SYNCHRONIZATION CONTROL DEVICE

• US 20150378326A1
• Filed: 06/24/2015
• Published: 12/31/2015
• Est. Priority Date: 06/25/2014
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: IDEI, Takashi
• Granted Patent: US 9,622,201 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G05B 17/00 Systems involving the use of models or simulators of said systems G05B13/00, G05B15/00, G05B19/00 take precedence
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/37436 Prediction of displacement, relative or absolute, motion
• CPC Class Codes: G05B 2219/50218 Synchronize groups of axis, spindles
• CPC Class Codes: H04W 56/00 Synchronisation arrangements

Abstract

A synchronization control device includes a command movement amount calculation unit, a predicted command movement amount calculation unit, and a movement amount comparison unit for comparing a command movement amount with a predicted command movement amount, and synchronization of a driven shaft is not started when the predicted command movement amount is less than the command movement amount, and synchronization is started when the predicted command movement amount is equal to or greater than the command movement amount.

Claims

1. A synchronization control device configured to previously register a displacement table, in which displacement of a driven shaft is associated with respective phases of a drive shaft, and determine a displacement of the driven shaft with respect to the phase of the drive shaft and position the driven shaft on the basis of the displacement table,

the synchronization control device comprising:

a command movement amount calculation unit for calculating a command movement amount, which is an amount of movement of the driven shaft to a synchronization position, relative to a current phase of the drive shaft, on the basis of the displacement table;

a predicted command movement amount calculation unit for calculating a predicted command movement amount, which is an amount of movement of the driven shaft to a synchronization position, relative to the phase of the drive shaft after the current phase, on the basis of the displacement table; and

a movement amount comparison unit for comparing the command movement amount with the predicted command movement amount, wherein

synchronization of the driven shaft is not started when the comparison result from the movement amount comparison unit indicates that the predicted command movement amount is less than the command movement amount, and synchronization is started when the predicted command movement amount is equal to or greater than the command movement amount.

2. The synchronization control device according to claim 1, wherein

a permitted movement amount is set;

and

synchronization is started when the command movement amount is equal to or less than the permitted movement amount, and the predicted command movement amount is equal to or greater than the command movement amount.

3. The synchronization control device according to claim 1, wherein

the predicted command movement amount calculated by the predicted command movement amount calculation unit is configured to be selected from any of a predicted command movement amount in a next computation period, a predicted command movement amount in each of a plurality of subsequent computation periods from the next period on, and a predicted command movement amount in each of a plurality of subsequent computation periods during the time of one revolution of the drive shaft, from the next period;

and

the movement amount comparison unit is configured to compare the selected predicted command movement amount and the command movement amount and starts synchronization when the command movement amount is smallest.

4. The synchronization control device according to claim 1, wherein a synchronization operation is started when a direction of movement based on the command movement amount calculated by the command movement amount calculation unit and a direction of movement based on the predicted command movement amount calculated by the predicted command movement amount calculation unit are the same, and the predicted command movement amount is equal to or greater than the command movement amount.

5. A synchronization control device configured to previously register a displacement table, in which displacement of a driven shaft is associated with respective phases of a drive shaft, and determine a displacement of the driven shaft with respect to the phase of the drive shaft and position the driven shaft on the basis of the displacement table,

the synchronization control device comprising:

a command speed calculation unit for calculating a command speed, which is a speed of movement of the driven shaft to a synchronization position, relative to the current phase of the drive shaft, on the basis of the displacement table;

a predicted command speed calculation unit for calculating a predicted command speed, which is a speed of movement of the driven shaft to a synchronization position, relative to the phase of the drive shaft after the current phase, on the basis of the displacement table; and

a speed comparison unit for comparing the command speed with the predicted command speed, wherein

synchronization of the driven shaft is not started when the comparison result from the speed comparison unit indicates that the predicted command speed is less than the command speed, and synchronization is started when the predicted command speed is equal to or greater than the command speed.

6. The synchronization control device according to claim 5, wherein

a permitted movement speed is set;

and

synchronization is started when the command speed is equal to or lower than the permitted movement speed, and the predicted command speed is equal to or greater than the command speed.

7. The synchronization control device according to claim 5, wherein

the predicted command speed calculated by the predicted command speed calculation unit is configured to be selected from any of a predicted command speed in a next computation period, a predicted command speed in each of a plurality of subsequent computation periods from the next period on, and a predicted command speed in each of a plurality of subsequent computation periods during the time of one revolution of the drive shaft, from the next period;

and

the speed comparison unit compares the selected predicted command speed and the command speed and starts synchronization when the command speed is smallest.

8. The synchronization control device according to claim 5, wherein a synchronization operation is started when a direction of movement based on the command speed calculated by the command speed calculation unit and a direction of movement based on the predicted command speed calculated by the predicted command speed calculation unit are the same, and the predicted command speed is equal to or greater than the command speed.

9. The synchronization control device according to claim 2, wherein

the predicted command movement amount calculated by the predicted command movement amount calculation unit is configured to be selected from any of a predicted command movement amount in a next computation period, a predicted command movement amount in each of a plurality of subsequent computation periods from the next period on, and a predicted command movement amount in each of a plurality of subsequent computation periods during the time of one revolution of the drive shaft, from the next period;

and

the movement amount comparison unit is configured to compare the selected predicted command movement amount and the command movement amount and starts synchronization when the command movement amount is smallest.

10. The synchronization control device according to claim 2, wherein a synchronization operation is started when a direction of movement based on the command movement amount calculated by the command movement amount calculation unit and a direction of movement based on the predicted command movement amount calculated by the predicted command movement amount calculation unit are the same, and the predicted command movement amount is equal to or greater than the command movement amount.

11. The synchronization control device according to claim 3, wherein a synchronization operation is started when a direction of movement based on the command movement amount calculated by the command movement amount calculation unit and a direction of movement based on the predicted command movement amount calculated by the predicted command movement amount calculation unit are the same, and the predicted command movement amount is equal to or greater than the command movement amount.

12. The synchronization control device according to claim 6, wherein

the predicted command speed calculated by the predicted command speed calculation unit is configured to be selected from any of a predicted command speed in a next computation period, a predicted command speed in each of a plurality of subsequent computation periods from the next period on, and a predicted command speed in each of a plurality of subsequent computation periods during the time of one revolution of the drive shaft, from the next period;

and

the speed comparison unit compares the selected predicted command speed and the command speed and starts synchronization when the command speed is smallest.

13. The synchronization control device according to claim 6, wherein a synchronization operation is started when a direction of movement based on the command speed calculated by the command speed calculation unit and a direction of movement based on the predicted command speed calculated by the predicted command speed calculation unit are the same, and the predicted command speed is equal to or greater than the command speed.

14. The synchronization control device according to claim 7, wherein a synchronization operation is started when a direction of movement based on the command speed calculated by the command speed calculation unit and a direction of movement based on the predicted command speed calculated by the predicted command speed calculation unit are the same, and the predicted command speed is equal to or greater than the command speed.