Apparatus for and method of compensating for positioning error

• US 5,513,114 A
• Filed: 08/17/1993
• Issued: 04/30/1996
• Est. Priority Date: 08/19/1992
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Matsumoto, Kouki
• Primary Examiner(s): Envall, Jr., Roy N.
• Assistant Examiner(s): OAKES, BRIAN
• Application Number:
  US08/107,374
• Time in Patent Office: 987 Days
• Field of Search: 364/474.35, 364/474.34, 364/474.28, 364/474.12, 364/474.11, 318/560, 318/561, 318/568.22, 318/611, 318/626, 318/630
• US Class Current: 700/193
• 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 2219/41036 Position error in memory, lookup table for correction actual position
• CPC Class Codes: G05B 2219/41039 Change compensation slowly, gradually, smooth error with filter
• CPC Class Codes: G05B 2219/41057 Stiffness, deformation of slide, drive
• CPC Class Codes: G05B 2219/41058 For deformation of screw
• CPC Class Codes: G05B 2219/41077 Self tuning, test run, detect, compute optimal backlash, deformation compensation
• CPC Class Codes: G05B 2219/49195 Slide, guideway, robot arm deviation

Abstract

The present invention provides a numerical control system employing an automatic tuning section for automatically tuning control parameters, such as position deformation parameters, corresponding to the numerical control of the position of a table using a servo loop. In particular, the present invention provides an apparatus for, a method of, compensating for machine deformation and ballscrew errors produced by the play resulting from loose connections between a ballscrew and a moving table engaged thereto. The present invention provides a first and second change slowing means for respectively changing the compensation amounts of the machine deformation and ballscrew deformation error amount stored in a numerical control apparatus. The first and second change slowing means allow the machine deformation and ballscrew deformation error amounts, respectively, to be combined with a position command signal output from the numerical control apparatus to form a compensated control signal in order to control the positioning of the table with high accuracy.

Claims

1. A servo control apparatus comprising:

a rotatable motor;

a workpiece position detection means for detecting a position of said workpiece;

a ballscrew rotating with a rotation of said motor;

a table, coupled to said ballscrew and supporting a workpiece, moving in a table travel direction in response to the rotation of said ballscrew;

table position detecting means for detecting a position of said table;

position command means for outputting a position command signal for specifying the position of said table;

travel direction reversing timing signal generating means for generating a travel direction reversing timing signal indicating a reversal of travel direction of said table;

machine deformation error storage means for storing a machine deformation error indicated by the magnitude of a change in difference between the position of said workpiece and the position of said table as detected by said table position detecting means at the reversal of said table travel direction;

position command compensating means for combining said machine deformation error stored in said machine deformation error storage means with said position command signal from a point of time based on said travel direction reversing timing signal to compensate said position command signal;

motor driving means for rotating said motor so that the detection output of said table position detecting means matches the output of said position command compensating means; and

first change slowing means for receiving the machine deformation error stored in the machine deformation error storage means and outputting to said position compensating means, a signal based on said received machine deformation error that rises slowly with time.

2. The servo control apparatus as defined in claim 1, further comprising:

machine deformation error detecting means for detecting the machine deformation error;

wherein said machine deformation error storage means stores said machine deformation error detected by said machine deformation error detecting means.

3. The servo control apparatus as defined in claim 1,

wherein the position command compensating means either adds or subtracts the output of said first change slowing means to or from the position command signal to compensate said position command signal.

4. The servo control apparatus as defined in claim 3, further comprising:

first parameter detecting means for detecting a first parameter indicating the timewise change of state of a difference between the position of the workpiece and the position of the table at the reversal of the table travel direction; and

first parameter storage means for storing the first parameter detected by said first parameter detecting means;

wherein the first change slowing means outputs said signal based at least in part on said first parameter stored in said first parameter storage means.

5. The servo control apparatus as defined in claim 1, further comprising a motor rotation position detecting means for detecting the rotation position of said motor.

6. The servo control apparatus as defined in claim 5, further comprising:

switching selector means for switching between a first operation status wherein a motor driving means rotates the motor so that the position signal output by the position command compensating means matches the detection output of the table position detecting means, and a second operation status wherein the motor driving means rotates the motor so that said position signal matches the detection output of the motor rotation position detecting means;

wherein the machine deformation error is detected by the machine deformation error detecting means or the first parameter is detected by the first parameter detecting means in said first operation status.

7. A servo control apparatus comprising:

a motor rotated by a driving current under the control of a current command signal;

a ballscrew rotating with a rotation of said motor;

a workpiece position detection means for detecting a position of said workpiece;

a table, coupled to said ballscrew and supporting a workpiece, moving in a table travel direction in response to the rotation of said ballscrew;

travel direction reversing timing signal generating means for generating a travel direction reversing timing signal indicating a reversal of travel direction of said table;

ballscrew deformation error detecting means for detecting a ballscrew deformation error indicating the magnitude of a change in deformation amount of said ballscrew at the reversal of said table travel direction;

ballscrew deformation error storage means for storing said ballscrew deformation error detected by said ballscrew deformation error detecting means;

current command compensating means for combining said ballscrew deformation error stored in said ballscrew deformation error storage means with said current command signal from a point of time based on said travel direction reversing timing signal to compensate said current command signal;

change slowing means for receiving the ballscrew deformation error stored in said ballscrew deformation error storage means and outputting to said position compensating means, a signal based on said received ballscrew deformation error that rises slowly with time;

wherein the current command compensating means adds or subtracts the output signal of said change slowing means to or from the current command signal from a point of time based on the travel direction reversing timing signal to compensate said current command signal;

second parameter detecting means for detecting a second parameter indicating the timewise change of state of the deformation amount of the ballscrew at the reversal of the table travel direction; and

second parameter storage means for storing the second parameter detected by said second parameter detecting means;

wherein the change slowing means outputs said signal that rises slowly with time based at least in part on said second parameter stored in said second parameter storage means.

8. A servo control apparatus comprising:

a motor rotated by a driving current under the control of a current command signal;

a workpiece detection means for detecting a position of said workpiece;

a ballscrew rotating with the rotation of said motor;

a table, coupled to said ballscrew and supporting a workpiece, moving in response to the rotation of said ballscrew;

table position detecting means for detecting a position of said table;

position command means for outputting a position command signal for specifying the position of said table;

travel direction reversing timing signal generating means for generating a travel direction reversing timing signal indicating a reversal of travel direction of said table;

ballscrew deformation error detecting means for detecting a ballscrew deformation error indicating the magnitude of a change in deformation amount of said ballscrew at the reversal of said table travel direction;

ballscrew deformation error storage means for storing said ballscrew deformation error detected by said ballscrew deformation error detecting means;

current command compensating means for combining said ballscrew deformation error stored in said ballscrew deformation error storage means with said current command signal from a point of time based on said travel direction reversing timing signal to compensate said current command signal;

machine deformation detecting means for detecting a machine deformation error;

machine deformation error storage means for storing the machine deformation error indicated by the magnitude of a change in difference between the position of said workpiece and the position of said table as detected by said table position detecting means at the reversal of said table travel direction;

position command compensating means for combining said machine deformation error stored in said machine deformation error storage means with said position command signal from a point of time based on said travel direction reversing timing signal to compensate said position command signal; and

motor driving means for rotating said motor so that the detection output of said table position detecting means matches the output of said position command compensating means.

9. The servo control apparatus as defined in claim 8, further comprising:

switching selector means for switching between a first operation status wherein a motor driving means rotates the motor so that the position signal output by the position command compensating means matches the detection output of the table position detecting means, and a second operation status wherein the motor driving means rotates the motor so that said position signal matches the detection output of a motor rotation position detecting means; and

wherein the machine deformation error is detected by the machine deformation error detecting means or the first parameter is detected by the first parameter detecting means in said first operation status and the ballscrew deformation error is detected by the ballscrew deformation error detecting means or the second parameter is detected by the second parameter detecting means in said second operation status.

10. In a servo control apparatus having a table coupled to a ballscrew and supporting a workpiece, said ballscrew being rotated by a motor in response to a driving current, said table having a position along a travel direction corresponding to rotation of said ballscrew, a method of controlling a servo comprising the steps of:

generating a driving current for rotating said motor;

detecting the position of said table;

detecting a position of said workpiece;

outputting a position command signal for specifying the position of said table;

generating a travel direction reversing timing signal upon reversal of travel direction of said table;

detecting a ballscrew deformation error indicating the magnitude of a change in deformation amount of said ballscrew at the reversal of said table travel direction;

compensating said driving current by combining said driving current with said ballscrew deformation error thus detected;

detecting a machine deformation error indicating the magnitude of a change in difference between the position of the workpiece and the position of said table at the reversal of said table travel direction;

compensating said position command by combining said machine deformation error with said position command from a point of time based on said reversal of said table travel direction; and

generating a current command signal for driving said motor; and

driving said motor so that the position of said table matches said compensated position command.

11. The servo control method as defined in claim 10, wherein the step of compensating said position command comprises the steps of outputting said machine deformation error signal as a signal that rises in the timewise change of state based on a first parameter, and adding or subtracting the machine deformation error to or from said position command signal.

12. The servo control method as defined in claim 11, wherein the step of compensating said driving current comprises the steps of outputting said ballscrew deformation error as a signal that rises in the timewise change of state based on a second parameter, and adding or subtracting the ballscrew deformation error to or from said driving current.

13. The servo control method as defined in claim 12, wherein said first and second parameters are time constants.