WO2006063945A1 - Verfahren und einrichtung zur bewegungsführung eines bewegbaren maschinenelements einer numerisch gesteuerten maschine - Google Patents
Verfahren und einrichtung zur bewegungsführung eines bewegbaren maschinenelements einer numerisch gesteuerten maschine Download PDFInfo
- Publication number
- WO2006063945A1 WO2006063945A1 PCT/EP2005/056454 EP2005056454W WO2006063945A1 WO 2006063945 A1 WO2006063945 A1 WO 2006063945A1 EP 2005056454 W EP2005056454 W EP 2005056454W WO 2006063945 A1 WO2006063945 A1 WO 2006063945A1
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- Prior art keywords
- maximum possible
- path
- speed
- machine
- acceleration
- Prior art date
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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
- G05B19/416—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 of velocity, acceleration or deceleration
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43058—Limitation of acceleration, permissible, tolerable acceleration
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43065—Limitation of jerk
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43203—Limitation of speed, permissible, allowable, maximum speed
Definitions
- the invention relates to a method and a device for motion control of a movable machine element of a numerically controlled machine, wherein a trajectory of the machine element in successivelysabschnit- te is resolved, based on predetermined restrictions of machine axes a maximum possible Brugeschwindig ⁇ speed, a maximum possible acceleration and a maximum possible web pressure are given.
- a controller 1 controls, in the way of example shown in Figure 1 at ⁇ two-axis machine, the two machine-axes 6a and 6b of the machine.
- the machine axis 6a is composed of a control 2a, a converter 3a, a drive motor 4a and a mechanism 5a connected to the drive motor 4a.
- the machine axis 6b is composed of a controller 2b, an inverter 3b, a drive motor 4b and a mechanism 5b connected to the drive motor 4b.
- the controller 1 outputs the control 2a and 2b of the control for each machine axis position separated ⁇ setpoints according to a predetermined path of movement of a movable means of the machine axes 6a and 6b machine element before.
- the control 2a or 2b regulates the respective associated motor position angle of the motor 4a and 4b according to the target specifications of the controller via the converter 3a and 3b, so that with the help of the connected to the respective drive motor 4a and 4b mechanism 5a and 5b the predetermined trajectory of the machine element is executed.
- a machine element is eg during the Machining process both a tool such as a milling ⁇ head as well as a workpiece to understand.
- FIG. 2 such a movement path S for the biaxial machine according to FIG. 1 is shown by way of example.
- machine element 8 is guided on the supply track BEWE ⁇ S.
- the numerical control 1 processes part programs for this purpose, e.g. have been created with a CAD / CAM system.
- the geometric data is e.g. deposited for machining a workpiece.
- Task of the controller 1 is now to generate desired quantities for the machine axes of the machine so that the machine element 8 is guided on the desired trajectory S.
- additional technological information in particular the knowledge of the properties of the machine, necessary. These properties such as ren the maximum rotational speeds of the drives, the maximum possible acceleration of the drives or the maximum drive torques of the drive motor ⁇ are stored in machine data and control system 1 known.
- the motion control must now be planned by the controller 1 in such a way that none of the above-mentioned predetermined restrictions (such as maximum possible acceleration of a drive) is violated.
- the resulting BEWE ⁇ supply profile of the drive motors of the individual machine axes of the machine must be realized.
- the planning of the motion control uses commercially the time derivatives of the path length s.
- the path jolt 's is in the Integrierkette, which forms the integrating 9a, 9b and 9c ge ⁇ , the highest temporal derivative.
- the web speed s, the Path- ⁇ acceleration s 'and the path jolt' s can be, according to the current for the respective machine kinematics, known to those skilled specific kinematic transformation, for each of the moving motor involved the machine of the associated motor position reference angle ⁇ MS, the corresponding speed Motorsollwinkelge ⁇ ⁇ MS, the corresponding Motorsollwinkelbeschleuni- supply ⁇ MS and the associated motor target angle ⁇ MS jerk calculated.
- the respective motor position reference angle ⁇ MS is the jewei ⁇ time set value for the respectively associated position control loop the relevant regulatory 2a or 2b of Figure 1 (Pro machine axis is an associated motor position reference angle ⁇ MS handed over ie, the circuit shown in FIG 3 there ge ⁇ separates for each Machine axis of the machine). This has si ⁇ chertex that the current location (position) of the machine element (such as a milling head or ⁇ tool of another plant or a workpiece) to the predetermined desired value follows.
- the curves of the maximum possible Bruge ⁇ speed vlim (s), the maximum possible Brubeschleuni ⁇ supply alim (s) and the maximum possible path jolt rlim (s) are of the trajectory S shown on the path length s.
- the term of the maximum possible path jolt rlim (s) is in this case both the maxi ⁇ times possible path jerk rlim (s) that is in the positive direction for positive values of the path jolt, and the maximum possible path jerk rlim (s) that is in the negative direction for negative values of the web pressure, understood.
- the motion control along path S should now be designed so that this time optimal, ie with the highest possible Brugeschwindig ⁇ speed v (s) is performed.
- the motion control is performed so that the maximum possible web pressure rlim (s) is fully utilized.
- the jerk profile for the path jolt r (s) thus varies within ariessab ⁇ -section (in FIG 4, the beginnings and ends of the motion ⁇ sections by vertical dashed lines) between the two maximum values back and forth, with additional in the prior art as advertising adhered condition the must that at the end of each track section takes the Brubeschleu nist ⁇ a (s) a value of zero.
- the invention is based on the object, a simple Ver ⁇ drive and a simple means for moving a To create a movable machine element of a numerically controlled machine in which the restriction of the machine axes of the machine are used as well as possible.
- This object is achieved by a method for movement ⁇ management of a movable machine element of a numerically controlled machine,
- an associated left- and right-sided path speed segment be ⁇ votes by for web values of the trajectory left and right of a respective minimum, taking advantage of the maximum possible track pressure and the maximum possible
- this object is achieved by a device for motion control of a movable machine element of a numerically controlled machine, wherein a movement path of the machine element is resolved into successive movement sections, wherein the device comprises
- Means for determining the local minimums of the maximum possible path speed - means for determining respectively associated left-hand and right-hand web velocity ⁇ segment a local for each minimum by and a respective minimum by taking advantage of the maximum possible path jolt and the maximum possible path acceleration determined for railway values of the movement path of the left right, the resulting web speed so ⁇ long is until the web speed, the maxi ⁇ times possible path speed left and right of the minimum exceeds.
- the path acceleration assumes a value of zero in at least two connection points.
- the machine is designed as a machine tool, production machine and / or as a robot, since in these technical fields, methods for moving motion of movable machine elements are required to a particular extent.
- the Einrich ⁇ processing means for determining a jerk profile for the movement having mutually adjacent Bruge ⁇ speed segments of two adjacent minima under Ein ⁇ attitude of the maximum possible web pressure and the maximum possible ⁇ path acceleration are connected to each other such that in at least one connection point the Brube ⁇ acceleration assumes a value of zero. This is a particularly easy way to track the speed ⁇ segments together to connect and the required condi ⁇ supply after double continuous differentiability of the train's length after time t observed.
- the device is designed as a control device for controlling the machine. If the device is designed as a control device for controlling the machine, no sepa ⁇ rate control means is required for controlling the machine.
- FIG. 2 shows a movement path of a machine element
- FIG. 3 shows a three-store system for determining the movement guidance
- FIG. 6 shows a determination of the web pressure curve according to the method according to the invention and the device according to the invention.
- each associated minimum left- and right-side path speed segment ie, a seg ment ⁇ wise web speed curve v (s) determined.
- ⁇ to each minimum one left of that minimum befindliches path speed segment, called the left side below web speed segment and per ⁇ the minimum one on the right of the minimum located associated path speed segment below right-side rail ⁇ called speed segment.
- the left-side path velocity segments tr2 (s), tr4 (s) are obtained.
- the calculation of the respective path speed segment trl (s) to tr6 (s) takes place, as I said, to the exclusion nützung the maximum possible path jolt rlim (s) and the maxi ⁇ times possible path acceleration alim (s).
- the web speed segments trl (s) to tr6 (s) are determined by determining, for each web speed segment, an optimized respectively associated jerk profile rl (s) to r6 (s). For this purpose, the largest possible web pressure is selected as the first optimization criterion, ie, the movement is carried out with the maximum possible web pressure rlim (s).
- the web pressure gradients rl (s) to r6 (s) By integrating the web pressure gradients rl (s) to r6 (s) over the time t, they respectively result in associated path acceleration profiles al (s) to a6 (s).
- the path acceleration a1 (s) results from the course of the web pressure r1 (s), whereby the associated path velocity segment tri (s) results from repeated integration over the time t from the path acceleration al (s). Since, as already stated above, the path length s itself is again a function of the time t, in FIGS. 4, 5 and 6 the integration over the time t corresponds to an integration over the path length s.
- adjacent web speed segments of two adjacent minima are now connected to one another in compliance with the maximum possible web pressure rlim (s) and the maximum possible web acceleration alim (s) such that the web acceleration assumes a value of zero in at least one connection point.
- a connection between adjacent path velocity segments of two adjacent minima consists of a plurality of successive connection points.
- the connections VB1, VB2 and VB3 are shown in dotted lines.
- the path speed segments tr3 (s) and the web speed segments tr4 (s) to each other be ⁇ nachbart and it is the path speed segments tr5 (s) and the web speed segments tr6 (s) to each other be ⁇ nachbart.
- the respective connections VB1 to VB3 must be determined by determining a suitable track pressure profile r (s) such that the track acceleration a (s) assumes a value of zero in at least one connection point on each connection.
- FIG. 6 shows the corresponding resulting curves of the web speed v (s), the web acceleration a (s) and the web pressure r (s). Here were the neighboring
- the adjacent segments Bru yorks- tr3 (s) and TR4 (s) of such verbun together ⁇ that in at least two connection points of the path acceleration a2 and a3 a (s) assumes the zero value.
- the BE ⁇ adjacent path speed segments tr5 (s) and TR6 (s) are connected to each other in the embodiment, more than two connection points of the path acceleration a (s) assumes a value of zero, which is indicated in FIG 6 by a range a4.
- the must Course of the web pressure r (s) are adjusted so that the maximum possible orbit acceleration alim (s) and maximum possible web pressure rlim (s) are maintained.
- the course of the web pressure r (s) is preferably determined under the additional secondary condition such that the web speed v (s) is as large as possible in the region of the connection.
- the inventive method has the advantage that the quality of the result is not as dependent more in the large extent in the prior art of the width of the BEWE ⁇ supply sections.
- connections between adjacent path speed segments also be calculated in another way, can be calculated in particular to such an extent that in no point of connection the Path- ⁇ acceleration assumes a value of zero.
- the continuity of the determined trajectory s there are then disadvantages with regard to the continuity of the determined trajectory s.
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- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
Description
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2007544888A JP4673377B2 (ja) | 2004-12-13 | 2005-12-05 | 数値制御機械の移動可能な機械要素の移動案内のための方法、装置および該装置用コンピュータプログラム |
US11/721,614 US8294405B2 (en) | 2004-12-13 | 2005-12-05 | Method and device for guiding the movement of a moving machine element on a numerically controlled machine |
Applications Claiming Priority (2)
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DE102004059966.1 | 2004-12-13 | ||
DE102004059966A DE102004059966B3 (de) | 2004-12-13 | 2004-12-13 | Verfahren und Einrichtung zur Bewegungsführung eines bewegbaren Maschinenelements einer numerisch gesteurten Maschine |
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WO2006063945A1 true WO2006063945A1 (de) | 2006-06-22 |
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PCT/EP2005/056454 WO2006063945A1 (de) | 2004-12-13 | 2005-12-05 | Verfahren und einrichtung zur bewegungsführung eines bewegbaren maschinenelements einer numerisch gesteuerten maschine |
Country Status (5)
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US (1) | US8294405B2 (de) |
JP (1) | JP4673377B2 (de) |
CN (1) | CN100582976C (de) |
DE (1) | DE102004059966B3 (de) |
WO (1) | WO2006063945A1 (de) |
Cited By (6)
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WO2008125656A1 (de) * | 2007-04-16 | 2008-10-23 | Siemens Aktiengesellschaft | Verfahren und einrichtung zur bewegungsführung eines bewegbaren maschinenelements einer numerisch gesteuerten maschine |
JP2009075680A (ja) * | 2007-09-18 | 2009-04-09 | Yaskawa Electric Corp | 移動体の指令生成方法および指令生成装置 |
EP2169492A1 (de) * | 2008-09-29 | 2010-03-31 | Siemens Aktiengesellschaft | Betriebsverfahren für eine Steuereinrichtung einer Maschine |
JP2011501292A (ja) * | 2007-10-21 | 2011-01-06 | ジーイー・インテリジェント・プラットフォームズ・インコーポレイテッド | 経路計画器用の加加速度制限軌道計画システムおよび方法 |
CN103092131A (zh) * | 2011-11-04 | 2013-05-08 | 发那科株式会社 | 进行基于指令路径速度条件的速度控制的数值控制装置 |
DE102017005811A1 (de) | 2016-06-27 | 2017-12-28 | Fanuc Corporation | Numerische Steuervorrichtung, die eine Zeitkonstante für ein Beschleunigungs-/Verzögerungsfilter dynamisch wechselt |
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WO2019183141A1 (en) | 2018-03-21 | 2019-09-26 | Realtime Robotics, Inc. | Motion planning of a robot for various environments and tasks and improved operation of same |
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WO2008125656A1 (de) * | 2007-04-16 | 2008-10-23 | Siemens Aktiengesellschaft | Verfahren und einrichtung zur bewegungsführung eines bewegbaren maschinenelements einer numerisch gesteuerten maschine |
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JP2011501292A (ja) * | 2007-10-21 | 2011-01-06 | ジーイー・インテリジェント・プラットフォームズ・インコーポレイテッド | 経路計画器用の加加速度制限軌道計画システムおよび方法 |
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CN103092131A (zh) * | 2011-11-04 | 2013-05-08 | 发那科株式会社 | 进行基于指令路径速度条件的速度控制的数值控制装置 |
CN103092131B (zh) * | 2011-11-04 | 2015-02-18 | 发那科株式会社 | 进行基于指令路径速度条件的速度控制的数值控制装置 |
DE102017005811A1 (de) | 2016-06-27 | 2017-12-28 | Fanuc Corporation | Numerische Steuervorrichtung, die eine Zeitkonstante für ein Beschleunigungs-/Verzögerungsfilter dynamisch wechselt |
US10248103B2 (en) | 2016-06-27 | 2019-04-02 | Fanuc Corporation | Numerical controller dynamically switching time constant for acceleration and deceleration filter |
DE102017005811B4 (de) | 2016-06-27 | 2024-03-14 | Fanuc Corporation | Numerische Steuervorrichtung, die eine Zeitkonstante für ein Beschleunigungs-/Verzögerungsfilter dynamisch wechselt |
Also Published As
Publication number | Publication date |
---|---|
US8294405B2 (en) | 2012-10-23 |
JP4673377B2 (ja) | 2011-04-20 |
CN101116043A (zh) | 2008-01-30 |
JP2008523487A (ja) | 2008-07-03 |
US20090295323A1 (en) | 2009-12-03 |
CN100582976C (zh) | 2010-01-20 |
DE102004059966B3 (de) | 2006-06-22 |
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