JPH07134608A - Quickest fast forward control method - Google Patents
Quickest fast forward control methodInfo
- Publication number
- JPH07134608A JPH07134608A JP30589293A JP30589293A JPH07134608A JP H07134608 A JPH07134608 A JP H07134608A JP 30589293 A JP30589293 A JP 30589293A JP 30589293 A JP30589293 A JP 30589293A JP H07134608 A JPH07134608 A JP H07134608A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- optimum
- fast
- time constant
- deceleration
- 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
Landscapes
- Automatic Control Of Machine Tools (AREA)
- Numerical Control (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、工作機械等の移動体の
最短早送り制御方法に係り、最高早送り速度に到達しな
い内に加減速制御しなければならない短距離移動時の新
規な早送り制御方式に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shortest rapid feed control method for a moving body such as a machine tool, and a novel rapid feed control method for short distance movement which requires acceleration / deceleration control before the maximum rapid feed speed is reached. Regarding
【０００２】[0002]
【従来の技術】従来、工作機械等の移動体の早送り制御
方法は、図４に見るように、移動距離が長いときは、最
大早送り速度（例えば、３０ｍ／ｍｉｎ）まで加速さ
せ、その後その速度にて定速送りし、最後に減速停止す
る。一方、移動体の移動距離が短いときは、加速度領域
の最高速度未達（例えば、２７ｍ／ｍｉｎまで加速）の
うちに減速領域に入り、全体としての移動時間が長くな
る。即ち、早送りの時定数は、例えば０．２のパラメー
タにより固定しているため、移動距離の長短に係り無く
早送りの最高速度が一定となるものの、移動距離が短く
加速度領域が最高速度未達のままで減速するときは、斜
線部面積が移動距離（６０ｍｍ）となり、これに要する
時間は０．３６秒と長くなる。2. Description of the Related Art Conventionally, as shown in FIG. 4, when a moving distance is long, a method of controlling a fast-forwarding of a moving body such as a machine tool accelerates to a maximum fast-forwarding speed (for example, 30 m / min), and then the speed is increased. At constant speed, and finally decelerates and stops. On the other hand, when the moving distance of the moving body is short, the vehicle enters the deceleration area while the maximum speed of the acceleration area is not reached (acceleration up to 27 m / min, for example), and the total movement time becomes long. That is, since the fast-forward time constant is fixed by a parameter of, for example, 0.2, the maximum speed of fast-forward is constant regardless of the length of the moving distance, but the moving distance is short and the maximum speed does not reach the maximum speed. When decelerating to the full speed, the shaded area becomes the moving distance (60 mm), and the time required for this becomes as long as 0.36 seconds.
【０００３】上記のように、機械系の慣性重量などを考
慮して振動等が発生しない時定数に固定されているた
め、いくら最高早送り速度を高く設定しても移動距離が
短いと、加速度領域が最高速度未達のままで減速するこ
とになり、軸移動に要する時間がかえって長くなると云
う欠点問題点がある。As described above, the inertial weight of the mechanical system is taken into consideration, and the time constant is fixed so that vibration does not occur. Therefore, even if the maximum rapid feed rate is set high, if the moving distance is short, the acceleration range is increased. However, there is a disadvantage that the speed required to move the shaft is decelerated without reaching the maximum speed.
【０００４】[0004]
【発明が解決しようとする課題】本発明は、前記従来の
問題点に鑑みこれを解消することを課題とし、移動体の
移動距離が短くなるほど、時定数を小さくして立上り加
速度及び立下り減速度を早める反面、早送り最高速度を
低く抑えて同一距離を移動するに要する時間を短縮した
早送り方法を提供することを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to solve the problems. As the moving distance of a moving body becomes shorter, the time constant is made smaller to reduce the rising acceleration and the falling acceleration. It is an object of the present invention to provide a fast-forwarding method that reduces the time required to move the same distance by suppressing the maximum fast-forwarding speed to a low value while increasing the speed.
【０００５】[0005]
【課題を解決するための手段】本発明の具体的手段は、
最高早送り速度に到達しない内に減速制御しなければな
らない短距離移動時の早送り制御において、プログラム
メモリから最適速度演算制御部に軸移動データ取込みで
プログラム内容の先読みを行い、上記最適速度演算制御
部は移動体の移動距離に関連して最適早送りの時定数を
算出してパラメータの時定数を書き替え、速度制御部は
上記移動体の軸移動に際し、最適早送り速度にてモータ
ー制御を行い台形加減速特性としたことを特徴とする最
短早送り制御方法である。The concrete means of the present invention is as follows.
The deceleration control must be performed before the maximum fast-forward speed is reached.In the fast-forward control during short-distance movement, the program contents are prefetched by fetching axis movement data from the program memory to the optimum speed calculation control unit, and the optimum speed calculation control unit Calculates the optimum rapid traverse time constant in relation to the moving distance of the moving body and rewrites the parameter time constant, and the speed control unit controls the motor at the optimum rapid traverse speed when moving the axis of the moving body and adds a trapezoidal shape. This is a shortest fast-forward control method characterized by having a deceleration characteristic.
【０００６】[0006]
【作用】本発明によると、最適速度演算制御部はプログ
ラムメモリから軸移動データ取込みで最高早送り速度に
到達しない内に減速制御しなければならない短距離移動
かどうかのプログラム内容の先読みを行う。これで、上
記最適速度演算制御部は移動体の移動距離を予め知るこ
とが出来、最高早送り速度に到達しない内に減速制御し
なければならない短距離移動であれば、最適早送りの時
定数を算出してパラメータの時定数を書き替える。しか
る後、速度制御部は移動体の軸移動に際し、台形加減速
特性による最適早送り速度にてモーター制御を行い、軸
移動時間の短縮化を図る。しかして、移動体の移動距離
が短い時、早送りの最高速度を低く抑える傍ら、小さく
した時定数により、立上り加速度及び立下り減速度を早
めることで同一距離を移動するに要するトータルとして
の時間を短縮する最短早送りとなる。According to the present invention, the optimum speed calculation control unit prefetches the program contents as to whether or not it is a short distance movement that must be decelerated before the maximum rapid feed speed is reached by fetching axis movement data from the program memory. With this, the optimum speed calculation control unit can know the moving distance of the moving body in advance, and calculates the optimum fast-forward time constant for short-distance movement that requires deceleration control before the maximum fast-forward speed is reached. And rewrite the parameter time constant. After that, the speed control unit controls the motor at the optimum fast-forward speed based on the trapezoidal acceleration / deceleration characteristic when the shaft of the moving body is moved, thereby shortening the axis moving time. When the moving distance of the moving body is short, the total time required to move the same distance by increasing the rising acceleration and the falling deceleration while keeping the maximum fast-forward speed low is shortened. Shortest fast-forward to shorten.
【０００７】[0007]
【実施例】以下、図面に示す実施例にて説明する。図１
は本発明の最短早送り制御方法を実施する制御系の概要
ブロック図であり、図２は本発明に係る最短早送り制御
方法の特性図を示している。図３は本発明に係る最短早
送り制御方法を示すフローチャート図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments shown in the drawings will be described below. Figure 1
2 is a schematic block diagram of a control system for implementing the shortest rapid feed control method of the present invention, and FIG. 2 is a characteristic diagram of the shortest rapid feed control method of the present invention. FIG. 3 is a flowchart showing the shortest fast-forward control method according to the present invention.
【０００８】図１において、１０は工作機械等の移動体
で、サーボモータ６により左右に移動する。三軸直交の
工作機械では上記移動体１０が三組み備えている。上記
サーボモータ６の駆動系はＮＣ制御装置１と、この内部
構成に係り、プログラムメモリ部ＰＭと、このプログラ
ムメモリ部内の軸移動データ取込みでプログラム内容の
先読みを行う最適速度・時定数演算部（最適速度演算制
御部）２と、移動体１０の移動距離に関連して最適早送
りの時定数を算出してパラメータの時定数を書き替える
パラメータ設定部３と、最適早送り速度にてモーター制
御を行い台形加減速特性とする速度制御駆動部（速度制
御部）４と、これから発する移動制御指令でサーボモー
タＭを駆動するアンプ５とからなる。In FIG. 1, reference numeral 10 denotes a moving body such as a machine tool, which is moved left and right by a servo motor 6. A machine tool having three axes orthogonal to each other includes three sets of the moving bodies 10. The drive system of the servo motor 6 is related to the NC control device 1 and the internal configuration thereof. The program memory unit PM and the optimum speed / time constant calculation unit (prefetching the program contents by fetching the axis movement data in the program memory unit ( Optimum speed calculation control unit 2), a parameter setting unit 3 that calculates the optimum fast-forward time constant related to the moving distance of the moving body 10 and rewrites the time constant of the parameter, and performs motor control at the optimum rapid-feed speed. It is composed of a speed control drive section (speed control section) 4 having a trapezoidal acceleration / deceleration characteristic and an amplifier 5 for driving the servo motor M by a movement control command issued from this.
【０００９】本発明は、上記サーボモータ６の駆動系に
対して制御するもので、図２の如く台形加減速特性を発
揮させるべく最短早送り制御する。即ち、軸移動量が６
０ｍｍのとき、当該制御系の最高早送り速度が３０ｍ／
ｍｉｎである時、本発明の最短早送り制御方法を採用し
ないと、最高早送り速度が３０ｍ／ｍｉｎになるまでの
時定数は０．１７秒となるが、点線三角形のように実際
の加速時間は０．１５秒後に２７ｍ／ｍｉｎになった所
で、強制的に減速に切り換えられ、０．３秒後には、早
送り終了となる。上記条件下で本発明方法を採用する
と、時定数は０．０４秒となり、早送り起動から０．０
４秒後に最高早送り速度２０ｍ／ｍｉｎの定速で軸移動
を行い、０．１８秒後には減速送りに切り換えられ、
０．２２秒後に早送り終了となる。従って、その時間差
０．３−０．２２＝０．０８秒だけ早送りの時間短縮が
図られる。The present invention controls the drive system of the servo motor 6, and performs the shortest rapid feed control so as to exert the trapezoidal acceleration / deceleration characteristic as shown in FIG. That is, the axis movement amount is 6
When 0 mm, the maximum rapid traverse speed of the control system is 30 m /
When it is min, if the shortest rapid feed control method of the present invention is not adopted, the time constant until the maximum rapid feed speed reaches 30 m / min is 0.17 seconds, but the actual acceleration time is 0 as shown by the dotted triangle. After 15 seconds, the speed was switched to deceleration at 27 m / min, and after 0.3 seconds, fast-forwarding was completed. When the method of the present invention is adopted under the above conditions, the time constant becomes 0.04 seconds, and 0.0
After 4 seconds, the axis is moved at a constant speed with a maximum rapid feed rate of 20 m / min, and after 0.18 seconds, it is switched to deceleration feed.
Fast-forwarding ends after 0.22 seconds. Therefore, the fast-forwarding time can be shortened by the time difference of 0.3-0.22 = 0.08 seconds.
【００１０】次に、図３に示す動作手順のフローチャー
トでその作用を説明する。最適速度演算制御部２はプロ
グラムメモリ部ＰＭから「軸移動データ取込み」（ロ）
のために「プログラム内容の先読み」（イ）を行う。こ
れで、上記最適速度演算制御部２は移動体１０の移動距
離を予め知る。これに関連して最高早送り速度に到達し
ない内に減速制御しなければならない短距離移動時であ
れば、「最適早送りの時定数を算出」（ハ）してパラメ
ータ設定部３の「時定数」（ニ）が書き替えられる。し
かる後、速度制御部４は移動体１０の軸移動に際し、台
形加減速特性Ｆによる「最適早送り速度（最適軸移
動）」（ホ）にてモーター制御を行い、「軸移動時間の
短縮化」（ヘ）を図る。しかして、移動体１０の移動距
離が６０ｍｍのように短い場合には、早送りの最高速度
を２０ｍ／ｍｉｎと低く抑える傍ら、小さくした時定数
（０．０４秒）により、立上り加速度及び立下り減速度
を早めることで同一距離を移動するに要するトータルと
しての時間を０．０８秒短縮する最短早送りとなる。Next, the operation will be described with reference to the flowchart of the operation procedure shown in FIG. The optimum speed calculation control unit 2 "takes in axis movement data" from the program memory unit PM (b)
For this purpose, "Look ahead of program contents" (a) is performed. With this, the optimum speed calculation control unit 2 knows the moving distance of the moving body 10 in advance. In relation to this, in the case of short-distance movement that requires deceleration control before the maximum rapid feed speed is reached, "calculate the optimum rapid feed time constant" (C) and set the "time constant" of the parameter setting unit 3. (D) is rewritten. After that, the speed control unit 4 controls the motor at the "optimum rapid feed speed (optimum axis movement)" (e) according to the trapezoidal acceleration / deceleration characteristic F when the axis of the moving body 10 is moved, thereby "shortening the axis movement time". Try to (f). Then, when the moving distance of the moving body 10 is short such as 60 mm, the maximum speed of fast-forwarding is kept as low as 20 m / min, and the rising time and the falling acceleration are reduced by the reduced time constant (0.04 seconds). By increasing the speed, the total time required to move the same distance is shortened by 0.08 seconds, which is the shortest rapid feed.
【００１１】本発明は、上記各実施例に限定されること
なく考案の要旨内での設計変更が可能であること勿論で
ある。例えば、機械装置は工作機械に限らず、その軸数
は問われない。また、時定数も適宜に可調的に変更可能
である。It is needless to say that the present invention is not limited to each of the above-described embodiments, and design changes can be made within the scope of the invention. For example, the machine device is not limited to a machine tool, and its number of axes does not matter. Also, the time constant can be appropriately and adjustably changed.
【００１２】[0012]
【効果】本発明によると、最高早送り速度に到達しない
内に減速制御しなければならない短距離移動時の早送り
制御において、プログラムメモリから最適速度演算制御
部に軸移動データ取込みでプログラム内容の先読みを行
い、上記最適速度演算制御部は移動体の移動距離に関連
して最適早送りの時定数を算出してパラメータの時定数
を書き替え、速度制御部は上記移動体の軸移動に際し、
最適早送り速度にてモーター制御を行い台形加減速特性
としたから、移動体の移動距離が短い場合には、早送り
の最高速度を低く抑える傍ら、小さくした時定数によ
り、立上り加速度及び立下り減速度を早めることで同一
距離を移動するに要するトータルとしての時間を短縮で
きる最適作用の効果が得られる。これは、特にショート
ストロークの移動時において、有効に働き、従来にない
有益な作用効果を発揮する。[Effects] According to the present invention, in fast-forward control during short-distance movement, in which deceleration control must be performed before the maximum rapid-feed speed is reached, pre-reading of the program contents is performed by fetching axis movement data from the program memory to the optimum speed calculation control unit. The optimum speed calculation control unit calculates the optimum fast-forward time constant in relation to the moving distance of the moving body and rewrites the time constant of the parameter, and the speed control unit moves the axis of the moving body,
Since the motor is controlled at the optimum fast-forward speed to have a trapezoidal acceleration / deceleration characteristic, when the moving distance of the moving body is short, the maximum fast-forward speed is kept low and the time constant is made smaller by the rising acceleration and falling deceleration. By accelerating, the effect of the optimum action that the total time required to move the same distance can be shortened can be obtained. This works effectively especially during movement of a short stroke, and exerts a beneficial action and effect which has never been obtained.
【図１】本発明最短早送り制御方法を実施する制御系の
概要ブロック図である。FIG. 1 is a schematic block diagram of a control system that implements the shortest rapid feed control method of the present invention.
【図２】本発明に係る最短早送り制御方法による特性図
である。FIG. 2 is a characteristic diagram of the shortest fast-forward control method according to the present invention.
【図３】本発明に係る最短早送り制御方法を示すフロー
チャート図である。FIG. 3 is a flowchart showing a shortest fast-forward control method according to the present invention.
【図４】従来方法の特性図である。FIG. 4 is a characteristic diagram of a conventional method.
１ ＮＣ制御装置 ２ 最適速度・時定数演算部（最適速度演算制御部） ３ パラメータ設定部 ４ 速度制御駆動部（速度制御部） ５ アンプ １０ 移動体 ＰＭ プログラムメモリ Ｆ 台形加減速特性 1 NC control device 2 Optimal speed / time constant calculation unit (optimal speed calculation control unit) 3 Parameter setting unit 4 Speed control drive unit (speed control unit) 5 Amplifier 10 Mobile unit PM program memory F Trapezoid acceleration / deceleration characteristics
Claims (1)
御しなければならない短距離移動時の早送り制御におい
て、プログラムメモリから最適速度演算制御部に軸移動
データ取込みでプログラム内容の先読みを行い、上記最
適速度演算制御部は移動体の移動距離に関連して最適早
送りの時定数を算出してパラメータの時定数を書き替
え、速度制御部は上記移動体の軸移動に際し、最適早送
り速度にてモーター制御を行い台形加減速特性としたこ
とを特徴とする最短早送り制御方法。1. In fast-forward control during short-distance movement, in which deceleration control must be performed before the maximum fast-forward speed is reached, the program contents are prefetched by fetching axis movement data from the program memory to the optimum speed calculation control unit. The optimum speed calculation control unit calculates the optimum fast-forward time constant in relation to the moving distance of the moving body and rewrites the time constant of the parameter, and the speed control unit uses the optimum fast-forward speed to move the motor at the optimum fast-forward speed when moving the axis of the moving body. A shortest rapid feed control method characterized by performing control to have a trapezoidal acceleration / deceleration characteristic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30589293A JPH07134608A (en) | 1993-11-10 | 1993-11-10 | Quickest fast forward control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30589293A JPH07134608A (en) | 1993-11-10 | 1993-11-10 | Quickest fast forward control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07134608A true JPH07134608A (en) | 1995-05-23 |
Family
ID=17950569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP30589293A Pending JPH07134608A (en) | 1993-11-10 | 1993-11-10 | Quickest fast forward control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07134608A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009266011A (en) * | 2008-04-25 | 2009-11-12 | Fanuc Ltd | Movement controller and movement control method for robot for shortening cycle time |
| US7633255B2 (en) | 2004-06-09 | 2009-12-15 | Citizen Holdings Co., Ltd. | Movement controller for controlling movement of mobile body of machine tool, machine tool provided with movement controller, and mobile body moving method |
| JP5558638B1 (en) * | 2013-06-12 | 2014-07-23 | 三菱電機株式会社 | Command generator |
-
1993
- 1993-11-10 JP JP30589293A patent/JPH07134608A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7633255B2 (en) | 2004-06-09 | 2009-12-15 | Citizen Holdings Co., Ltd. | Movement controller for controlling movement of mobile body of machine tool, machine tool provided with movement controller, and mobile body moving method |
| JP2009266011A (en) * | 2008-04-25 | 2009-11-12 | Fanuc Ltd | Movement controller and movement control method for robot for shortening cycle time |
| JP5558638B1 (en) * | 2013-06-12 | 2014-07-23 | 三菱電機株式会社 | Command generator |
| WO2014199460A1 (en) * | 2013-06-12 | 2014-12-18 | 三菱電機株式会社 | Command generation device |
| KR20160003864A (en) * | 2013-06-12 | 2016-01-11 | 미쓰비시덴키 가부시키가이샤 | Command generation device |
| CN105308526A (en) * | 2013-06-12 | 2016-02-03 | 三菱电机株式会社 | Command generation device |
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