Motor control system which corrects backlash

• US 9,018,886 B2
• Filed: 09/04/2013
• Issued: 04/28/2015
• Est. Priority Date: 09/05/2012
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Iwashita, Yasusuke, Takayama, Kenichi, Ikai, Satoshi
• Primary Examiner(s): Duda, Rina
• Assistant Examiner(s): Dhakal, Bickey
• Application Number:
  US14/018,373
• Publication Number:
  US 20140062378A1
• Time in Patent Office: 601 Days
• Field of Search: 318/560, 318/630, 318/632, 318/823
• US Class Current: 318/630
• CPC Class Codes: B23Q 23/00 Arrangements for compensating for irregularities or wear, e.g. of ways, of setting mechanisms automatic control B23Q15/00
• 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 2219/41059 Play in gear, screw backlash, lost motion
• CPC Class Codes: G05B 2219/41265 To avoid backlash

Abstract

A motor control system (10) which includes a difference calculating part (31) which calculates a difference between a first position detection value of a moving part and a second position detection value of a driven part, a judging part (32) which judges if a moving part has engaged with the driven part when the moving part is made to move from any initial position in a first and second drive directions, a holding part (33) which holds the difference as initial difference linked with the first or second drive direction, when the moving part has engaged with the driven part, and a correction amount calculating part (34) which calculates a backlash correction amount, the correction amount calculating part using the difference based on the current positions of the moving part and the driven part and the initial difference to calculate the backlash correction amount.

Claims

1. A motor control system which corrects a backlash between a moving part which is driven by a motor and a driven part which is driven by that moving part, comprising:

a first position detecting part which detects a position of said moving part,

a second position detecting part which detects a position of said driven part,

a difference calculating part which calculates a difference between a first position detection value which said first position detecting part detects and a second position detection value which said second position detecting part detects,

a judging part which judges if said moving part has engaged with said driven part when said moving part is made to move from any initial position in a first drive direction and in a second driven direction opposite to said first drive direction,

a holding part which holds said difference calculated by said difference calculating part as initial difference linked with said first drive direction or said second drive direction, when said judging part judges that said moving part has engaged with said driven part, and

a correction amount calculating part which calculates a backlash correction amount of said backlash,

wherein said correction amount calculating part using the difference calculated by said difference calculating part based on the current positions of said moving part and said driven part and said initial difference held by said holding part to calculate said backlash correction amount; and

wherein said backlash correction amount is added to a first position difference between a position command value of the moving part and the first position detection value or is added to a speed command value of the moving part.

2. The motor control system as set forth in claim 1, wherein said judging part judges that said moving part has engaged with said driven part when said moving part moves in said first drive direction or said second drive direction by said backlash or more.

3. The motor control system as set forth in claim 2, wherein said judging part judges that said moving part has engaged with said driven part when said moving part has moved by a certain speed.

4. The motor control system as set forth in claim 1, further comprising

a position command preparing part which prepares a position command value of said driven part and

a speed command preparing part which uses a first position difference between said position command value and said first position detection value and a second position difference between said position command value and said second position detection value as the basis to prepare a speed command value.

5. The motor control system as set forth in claim 4, wherein said speed command preparing part applies a low pass filter to a error between said second position difference and said first position difference and adds said first position difference to it to prepare a speed command.

6. The motor control system as set forth in claim 4, wherein said holding part further holds speed command values in said first drive direction and said second drive direction and, when the current speed command value is smaller than a held speed command value, holds said current speed command value as a new speed command value.

7. The motor control system as set forth in claim 1, wherein said correction amount calculating part limits said correction amount of backlash to the backlash amount or less.