Servomotor control device, servomotor control method, and computer-readable recording medium

• US 10,459,422 B2
• Filed: 09/29/2017
• Issued: 10/29/2019
• Est. Priority Date: 10/04/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Shinoda, Shougo, Ikai, Satoshi
• Primary Examiner(s): Wathen, Brian W
• Assistant Examiner(s): Dang, Hung H
• Application Number:
  US15/719,718
• Publication Number:
  US 20180095444A1
• Time in Patent Office: 760 Days
• 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 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 2219/34013 Servocontroller
• CPC Class Codes: G05B 2219/41121 Eliminating oscillations, hunting motor, actuator

Abstract

A servomotor control device includes a connection mechanism configured to connect a servomotor and a driven body, and transmit power of the servomotor to the driven body, a position command generation unit configured to generate a position command value for the driven body, a motor control unit configured to control the servomotor using the position command value, a force estimation part configured to estimate drive force acting on the driven body at a connecting part with the connection mechanism, a switching part configured to switch between a first force estimated value estimated by the force estimation part and a second force estimated value that is a fixed value, and a compensation amount generation part configured to generate a compensation amount for compensating the position command value generated by the position command generation part, based on the first or second force estimated value that was switched to by the switching part.

Claims

1. A servomotor control device, comprising:

a servomotor;

a driven body adapted to be driven by the servomotor;

a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body;

a position command generation unit for generating a position command value for the driven body;

a motor control unit for controlling the servomotor using the position command value;

a force estimation part for estimating a drive force acting on the driven body at a connecting part with the connection mechanism;

a switching part for switching between a first force estimated value estimated by the force estimation part, and a second force estimated value of a fixed value; and

a compensation amount generation part for generating a compensation amount for compensating the position command value generated by the position command generation part, based on the first force estimated value or the second force estimated value which was switched by the switching part.

2. The servomotor control device according to claim 1, wherein the compensation amount generation part sets, as the compensation amount, a sum of:

a product of the first or second force estimated value that was switched to by the switching part and a first coefficient; and

a product of the first or second force estimated value that was switched to by the switching part, a distance from the servomotor to the connecting part, and a second coefficient.

3. The servomotor control device according to claim 1, wherein the second force estimated value is a constant value determined in advance, the constant value having a sign corresponding to a direction of a position command created by the position command generation part.

4. The servomotor control device according to claim 1, wherein the switching part selects the second force estimated value when a command speed or a command acceleration for the position command value created by the position command generation part is no more than a desired value.

5. The servomotor control device according to claim 1, wherein the switching part selects the second force estimated value during rapid traverse operation.

6. The servomotor control device according to claim 1, wherein a filter is applied to the compensation amount generated by the compensation amount generation part, when switching from the second force estimated value to the first force estimated value by way of the switching part.

7. The servomotor control device according to claim 1, wherein the motor control unit has a velocity command creation part and a torque command creation part,

wherein the torque command creation part has at least an integrator for integrating a speed deviation, and

wherein overwriting of the integrator is performed when switching from the second force estimated value to the first force estimated value by way of the switching part.

8. A servomotor control method for controlling a servomotor in a servomotor control device including the servomotor;

a driven body adapted to be driven by the servomotor; and

a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body, the method comprising the steps of;

generating a position command value for the driven body;

estimating drive force acting on the driven body at a connecting part with the connection mechanism;

switching from an estimated first force estimated value to a second force estimated value which is a fixed value, in a case of a command speed or command acceleration of the position command value being no more than a predetermined value or being rapid traverse;

compensating the position command value thus generated, based on the second force estimated value that was switched to; and

controlling the servomotor using the position command value thus compensated.

9. The servomotor control method according to claim 8, wherein the position command compensation value for compensating the position command value is a sum of:

a product of the second force estimated value and a first coefficient; and

the second force estimated value, a distance from the servomotor to the connecting part, and a second coefficient.

10. The servomotor control method according to claim 8, wherein the second force estimated value is a constant value determined in advance, the constant value having a sign corresponding to a direction of a position command.

11. The servomotor control method according to claim 8, further comprising applying a filter to the compensation value for the position command value, when switching from the second force estimated value to the first force estimated value.

12. The servomotor control method according to claim 8, wherein the servomotor is controlled by creating a velocity command using the position command value that was compensated, creating a torque command using a velocity command that was created, and then using the torque command,

wherein creating of the torque command is performed using an integrator that integrates at least speed deviation, and

wherein overwriting of the integrator is performed when switching from the second force estimated value to the first force estimated value.

13. A non-transitory computer-readable recording medium encoded with a program for controlling a servomotor which causes a computer to execute servomotor control in a servomotor control device including the servomotor;

a driven body adapted to be driven by the servomotor; and

a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body,

the program causing the computer to execute processing of;

generating a position command value for the driven body;

estimating drive force acting on the driven body at a connecting part with the connection mechanism;

switching from an estimated first force estimated value to a second force estimated value which is a fixed value, in a case of a command speed or command acceleration of the position command value being no more than a predetermined value or being rapid traverse;

compensating the position command value thus generated, based on the second force estimated value that was switched to; and

controlling the servomotor using the position command value thus compensated.