Servo controller for reducing synchronous error in synchronous machining

• US 9,523,975 B2
• Filed: 04/07/2015
• Issued: 12/20/2016
• Est. Priority Date: 04/08/2014
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Sonoda, Naoto
• Primary Examiner(s): Ismail, Shawki S
• Assistant Examiner(s): Islam, Muhammad S
• Application Number:
  US14/680,658
• Publication Number:
  US 20150286197A1
• Time in Patent Office: 623 Days
• US Class Current: 1/1
• CPC Class Codes: G05B 1/01 electric
• CPC Class Codes: G05B 11/011 details of the correcting means
• CPC Class Codes: G05B 15/02 electric

Abstract

A servo controller includes: a first position feedback acquisition unit; a second position feedback acquisition unit; a converter converting the acquired position feedback of the first shaft to a value corresponding to the position feedback of the second shaft based on a synchronous ratio; a synchronous error calculator calculating synchronous error which is difference between the converted position feedback of the first shaft and the position feedback of the second shaft; a positional deviation calculator calculating a positional deviation of the second shaft which is difference between the position command for the second shaft and the position feedback of the second shaft; a filtering processor extracting components in a predetermined frequency range from the difference between the synchronous error and the positional deviation of the second shaft; and, a positional deviation corrector correcting the positional deviation of the second shaft by use of the output from the filtering processor.

Claims

1. A servo controller for use in a machine tool, the machine tool configured for machining a workpiece by driving first and second shafts in synchronization with a synchronous ratio by means of electric motors, the servo controller comprising:

a first position feedback acquisition unit for acquiring a position feedback of the first shaft;

a second position feedback acquisition unit for acquiring a position feedback of the second shaft;

a converter for converting the acquired position feedback of the first shaft to a converted position feedback corresponding to the position feedback of the second shaft by use of the synchronous ratio;

a synchronous error calculator for calculating a synchronous error which is a difference between the converted position feedback of the first shaft and the position feedback of the second shaft;

a positional deviation calculator for calculating a positional deviation of the second shaft which is a difference between a position command for the second shaft and the position feedback of the second shaft;

a filtering processor for extracting components in a predetermined frequency range from a difference between the synchronous error and the positional deviation of the second shaft; and

a positional deviation corrector for correcting the positional deviation of the second shaft by use of the components extracted and output from the filtering processor.

3. The servo controller according to claim 1, further comprising a synchronous ratio acquisition unit for acquiring the synchronous ratio from a host controller.

4. The servo controller according to claim 1, further comprising a synchronous ratio calculator for calculating the synchronous ratio from a command for the first shaft and a command for the second shaft.

5. The servo controller according to claim 1, wherein the positional deviation corrector is configured to correct the positional deviation of the second shaft in accordance with a machining state signal that indicates whether a tool driven by the first shaft and the workpiece driven by the second shaft are operating in synchronization.

2. A servo controller for use in a machine tool, the machine tool configured for machining a workpiece by driving first and second shafts in synchronization with a synchronous ratio by means of electric motors, the servo controller comprising:

a speed command acquisition unit for acquiring a speed command for the first shaft;

a speed command converter for converting the acquired speed command for the first shaft to a converted speed command corresponding to the speed command for the second shaft by use of the synchronous ratio;

a first speed feedback acquisition unit for acquiring a speed feedback of the first shaft;

a first speed feedback converter for converting the acquired speed feedback of the first shaft to a converted speed feedback corresponding to the speed feedback of the second shaft by use of the synchronous ratio;

a speed difference calculator for calculating a speed difference between the converted speed command for the first shaft and the converted speed feedback of the first shaft;

a filtering processor for extracting speed difference components in a predetermined frequency range from the speed difference; and

a speed command corrector for correcting a speed command for the second shaft by use of

the speed difference components extracted and output from the filtering processor, and

the converted speed command for the first shaft.

6. The servo controller according to claim 2, wherein the speed command corrector is configured to correct the speed command for the second shaft in accordance with a machining state signal that indicates whether a tool driven by the first shaft and the workpiece driven by the second shaft are operating in synchronization.