JPWO2020008587A1 - 数値制御装置 - Google Patents
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Abstract
Description
図1は、本発明の実施の形態1にかかる工作機械1の構成の一例を模式的に示す図である。図2は、実施の形態1にかかる数値制御装置8の機能構成の一例を示すブロック図である。なお、図1では、工作機械1に接続されている数値制御装置8および駆動部11の図示は省略している。
図6は、本発明の実施の形態2にかかる数値制御装置81の機能構成の一例を示すブロック図である。数値制御装置81の実施の形態1にかかる数値制御装置8との違いは、相対変位算出部13が相対変位算出部131に変更されている点である。
図8は、本発明の実施の形態3にかかる数値制御装置82の機能構成の一例を示すブロック図である。数値制御装置82の実施の形態1にかかる数値制御装置8との違いは、数値制御装置82は、イナーシャ変更情報予測部22をさらに備えていることである。そして、イナーシャ変更情報予測部22から出力されるイナーシャ変更情報に基づいてモデルパラメータ演算部14における予測モデルパラメータの変更処理の可否を判断する点が実施の形態1と異なる。
図9は、本発明の実施の形態4にかかる数値制御装置83の機能構成の一例を示すブロック図である。数値制御装置83の実施の形態1にかかる数値制御装置8との違いは、モデルパラメータ演算部14がモデルパラメータ演算部141に変更されている点である。
Claims (5)
- モータを駆動する駆動部への指令により、工作機械における工具とワークとの相対変位を制御する数値制御装置において、
前記工具の変位に関する物理量を計測する工具側変位計側部と、
前記ワークの変位に関する物理量を計測するワーク側変位計側部と、
前記駆動部から前記モータに出力される駆動信号を計測する駆動信号計側部と、
前記工具の変位に関する物理量と前記ワークの変位に関する物理量とから、前記工具と前記ワークとの相対変位を算出する相対変位算出部と、
前記駆動信号と前記相対変位との関係を表現する予測モデルに基づいて、前記駆動信号から前記相対変位の予測値である相対変位予測値を算出する相対変位予測部と、
前記駆動信号と、前記相対変位算出部が生成する前記相対変位と、前記相対変位予測値とに基づいて、前記予測モデルを構成する予測モデルパラメータを生成するモデルパラメータ演算部と、
前記予測モデルパラメータを用いて前記駆動部に対する位置指令を補正した補正後位置指令を前記指令として出力する指令値補正部と、を備え、
前記モデルパラメータ演算部は、前記相対変位算出部が生成する前記相対変位と、前記相対変位予測値との偏差を抑制するように前記予測モデルパラメータを変更する
ことを特徴とする数値制御装置。 - 前記モデルパラメータ演算部は、前記相対変位予測値の振動の振動周波数、振幅、減衰比、位相が、前記相対変位算出部が生成する前記相対変位の振動の振動周波数、振幅、減衰比、位相に一致するように予測モデルパラメータを変更する
ことを特徴とする請求項1に記載の数値制御装置。 - 前記相対変位算出部は、
前記工具の変位に関する物理量と前記ワークの変位に関する物理量とから、前記工具と前記ワークとのフィルタ処理前相対変位を求め、前記予測モデルパラメータを用いて前記フィルタ処理前相対変位にフィルタ処理を実行して相対変位を算出する
ことを特徴とする請求項1または2に記載の数値制御装置。 - 前記工作機械のイナーシャに変化が生じたことを示すイナーシャ変更情報を出力するイナーシャ情報変更予測部をさらに備え、
前記モデルパラメータ演算部は、前記イナーシャ変更情報に基づいて、前記予測モデルパラメータの変更を行う
ことを特徴とする請求項1から3のいずれか1つに記載の数値制御装置。 - 前記モデルパラメータ演算部は、
前記予測モデルパラメータを学習する機械学習装置と、
前記機械学習装置が学習した結果に基づいて、前記予測モデルパラメータを決定する意思決定部と、を備え、
前記機械学習装置は、
前記駆動信号、前記相対変位算出部が生成する前記相対変位、および前記相対変位予測値を状態変数として観測する状態観測部と、
前記状態変数に基づいて作成される訓練データセットに従って、前記予測モデルパラメータを学習する学習部と、を備える
ことを特徴とする請求項1から4のいずれか1つに記載の数値制御装置。
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JP (1) | JP6494897B1 (ja) |
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JP6647477B1 (ja) * | 2019-03-28 | 2020-02-14 | 三菱電機株式会社 | 数値制御装置および機械学習装置 |
JP7436181B2 (ja) * | 2019-11-08 | 2024-02-21 | ファナック株式会社 | たわみ量算出装置及びプログラム |
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CN115315665A (zh) * | 2020-03-24 | 2022-11-08 | 三菱电机株式会社 | 数控装置 |
EP3893064A1 (en) * | 2020-04-07 | 2021-10-13 | GF Machining Solutions AG | Method for predicting status of machining operation |
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US11003159B2 (en) * | 2016-12-08 | 2021-05-11 | Mitsubishi Electric Corporation | Numerical control device |
CN107976955B (zh) * | 2017-11-07 | 2019-11-08 | 大连理工大学 | 一种大型薄壁零件复杂曲面镜像加工方法 |
JP2019096219A (ja) * | 2017-11-27 | 2019-06-20 | ファナック株式会社 | 工作機械の制御装置 |
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US20200012253A1 (en) | 2020-01-09 |
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