Machine motion trajectory measuring device, numerically controlled machine tool, and machine motion trajectory measuring method

• US 9,144,869 B2
• Filed: 09/10/2009
• Issued: 09/29/2015
• Est. Priority Date: 12/09/2008
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Sato, Ryuta, Nagaoka, Kotaro, Sato, Tomonori
• Primary Examiner(s): Satanovsky, Alexander
• Application Number:
  US13/133,770
• Publication Number:
  US 20110246132A1
• Time in Patent Office: 2,210 Days
• Field of Search: 702150-153, 700/69, 318/58, 318/61, 318/64, 318/90, 318/259, 318/260, 318/262, 318/263, 318/270, 318/271, 318/274, 318/651
• US Class Current: 1/1
• CPC Class Codes: B23Q 17/22 for indicating or measuring existing or desired position of tool or work B23Q16/005 takes precedence
• CPC Class Codes: B23Q 5/28 Electric drives
• CPC Class Codes: B23Q 5/40 by feed shaft, e.g. lead screw
• 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 2219/41233 Feedforward simulation filter, with model
• CPC Class Codes: G05B 2219/43072 Position controlled opening profile

Abstract

A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.

Claims

1. A machine motion trajectory measuring device for measuring a motion trajectory of a machine position, wherein the machine position is a relative position of a tool of a machine with respect to a work table controlled by a motor, a motor position of the motor being detected by a detector, and the motor is driven such that the detected motor position follows a commanded position, the machine motion trajectory measuring device comprising:

an accelerometer for measuring acceleration of the tool of the machine or the work table; and

a motion trajectory measuring unit which measures the motion trajectory of the machine position by

obtaining the measured acceleration measured by the accelerometer,

determining motion trajectory error occurring regions, in which a trajectory error is expected to occur, based on a rate of change of the acceleration obtained by differentiating the commanded position three times and exceeding a preset threshold value, and a reversal of a sign of a commanded velocity obtained by differentiating the commanded position,

extracting the measured acceleration at the motion trajectory error occurring regions,

integrating the measured acceleration at the motion trajectory error occurring regions twice to compute the machine position,

correcting errors for the computed machine position such that a profile of the corrected machine position coincides with a profile of the detected motor position or with a profile of an estimated position estimated using a model for simulating a response of the machine position to the commanded position, and

obtaining a trajectory of the corrected machine position as the motion trajectory of the machine position.

2. The machine motion trajectory measuring device according to claim 1, wherein, to determine the motion trajectory error occurring regions, the motion trajectory measuring unit:

stores a time point at which the sign of the commanded velocity obtained by differentiating the commanded position is reversed and a time point at which the rate of change of the acceleration exceeds a preset threshold value;

adds a delay time of the detected position relative to the commanded position to the time points to compute start time points;

sets and extracts time periods from the start time points until a predetermined time elapses as motion trajectory error occurring regions in which a trajectory error is expected to occur.

3. The machine motion trajectory measuring device according to claim 2, wherein the motion trajectory measuring unit obtains the machine position by:

computing a detected velocity by differentiating the detected position when the acceleration is integrated in the motion trajectory error occurring regions;

computing a machine velocity by integrating the acceleration with the detected velocity at a first time point in each of the motion trajectory error occurring regions being set as an initial value; and

integrating the machine velocity with the detected position at the first time point in each of the motion trajectory error occurring regions being set as an initial value.

4. The machine motion trajectory measuring device according to claim 2, wherein the motion trajectory measuring unit obtains the machine position by:

computing the estimated position and an estimated velocity using the model simulating the response characteristics of the position of the machine to the commanded position when the acceleration is integrated in the motion trajectory error occurring regions;

computing a machine velocity by integrating the acceleration with the estimated velocity at a first time point in each of the motion trajectory error occurring regions being set as an initial value; and

integrating the machine velocity with the estimated position at the first time point in each of the motion trajectory error occurring regions being set as an initial value.

5. The machine motion trajectory measuring device according to claim 2, wherein the motion trajectory measuring unit corrects the machine position by:

computing an error between the machine position in each of the motion trajectory error occurring regions and the estimated position or the detected position;

approximating the computed error by a quadratic function of time; and

subtracting a position computed using the approximated function from the machine position.

6. The machine motion trajectory measuring device according to claim 5, wherein the motion trajectory measuring unit re-corrects the machine position by:

computing a rate of change of an error between the commanded position and the detected position or the estimated position when an error between the corrected machine position and the estimated position or the detected position is equal to or more than a preset threshold value;

extracting the estimated position or the detected position in a region where the rate of change is equal to or less than a preset threshold value;

re-computing an error between the corrected machine position and the extracted detected position or the extracted estimated position;

approximating the re-computed error by a quadratic function of time; and

subtracting a position computed using the approximated function from the corrected machine position.

7. The machine motion trajectory measuring device according to claim 1, wherein the motion trajectory measuring unit subjects results of the measurement of the acceleration to interpolation at intervals shorter than a cycle of the measurement and then integrates the interpolated results.

8. The machine motion trajectory measuring device according to claim 1, further comprising a motion trajectory display unit for displaying the motion trajectory of the machine, and wherein

the motion trajectory measuring unit generates a target trajectory using a target position input to a command generation unit, generates a commanded trajectory using the commanded position outputted from the command generation unit, generates a detected portion trajectory from the detected position, and causes the motion trajectory display unit to display the motion trajectory of the machine and at least one of the target trajectory, the commanded trajectory, and the detected portion trajectory in a superposed manner.

9. The machine motion trajectory measuring device according to claim 8, wherein the motion trajectory display unit displays an error in a direction normal to the target trajectory between the target trajectory and each of the commanded trajectory, the detected portion trajectory, and the motion trajectory of the machine in an enlarged manner.

10. The machine motion trajectory measuring device according to claim 8, wherein the motion trajectory display unit displays an error in a direction normal to the target trajectory between the commanded trajectory and the detected portion trajectory, between the commanded trajectory and the motion trajectory of the machine, or between the detected portion trajectory and the motion trajectory of the machine in an enlarged manner.

11. The machine motion trajectory measuring device according to claim 1, further comprising a motion trajectory display unit for displaying the motion trajectory of the machine,

wherein the motion trajectory measuring unit generates a target trajectory using a target position inputted to a command generation unit, generates a commanded trajectory using the commanded position outputted from the command generation unit, generates a detected portion trajectory from the detected position, and causes the motion trajectory display unit to display the motion trajectory of the machine and at least one of the target trajectory, the commanded trajectory, and the detected position trajectory in a superposed manner, and

wherein the motion trajectory of the machine in the motion trajectory error occurring regions is displayed by the motion trajectory display unit.

12. The machine motion trajectory measuring device according to claim 1, wherein the motion trajectory measuring data extracting unit obtains the machine position by:

estimating a motion trajectory of the machine using model simulating response characteristics of the position of the machine to the commanded position;

setting and extracting regions in which a trajectory error between the estimated motion trajectory and a target trajectory exceeds a preset allowance as motion trajectory error occurring regions in which a trajectory error is expected to occur; and

integrating the acceleration in the motion trajectory error occurring regions twice.

13. The machine motion trajectory measuring device according to claim 12, wherein the motion trajectory measuring unit obtains the machine position by:

computing the estimated position and an estimated velocity using the model simulating the response characteristics of the position of the machine to the commanded position when the acceleration is integrated in the motion trajectory error occurring regions;

computing a machine velocity by integrating the acceleration with the estimated velocity at a first time point in each of the motion trajectory error occurring regions being set as an initial value; and

integrating the machine velocity with the estimated position at the first time point in each of the motion trajectory error occurring regions being set as an initial value.

14. The machine motion trajectory measuring device according to claim 12, wherein the motion trajectory measuring unit obtains the machine position by:

computing a detected velocity by differentiating the detected position when the acceleration is integrated in the motion trajectory error occurring regions;

computing a machine velocity by integrating the acceleration with the detected velocity at a first time point in each of the motion trajectory error occurring regions being set as an initial value; and

integrating the machine velocity with the detected position at the first time point in each of the motion trajectory error occurring regions being set as an initial value.

15. The machine motion trajectory measuring device according to claim 12, wherein the motion trajectory measuring unit corrects the machine position by:

computing an error between the machine position in each of the motion trajectory error occurring regions and the estimated position or the detected position;

approximating the computed error by a quadratic function of time; and

subtracting a position computed using the approximated function from the machine position.

16. The machine motion trajectory measuring device according to claim 15, wherein the motion trajectory measuring unit re-corrects the machine position by:

computing a rate of change of an error between the commanded position and the detected position or the estimated position when an error between the corrected machine position and the estimated position or the detected position is equal to or more than a preset threshold value;

extracting the estimated position or the detected position in a region where the rate of change is equal to or less than a preset threshold value;

re-computing an error between the corrected machine position and the extracted detected position or the extracted estimated position;

approximating the re-computed error by a quadratic function of time; and

subtracting a position computed using the approximated function from the corrected machine position.

17. A numerically controlled machine tool including a machine motion trajectory measuring device for measuring a motion trajectory of a machine position, wherein the machine position is a relative position of a tool of a machine with respect to a work table controlled by a motor, a motor position of the motor being detected by a detector, and the motor is driven such that the detected motor position follows a commanded position, the machine motion trajectory measuring device comprising:

an accelerometer for measuring acceleration of the tool of the machine or the work table; and

a motion trajectory measuring unit which measures the motion trajectory of the machine position by

obtaining the measured acceleration measured by the accelerometer,

determining motion trajectory error occurring regions, in which a trajectory error is expected to occur, based on a rate of change of the acceleration obtained by differentiating the commanded position three times and exceeding a preset threshold value, and a reversal of a sign of a commanded velocity obtained by differentiating the commanded position,

extracting the measured acceleration at the motion trajectory error occurring regions,

integrating the measured acceleration at the motion trajectory error occurring regions twice to compute the machine position,

correcting errors for the computed machine such that a profile of the corrected machine position coincides with a profile of the detected motor position or with a profile of an estimated position estimated using a model for simulating a response of the machine position to the commanded position, and

obtaining a trajectory of the corrected machine position as the motion trajectory of the machine position.