SERVO CONTROL APPARATUS HAVING FUNCTION OF OPTIMIZING CONTROL GAIN ONLINE USING EVALUATION FUNCTION
First Claim
1. A servo control apparatus for a machine tool including a feed axis driven by a servomotor comprises:
- a speed command generation unit configured to generate a speed command value for the servomotor;
a torque command generation unit configured to generate a torque command value for the servomotor;
a speed detection unit configured to detect a speed of the servomotor;
a speed control loop comprising the speed command generation unit, the torque command generation unit, and the speed detection unit;
a speed control loop gain setting unit configured to set a control gain for the speed control loop;
a sinusoidal disturbance input unit configured to apply a sinusoidal sweep to the speed control loop;
a frequency characteristic calculation unit configured to estimate a gain and a phase of a speed control loop input/output signal from output of the speed control loop when a sine wave is input to the speed control loop;
a reference characteristic generation unit configured to generate a frequency characteristic for the feed axis; and
a gain adjusting unit configured to adjust the speed control loop gain,wherein the gain adjusting unit uses the frequency characteristic generated by the reference characteristic generation unit and an actually measured frequency characteristic calculated by the frequency characteristic calculation unit to calculate an evaluation function value for each frequency sweep to the actually measured frequency characteristic, and adjusts online the speed control loop gain to achieve a desired evaluation function value.
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Accused Products
Abstract
A servo control apparatus includes a speed command generation unit, a torque command generation unit, a speed detection unit, a speed control loop, a speed control loop gain setting unit, a sinusoidal disturbance input unit which applies a sinusoidal sweep to the speed control loop, a frequency characteristic calculation unit which estimates the gain and phase of a speed control loop input/output signal from output of the speed control loop when a sine wave is input to the speed control loop, a reference characteristic generation unit which generates frequency characteristics for a feed axis, and a gain adjusting unit which adjusts the speed control loop gain. The gain adjusting unit uses the reference frequency characteristics and actually measured frequency characteristics to calculate an evaluation function value for each frequency sweep, and adjusts online the speed control loop gain to achieve a desired evaluation function value.
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Citations
3 Claims
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1. A servo control apparatus for a machine tool including a feed axis driven by a servomotor comprises:
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a speed command generation unit configured to generate a speed command value for the servomotor; a torque command generation unit configured to generate a torque command value for the servomotor; a speed detection unit configured to detect a speed of the servomotor; a speed control loop comprising the speed command generation unit, the torque command generation unit, and the speed detection unit; a speed control loop gain setting unit configured to set a control gain for the speed control loop; a sinusoidal disturbance input unit configured to apply a sinusoidal sweep to the speed control loop; a frequency characteristic calculation unit configured to estimate a gain and a phase of a speed control loop input/output signal from output of the speed control loop when a sine wave is input to the speed control loop; a reference characteristic generation unit configured to generate a frequency characteristic for the feed axis; and a gain adjusting unit configured to adjust the speed control loop gain, wherein the gain adjusting unit uses the frequency characteristic generated by the reference characteristic generation unit and an actually measured frequency characteristic calculated by the frequency characteristic calculation unit to calculate an evaluation function value for each frequency sweep to the actually measured frequency characteristic, and adjusts online the speed control loop gain to achieve a desired evaluation function value. - View Dependent Claims (2, 3)
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Specification