SERVO CONTROL APPARATUS HAVING FUNCTION OF DISPLAYING ADJUSTMENT STATE IN ONLINE AUTOMATIC ADJUSTMENT TO CONTROL SYSTEM

• US 20170010602A1
• Filed: 07/08/2016
• Published: 01/12/2017
• Est. Priority Date: 07/09/2015
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: IIJIMA, Kazunori
• Granted Patent: US 9,829,877 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 2219/41145 Digital filter for compensation of servo loop
• CPC Class Codes: G05B 2219/41166 Adaptive filter frequency as function of oscillation, rigidity, inertia load
• CPC Class Codes: H02P 2203/00 Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
• CPC Class Codes: H02P 27/08 with pulse width modulation
• CPC Class Codes: H02P 6/06 Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed

Abstract

A servo control apparatus according to the present invention includes a speed command generator; a torque command generator; a speed detector; a speed control loop; a speed control loop gain setting unit; at least one filter for filtering a specific band of a torque command value; a sinusoidal disturbance input unit for performing a sinusoidal sweep on the speed control loop; a frequency characteristics calculator for estimating the gain and phase of speed control loop input and output signals; a resonance frequency detector; a filter adjuster for adjusting the filter in accordance with a resonance frequency; a gain adjuster; a sequence controller for online and automatically performing the detection of the resonance frequency, the adjustment of the speed control loop gain, and the adjustment of the filter; and an adjustment state display unit. The adjustment state display unit displays a stage and progress in the adjustment by the sequence controller.

Claims

1. A servo control apparatus for a machine tool having a feed axis driven by a servomotor, comprising:

a speed command generator for generating a speed command value for the servomotor;

a torque command generator for generating a torque command value for the servomotor;

a speed detector for detecting the speed of the servomotor;

a speed control loop including the speed command generator, the torque command generator, and the speed detector;

a speed control loop gain setting unit for setting a speed control loop gain that is a control gain for the speed control loop;

at least one filter for filtering a specific band of the torque command value;

a sinusoidal disturbance input unit for performing a sinusoidal sweep on the speed control loop;

a frequency characteristics calculator for estimating the gain and phase of speed control loop input and output signals from the output of the speed control loop when a sinusoidal disturbance is inputted to the speed control loop;

a resonance frequency detector for detecting a resonance frequency from frequency characteristics;

a filter adjuster for adjusting the filter in accordance with the resonance frequency;

a gain adjuster for adjusting and verifying the speed control loop gain;

a sequence controller for online and automatically performing the detection of the resonance frequency using the resonance frequency detector, the adjustment of the speed control loop gain using the gain adjuster, and the adjustment of the filter using the filter adjuster; and

an adjustment state display unit for displaying a stage in an adjustment sequence, wherein

the adjustment state display unit displays the adjustment stage and progress in each of the resonance detection, the adjustment and verification of the speed control loop gain, or the adjustment of the filter performed by the sequence controller.

2. The servo control apparatus according to claim 1, wherein when the sequence controller performs an adjustment of a plurality of filters, the adjustment state display unit displays an adjustment state of each of the filters.

3. The servo control apparatus according to claim 1, wherein the adjustment state display unit displays a reason for an interruption or abnormal termination of the adjustment.