Servo control apparatus having function of optimizing control gain online using evaluation function

• US 9,703,273 B2
• Filed: 06/20/2016
• Issued: 07/11/2017
• Est. Priority Date: 06/26/2015
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Iijima, Kazunori
• Primary Examiner(s): Ismail, Shawki S
• Assistant Examiner(s): Islam, Muhammad S
• Application Number:
  US15/186,546
• Publication Number:
  US 20160378077A1
• Time in Patent Office: 386 Days
• Field of Search: None
• CPC Class Codes: G05B 13/0265 the criterion being a learning criterion

Abstract

A servo control apparatus includes a speed command generation unit, a torque command generation unit, a speed detection unit, a speed control loop, a speed control loop gain setting unit, a sinusoidal disturbance input unit which applies a sinusoidal sweep to the speed control loop, a frequency characteristic calculation unit which estimates the gain and phase of a speed control loop input/output signal from output of the speed control loop when a sine wave is input to the speed control loop, a reference characteristic generation unit which generates frequency characteristics for a feed axis, and a gain adjusting unit which adjusts the speed control loop gain. The gain adjusting unit uses the reference frequency characteristics and actually measured frequency characteristics to calculate an evaluation function value for each frequency sweep, and adjusts online the speed control loop gain to achieve a desired evaluation function value.

Claims

1. A servo control apparatus for a machine tool including a feed axis driven by a servomotor comprises:

a speed command generation unit configured to generate a speed command value for the servomotor;

a torque command generation unit configured to generate a torque command value for the servomotor;

a speed detection unit configured to detect a speed of the servomotor;

a speed control loop comprising the speed command generation unit, the torque command generation unit, and the speed detection unit;

a speed control loop gain setting unit configured to set a control gain for the speed control loop;

a sinusoidal disturbance input unit configured to apply a sinusoidal sweep to the speed control loop;

a frequency characteristic calculation unit configured to estimate a gain and a phase of a speed control loop input/output signal from output of the speed control loop when a sine wave is input to the speed control loop;

a reference characteristic generation unit configured to generate a frequency characteristic for the feed axis; and

a gain adjusting unit configured to adjust the speed control loop gain,

wherein the gain adjusting unit uses the frequency characteristic generated by the reference characteristic generation unit and an actually measured frequency characteristic calculated by the frequency characteristic calculation unit to calculate an evaluation function value for each frequency sweep to the actually measured frequency characteristic, and adjusts online the speed control loop gain to achieve a desired evaluation function value.

2. The servo control apparatus according to claim 1, wherein the reference characteristic generation unit generates a reference characteristic which is variable in accordance with a configuration of the feed axis.

3. The servo control apparatus according to claim 1, wherein the gain adjusting unit determines a value of adjustment of the speed control loop gain, based on a difference between the desired evaluation function value and an evaluation function value for actual sweeping.