JP3440936B2 - Position control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position control device for controlling the motor of an XY metal working machine or a cutting machine by speed control or position control.

[0002]

2. Description of the Related Art Generally, as shown in FIG. 7, an XY metal working machine has a metal polishing machine 10a which is stationary and operating, and a metal 10c on a table of the XY metal working machine 10b.
And the table of the XY metal working machine 10b is moved in the X and Y directions by a motor to form the metal 10c in a desired shape.

Typical ones for controlling this motor are a zero servo function and an orientation control.

In the former zero servo control, when the motor speed is decelerated by the speed control, the motor speed is observed, and when the speed becomes lower than the zero speed level, the speed control is switched to the position control of the speed command 0 to stop the motor.

For example, the motor speed is read while performing speed control, and when the speed is decelerated by the operation stop and the speed becomes zero speed, the position control is switched to the zero servo control. In this zero servo control, the target position is reached by advancing a certain distance.

On the other hand, in the orientation control, the motor speed is reduced to the orientation switching speed by the input of the orientation signal (external signal).

When the orientation switching speed is reached, the set stop position command is read, the Z pulse is detected, and the speed control is switched to the position control. Further, the stop position is calculated from the Z pulse, and the servo control for stopping the motor is started.

[0008]

However, the former speed control is switched to the zero servo control at the zero speed level, and this zero servo control enters a stop processing operation of advancing by a certain distance to stop. When it is extremely slow, the switching position is different, and even if the stop processing operation is performed, the target position may be too far or too short.

That is, the former speed control has a problem that an error may occur in order to accurately stop the speed control at the position desired by the user.

Further, in the zero servo control, it is difficult to finely adjust the stop position because the zero servo control is simply moved by a fixed distance upon starting.

On the other hand, the latter orientation control can be stopped at the position where it is desired to stop, but there is a problem that the control program becomes complicated because an adjusting element such as Z pulse detection is required.

Further, in order to finely adjust the position of both the former and the latter, since the operation return from the servo lock is speed control, it is necessary to switch the position control after completely stopping the motor. The program becomes complicated).

In general position control, the control response changes with the position control gain. A fixed value is usually used as the control gain, but the response speed is also fixed, so that it is difficult to change the speed.

The present invention has been made in order to solve the above problems, and by accepting the start of the position control after the operation stop of the speed control or the response speed or the fine adjustment by an external input as well, the user can obtain the desired value. An object of the present invention is to obtain a position control device that can be accurately stopped or finely adjusted at a desired response speed with a position-friendly configuration.

[0015]

Claim 1 of the present invention According to an aspect of the small
Without, speed control system, position control system, PI control means
And the PI control means includes speeds from these control systems.
A position control device that generates a phase signal based on a control signal and sends the phase signal to a power conversion unit to rotate a motor to move a load , wherein the speed control signal from the speed control system is forwarded.
Output to the PI control means, and after switching, the position control system
The speed control signal from the speed control system of the speed control system.
Switching means for outputting to the PI control means instead of the control signal
And to make the target speed, stop command, and speed zero
Zero speed value of, position control gain of the position control system is set
An external input section with multiple keys to
A stop signal is input and the stop command is sent to the external input unit.
Therefore, when it is set, the
If the actual speed value of the
The stop command is accepted and the position control is performed on the switching means.
Switching determination means for outputting a switching signal for switching to the control system,
When the stop command is accepted, the external input unit
Generate acceleration / deceleration gradient value based on the position control gain
Control to set the acceleration / deceleration gradient value in the position control system.
The gist of the present invention is to include a gain generating means .

According to a second aspect of the present invention, the position control system is
Start-up in response to a switching signal to the position control system,
Input the actual position of the load with feedback,
The target position is the actual position of
Deviation calculation means for obtaining the deviation from the actual position
Input and set the acceleration / deceleration slope value for the deviation
Position-speed conversion for outputting the speed control signal multiplied by
The gist is to have means .

According to a third aspect of the present invention, the stop command is received.
When added, each time the deviation is output, this deviation
The zero servo completion, when
It is equipped with a zero servo completion determination means
It

A fourth aspect of the present invention has at least a speed control system, a position control system, and PI control means, and the PI control means is provided.
A position control device in which a control unit generates a phase signal based on a speed control signal from these control systems and sends it to an electric power conversion unit to rotate a motor to move a load, comprising: (a)
PI control of the speed control signal from the speed control system
To the means, and after switching, the position control system
Replace the speed control signal with the speed control signal of the speed control system.
Switching means for outputting to the PI control means, and (b) eye
Judge the velocity, stop command, target position, and velocity as zero
Zero velocity value for, position control gain of the position control system
An external input section having a large number of keys for setting,
(C) An operation stop signal is input, and the stop command is outside the above.
Feedback when set by the input section
The actual speed value of the motor has dropped below the zero speed value.
When the stop command is accepted,
A switching disc that outputs a switching signal for switching to the position control system
Determining means, and (d) when the stop command is received,
Based on the position control gain from the external input unit,
A deceleration gradient value is generated, and this acceleration / deceleration gradient value is used for the position control.
Control gain generating means set in the system, and (e) the position control
It is installed in the control system, and the actual position of the load can be fed back
Force and based on the target position from the external input section
Input the position command pulse and calculate the deviation from the actual position.
Deviation calculating means, and (f) provided in the position control system,
Enter the deviation, and adjust the adjustment to the deviation.
Position for outputting the speed control signal multiplied by the speed gradient value −
Velocity conversion means , (g) position pulse conversion means for outputting a position command pulse obtained by pulse-converting the target position from the external input section, and (h) blocking a pulse at the target position from the external input section. when releasing position command blocking is input, while accepting the stop command is summarized as further comprising a means for sending the position command pulse from the pulse converting means to said deviation calculating means.

According to a fifth aspect of the present invention, the external input section is
A large number of variable gains for varying the position control gain
It has a key and a return key to the start position.
Acceleration / deceleration of a predetermined multiple corresponding to the combination of IN variable keys
It has a gain table that stores gradient values
Corresponding to the combination of variable gain keys from the
Acceleration / deceleration gradient value of the predetermined multiple of in-table combination
To select the gain to be set in the control gain generating means.
The selecting means and the means of (h) above are
When the return key is operated, the position pulse conversion means
The gist is to send the position command pulse from the above to the deviation calculating means .

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION <First Embodiment> FIG. 1 is a schematic configuration diagram of a position control device according to the first embodiment. The position control device of the present embodiment includes a three-phase inverter 3 that supplies drive power to the motor 1 to move the load 2, and a control unit 4 that controls the three-phase inverter 3.

The above-mentioned three-phase inverter 3 is composed of a rectifying circuit 5 for rectifying the three-phase RST, a smoothing circuit 6, a drive circuit 7 for obtaining a three-phase drive power UVW while switching a plurality of transistors, and the like.

The control unit 4 also includes a deviation counter 12,
It has a first microcomputer 13 and a second microcomputer 14. Further, a user input unit 11 for inputting various command values is connected to the control unit 4.

An encoder 19 is provided on the load side,
The output of the encoder 19 is output to the first microcomputer 13 and the second microcomputer 14 via the converter 20.

The user input unit 11 includes a stop command key (not shown) for stopping the movement of the load and a zero speed key for inputting a speed value VH for judging the speed to be zero according to the user's request. (Not shown), a gain input key (not shown) for inputting a position control gain Gi for moving from a current position to a target position when a stop key is accepted, and a target speed Vi are input. It has a speed key and so on.

The deviation counter 12 receives the actual position pf fed back from the converter 20 at the time of activation, sets this actual position pf as the target position pi, and thereafter the target position pi.
And a deviation ei (pulse) between the actual position Pf and the actual position Pf are output to the first microcomputer 13. The operation switch 17 is connected to the second microcomputer 14.

The first microcomputer 13 is provided with a position-speed conversion means 22, a switching means 23, a PI control means 25, and an acceleration / deceleration gradient generation means 26 (also called speed control means, provided in the second microcomputer). Good) and zero servo completion determination means 2
1 and.

The second microcomputer 14 has a speed command setting means 27, a switching signal generating means 28, and a zero speed setting means 2
9, control gain generating means 30, switching determination means 31
And a driving determination means 33.

That is, the control unit 4 is provided with a process that requires high-speed calculation in the first microcomputer 13, and a process that calculates a control value for the first microcomputer 13 in the second microcomputer 14.

Further, the deviation counter 12, the zero servo completion judging means 21, and the position-speed converting means 22 are collectively referred to as a position control system.

Further, the speed command setting means 27 and the control gain generating means 26 are collectively called a speed control system.

That is, while the load 2 is moved at a predetermined speed, the speed is input as a feedback signal, the speed is decelerated, and when the stop command is input, when the current speed is equal to or lower than the zero speed VH, the speed is reduced. Position control is adopted instead of control, and the motor 1 is immediately moved by this position control so that the target position pi (the current position at the time of the stop command) is reached at the response speed based on the control gain Gi previously input from the user input unit 11. Control.

That is, the position is controlled to the stop position at the time when the user desires. Even if the position command is not input, when the speed is reduced and becomes equal to or lower than the predetermined speed, the position is controlled to that position. Specifically, in FIG. 1, the speed control is switched to the position control, but the initial value of the deviation counter is set to zero even if the position command pulse is not input.
The position is controlled at the zero position at the time of switching.

(Explanation of each means of the first microcomputer 13) The position-speed conversion means 22 inputs the deviation ei from the deviation counter 12, and a predetermined gain gi is applied to this deviation ei.
The speed vp converted into the speed is multiplied to obtain the speed vp
Send to 3.

The switching means 23 is the position-speed converting means 22.
And the PI control means 25, and the command speed vk obtained by the speed control system (speed control signal v
(also referred to as k) is sent to the PI control means 25, and after switching, the speed vp (also called a position control signal vp) obtained by the position control system is sent to the PI control means 25. That is, the operation at the speed vk of the speed control system is prioritized.

The PI control means 25 inputs the output signal v (vp or vk) from the switching means 23 and outputs this output signal v
And a motor speed ve from the encoder 20 are PI-controlled (P control: output a value proportional to the input, I control: output a value obtained by integrating the input amount) to generate a phase signal. It is sent to the drive circuit 7.

Further, when the zero servo completion judging means 21 is informed that the stop command input has been received from the switching judging means 31, which will be described later, the deviation counter 12 gives the deviation ei.
When this deviation exceeds the completion width each time is output, it is determined that the zero servo is completed, and this determination is notified to the outside.

(Explanation of each means of the second microcomputer 14) The operation judging means 33 monitors the state of the operation switch 17, turns on the operation signal when the operation switch 17 is turned on, and uses the three-phase inverter 3. When the servo ready status signal turns on, the motor is excited and the speed control system is activated. Further, the operation signal is turned off to stop the operation of the speed control system.

After that, the switching determination means 3 receives the stop command.
1, the deviation counter 12 of the position control system,
The position-speed conversion means 22 and the switching determination means 31 are operated.

The speed command setting means 27 comprises the user input section 1
The target speed Vi from 1 is converted into speed and set in the acceleration / deceleration gradient generation means 26.

The acceleration / deceleration gradient generating means 26 determines the target speed Vi.
The target speed vk is changed by the switching means 23.
Output to.

When the stop command p0 is inputted from the user input circuit 11, the switching signal generating means 28 immediately outputs the stop command flag to the switching judging means 31.

The zero speed setting means 29 converts the value for zero speed from the user input circuit 11 into speed and stores the zero speed vh in the memory 35.

When the stop command is accepted, the control gain generating means 30 generates an acceleration / deceleration gradient value (gain gi) based on the position control gain gi from the user input section 11, and this is used as the position-speed converting means. Set to 22.

The switching determination means 31 stores the fed back speed ve in the memory 34, and when the stop command p0 is set after the operation command signal is turned off, the memory 3 is stored.
Zero velocity v stored in 5 in advance to determine zero velocity
h is compared with the current speed ve of the memory 34, and when the current speed vi (also referred to as the actual speed vi) becomes zero speed vh or less, the stop command p0 is accepted, and the switching means 23 is accompanied with this acceptance. Is notified that the stop command has been received, a switching signal (ON) is sent to the switching means, and the deviation counter 12 and the position-speed conversion means 22 are operated.

That is, the position-speed conversion means 22 of the position control system is connected to the PI control means 25, and the load 2 is moved by the speed gain gi of the position-speed conversion means 22.

(Explanation of Operation) The operation of the position control device configured as described above will be described below with reference to FIG.
The user operates the user input unit 11 to first input the zero speed VH for determining the speed as zero, the position control gain Gi, and the target speed Pi. In other words, the speed command setting means 27 is included in the acceleration / deceleration gradient generating means 26 of the speed control system.
The target speed pi is set by.

The zero speed setting means 29 stores the zero speed vh in the memory 35, and the control gain generating means 30 sets the gain gi in the position-speed converting means 22.

Then, when the user turns on the operation switch 17, the speed control system is brought into the operating state (speed control mode) by the operation judging means 33 ((c) in FIG. 2), and the speed from the acceleration / deceleration gradient generating means 26 is changed. Control signal vk (target speed V
k) is output to the PI control means 25 via the switching means 23 to operate ((a) of FIG. 2).

As a result, the speed control signal from the PI control means 25 is sent to the drive circuit 7, the motor 1 is inverter-controlled, the load 2 moves at the speed vk, and the rotation of the motor 1 is detected by the encoder 19. The number of pulses per constant time is converted by the converter 20, and the actual speed ve is output to the memory 34 and the PI control means 25. This actual speed ve is input to the PI control means 25 and constant speed control is performed, that is, the motor speed waveform (ve) shown in FIG. 2 is obtained ((b) of FIG. 2).

When the speed ve (pulse) corresponding to the target speed Pi is reached, the user operates the operation switch 17
Turn off. As a result, the driving determination means 33 turns off the driving signal. When the operation signal is turned off, the speed command setting means 27 sets the command value to 0 and stops the output of the speed control signal vk ((a) of FIG. 2). That is, the motor 1 is decelerated.

At this time, for example, if the user wants to immediately stop the load 2 (metal working machine 5), the user input unit 1
When 1 is operated to input the stop command PO, the switching determination means 31 causes the speed ve to be fed back and the memory 35.
The zero speed vh is compared with the zero speed vh and the stop command p0 is accepted when the current speed ve becomes equal to or less than the zero speed vh ((d) of FIG. 2). , And outputs a switching signal to the switching means 23 to switch to the position control system.

That is, the position-speed conversion means 22 of the position control system is connected to the PI control means 25, and the servo lock for moving the motor 1 by the speed gain gi of the position-speed conversion means 22 is performed.

The speed gain gi of the position control system causes the motor 1 to move, and the actual position pf (pulse) is input to the deviation counter 12, and the target position pi (the first actual position pf at the time of the stop command) and subsequent actual positions pf. The deviation ei from the position pf is obtained ((e) in FIG. 2). The deviation counter 12 displays the deviation ei
Deviation pulse is output until the deviation converges to a constant value, and the position-speed conversion means 22 moves the motor 1 with the gain gi set every time the deviation ei is input (the target position pi in the stop command until the deviation converges). Move left and right until).

That is, the speed vp input to the PI control means 25 at this time is a deviation between the target position pi and the actual position pf, and the value of the deviation is multiplied by the gain, so that the target position is controlled. The speed will also be controlled so that it does.

On the other hand, the zero servo completion determining means 21 detects the output from the deviation counter 12 when the switching determining means 31 notifies that the stop command is received, and outputs a zero servo completion signal each time the output value enters the completion width. It is sent to the outside ((f) in FIG. 2). In other words, the completion signal is sent assuming that the target position pi at the time of stop is reached.

Therefore, the load can be stopped at a predetermined position desired by the user with a simple program structure, and the metal of the metal polishing machine is arranged at the desired position.

Further, the driving judging means 33 turns on the driving signal to release the stop mode of the switching judging means,
The speed control system may be operated again. By doing so, the polishing work can be performed again in the polishing, so that the working time can be shortened.

<Second Embodiment: Fine Adjustment of Position> FIG. 3 is a schematic configuration diagram of a position control device according to the second embodiment. The position control device of FIG. 3 enables fine adjustment after the operation is stopped in speed control. As shown in FIG. 3, the position command pulse generating circuit 40, the position command pulse generating circuit 40 and the deviation counter are provided. A gate circuit 41 is provided between the gate circuit 12 and the circuit 12.

The position command pulse generation circuit 40 converts the target position pi from the user input unit 45 into a pulse and sends it to the subsequent stage.

Further, the user input section 45 is provided with a stop command key, a zero speed key, a gain input key, a speed key and the like similar to those in the first embodiment, and in the second embodiment, the target position Pi is set. A target position key (not shown) for inputting, a position command blocking release key (not shown) for canceling blocking of the target position Pi from this target position key, and the like are provided.

Further, the second microcomputer 42 has a switching command means 43 shown in FIG. 3 in addition to the respective means of the first embodiment.
And a switching determination means 44.

The gate circuit 41 blocks the connection between the position command pulse generating circuit 40 and the deviation counter 12 until the switching instruction is input from the switching instruction means 43.

When the position command cancellation signal is input from the user input unit 45, the switching command means 43 determines whether or not the stop command is accepted, and when it is accepted, outputs the switching signal to the gate circuit 41. The target position pi is output to the deviation counter 12. The switching determination means 44 according to the second embodiment stores the fed back speed ve in the memory 34, and when the stop command p0 is set after the operation command signal is turned off, it is stored in the memory 35 in advance. The zero speed Vh for judging that the speed is zero is compared with the current speed Vi of the memory 34, and when the current speed Vi becomes equal to or lower than the zero speed vh, the stop command p0 is accepted, and the switching means is accompanied with this acceptance. A switching signal to the position control system is sent to 23, and the deviation counter 12 and the position-speed conversion means 22 are operated, while the switching instruction means 43 sets a stop command acceptance flag.

(Explanation of Operation) That is, in the second embodiment, the user operates the operation switch 17 as shown in the waveform diagram of FIG.
When is turned on, the speed control system enters the operating state (speed control mode) ((c) of FIG. 4), and the acceleration / deceleration gradient generation means 26
The speed control signal vk (target speed Vk) from the switching means 2
It is output to the PI control means 25 via 3 and the operation is controlled ((a) of FIG. 4).

At this time, since the switching instruction means 43 has stopped its operation because the operation signal is in the ON state, the command blocking signal is output to the gate circuit 41 as shown in FIG. 4 (e). . That is, in speed control, the position command from the position pulse generating circuit 30 is not output to the deviation counter 12.

Further, the phase control signal from the PI control means 25 is sent to the drive circuit 7, the motor 1 is inverter-controlled, the load 2 moves at the speed vk, and the rotation of the motor 1 is detected by the encoder 19. , The number of pulses per constant time is converted by the converter 20, and the actual speed v
e is output to the memory 34 and the PI control means 25. This actual speed ve is input to the PI control means 25 to perform constant speed control, that is, the motor speed waveform (v
e) will be obtained ((b) of FIG. 4).

When the operation switch 17 is turned off, the speed command setting means 27 sets the command value to 0 and stops the output of the speed control signal vk ((a) and (b) in FIG. 4). As a result, the motor 1 is decelerated.

At this time, for example, when the user wants to immediately stop the load 2 (metal working machine 5), the user input unit 1
When 1 is operated to input the stop command PO, the switching determination means 31 causes the speed ve to be fed back and the memory 35.
The zero speed Vh is compared with the zero speed Vh, and when the current speed ve becomes equal to or less than the zero speed vh, the stop command p0 is accepted ((d) of FIG. 4). , And outputs a switching signal to the switching means 23 to switch to the position control system.

That is, the position-speed conversion means 22 of the position control system is connected to the PI control means 25, and the servo lock for moving the motor 1 by the speed gain gi of the position-speed conversion means 22 is performed.

The speed gain gi of this position control system causes the motor 1 to move, and the actual position pf (pulse) is input to the deviation counter 12, and the target position pi (the first actual position pf at the time of the stop command) and the subsequent actual position pf. The deviation ei from the position pf is obtained ((f1) in FIG. 4). The deviation counter 12 displays the deviation e
The deviation pulse is output until i converges to a constant value, and the position-speed conversion means 22 moves the motor 1 with the gain gi set every time the deviation ei is input (the target position in the stop command until the deviation converges). Move left and right until pi).

On the other hand, the zero servo completion judging means 21 detects the output from the deviation counter 12 when the switching judging means 31 notifies that the stop command is received, and outputs a zero servo completion signal every time the output value enters the completion width. It is sent to the outside ((g1) in FIG. 4). That is, the target position pi when stopped
And the completion signal is sent.

However, if the user is not satisfied with the current position (pi), he / she operates the position command blocking release key of the user input section 45.

As a result, the switching instruction means 43 confirms that the stop command flag is set, turns off the switching signal as shown in FIG. 4E, and turns off the gate circuit 41.
The position command pulse generating circuit 40 and the deviation counter 12 are connected to each other. That is, the switching unit 23 confirms that the position control system is selected.

Then, the user operates the user input section 45 to newly input the target position Pi. This target position Pi
Is converted into a pulse (new target position pi) by the position command pulse generation circuit 40 and output to the deviation counter 12 via the gate circuit 41.

The deviation counter 12 obtains the deviation ei between the new target position pi and the fed-back actual position pf,
This deviation ei is output to the position-speed conversion means 22.

The position-speed conversion means 22 sets the speed gain gi preset every time the new deviation ei is input.
To move the motor 1 (ba in FIG. 4).

Then, the motor 1 moves, the actual position pf (pulse) is input to the deviation counter 12, and the new target position p
It is obtained until the deviation ei between i and the actual position pf converges ((f2) in FIG. 4).

On the other hand, the zero servo completion determining means 21 detects the output from the deviation counter 12 when the switching determining means 44 notifies that the stop command is received, and outputs a zero servo completion signal every time the output value exceeds the completion width. It is sent to the outside ((g2) in FIG. 4).

Therefore, the user can finely adjust the position even when the operation is stopped, so that the working time can be shortened.

<Third Embodiment> FIG. 5 is a schematic configuration diagram of a position control device according to a third embodiment. In the position control device shown in FIG. 5, the user input unit 51 includes a stop command key, a zero speed key, a gain input key, a speed key, a target position key, and a position command blocking release key similar to those of the second embodiment. In the present embodiment, two types of gain variable keys (not shown) for changing the position control gain gi, a return key to the start position (not shown), and the like are provided.

The second microcomputer 50 is provided with the same means as in the second embodiment, and in the present embodiment, the gain table 53 is combined with two types of gain variable keys from the user input section 51. The gain selecting means 52 for selecting a corresponding gain and setting the selected gain gi in the position control gain generating means 30 is provided.

The gain table 53 is shown in FIG.
As shown in, the gain corresponding to the signal from the variable gain key is stored.

For example, the signal from the first gain variable key is AD2, the signal from the second gain variable key is AD3, and combinations of these correspond to gains of 1 to 8 times, for example.

That is, when the position command blocking release key is operated, when the target position is overshooted or returned to the start position, these gains are used to move to the target position (start position) at high speed. It is possible to move or move slowly.

Further, the driving determination means 54 of this embodiment
Monitors the state of the operation switch 17, and the operation switch 1
When the operation signal is turned on, the operation signal is turned on to excite the motor using the three-phase inverter 3, and when the servo ready state signal is turned on, the speed control system is operated. Further, the operation signal is turned off to stop the operation of the speed control system.

After that, the acceptance of the stop command is determined by the switching determination means 3
1, the deviation counter 12 of the position control system,
The position-speed conversion means 22 and the switching determination means 31 are operated.

When the operation switch 17 is turned on,
When the return key is operated, an operation signal is sent to the position control system. That is, it has a function of rotating the motor only by the position control system.

(Description of Operation) The operation of the position control device of the third embodiment having the above-described configuration will be described with reference to the waveform chart of FIG.

When the operation switch 17 is turned on and the return key and the two gain variable keys are operated, the operation determining means 54 turns on the operation signal to operate the position control system. Then, when the user sends a command blocking release signal from the user input section 51, the switching instructing means 43 sets the command blocking signal to L level to close the gate circuit 41 when the command stop flag is set. The command pulse generation circuit 40 and the deviation counter 12 are connected.

As a result, the position command pulse generating circuit 4
The target position pi from 0 is output to the deviation counter 12 via the gate circuit 41.

The deviation counter 12 displays a new target position pi
A deviation ei between the (start position is preferable) and the fed-back actual position pf is obtained, and this deviation ei is output to the position-speed conversion means 22.

The position-speed conversion means 22 selects the gain gi (1 time, 2 times, every time this new deviation ei is input.
2 times, 3 times or 4 times).

FIG. 6B shows a waveform when the gain of 1 time is selected at the time of inputting the command blocking signal for the first time, and shows the waveform when the gain of 2 times is selected for the command blocking signal at the second time. Shows the waveform of.

Further, FIG. 6C shows the waveform when the gain of 4 times is selected at the time of inputting the command blocking signal for the first time, and the gain of 8 times is selected for the command blocking signal at the second time. It shows the waveform when it is turned on.

That is, the position gain can be changed by a combination of the variable gain keys, and the acceleration / deceleration time can be controlled even in the position control mode. Therefore, even in the position control mode, it is possible to move slowly or quickly to a desired stop position (start position) so as not to give a shock to the metal working machine.

That is, in the speed control, the acceleration / deceleration response can be controlled by directly changing the frequency change gradient, but since the direct relationship between the frequency and the position disappears in the position control, the acceleration / deceleration gradient cannot be directly controlled. It was

On the other hand, in this embodiment, the response characteristic is changed by changing the position control gain for changing the position command into the speed command in the position control.

The response characteristic can be changed by an external input, facilitating the change during the operation of the system.

In the above embodiment, the metal working machine has been described as an example, but any device that requires control in the XY directions may be used.

Furthermore, the present invention may be applied when the servo is locked.

The position control may be switched or the gain may be changed not only by inputting a voltage, but also by connecting a network and changing or changing the gain according to an instruction from an external computer connected to the network.

The variable gain is set to 1 time, 2 times, ... However, it may be set to 1 time, 1/4 ,.

[0103]

As described above, according to the position control device of the present invention , the motor is rotated by the phase control signal based on the speed of the speed control system to move the load, and when the operation is stopped, the speed is reduced. .

At this time, when a stop command signal is input from the external input section, when the current actual speed becomes equal to or lower than a predetermined speed at which the speed is preset to zero, the stop command input is accepted and the speed control system is inputted. Instead, switch to the position control system.

Therefore, after the speed control operation is stopped, the user can easily stop the load at the position where he wants to stop, so that an error may occur with respect to the target stop position even if the speed control operation speed is high. The effect of being able to prevent is obtained. In particular, such control is effective for controlling a processing machine that requires experience and skill.

[0106] Further, since the motor is rotated at a speed of acceleration and deceleration gradients, when the stop command after shutdown by the speed control system is input, it moves the load rate based on the gain.

Therefore, it is possible to set whether to stop slowly or early according to the preference of the user.

When the stop command is accepted, the deviation counter sets the current position as the target position, and thereafter, the deviation between this target position and the actual position thereafter is calculated.

Then, the position-speed conversion means obtains the speed of the speed gradient by multiplying the obtained deviation by the set gain, generates the phase control signal based on this speed, and outputs the phase control signal to the motor via the power converter. To drive.

Further, after the operation is stopped by the speed control , the target position from the user is accepted by the input of the cancellation of the position command inhibition from the user, and the target position is sent to the deviation counter in response to this acceptance.

Therefore, after the operation stop or the stop command is input, fine adjustment can be easily performed even if the load deviates from the target position.

Further, since a plurality of types of gains having different values are provided and the gain selected from the external input unit can be set in the position control system, even the position control system can be operated by the user. The effect that the target position can be controlled by the speed is obtained.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a position control device according to a first embodiment.

FIG. 2 is a waveform diagram illustrating an operation of the position control device according to the first embodiment.

FIG. 3 is a schematic configuration diagram of a position control device according to a second embodiment.

FIG. 4 is a waveform diagram illustrating the operation of the position control device according to the second embodiment.

FIG. 5 is a schematic configuration diagram of a position control device according to a third embodiment.

FIG. 6 is a waveform diagram illustrating the operation of the position control device according to the third embodiment.

FIG. 7 is an explanatory diagram illustrating control of the metal working device.

[Explanation of symbols]

1 motor 3 three-phase inverter 12 Deviation counter 17 Run switch 22 Position-speed conversion means 23 Switching means 25 PI control means 26 Acceleration / deceleration gradient generation means 27 Speed command setting means 28 Switching signal generating means 29 Zero speed setting means 30 Control gain generating means 31 Switching determination means 32 gain adjusting means 33 Driving determination means

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Claims (5)

(57) [Claims] 1. A speed control system, a position control system, and a PI control means , at least, the PI control means comprising:
Generates a phase signal based on the speed control signal from the control system ,
A position control device for sending a power to a power conversion unit to rotate a motor to move a load , wherein the speed control signal from the speed control system is PI controlled.
To the means, and after switching, the position control system
Replace the speed control signal with the speed control signal of the speed control system.
The switching means for outputting to the PI control means, and the zero speed for determining the target speed, the stop command, and the speed are zero.
(B) Set the speed value and the position control gain of the position control system.
An external input section having a large number of keys for operation, and an operation stop signal are input, and the stop command is input by the external input.
Said feedback when set by the department
When the actual speed value of the motor falls below the zero speed value
The stop command is accepted, and
Switching determination means for outputting a switching signal for switching to a stationary control system
If, when the stop command is received, or the external input unit
Generate acceleration / deceleration gradient value based on the position control gain
Control to set the acceleration / deceleration gradient value in the position control system.
A position control device comprising: a gain generating unit . 2. The position control system is adapted to the position control system.
It is started in response to the switching signal, and the actual position of the load is fed back as input.
However, using this actual position as the target position,
Deviation calculation means for obtaining a deviation from the actual position to be moved, and inputting the deviation, and adding or subtracting the deviation set to the deviation.
Position to output the speed control signal multiplied by the speed gradient value
A position control device according to claim 1, further comprising : speed conversion means . 3. When the stop command is accepted,
Each time a deviation is output, when this deviation falls within the completion width
Is a zero servo completion judgment signal that informs the outside of the zero servo completion.
The position control device according to claim 1 or 2 , further comprising a fixing means . 4. At least a speed control system, a position control system , and PI control means are provided.
Generates a phase signal based on the speed control signal from the control system ,
A position control device for sending a load to an electric power conversion unit to rotate a motor to move a load, comprising : (a) transmitting the speed control signal from the speed control system to the P
I output to the I control means, after switching from the position control system
Of the speed control signal of the speed control system of the speed control system.
Switching means for outputting to the PI control means instead of the signal, and (b) target speed, stop command, target position and speed are determined to be zero.
Zero speed value to set, position control of the position control system
External input with multiple keys to set gain
Section, and (c) the operation stop signal is input, and the stop command is the outside
Feedback when set by the input section
The actual speed value of the motor has dropped below the zero speed value.
When the stop command is accepted,
A switching disc that outputs a switching signal for switching to the position control system
Setting means, and (d) when the stop command is accepted, the external input
Acceleration / deceleration gradient value based on the position control gain from the force section
And set this acceleration / deceleration gradient value in the position control system.
That a control gain generating means, (e) provided in the position control system, as well as a feedback input to the actual position of the load, before
Position command pulse based on the target position from the external input section
Deviation calculation means for inputting and calculating the deviation from the actual position
When provided (f) the position control system, receiving said deviation,
The deviation is multiplied by the acceleration / deceleration gradient value set above.
Position-speed conversion means for outputting the speed control signal ; (g) position pulse conversion means for outputting a position command pulse, which is obtained by pulse-converting the target position from the external input section; When the release of the position command blocking for blocking the pulse of the target position is input from the external input unit, when the stop command is accepted, the pulse conversion unit outputs
Position control apparatus characterized by having a means for sending the position command pulse to the deviation calculation means. 5. The position control gain is applied to the external input unit.
A large number of variable gain keys for changing the start position
It has a return key to and corresponds to the combination of the many variable gain keys.
It is equipped with a gain table that stores acceleration / deceleration gradient values for constant magnification, and is suitable for combinations of gain variable keys from the external input section.
Corresponding to the predetermined times of the combination of the gain table
Select the acceleration / deceleration gradient value and set it in the control gain generation means.
The gain selecting means and the means of (h) are
When operated, the position from the position pulse conversion means
The position control device according to claim 4 , wherein a command pulse is sent to the deviation calculating means .