Servo control apparatus

• US 9,658,608 B2
• Filed: 09/26/2013
• Issued: 05/23/2017
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Nagaoka, Kotaro
• Primary Examiner(s): Ismail, Shawki S
• Assistant Examiner(s): Islam, Muhammad S
• Application Number:
  US14/760,585
• Publication Number:
  US 20150355607A1
• Time in Patent Office: 1,335 Days
• CPC Class Codes: G05B 13/042 in which a parameter or coefficient is automatically adjusted to optimise the performance
• 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 2219/41148 Model, from position, speed, acceleration derive compensation
• CPC Class Codes: H02P 29/00 Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors arrangements for starting electric motors H02P1/00; arrangements for stopping or slowing electric motors H02P3/00; control of motors that can be connected to two or more different electric power supplies H02P4/00; regulating or controlling the speed or torque of two or more electric motors H02P5/00; vector control H02P21/00

Abstract

A servo control apparatus includes: a model-response calculating unit; a motor-end-movement-amount-during-stopping measuring unit that measures a motor end movement amount during stopping, which is a displacement amount of a detection value of a motor end position in a period from when the calculated value of the machine end position changes to zero until the calculated value changes to a value other than zero; and an error-correction-amount calculating unit that calculates an error correction amount on the basis of a parameter in which a maximum change amount of a deviation between the machine end position and the motor end position during moving direction reversal is set in advance, the calculated value of the machine end position, and the motor end movement amount. The servo control unit sets the detection value of the machine end position and the detection value of the motor end position.

Claims

1. A servo control apparatus comprising:

a servo control unit that calculates, using a detection value of a machine end position, which is a position of a machine system, and a detection value of a motor end position, which is a position of a motor that drives the machine system as a position feedback, a torque command for the motor such that the machine end position follows a position command;

a model-response calculating unit that calculates a calculated value of the machine end position on the basis of the position command;

a motor-end-movement-amount-during-stopping measuring unit that determines a point in time when the calculated value of the machine end position indicates that a calculated velocity of the machine end position changes to a state of velocity zero and measures a motor end movement amount during stopping, which is a displacement amount of the detection value of the motor end position in a period from the point in time until an absolute value of the calculated velocity of the machine end position changes to a value larger than a threshold of velocity set in advance, wherein the state of velocity zero is defined as a state during which the absolute value of the calculated velocity of the machine end position is equal to or smaller than the threshold of velocity set in advance continues for time equal to or larger than a threshold of time; and

an error-correction-amount calculating unit that calculates an error correction amount on the basis of

a parameter that is set in advance as a maximum change amount of a deviation between the machine end position during reversal of a moving direction of a feed shaft and the motor end position,

the calculated value of the machine end position, and

the motor end movement amount during stopping, wherein

the servo control unit includes;

a position control unit that applies a position control operation set in advance to a difference between the position command and the detection value of the machine end position;

a correction-amount differential operation unit that differentiates the error correction amount;

a motor end position differential operation unit that differentiates the detection value of the motor end position; and

a velocity control unit

that applies a velocity control operation set in advance to a difference between a value obtained by adding an output of the correction-amount differential operation unit to an output of the position control unit and an output of the motor end position differential operation unit and

that calculates the torque command.

2. The servo control apparatus according to claim 1, wherein

the error-correction-amount calculating unit

calculates a sign of velocity of the machine end on the basis of the calculated value of the machine end position, and,

when the calculated sign changes, changes the error correction amount in a direction of the calculated sign at a step width of a value obtained by subtracting the motor end movement amount during stopping from the parameter.

3. A servo control apparatus comprising:

a servo control unit that calculates, using a detection value of a machine end position, which is a position of a machine system, and a detection value of a motor end position, which is a position of a motor that drives the machine system as a position feedback, a torque command for the motor such that the machine end position follows a position command;

a model-response calculating unit that calculates a calculated value of the machine end position on the basis of the position command;

a motor-end-movement-amount-during-stopping measuring unit that determines a point in time when the calculated value of the machine end position indicates that a calculated velocity of the machine end position changes to a state of velocity zero and measures a motor end movement amount during stopping, which is a displacement amount of the detection value of the motor end position in a period from the point in time until an absolute value of the calculated velocity of the machine end position changes to a value larger than a threshold of velocity set in advance, wherein the state of velocity zero is defined as a state during which the absolute value of the calculated velocity of the machine end position is equal to or smaller than the threshold of velocity set in advance continues for time equal to or larger than a threshold of time; and

an error-correction-amount calculating unit that calculates an error correction amount on the basis of

a parameter that is set in advance as a maximum change amount of a deviation between the machine end position during reversal of a moving direction of a feed shaft and the motor end position,

the calculated value of the machine end position, and

the motor end movement amount during stopping, wherein

the servo control unit includes;

a position feedback filter that calculates a low-frequency component of a difference between the detection value of the machine end position and the detection value of the motor end position;

a correction amount filter that calculates a high-frequency component of the error correction amount;

a position control unit that applies a position control operation set in advance to a value obtained by subtracting a sum of an output of the position feedback filter and the detection value of the motor end position from a sum of the position command and an output of the correction amount filter;

a motor end position differential operation unit that differentiates the detection value of the motor end position; and

a velocity control unit

that applies a velocity control operation set in advance to a difference between an output of the position control unit and an output of the motor end position differential operation unit and

that calculates the torque command.

4. The servo control apparatus according to claim 3, wherein

the error-correction-amount calculating unit

calculates a sign of velocity of the machine end on the basis of the calculated value of the machine end position, and,

when the calculated sign changes, changes the error correction amount in a direction of the calculated sign at a step width of a value obtained by subtracting the motor end movement amount during stopping from the parameter.

5. The servo control apparatus according to claim 3, wherein

the correction amount filter is a high-pass filter,

the position feedback filter is a low-pass filter, and

a time constant of the correction amount filter and a time constant of the position feedback filter are equal.