WO2003100536A1 - Procede de reglage de synchronisation d'un dispositif de reglage de valeur numerique - Google Patents

Procede de reglage de synchronisation d'un dispositif de reglage de valeur numerique Download PDF

Info

Publication number
WO2003100536A1
WO2003100536A1 PCT/JP2003/005854 JP0305854W WO03100536A1 WO 2003100536 A1 WO2003100536 A1 WO 2003100536A1 JP 0305854 W JP0305854 W JP 0305854W WO 03100536 A1 WO03100536 A1 WO 03100536A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
axis
synchronous
axes
position control
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.)
Ceased
Application number
PCT/JP2003/005854
Other languages
English (en)
Japanese (ja)
Inventor
Yasuyuki Takei
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Publication of WO2003100536A1 publication Critical patent/WO2003100536A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50218—Synchronize groups of axis, spindles

Definitions

  • the present invention relates to a synchronous control: ⁇ in which the same position command is simultaneously issued to a plurality of control axes to perform synchronous control between multiple axes.
  • an object of the present invention is to improve the degree of similarity by eliminating the difference between students in a restaurant by simple ISM.
  • claim 1 of the invention of the synchronous control method of the number of fibers is set in accordance with the invention, a position command is issued to the tins control axis for a plurality of motor control devices having independent position control units for each axis.
  • This is a numerical control device having a position command output unit that outputs the same position command to multiple Shuki motor controllers at the same time, and performs position synchronization independently by tin motor control devices to perform inter-synchronous control.
  • the inter-record synchronization control according to claim 2; the other invention is a position control unit that outputs a position command to a plurality of control axes at the same time, and a position control unit that performs the position of each control axis.
  • Multi-axis synchronous control in which the same position command is simultaneously issued to a plurality of control axes and position control is performed independently by the control axes to perform multi-axis synchronous control.
  • FIG. 1 shows a block diagram of a synchronous control method for a numerical controller according to the present invention.
  • a description will be given of a synchronous axis having a delay time Td such as a delay between the synchronous reference axis and the position detector.
  • the synchronous axis has a delay time ⁇ d other than the delay of the tiriB position control, such as the delay of the position detector.
  • the forward path will have a phase force corresponding to the delay of the feedback due to the effect of the feedback.
  • FIG. 1 shows a block diagram of a synchronous control method for a numerical controller according to the present invention.
  • Numeral 1 denotes a numerical controller
  • numerals 2 and 2 denote motor controllers that control the motors
  • numerals 6 and 6 denote motors
  • numerals 7 and 7 denote detectors that detect the positions of the motors 6 and 6 ', respectively.
  • the numerical controller 1 has a position command output unit 3 which outputs a position command to a plurality of synchronized control axes simultaneously.
  • the motor control device 2 includes a position control unit 4 for controlling the motor 2 according to a position command from the position command output unit 3 and a drive control unit for controlling the motor 6 according to a speed command output from the position control unit 4. 5 and a! _ Tg element 8 obtained from the position detection value of the motor 6 from the detector 7, and furthermore, the position control unit 4 has a formula according to the present invention based on the first delay element 8 based on the first ig element 8. There is a first position control loop gain 9 obtained by (1).
  • a position control unit 4 ′ for controlling the motor 2 ′ according to a position command from the position command output unit 3 and a speed command output from the position control unit 4 ′ are provided. Accordingly, there is a drive control unit 5 for controlling the motor 6 ′, and a second delay element 10 obtained by the position detection value of the motor 6 from the detector 7 ′.
  • a second position control loop gain 9' determined by equation (1) according to the present invention based on the second delay; '
  • the same position command is simultaneously issued from the position command output unit 3 to the plurality of motor controllers 2, 2 '.
  • the position control loop gain calculated from the delay of each motor control device using equation (1) is calculated for each position. Set the position control gain of the control unit to 9 or 11.
  • the position controller 4 of the motor controller 2 controls the motor 6 with the set position control gain 9 (Kp 1), and the position gfM controller 4 of the motor controller 2, sets the position control gain 1 1 ( ⁇ ⁇ 2) controls motor 6 ,.
  • a motor control device having a position control unit independent for each control axis, and a position command output unit for simultaneously outputting position commands to a plurality of tir control axes.
  • a synchronous control method for a numerical control device the same position command is simultaneously issued to a plurality of tins motor control devices, and the position is independently controlled by a knitting motor control device to perform multi-axis synchronous control. Since the synchronous adjustment is performed for the delay time of the position control unit of the m control axis by correcting the position control loop gain based on Equation (1), the control cycle of the position control unit, There is a difference in the detection cycle of the position detector. This has the effect of improving the synchronization accuracy of the synchronization control of ⁇ .

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

La présente invention concerne un procédé de réglage de synchronisation d'un dispositif de réglage de valeur numérique destiné à améliorer la précision de la synchronisation d'un réglage de synchronisation lorsqu'une section de réglage de position possède un cycle de réglage différent et que le détecteur de position possède un cycle de détection différent. Le procédé de réglage de synchronisation précité s'applique à un dispositif de réglage de valeur numérique (1) qui comprend une section (3) de sortie d'instruction de position destinée à produire une instruction de position des axes de réglage à l'intention d'une pluralité de dispositifs de réglage de moteurs (2,2') comportant des sections de réglage de position (4,4') indépendantes pour chacun des axes de réglage, la même instruction de position étant simultanément transmise à la pluralité de dispositifs de réglage de moteurs (2,2') de manière que les positions de ces derniers sont commandées indépendamment l'une de l'autre et que l'on obtient un réglage de synchronisation inter-axes et que l'on parvient à une correction des gains de la boucle de commande de position (9,11) en tenant compte du retard des sections de réglage de position (4,4') des axes de réglage respectifs.
PCT/JP2003/005854 2002-05-14 2003-05-09 Procede de reglage de synchronisation d'un dispositif de reglage de valeur numerique Ceased WO2003100536A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002138737A JP2003330510A (ja) 2002-05-14 2002-05-14 数値制御装置の同期制御方法
JP2002-138737 2002-05-14

Publications (1)

Publication Number Publication Date
WO2003100536A1 true WO2003100536A1 (fr) 2003-12-04

Family

ID=29561171

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2003/005854 Ceased WO2003100536A1 (fr) 2002-05-14 2003-05-09 Procede de reglage de synchronisation d'un dispositif de reglage de valeur numerique

Country Status (2)

Country Link
JP (1) JP2003330510A (fr)
WO (1) WO2003100536A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100461053C (zh) * 2005-04-25 2009-02-11 发那科株式会社 数字控制器
CN102368162A (zh) * 2011-10-26 2012-03-07 中国科学院光电技术研究所 一种大角度的快速反射镜跟踪系统
CN103123478A (zh) * 2010-01-12 2013-05-29 株式会社安川电机 同步控制装置
CN104965524A (zh) * 2015-05-21 2015-10-07 深圳市大疆创新科技有限公司 增稳装置及增稳装置初始姿态控制系统、方法
CN108621153A (zh) * 2017-03-16 2018-10-09 株式会社安川电机 控制系统、控制器以及控制方法
CN110212814A (zh) * 2019-05-13 2019-09-06 湖北三江航天红林探控有限公司 双电机驱动的负载同步控制系统及控制方法
EP3561621A1 (fr) * 2018-04-26 2019-10-30 Siemens Aktiengesellschaft Détermination d'une valeur directrice ajustée

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5215446B2 (ja) * 2011-11-02 2013-06-19 ファナック株式会社 ギア加工機の制御装置
JP6922829B2 (ja) * 2018-04-26 2021-08-18 オムロン株式会社 制御システム、制御方法、および制御プログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03263208A (ja) * 1990-03-14 1991-11-22 Brother Ind Ltd サーボモータ制御装置
EP0636444A1 (fr) * 1993-02-05 1995-02-01 Fanuc Ltd. Methode et appareil de commande d'usinage par decharge
JPH09258831A (ja) * 1996-03-22 1997-10-03 Nissan Motor Co Ltd 高速位置決め方法及びその装置
JP2001195109A (ja) * 2000-01-13 2001-07-19 Toshiba Mach Co Ltd 工作機械の制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03263208A (ja) * 1990-03-14 1991-11-22 Brother Ind Ltd サーボモータ制御装置
EP0636444A1 (fr) * 1993-02-05 1995-02-01 Fanuc Ltd. Methode et appareil de commande d'usinage par decharge
JPH09258831A (ja) * 1996-03-22 1997-10-03 Nissan Motor Co Ltd 高速位置決め方法及びその装置
JP2001195109A (ja) * 2000-01-13 2001-07-19 Toshiba Mach Co Ltd 工作機械の制御装置

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100461053C (zh) * 2005-04-25 2009-02-11 发那科株式会社 数字控制器
CN103123478A (zh) * 2010-01-12 2013-05-29 株式会社安川电机 同步控制装置
CN103123478B (zh) * 2010-01-12 2015-04-22 株式会社安川电机 同步控制装置
CN102368162A (zh) * 2011-10-26 2012-03-07 中国科学院光电技术研究所 一种大角度的快速反射镜跟踪系统
CN104965524A (zh) * 2015-05-21 2015-10-07 深圳市大疆创新科技有限公司 增稳装置及增稳装置初始姿态控制系统、方法
CN104965524B (zh) * 2015-05-21 2018-02-02 深圳市大疆灵眸科技有限公司 增稳装置及增稳装置初始姿态控制系统、方法
CN108621153A (zh) * 2017-03-16 2018-10-09 株式会社安川电机 控制系统、控制器以及控制方法
EP3561621A1 (fr) * 2018-04-26 2019-10-30 Siemens Aktiengesellschaft Détermination d'une valeur directrice ajustée
US11300946B2 (en) 2018-04-26 2022-04-12 Siemens Aktiengesellschaft Control component and method for determining an adapted master value of a master axis
CN110212814A (zh) * 2019-05-13 2019-09-06 湖北三江航天红林探控有限公司 双电机驱动的负载同步控制系统及控制方法
CN110212814B (zh) * 2019-05-13 2020-11-03 湖北三江航天红林探控有限公司 双电机驱动的负载同步控制系统及控制方法

Also Published As

Publication number Publication date
JP2003330510A (ja) 2003-11-21

Similar Documents

Publication Publication Date Title
US7525263B2 (en) Control system
JP5430793B2 (ja) 電動機制御システムおよび通信方法
Renton et al. High speed servo control of multi-axis machine tools
JP4361071B2 (ja) サーボ制御装置
US10625421B2 (en) Controller, control system, and control method
JP2004288164A (ja) 同期制御装置
JP2017102617A (ja) 補正装置、補正装置の制御方法、情報処理プログラム、および記録媒体
US10291233B2 (en) Control system and pulse output device
WO2003100536A1 (fr) Procede de reglage de synchronisation d'un dispositif de reglage de valeur numerique
JP3798607B2 (ja) 制御装置および制御方法
KR950008036A (ko) 공작기계의 제어장치 및 제어방법
WO2017163683A1 (fr) Système de commande de communication et procédé de commande de communication
JP4412329B2 (ja) ロボット制御装置及びロボットの位置指令値修正方法
JP5748126B2 (ja) 同期制御システム
JP2007025759A (ja) 電動機駆動装置および位置指令装置ならびに位置決め装置
JP2005094933A (ja) モータ駆動装置
US11300946B2 (en) Control component and method for determining an adapted master value of a master axis
CN110262291B (zh) 控制装置、控制方法以及存储介质
JP2003088184A (ja) 複数軸制御装置及びその軸間同期方法
JP2003285287A (ja) ロボットの制御方法、制御ユニット及び制御装置
JP7127594B2 (ja) 制御装置
JPWO2018179165A1 (ja) 通信システム
JP4733695B2 (ja) 自動化システムのシミュレーションのための方法及び装置
CN111052029A (zh) 指令值插值装置和伺服驱动器
JP3547893B2 (ja) 舞台装置の吊物運転制御装置

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): DE US