比例した
補正量を、サーボモータの駆動速度指令信号に加えるよ
うにしたものである。C: Means for Solving Problem S] The numerical control device according to the present invention drives a movable body in a processing machine that is a controlled object by a servo motor based on a position command signal, and uses a detected position signal of the movable body and A closed loop control system that operates to reduce the deviation from the position command signal to O, and an ideal position calculator that calculates an ideal position signal that is a second-order delayed signal with respect to the position command signal based on the position command signal. A correction amount proportional to the difference between the deviation between the position command signal and the ideal position signal and the deviation of the closed loop control system is added to the drive speed command signal of the servo motor.
[作用]
この発明におけるサーボモータの駆動速度指令信号に対
する補正によって、制御対象におけるロストモーション
、摩擦等による制御動作の欠点を改善し、制御系の発振
のおそれがなく、位置制御の追従能力を向上させる。[Operation] By correcting the drive speed command signal of the servo motor in this invention, defects in control operation due to lost motion, friction, etc. in the controlled object are improved, there is no fear of oscillation in the control system, and the tracking ability of position control is improved. let
[実施例コ
第1図はこの発明の一実施例による数値制御装置におけ
る制御系の構成を示すブロック図であり、図において、
(1)〜(6)は従来例を示した第2図における同符号
のものと同一または相当部分であるので、構成説明は省
略する。Embodiment FIG. 1 is a block diagram showing the configuration of a control system in a numerical control device according to an embodiment of the present invention.
Since (1) to (6) are the same or corresponding parts to those with the same reference numerals in FIG. 2 showing the conventional example, a description of the structure will be omitted.
(7)は理想位置演算器であり、位置指令(Xc)と理
想位置信号(Xf)とを比較して偏差(El)を出力す
る減算器(8)と、偏差(El)を増幅する増幅器(9
)と、増幅器(9)の出力(Vcl)に速度ループによ
る理論的時間遅れ相当の遅れを持たせる一次遅れ演算器
(■0)と、その出力である理想速度(vl)を累積し
て理想位置(XI)を出力する積分器(11)とで構成
される。(12)は減算器(1)の出力である偏差(E
)と上記の偏差(El)を比較し、その差分E−Eiを
出力する減算器、(13)は上記差分E−21に補正ゲ
インを乗じる増幅器、(14)は増幅器(14)の出力
を増幅器(2)の出力である速度指令信号(Vc)に加
える加算器である。(7) is an ideal position calculator, which includes a subtracter (8) that compares the position command (Xc) and the ideal position signal (Xf) and outputs the deviation (El), and an amplifier that amplifies the deviation (El). (9
), a first-order lag calculator (■0) that gives the output (Vcl) of the amplifier (9) a delay equivalent to the theoretical time delay due to the speed loop, and the ideal speed (vl) that is the output thereof are accumulated to calculate the ideal It is composed of an integrator (11) that outputs the position (XI). (12) is the deviation (E
) and the above deviation (El) and outputs the difference E-Ei, (13) is an amplifier that multiplies the difference E-21 by a correction gain, and (14) is the output of the amplifier (14). This is an adder that adds to the speed command signal (Vc) which is the output of the amplifier (2).
上記のような構成のこの発明による数値制御装置の制御
系において、理想位置演算器(7)に入力した位置指令
信号(Xc)は、フィードバックされる積分器(11)
の出力である理想位置(xl)と減算器(8)において
比較され、偏差(El)が出力される。In the control system of the numerical control device according to the present invention configured as described above, the position command signal (Xc) input to the ideal position calculator (7) is fed back to the integrator (11).
The subtracter (8) compares the ideal position (xl) which is the output of the subtractor (8), and outputs the deviation (El).
この偏差(El)は増幅器(9)において、増幅器(2
)と同一ゲインで増幅されて理想速度指令(Vc i
)を出力し、次の一次遅れ演算器(10)で理論上の速
度ループ時定数Tに基づいた一次遅れl/l+Tsを考
慮した理想速度m)を演算して積分器(11)に入力す
る。積分器(11)で累積されて出力する理想位置(X
l)は位置指令信号(Xe)に対して二次遅れの信号と
なり、この信号を減算器(8)にフィードバックして上
記の減算が行なわれ、この閉ループにおける偏差(El
)が得られる。This deviation (El) is determined by the amplifier (2) in the amplifier (9).
) is amplified with the same gain as the ideal speed command (Vc i
) is output, and the next first-order lag calculator (10) calculates the ideal speed m) taking into account the first-order lag l/l+Ts based on the theoretical speed loop time constant T, and inputs it to the integrator (11). . The ideal position (X
l) becomes a second-order delayed signal with respect to the position command signal (Xe), and this signal is fed back to the subtractor (8) to perform the above subtraction, and the deviation in this closed loop (El
) is obtained.
一方、偏差(El)は減算器(12)に入力し、ここで
偏差(E)と比較されて得られた差分E−E iが増幅
器(13)に入力し、ここで補正ゲインを乗じてその出
力を加算器(14)において増幅器(2)の出力である
速度指令(Vc)に加算される。すなわち、加工機械(
5)において移動する加工具や加工テーブル等の実際の
位置(X)が、例えば理想位置(xi)より進んだ場合
は速度指令(Vc)の値を減らすように動作し、逆に実
際の位置(X)が遅れるような場合は速度指令(Vc)
の値を増加するように動作することになる。On the other hand, the deviation (El) is input to the subtracter (12), where it is compared with the deviation (E), and the obtained difference E-E i is input to the amplifier (13), where it is multiplied by the correction gain. The output is added to the speed command (Vc), which is the output of the amplifier (2), in an adder (14). In other words, processing machines (
If the actual position (X) of the processing tool, processing table, etc. to be moved in step 5) advances, for example, from the ideal position (xi), the value of the speed command (Vc) is decreased, and conversely, the actual position If (X) is delayed, speed command (Vc)
It will work to increase the value of .
以上の動作によって、モータのトルクリップル。The above operations cause torque ripple in the motor.
機械装置のロストモーション、摩擦等が起因して生じる
位置ループゲインの変動を修正することにより、位置指
令信号(Xc)に基づいた高精度な加工を行うことがで
きる。By correcting fluctuations in the position loop gain caused by lost motion, friction, etc. of the mechanical device, highly accurate machining can be performed based on the position command signal (Xc).
[発明の効果]
以上のように、この発明によれば制御対象のロストモー
ション摩擦抵抗等によって生じる動作の誤差を防止する
ために、理想位置演算器で得られた二次遅れ信号に基づ
いて、制御対象を駆動するサーボモータの速度指令値を
補正するように構成したので、制御系の発振のおそれが
なく、高精度な位置追従制御による加工を行うことがで
きる効果がある。[Effects of the Invention] As described above, according to the present invention, in order to prevent operational errors caused by lost motion frictional resistance of the controlled object, based on the second-order delay signal obtained by the ideal position calculator, Since the configuration is configured to correct the speed command value of the servo motor that drives the controlled object, there is no fear of oscillation in the control system, and there is an effect that machining can be performed using highly accurate position follow-up control.
第1図はこの発明の一実施例による数値制御装置の制御
系の構成を示すブロック図、第2図は従来の数値制御装
置の制御系の構成例を示すブロック図である。
図において、(Xc)は位置指令、(+) 、 (8)
、 (12)は減算器、(4)はサーボモータ、(5
)は制御対象、(6)は位置検出器、(7)は理想位置
検出器。
なお、図中同一符号は同一または相当部分を示す。FIG. 1 is a block diagram showing the configuration of a control system of a numerical control device according to an embodiment of the present invention, and FIG. 2 is a block diagram showing an example of the configuration of a control system of a conventional numerical control device. In the figure, (Xc) is a position command, (+), (8)
, (12) is a subtractor, (4) is a servo motor, (5
) is the controlled object, (6) is the position detector, and (7) is the ideal position detector. Note that the same reference numerals in the figures indicate the same or corresponding parts.
Claims (1)
ータによって駆動し、上記移動体の検出位置信号をフィ
ードバックして、上記位置指令信号との偏差により動作
する閉ループ位置追従制御系において、上記位置指令信
号に基づいてこの位置指令信号の二次遅れ信号となる理
想位置信号を演算し、この理想位置信号と上記位置指令
信号との偏差と上記閉ループ制御系の偏差との差分に比
例した補正量を算出し、この算出した補正量を上記サー
ボモータの駆動速度信号に加えるようにした制御系を備
えたことを特徴とする数値制御装置。In a closed-loop position tracking control system, a moving body to be controlled is driven by a servo motor based on a position command signal, a detected position signal of the moving body is fed back, and the position command is operated based on a deviation from the position command signal. Based on the signal, an ideal position signal that is a second-order delayed signal of this position command signal is calculated, and a correction amount proportional to the difference between the deviation between this ideal position signal and the position command signal and the deviation of the closed loop control system is calculated. A numerical control device comprising a control system configured to calculate the amount of correction and add the calculated correction amount to a drive speed signal of the servo motor.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20263188A JPH0251703A (en) | 1988-08-16 | 1988-08-16 | Numerical controller |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20263188A JPH0251703A (en) | 1988-08-16 | 1988-08-16 | Numerical controller |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0251703A true JPH0251703A (en) | 1990-02-21 |
Family
ID=16460546
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP20263188A Pending JPH0251703A (en) | 1988-08-16 | 1988-08-16 | Numerical controller |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0251703A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5579825A (en) * | 1993-12-13 | 1996-12-03 | Hitachi Metals, Ltd. | Die casting method and die casting machine |
US5925199A (en) * | 1994-10-14 | 1999-07-20 | Honda Giken Kogyo Kabushiki Kaisha | Process for producing a thixocast semi-molten material |
-
1988
- 1988-08-16 JP JP20263188A patent/JPH0251703A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5579825A (en) * | 1993-12-13 | 1996-12-03 | Hitachi Metals, Ltd. | Die casting method and die casting machine |
US5925199A (en) * | 1994-10-14 | 1999-07-20 | Honda Giken Kogyo Kabushiki Kaisha | Process for producing a thixocast semi-molten material |
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