Servo control device

• US 10,031,507 B2
• Filed: 10/11/2013
• Issued: 07/24/2018
• Est. Priority Date: 02/07/2013
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Nagaoka, Kotaro, Fujita, Tomoya
• Primary Examiner(s): Gami, Tejal
• Application Number:
  US14/650,401
• Publication Number:
  US 20150323924A1
• Time in Patent Office: 1,747 Days
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 19/404 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence
• CPC Class Codes: G05B 2219/33347 Master sends servo address, speed, kind of interpolation to slave
• CPC Class Codes: G05B 2219/37589 Measure drift of servo during positioning, not disturbing actual position
• CPC Class Codes: G05B 2219/41154 Friction, compensation for friction

Abstract

A servo control device including a servo control unit that calculates a drive command that causes a feedback position from a motor to be driven to follow a command position, to drive the motor according to the drive command, a moving-state determination unit that determines a speed of the motor is by simulating a response of the motor, and outputs a determination result as a moving state, a correction-amount selection unit that selects a correction amount according to a change pattern of the moving state at a timing when the determined moving state changes, and an addition unit that adds the correction amount output from the correction-amount selection unit to the drive command calculated by the servo control unit to generate a corrected drive command, and sets the corrected drive command as a drive command to the motor instead of the drive command calculated by the servo control unit.

Claims

1. A servo control device comprising a servo control unit that calculates a drive command that causes a feedback position from a motor to be driven to follow a command position, to drive the motor according to the drive command, wherein the servo control device comprises:

a moving-state determination unit that determines as to which of positive, negative, or zero a speed of the motor is by simulating a response of the motor, and outputs a determination result as a moving state;

a correction-amount selection unit that selects a correction amount according to a change pattern of the moving state at a timing when the determined moving state changes; and

an addition unit that adds the correction amount output from the correction-amount selection unit to the drive command calculated by the servo control unit to generate a corrected drive command, and sets the corrected drive command as a drive command to the motor instead of the drive command calculated by the servo control unit, and wherein

the moving-state determination unit includes a moving-state storage unit immediately before speed zero that stores a moving state immediately before the moving state changes to speed zero, at a point in time when the moving state has changed from a state other than speed zero to speed zero, and

the moving-state determination unit outputs the stored moving state immediately before the moving state changes to speed zero to the correction-amount selection unit as the moving state immediately before speed zero, and

the correction-amount selection unit outputs

a correction amount corresponding to each of a case where the moving state has changed from positive to negative and a case where the moving state has changed from negative to positive, respectively, and

in a case where the moving state has changed from speed zero to a state other than speed zero, and the moving state immediately before the speed zero and the moving state after a change are different from each other, the correction-amount selection unit outputs a correction amount corresponding to the case.

2. The servo control device according to claim 1, wherein

the servo control unit includes

a position control unit that performs a position control operation so as to reduce a position deviation as a difference between the command position and the feedback position,

a differential operation unit that differentiates the feedback position, and

a speed control unit that performs a speed control operation so as to reduce a speed deviation as a difference between an output of the position control unit and an output of the differential operation unit and outputs the drive command.

3. The servo control device according to claim 1, wherein

the moving-state determination unit includes

a position-control simulation unit that calculates a model speed by inputting the command position and a model position to perform the same operation as that of the position control unit,

a motor simulation unit that simulates the feedback position with respect to the model speed to output the model position, and

a model-speed-sign determination unit that determines as to which of positive, zero, or negative a sign of the model speed is, and outputs a determination result as the moving state to the correction-amount selection unit.

4. The servo control device according to claim 1, wherein the correction-amount selection unit outputs the correction amount corresponding to a case where the moving state has changed from positive to negative or from negative to positive, and a case where the moving state has changed from speed zero to a state other than speed zero, respectively.

5. A servo control method for calculating a drive command that causes a feedback position from a motor to follow a command position, to drive the motor according to the drive command, wherein

the servo control method comprises:

outputting a determination result as a moving state, the determination result being obtained by determining as to which of positive, negative, or zero a speed of the motor is by simulating a response of the motor;

selecting a correction amount according to a change pattern of the moving state at a timing when the determined moving state changes; and

generating a corrected drive command by adding the correction amount to the calculated drive command, and setting the corrected drive command as a drive command to the motor instead of the calculated drive command, and wherein

the outputting includes, storing a moving state immediately before the moving state changes to speed zero, at a point in time when the moving state has changed from a state other than speed zero to speed zero, and outputting the stored moving state immediately before the moving state changes to speed zero as the moving state immediately before speed zero, and

the selecting includes

outputting a correction amount corresponding to each of a case where the moving state has changed from positive to negative and a case where the moving state has changed from negative to positive, respectively, and

in a case where the moving state has changed from speed zero to a state other than speed zero, and the moving state immediately before the speed zero and the moving state after a change are different from each other, outputting a correction amount corresponding to the case.

6. A servo control device comprising:

processing circuitry configured to;

calculate a drive command that causes a feedback position from a motor to be driven to follow a command position, to drive the motor according to the drive command,

determine as to which of positive, negative, or zero a speed of the motor is by simulating a response of the motor, and output a determination result as a moving state,

select a correction amount according to a change pattern of the moving state at a timing when the determined moving state changes and the motor is temporarily stopped, and

add the correction amount to the drive command calculated to generate a corrected drive command, and set the corrected drive command as a drive command to the motor instead of the drive command calculated; and

the servo control device further comprising a memory that stores a moving state immediately before the moving state changes to speed zero, at a point in time when the moving state has changed from a state other than speed zero to speed zero, and wherein

the processing circuitry is further configured to;

output the stored moving state immediately before the moving state changes to speed zero as the moving state immediately before speed zero,

output a correction amount corresponding to each of a case where the moving state has changed from positive to negative and a case where the moving state has changed from negative to positive, respectively, and

in a case where the moving state has changed from speed zero to a state other than speed zero, and the moving state immediately before the speed zero and the moving state after a change are different from each other, output a correction amount corresponding to the case.

7. The servo control device according to claim 6, wherein

the processing circuitry is further configured to:

perform a position control operation so as to reduce a position deviation as a difference between the command position and the feedback position,

perform a differential operation to differentiate the feedback position, and

perform a speed control operation so as to reduce a speed deviation as a difference between an output of the position control operation and an output of the differential operation, and output the drive command.

8. The servo control device according to claim 6, wherein

the processing circuitry is further configured to:

calculate a model speed by inputting the command position and a model position to perform the same operation as that of the position control unit,

simulate the feedback position with respect to the model speed to output the model position, and

determine as to which of positive, zero, or negative a sign of the model speed is, and output a determination result as the moving state.

9. The servo control device according to claim 6, wherein

the processing circuitry is further configured to:

output the correction amount corresponding to a case where the moving state has changed from positive to negative or from negative to positive, and a case where the moving state has changed from speed zero to a state other than speed zero, respectively.