SERVO CONTROLLER

• US 20080218116A1
• Filed: 03/07/2008
• Published: 09/11/2008
• Est. Priority Date: 03/08/2007
• Status: Abandoned Application

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: TOYOZAWA, Yukio, MAEDA, Kazuomi, SONODA, Naoto
• Application Number:
  US12/044,212
• Publication Number:
  US 20080218116A1
• Time in Patent Office: Days
• US Class Current: 318/571
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/42141 Filter error learning
• CPC Class Codes: G05B 2219/42186 Master slave, motion proportional to axis
• CPC Class Codes: G05B 2219/42249 Relative positioning
• CPC Class Codes: G05B 2219/45214 Gear cutting
• CPC Class Codes: G05B 2219/45216 Tapping
• CPC Class Codes: G05B 2219/50234 Synchronize two spindles, axis, electronic transmission, line shafting

Abstract

A servo controller for synchronously controlling a master driving source for driving a driving shaft and a slave driving source for driving a driven shaft, having a position control section that performs a position control based on a positional deviation which is a difference between a position command value given to the slave driving source and a feedback value detected from the slave driving source, an operational section that calculates a synchronization error which is a difference of the positional deviation between the master driving source and the slave driving source, and a correction data calculating section that calculates first correction data for correcting the positional deviation of the slave driving source.

Claims

1. A servo controller for synchronously controlling a master driving source that drives a driving shaft and a slave driving source that drives a driven shaft in a prescribed timing relative to said driving shaft, comprising:

a position control section that performs a position control based on a positional deviation which is a difference between a position command value given to said slave driving source and a feedback value detected from said slave driving source;

an operational section that calculates a synchronization error which is a difference between a positional deviation on a side of said master driving source and a positional deviation on a side of said slave driving source; and

,

a correction data calculating section that calculates first correction data for correcting said positional deviation on the side of said slave driving source based on said position command value given to said slave driving source so as to reduce said synchronization error.

2. A servo controller as claimed in claim 1,

wherein there are provided two said slave driving sources, each slave driving source respectively driving a first driven shaft and a second driven shaft in a tandem structure in parallel to each other.

3. A servo controller as claimed in claim 2,

wherein said correction data calculated for one of two driven shafts are also applied to the other of said two driven shafts.

4. A servo controller as claimed in claim 1,

further comprising a learning control section that calculates second correction data to be added to said positional deviation on the side of said slave driving source in order to converge said synchronization error to 0 by means of learning control,

wherein a transfer function that identifies a linear relation between said position command value given to said slave driving source and said second correction data is used in said correction data calculating section to calculate said first correction data, and

wherein said first correction data are added to said positional deviation on the side of said slave driving source.

5. A servo controller as claimed in claim 1,

further comprising a learning control section that calculates second correction data to be added to said positional deviation on the side of said slave driving source in order to converge said synchronization error to 0 by means of learning control,

wherein said first correction data calculated by said correction error calculating section are set as initial value in said learning control section, and wherein said second correction data are calculated from said initial value, said second correction data being added to said positional deviation in said slave driving source.

6. A servo controller as claimed in claim 5,

wherein reference data to be referenced for calculating a command pattern of said position command value and said second correction data are stored in said correction data calculating section, and

wherein said reference data are outputted when said position command value is given to said correction data calculating section, said synchronization error as said first correction data being estimated from said reference data.

7. A servo controller as claimed in claim 1,

wherein said correction data calculating section has a compensator for calculating said correction data, and an adaptive arithmetic logic unit for iteratively calculating parameters of said compensator from said position command value and said synchronization error.

8. A servo controller as claimed in claim 1,

wherein said correction data calculating section has a compensator for calculating said first correction data, an adjustor for adjusting an output of said first correction data, and an adaptive arithmetic logic unit for iteratively calculating parameters of said compensator from said position command value, said synchronization error, and said positional deviation.

9. A servo controller as claimed in claim 1,

wherein said driving shaft is a rotational shaft and said first driven shaft and said second driven shaft are feed shafts.

10. A servo controller as claimed in claim 1,

wherein said operational section is provided in said host controller.

11. A servo controller as claimed in claim 1,

wherein said processing is a tapping operation for forming an internal thread on a work piece.

12. A servo controller as claimed in claim 1,

wherein said processing is a thread cutting operation for forming an external thread on an outer circumferential surface of a work piece.