JP4551359B2 - Servo motor drive control device - Google Patents

Description

  The present invention relates to a control device for driving a servo motor and a spindle motor used in a machine tool and an industrial machine by a CNC (Computer Numerical Control) device, and particularly applies learning control in order to realize high-precision position control of the machine. The present invention relates to a servo motor drive control device of a CNC device that saves the use capacity of a learning control memory in some cases.

  The variable sampling control method and apparatus described in Patent Document 1 digitize an error input signal to be controlled by A / D, perform digital processing, perform D / A conversion, and control the target with an analog signal In this system, the digitization sampling period is made variable in accordance with the rate of change of the error input signal. In other words, the coefficient of the filtering process in the control device is changed according to the sampling period so that the characteristic of the servo system obtained by the arithmetic process does not change due to the change of the sampling period, and when the change rate is small, the sampling period is lengthened. The calculation time required for digital processing is shortened without degrading the characteristics, and the power consumption is reduced accordingly.

  The thinning-out learning control device described in Patent Document 2 has high accuracy by learning a repetitive command and converging a control deviation to zero when driving the servomotor according to the same pattern command repeatedly input at a predetermined cycle. In a learning control device that controls the servomotor of the machine and improves machining accuracy, a storage means that always stores the position deviation sampled at a predetermined sampling period by thinning out at a constant interval without depending on the position deviation or command, and storage Means for obtaining correction data in each processing cycle while being thinned out by a value obtained by smoothing filtering the value stored in the means, and a control deviation of the processing cycle based on the obtained correction data Is used to control the servo motor. According to this learning control apparatus, the memory capacity in the storage means can be reduced by thinning and storing the sampled position deviation.

Japanese Unexamined Patent Publication No. 2000-148225 (see [Claims] in the specification, paragraph numbers [0011] to [0013], [0034] and [FIG. 1] in the drawing). Japanese Patent No. 2928294 (in the specification, [Claim 1] of [Claims], pages (1) and (2) of [Detailed Description of the Invention] and [FIG. 1], [4 Refer to the figure].

  Since the sampling cycle in the thinning-out learning control device described in Patent Document 2 is fixed, a learning memory having a capacity proportional to the time cycle is required when learning a repetition command having a long time cycle. There is a problem that the memory capacity cannot be reduced.

  Therefore, in the thinning-out learning control device described in Patent Document 2, the capacity of the learning memory can be reduced by increasing the sampling period of the learning control device. However, if the sampling period is lengthened uniformly regardless of the shape of the command, there arises a problem that the accuracy deteriorates in proportion to the length of the sampling period.

  Therefore, the present invention has been made to solve the above problem, and a servo equipped with variable sampling learning control means for changing the sampling period of a learning control device that samples position deviation depending on the shape of a command. An object of the present invention is to provide a motor drive control device.

  The drive control device for a servo motor according to claim 1, which achieves the above object, is a control device that drives and controls a driven body that operates periodically by a servo motor, and is repeated periodically by the servo motor. The position command is received from the means for giving a position command, and the signal indicating the position of the driven body is received from the means for detecting the position of the driven body, and the first of the position command and the position of the driven body is received. Means for obtaining a position deviation; means for variably calculating a sampling period B for sampling the first position deviation according to information given from a host system; and according to the calculated sampling period B, the first Means for obtaining a second position deviation obtained by sampling the position deviation; correction data calculating means for obtaining first correction data from the second position deviation; and the correction data calculating means. Storage means for storing the obtained first correction data for at least one cycle of a periodic position command to be repeated, and position-controlling the driven body based on the first position deviation and the first correction data. It is characterized by that.

  The servo motor drive control apparatus according to claim 2, which achieves the above object, is a control apparatus that drives and controls a driven body that operates periodically by a servo motor, and is periodically controlled by the servo motor. The position command is received from the means for giving a position command, and the signal indicating the position of the driven body is received from the means for detecting the position of the driven body, and the first of the position command and the position of the driven body is received. Means for acquiring a position deviation for each sampling period A, means for calculating a sampling period B for sampling the first position deviation in accordance with information given from a host system, and according to the calculated sampling period B, Means for variably obtaining a second position deviation obtained by sampling the first position deviation; correction data calculating means for obtaining first correction data from the second position deviation; The storage means for storing the first correction data obtained by the correction data calculation means for at least one cycle of the cyclic position command to be repeated, and the first correction data for each sampling period B stored in the storage means. Conversion means for converting into second correction data for each sampling period A, and the driven is based on the first position deviation and the second correction data obtained by the conversion means.

  In the servo motor drive control device according to claim 1 or 2, compression means for generating third correction data obtained by compressing the first correction data stored by the storage means according to claim 1 or 2, and Means for sending the compressed third correction data to the host system, means for receiving the third correction data stored in the host system from the host system, decompressing the received third correction data, and fourth correction data And a decompression unit for generating a position of the driven body based on the first position deviation and the fourth correction data generated by the decompression unit.

  3. The servo motor drive control apparatus according to claim 1 or 2, wherein the correction data calculation means according to claim 1 or 2 is the second position deviation and the previous cycle stored in the storage means. Adding means for adding the first correction data; and filtering means for filtering the addition result added by the adding means to obtain new fifth correction data and outputting the new fifth correction data to the storage means; The position of the driven body is controlled based on the deviation and the fifth correction data obtained by the filter means.

  3. The servo motor drive control apparatus according to claim 1 or 2, wherein the means for calculating the sampling period B according to claim 1 or 2 calculates the velocity, acceleration or jerk calculated from the position command. And means for calculating the sampling period B by using.

  According to the first aspect of the present invention, by providing the sampling period calculation means for variably calculating the sampling period B for sampling the first position deviation in accordance with the position command information, the learning storage means It is possible to save the used capacity. In addition, the servo motor drive control device according to the first aspect of the invention can be configured with an analog circuit or a digital circuit, except for a circuit that generates the second correction data in response to the first position deviation, and the applicable range of the device is widened. .

  According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, means for obtaining a first deviation between the position command and the position of the driven body for each sampling period A, and sampling By providing conversion means for converting the first correction data obtained for each period B to the second correction data for each sampling period A, the first position deviation is smoothly corrected by the second correction data to be driven. The position can be controlled.

  According to the compression means and the decompression means according to claim 3, transfer of the correction data to the host system is performed by adding a process of compressing and decompressing the correction data (learning data) held in the storage means. A further reduction in time can be realized.

  In the setup change, correction data (learning data) held in the storage means is transferred to the host system as necessary. The host system stores a plurality of correction data for each workpiece (workpiece), and transfers necessary correction data to the storage means in the drive control device of the servo motor according to the workpiece to be processed. Therefore, according to the compression means and the decompression means described in claim 3, since the transfer time can be shortened, it is possible to contribute to shortening the time required for the setup change in the actual processing.

  The addition means provided in the correction means calculation means according to claim 4 positively feeds back the second position deviation and the first correction data stored in the storage means, so that a harmonic wave component is removed by providing a filter means. Thus, the stability of the learning control can be ensured.

  According to the means for calculating the sampling period B according to claim 5, when the speed or acceleration or jerk of the command is large, the sampling period is shortened, and conversely, when it is small, the sampling period is lengthened. By providing the sampling period calculation means to be provided in the control device, it is possible to save the use capacity of the storage means for learning while maintaining accuracy.

  Further, according to the means for calculating the sampling period B described in claim 5, the learning control can be performed by the storage means having a small capacity for the repetitive command of the long time period, and therefore the application range of the learning control is expanded. At the same time, it is advantageous in terms of cost. Furthermore, when the correction data (learning data) held in the storage means is communicated with a host system such as CNC, the transfer time can be shortened, which can contribute to shortening the time required for changeover in actual machining.

  FIG. 1 is a diagram showing a servo motor drive control device according to an embodiment of the present invention. A servo motor drive control device (hereinafter referred to as a control device) 1 shown in FIG. 1 receives a position command from a CNC device (hereinafter referred to as a CNC) 2 and drives the servo motor 3 to operate periodically (not shown). The driven body is driven and its operation is controlled. The position detector 4 detects the position signal of the driven body from the rotating shaft of the servo motor 3 and outputs it to the control device 1.

  The control device 1 is constituted by a digital circuit, and each means described later fulfills its function by executing digital processing. The control device 1 receives a position command from the CNC 2 that gives a periodic position command repeated to the servo motor 3 and detects a position of the driven body from a position detector (for example, an encoder) 4 that detects the position of the driven body. Receive.

  The control device 1 includes a first sampler 11 that acquires and outputs a position command for each sampling period A, a second sampler 12 that acquires a position of the driven body for each sampling period A, and a position command for each sampling period A. And a first adder 13 for acquiring a first position deviation between the position of the driven body and a sampling period B for sampling the first position deviation in accordance with position command information given from the CNC 2 so as to be variable. The sampling period calculation means 14 and the third sampler 15 that acquires the second position deviation obtained by sampling the first position deviation according to the calculated sampling period B are provided. Here, the sampler generally generates a sample value signal from a continuous signal by closing a switch at regular time intervals.

The control device 1 has a learning controller 10. The learning controller 10 includes a third sampler 15, correction data calculation means 20, and conversion means 30.
The correction data calculation means 20 obtains the first correction data from the second position deviation, and the storage means 21 stores the first correction data obtained by the correction data calculation means 20 for at least one period of the periodic position command to be repeated. .

  The control device 1 also includes conversion means 30 for converting the first correction data for each sampling period B stored in the storage means 21 into the second correction data for each sampling period A.

  The conversion means 30 adds the 1st correction data produced | generated for every sampling period B, when adding the 1st correction data produced | generated for every sampling period B and the position deviation acquired for every sampling period A with the 2nd adder 16. In order to generate the second correction data for every sampling period A, it is necessary to interpolate the calculation point of the sampling period A from the calculation point of the sampling period B.

FIG. 2 is an explanatory diagram of the interpolation calculation.
As shown in FIG. 2, the current calculation point SPA1 of the sampling period A at time t (i) is calculated using the calculation points SPB1 and SPB2 of the sampling period B at time t (i-1) and time t (i + 1). Interpolate. This interpolation calculation is performed for one cycle of the repeated command cycle.

  The control device 1 has a second adder 16 and a drive unit 40. The second adder 16 corrects the corrected position deviation by adding the second correction data obtained by the conversion means 30 from the first position deviation and fed back positively. Is input to the drive unit 40. The drive unit 40 includes a position gain 41, a speed control unit 42, a current control unit 43, and a current amplifier 44.

  The position gain 41 receives the corrected position deviation from the second adder 16 and outputs it by applying a preset proportional gain. The position gain 41 may have a PI control function, and the output of the second adder 16 after positive feedback can be stabilized by the I control function. The speed control unit 42 receives the corrected position deviation from the position gain 41 and receives the position signal from the position detector 4, converts the position signal into a feedback speed signal, and subtracts the converted feedback speed signal from the corrected position deviation. The current command is obtained and output.

  The current control unit 43 receives a current command from the speed control unit 42 and also receives a current feedback signal from the current amplifier 44, and outputs a corrected current command obtained by subtracting the current command by the current feedback signal. The current amplifier 44 receives a correction current command from the current control unit 43, supplies current to the servo motor 3, and drives the driven body.

Next, the compression / decompression processing unit 50 will be described.
The compression / decompression processing unit 50 includes a compression unit 51 that generates third correction data obtained by compressing the first correction data, a transmission unit 52 that transmits the compressed third correction data to the CNC 2, and a first stored in the CNC 2. The receiving unit 53 receives 3 correction data from the CNC 2 and the decompressing unit 54 decompresses the received third correction data to generate fourth correction data. The second adder 16 receives the first position deviation and the fourth correction data generated by the decompression means 54, bypassing the conversion means 30, and stored in the storage means 21, and controls the position of the driven body based on these. The corrected position deviation is input to the drive unit 40. By providing the compression / decompression processing unit 50, the transfer time between the control device 1 and the CNC 2 can be shortened.

Next, the correction data calculation unit 20 will be described.
The correction data calculation unit 20 includes the storage unit 21, the third adder 22, and the filter unit 23 described above. The storage means 21 stores first correction data for each sampling period B corresponding to at least one period of a periodic position command repeated from the CNC 2.

  The third adder 22 sequentially adds the second position deviation acquired for each sampling period B and the first correction data that is positively fed back for each previous sampling period B stored in the storage unit 21. The filter means 23 filters the addition result added by the third adder 22 to obtain new fifth correction data for one period and outputs it to the storage means 21. The filter means 23 is a low-frequency pass type digital low-pass filter. By removing high-frequency noise, the stability of the correction data calculation means 20 in the learning controller 10 that performs positive feedback and addition can be ensured.

FIG. 3 is a diagram showing another embodiment of the sampling period calculation means shown in FIG.
The sampling period calculating means 14 for calculating the sampling period B has means for calculating the sampling period B using the command speed, command acceleration or command jerk calculated from the position command.

  In FIG. 3, the horizontal axis indicates the command speed, the command acceleration, or the command jerk, and the vertical axis indicates the sampling period. As shown in FIG. 3, the sampling period A is fixed, and the sampling period B is the largest in the vicinity of the absolute value of the command speed, the command acceleration, or the command jerk, and is smaller as the absolute value becomes larger. That is, when the command speed, command acceleration, or command jerk is large, the sampling cycle is shortened, and the command accuracy and therefore the position accuracy of the controlled object are improved. When the command speed, command acceleration, or command jerk is small, the sampling cycle is lengthened. In addition, the use capacity of the memory as the storage means is saved. Thereby, the number of memories storing correction data can be reduced while maintaining accuracy.

  4A and 4B are diagrams showing simulation results in a fixed sampling period, FIG. 4A is a diagram showing the shape of a position command and sampling points, and FIG. 4B is a diagram showing how the position deviation converges. When a position command having the shape shown in FIG. 4A is sent from the CNC 2 to the control device 1 every cycle of 40 msec and learning is performed with a sampling cycle of 0.5 sec fixed, the simulation result of the position deviation is shown in FIG. ), And the number of memories used for learning was 80. Here, the memory has a capacity for storing correction data generated per sampling.

  FIG. 5 is a diagram showing simulation results in a variable sampling period, (A) is a diagram showing the shape of a position command and sampling points, and (B) is a diagram showing how the position deviation converges. When a position command having the shape shown in FIG. 5A is sent from the CNC 2 to the control device 1 every cycle of 40 msec and learning is performed by varying the sampling cycle according to the command speed, the simulation result of the position deviation is shown in FIG. As shown in (B), the number of memories used for learning was 46.

  Comparing FIG. 4 and FIG. 5, it can be seen that the positional deviation converges to the same extent even though the number of memories is reduced from 80 to 46.

  In the embodiment of the present invention shown in FIG. 1 described above, as another embodiment, the first sampler 11, the second sampler 12, the converting means 30, and the compression / decompression processing unit 50 may be removed and short-circuited. it can. Further, when configured in this way, the control device 1 can be configured with either an analog circuit or a digital circuit, except for the learning controller 10.

It is a figure which shows the servomotor drive control apparatus which concerns on one Embodiment of this invention. It is explanatory drawing of interpolation calculation. It is a figure which shows other embodiment of the sampling period calculation means shown in FIG. It is a figure which shows the simulation result in a fixed sampling period, (A) is a figure which shows the shape and sampling point of a position command, (B) is a figure which shows the mode of convergence of a position deviation. It is a figure which shows the simulation result in a variable sampling period, (A) is a figure which shows the shape of a position command, and a sampling point, (B) is a figure which shows the mode of a convergence of a position deviation.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Servo motor control apparatus 2 CNC apparatus 3 Servo motor 4 Position detector 10 Learning controller 11 1st sampler 12 2nd sampler 14 Sampling period calculation means 15 3rd sampler 20 Correction data calculation means 21 Storage means 23 Filter means 30 Conversion means 40 Drive unit 50 Compression / decompression processing unit

Claims (4)

A control device that drives and controls a driven body that operates periodically by a servo motor,
Receiving the position command from the means for giving a periodic position command repeated to the servo motor and receiving a signal indicating the position of the driven body from the means for detecting the position of the driven body;
Means for obtaining a first positional deviation between the position command and the position of the driven body;
Using the command acceleration calculated from the position command given from the host system or the command jerk, when the command acceleration or the command jerk is large, the sampling cycle is shortened, and the command acceleration or the command jerk is Means for variably calculating the sampling period B for sampling the first positional deviation so as to lengthen the sampling period when it is small ;
Means for acquiring a second position deviation obtained by sampling the first position deviation according to the calculated sampling period B;
Correction data calculating means for obtaining first correction data from the second position deviation;
Storage means for storing the first correction data obtained by the correction data calculation means for at least one period of a cyclic position command to be repeated;
A servo motor drive control device that controls the position of the driven body based on the first position deviation and the first correction data. A control device that drives and controls a driven body that operates periodically by a servo motor,
Receiving the position command from the means for giving a periodic position command repeated to the servo motor and receiving a signal indicating the position of the driven body from the means for detecting the position of the driven body;
Means for acquiring a first positional deviation between the position command and the position of the driven body for each sampling period A;
Using the command acceleration calculated from the position command given from the host system or the command jerk, when the command acceleration or the command jerk is large, the sampling cycle is shortened, and the command acceleration or the command jerk is Means for calculating a sampling period B for sampling the first positional deviation so as to lengthen the sampling period when it is small ;
Means for variably obtaining the second position deviation obtained by sampling the first position deviation according to the calculated sampling period B;
Correction data calculating means for obtaining first correction data from the second position deviation;
Storage means for storing the first correction data obtained by the correction data calculation means for at least one period of a cyclic position command to be repeated;
Conversion means for converting the first correction data for each sampling period B stored in the storage means to the second correction data for each sampling period A;
A servo motor drive control device that controls the position of the driven body based on the first position deviation and the second correction data obtained by the conversion means. Compression means for generating third correction data obtained by compressing the first correction data stored by the storage means according to claim 1 or 2,
Means for sending the compressed third correction data to the host system;
Means for receiving third correction data stored in the host system from the host system;
Decompressing the received third correction data and generating fourth correction data; and
3. The servo motor drive control device according to claim 1, wherein the driven body is position-controlled based on the first position deviation and the fourth correction data generated by the decompression unit. The correction data calculation means according to claim 1 or 2,
Adding means for adding the second positional deviation and the first correction data of the previous cycle stored in the storage means;
Filtering means for filtering the addition result added by the adding means to obtain new fifth correction data and outputting it to the storage means;
3. The servo motor drive control device according to claim 1, wherein the driven body is position-controlled based on the first position deviation and fifth correction data obtained by the filter means.

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