Servo motor controller having self-measuring function and self-monitoring function of mechanical stiffness

• US 9,429,936 B2
• Filed: 07/24/2015
• Issued: 08/30/2016
• Est. Priority Date: 07/31/2014
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Iijima, Kazunori, Ikai, Satoshi
• Primary Examiner(s): DUDA, RINA I
• Application Number:
  US14/807,967
• Publication Number:
  US 20160033959A1
• Time in Patent Office: 403 Days
• Field of Search: 318/625, 318/629, 318/632
• US Class Current: 1/1
• CPC Class Codes: G05B 11/011 details of the correcting means
• 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 19/4163 Adaptive control of feed or cutting velocity without NC B23Q15/12
• CPC Class Codes: G05B 2219/41057 Stiffness, deformation of slide, drive

Abstract

A servo motor controller includes a speed command generating unit for generating a speed command value of the servo motor, a speed detecting unit that detects a speed of the servo motor, a torque command generating unit for generating a torque command value, a sine wave generating unit for generating a sinusoidal disturbance value, a frequency response calculating unit for calculating a frequency response when the sinusoidal disturbance value has been input to a speed control loop, a resonance frequency detecting unit for detecting a resonance frequency at which a gain is maximized, a resonance frequency storing unit for storing the resonance frequency, at least one filter for attenuating a specific frequency band component included in the torque command value, and a resonance frequency comparing unit for measuring stiffness of a machine tool based on the resonance frequency and adjusts the filter with respect to the resonance frequency.

Claims

1. A controller that controls a servo motor for driving a machine tool, comprising:

a speed command generating unit configured to generate a speed command value of the servo motor;

a speed detecting unit configured to detect a speed of the servo motor;

a torque command generating unit configured to generate a torque command value of the servo motor on a basis of the speed command value and the detected speed;

a sine wave generating unit configured to generate a sinusoidal disturbance value;

a frequency response calculating unit configured to add the sinusoidal disturbance value generated by the sine wave generating unit to the speed command value, thereby calculating a frequency response on a basis of output from a speed control loop when the sinusoidal disturbance value has been input to the speed control loop including the torque command generating unit and the speed detecting unit;

a resonance frequency detecting unit configured to detect a resonance frequency which is a frequency at which a gain of the calculated frequency response is maximized;

a resonance frequency storing unit configured to store the resonance frequency detected by the resonance frequency detecting unit;

at least one filter that attenuates a specific frequency band component included in the torque command value; and

a resonance frequency comparing unit configured to measure stiffness of a machine tool on a basis of the resonance frequency stored in the resonance frequency storing unit, and adjusts the filter with respect to the resonance frequency.

2. The servo motor controller according to claim 1,

wherein the resonance frequency comparing unit detects a change in the stiffness of the machine by comparing the resonance frequency stored in the resonance frequency storing unit with a reference resonance frequency.

3. The servo motor controller according to claim 1,

wherein the resonance frequency storing unit stores a history of resonance frequencies in each measurement, and

wherein the resonance frequency comparing unit detects a reduction tendency of the stiffness of the machine by comparing the resonance frequency stored in the resonance frequency storing unit with the history of the resonance frequencies.

4. The servo motor controller according to claim 1, further comprising:

a stiffness variation notifying unit configured to notify inspection of parts or a whole of the machine tool or predicts an inspection time when the resonance frequency comparing unit has detected reduction from a reference value of mechanical stiffness or a reduction tendency in a history of stiffness measurement.