JP3496404B2 - Numerical control unit with auto tuning function - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive for a machine tool.
It relates to a numerical control device that performs control, especially
Numerical control system with auto-tuning function
Is what you do. 2. Description of the Related Art FIG.
Shows an example of a conventional numerical controller (hereinafter also referred to as NC)
It is a block diagram. In the figure, parameter 1 contains
Feed forward gain, acceleration / deceleration filter setting,
Set values such as deceleration speed between motion command blocks are set.
I have. The setting value set for this parameter 1 is
Transferred to the drive control unit 3 via the thin interface unit 2.
According to the set value, a speed command is issued by the drive control unit 3.
It is generated and output to the amplifier 4. By this speed command
Via a motor 5 connected to an amplifier 4, a servo 6 axis or
Alternatively, the main shaft 7 is driven. Then, the servo shaft 6 and
The mode is controlled by an encoder 8 coupled to each of the spindles 7.
The speed of the motor 5 is detected, and the detected speed of the motor 5 is
Transferred to the drive control unit 3 via the
It is used for lock control. Further, the amplifier 4 includes a drive control unit.
Speed command, current command and encoder input from 3
Feedback and current feedback input from 8
External devices from the built-in D / A output channel 9
Output to 10 After that, it is collected by the external device 10
Speed command, current command, speed feedback, current
Based on feedback and other data,
When setting an appropriate value, the setter checks the optimal value of the set value.
It was adjusted and reset. [0003] Such a conventional NC
At the movement command given by the program
Command shape and trajectory during actual machining delay servo tracking
May cause an error.
To compensate, add the servo tracking delay to the speed command.
Output using feed forward gain
There is a feedforward control. Such a feed
Word gain is set in parameter 1
Feed-forward control is performed by the set value
Was. Also, in a conventional NC, a sudden change in acceleration
Speed command during acceleration / deceleration to suppress mechanical vibration
Acceleration / deceleration using an acceleration / deceleration filter so as to generate a bell-type command
Some use a filter function. This acceleration / deceleration fill
The set value of the parameter is also set to the parameter 1. The purpose of correcting such a servo tracking delay is
Using feedforward control or acceleration
Acceleration / deceleration filter control for the purpose of suppressing sudden changes in degree
If used, reduce trajectory errors due to servo tracking delay
Feed forward so as not to cause mechanical vibration.
Mode gain or acceleration filter settings.
It is necessary. However, in the conventional NC, the external measuring device 10
Based on the data collected in the above, the setter can set the optimal value
It must be adjusted while checking, a lot of work time
There was a problem that required. Further, Japanese Patent Application Laid-Open No. 6-250702 discloses
Of the feedforward gain due to the
In the optimization method, the difference between rapid feed and cutting feed is
Optimization by switching the forward gain.
I didn't come. That is, for example, the rapid traverse speed is
Rapid feed and cutting feed, even if
And use only common feedforward gain
And fast-forwarding cannot be performed efficiently.
That the processing time as a tool cannot be reduced
was there. Further, when feedforward control is performed,
Increase the value of the feed forward gain.
Machining accuracy can be improved.
Increasing the word gain value causes mechanical vibration
Therefore, set the acceleration / deceleration filter to suppress mechanical vibration.
It is necessary to set a large value.
There was a problem. And conversely, emphasis on processing time
Set a smaller value for the acceleration / deceleration filter.
The feed forward gain.
The problem that it is necessary to lower the value and the processing accuracy decreases
was there. In this way, emphasis is placed on machining accuracy or machining time
Parameter 1 depending on whether emphasis is placed on shortening
Feed forward gain value and acceleration / deceleration filter setting
It is necessary to make appropriate adjustments to the values, and this adjustment is extremely
It is complicated, and the data collected by the external measurement device 10
It is extremely cumbersome to use and adjust
Can cause additional time for adjustment
There was a problem of poor sex. [0010] The present invention has been made in view of the above-described problems.
Parameter using the external measuring device described above.
The trouble of setting the optimum values for
Number with auto tuning function that can be up
The aim is to obtain a value control device. [0012] According to the present invention, an auto switch is provided.
Numerical control devices with tuning functions
For the rapid feed or cutting feed mode of the set movement command,
The corresponding feed forward gain is input and the
The speed command is generated from the movement command specified by the
Speed command generating means for outputting to the
motor Information to identify Is input from the amplifier to the motor
The motor maximum power that extracts and outputs the corresponding maximum output current value
Current extraction means and motor maximum current extraction means output maximum
Output current value and motor current feed input from amplifier
Compare the back and the maximum output current value is the motor current feed
If it is larger than the back, the position
Move finger back Command Until the target accuracy is reached.
Add the feed forward gain with and set the parameter.
Compatible with the specified movement command rapid traverse or cutting feed mode
Comparison / operation system that adds feedforward gain
Control means. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 shows an autotuny according to the present invention.
Showing a first embodiment of a numerical control device having a printing function.
FIG. 2 is a block diagram showing the configuration of the drive control unit in detail.
This is a diagram showing the feed forward gain
This is to explain what is done. Figure in Figure 1
The same or corresponding parts as in FIG.
I do. FIG. 1 shows the drive control unit 3 of the NC.
However, the set value set for parameter 1 is
Transfer to drive control unit 3 via machine interface 2
This configuration is the same as that of the conventional device shown in FIG.
You. Further, the drive control unit 3 includes a speed command generation unit 11
The maximum current extraction unit 12, the comparison / operation control unit 13, and the
A lock stop control unit 14. The NC according to the first embodiment configured as shown in FIG.
Now, let's set the auto feed forward gain
When tuning starts, parameter 1 is initialized.
Feed forward of the rapid feed command or cutting feed command
The mode gain is input to the speed command generator 11. Soshi
Thus, the speed command generation unit 11 is instructed by the program.
Speed command is generated from the moved command, and the generated command speed
Is output to the amplifier 4. The motor maximum current extraction unit 12
From the motor name input from Amplifier 4, connect to Amplifier 4.
The maximum current of the motor 5
And output to the comparison / calculation control unit 13
You. The comparison / arithmetic control unit 13 controls the current filter from the amplifier 4.
Motor and the maximum current of the motor 5, and the motor 5
Is larger than the maximum current value of
Position feedback when performing motion or reciprocating motion.
Input, and the difference between the command value and the position feedback value is predicted.
If the target accuracy is larger than the set target accuracy,
Add the set value of feed forward gain
You. Then, the feed forward set by adding
The speed command generation unit 11 uses the gain to
Generate. The comparison / arithmetic control unit 13 includes an amplifier 4
Ratio of current feedback from motor to maximum current of motor 5
If the maximum current of the motor is smaller or
Error between command value and position feedback value is set in advance
If it is smaller than the target accuracy, the block stop control unit 14
To stop the specified program during continuous operation. In addition,
The feed forward gain setting for parameter 1 is
The currently executed movement command recognized by the drive control unit 3
Parameter depends on whether the command is a rapid feed command or a cutting feed command.
Feed forward gate corresponding to each mode of data 1
Update the Inn. With this configuration, start to stop
Auto feed for optimum feed forward gain
Tuned. FIG. 2 shows the feedforward gain
Control in Embodiment 1 for performing tuning
It is a control flowchart of a part. First, the numerical controller is automatically tuned.
Create a program to be used for
Set the initial value of feed forward gain. So
Then, by starting auto tuning, the numerical controller
The processor performs the process shown in FIG.
It is carried out every (generation cycle). Drive control unit 3 receiving the start request
Is the feed forward initially set to parameter 1.
A gain is input (step S201), and a speed command generator
11 to generate a speed command (step S202),
Output to the amplifier 4 (step S203). First launch
In the case of movement (step S204), the motor is
5 (step S205), and the motor maximum power
In the flow extraction unit 12, the maximum current of the motor 5 is defined in advance.
The maximum current corresponding to the name of the motor 5 from the table
The value is extracted (step S206). Next, from amplifier 4
The current feedback is input (step S207), and the ratio
The comparison / calculation control unit 13 determines the maximum current of the motor 5 and the current feed.
A comparison of the debug is performed (step S208). If the maximum current is larger,
Input position feedback from the amplifier 4 (step S2
09), the error between the command value and the position feedback value,
(Step S21)
0). At this time, there is an error between the command value and the position feedback value.
If the difference is larger than the target error,
Determines whether the command is a rapid feed command or a cutting feed command (step
Step S211), in the case of fast-forward,
The set value of the word gain is added (step S212),
Feed forward gay for cutting feed for cutting feed
Are added (step S212), and the parameter
Set to 1. Current feedback is greater than maximum current
Unless it becomes difficult, the command value and the position feedback value
Until the error becomes smaller than the target error, step S201
To S213 are repeated. Current feedback is
For large currents or higher, and command values and position feedback values
If the difference from the target error is smaller than the target error,
The program is stopped (step S214). In addition,
When the program stops, it is set to parameter 1.
The feed forward gain setting changes from the initial setting.
If there is no change, the initial setting value is reduced, and step S
Steps 201 to 212 are repeated. In this way,
It is possible to adjust the feed forward gain dynamically optimally
Become. In the configuration of the first embodiment, the parameter
Of the feed forward gain set for the
Can be automatically set to the optimal value,
Can save a lot of work time for adjustment.
Workability can be improved. Also, purchase external measuring equipment.
You don't have to do that,
You. In addition, separate feeds for rapid feed and cutting feed
The forward gain can be set independently and easily.
The feed forward gain according to the processing mode.
Can be used to reduce the overall machine tool processing time
Can be shortened. Embodiment 2 FIG. FIG.
Embodiment of Numerical Controller with Port Tuning Function
FIG. 2 is a block diagram illustrating a driving control unit in detail.
FIG.
This is to explain the auto tuning. FIG.
In FIG. 18, the same or corresponding parts as those in FIG.
Description is omitted. Acceleration / deceleration filter
Is used to suppress mechanical vibration due to
The speed command during acceleration / deceleration has a bell-shaped command.
Is what it is. The setting value of the acceleration / deceleration filter is
Also called acceleration / deceleration filter length. Note that, in FIG.
The drive control unit 3 is shown, but is set to parameter 1
The set value is set via the NC man-machine interface 2.
18 and transferred to the drive control unit 3.
Is the same as that of the conventional device. In addition, the drive control unit 3 controls the speed
Command generation unit 11, motor maximum current extraction unit 12, comparison / performance
Calculation control unit 13 and block stop control unit 14.
You. The NC according to the second embodiment configured as shown in FIG.
Now, let's adjust the setting value of the acceleration / deceleration filter from outside.
Startup, the parameters initially set to parameter 1 are added.
The set value of the deceleration filter is input to the speed command generator 11.
You. Then, the speed command generation unit 11 uses the program
Generates speed command from commanded movement command and generates
The command speed is output to the amplifier 4. Motor maximum current extractor
12 is based on the name of the motor 5 input from the amplifier 4,
The maximum current of the motor 5 connected to the amplifier 4 is predetermined.
Extracted from the defined table and sent to the comparison / operation control unit 13
Output to The comparison / arithmetic control unit 13 determines whether the amplifier 4
Current feedback and the maximum current of motor 5
If the maximum current value of the motor 5 is larger,
The set value of the acceleration / deceleration filter set in the data 1 is subtracted.
Then, the set value of the acceleration / deceleration filter set by subtraction
, The speed command generator 11 generates the command speed again.
I do. In addition, the comparison / calculation control unit 13
Current feedback and maximum current of motor 5
If the maximum current value of the motor 5 is smaller,
The designated program during continuous operation is controlled by the stop control unit 14.
Stop. With this configuration, from start to stop
Auto-tuning to the optimal acceleration / deceleration filter setting during
Is performed. FIG. 4 shows an auto-tuning of the acceleration / deceleration filter.
Control flow of the drive control unit in the second embodiment for executing
It is a low chart. First, the numerical controller is automatically tuned.
Create a program to be used for
Set the initial value of the acceleration / deceleration filter. And oh
Start the tuning, the numerical controller processor
Indicates that the process shown in FIG. 4 is executed at predetermined intervals (speed command generation intervals).
To be implemented. Upon receiving the activation request, the drive control unit 3
Input the initial setting value of acceleration / deceleration filter to data 1
(Step S401), and the speed
A degree command is generated (step S402), and the
And output (step S403). When starting for the first time
Step S404) inputs the name of the motor 5 from the amplifier 4.
Pressing (step S405), the motor maximum current extracting unit 12
Table in which the maximum current of the motor 5 is defined in advance
From the above, the maximum current value corresponding to the name of the motor 5 is extracted.
(Step S406). Next, current feed from amplifier 4
A back is input (step S407), and comparison / calculation control is performed.
The unit 13 compares the maximum current with the current feedback.
(Step S408). If the maximum current is larger,
The set value of the deceleration filter is subtracted (step S409),
Set to parameter 1. Current feedback is
Steps S401 to S4 as long as they are not larger than the flow
09 is repeated. Current feedback is maximum current
In the above cases, stop the running program (step
Step S410). When the program stops, the
Initial setting of acceleration / deceleration filter set in parameter 1
If there is no change from the set value, increase the initial set value.
Then, the processing of steps S401 to S410 is repeated. this
Automatically adjusts the optimal acceleration / deceleration filter set value.
Adjustment becomes possible. In the configuration of the second embodiment, the parameter
Tuning of the acceleration / deceleration filter set value
Can be set to the optimal value automatically,
Can save a lot of work time for adjustment.
Workability can be improved. Also purchase external measuring equipment
Since there is no need, the cost can be reduced. Embodiment 3 FIG. 5 shows an embodiment according to the present invention.
Embodiment of Numerical Controller with Port Tuning Function
FIG. 3 is a block diagram illustrating a driving control unit in detail.
FIG. 4 is a block diagram showing a deceleration between movement command blocks.
Explain auto-tuning of speed setting
Things. In FIG. 5, the same or equivalent parts as in FIG.
Are denoted by the same reference numerals and description thereof is omitted. In FIG. 5, N
C shows the drive control unit 3, but is set to parameter 1
The set value is the NC machine-machine interface 2 of NC.
Is transferred to the drive control unit 3 via the
This is the same as the eighteenth conventional device. Further, the drive control unit 3
The speed command generator 11, the comparison / calculation controller 13, and the block
The stop control unit 14 is provided. The NC according to the third embodiment configured as shown in FIG.
Then, the external deceleration speed of the movement command
When tuning starts, parameter 1 is initialized.
The set deceleration speed is input to the speed command generator 11.
You. Then, the speed command generation unit 11 uses the program
Generates speed command from commanded movement command and generates
The command speed is output to the amplifier 4. Comparison / arithmetic control unit 13
Indicates that the position feedback is input from the amplifier 4 and the
Value and the position feedback value, and the error
If the target accuracy is larger than the set target accuracy,
Subtract the specified deceleration speed setting. And subtracted
Speed command generator 1 using the deceleration speed set
1 generates the command speed again. Also, comparison / arithmetic control
The unit 13 calculates the error between the command value and the position feedback value as
If the accuracy is smaller than the preset target accuracy, stop the block.
The designated program during continuous operation is stopped by the control unit 14.
Let it. With this configuration, between start and stop
Is automatically tuned to the optimal deceleration speed. FIG. 6 shows the automatic tuning of the deceleration speed.
Control flow of the drive control unit according to the third embodiment.
It is a chart. First, the numerical controller is automatically tuned.
Create a program to be used for
Set the initial value of the deceleration speed. And the auto
Startup, the processor of the numerical control unit
The processing shown in 6 is performed at a predetermined cycle (speed command generation cycle)
I do. Upon receiving the activation request, the drive control unit 3 sets the parameter 1
Is input in step S60.
1) A speed command is generated by the speed command generator 11 (step S1).
Step S602) Output to the amplifier 4 (Step S602)
S603). The comparison / calculation control unit 13 is higher than the amplifier 4
Position feedback is input (step S604),
Command and the position feedback value.
Is compared with the set target accuracy (step S60).
5). At this time, there is an error between the command value and the position feedback value.
If the difference is larger than the preset target accuracy,
The deceleration speed set for the meter 1 is subtracted (step S6).
06), the error between the command value and the position feedback value
Steps S601 to S6 until the accuracy becomes smaller than the target accuracy.
Step 06 is repeated. After that, the command value and position feed
When the error from the back value is smaller than the target accuracy
Stops the running program (step S60).
7). When the program stops, set the deceleration speed.
If the fixed value does not change from the initial setting,
And repeat the processing of steps S601 to S607.
return. In this way, the optimal movement command block is automatically set.
Adjustment of the deceleration speed between the racks becomes possible. In the configuration of the third embodiment, the parameter
Setting of the deceleration speed between blocks of the movement command set in the data
Automatically set constant value tuning to optimal value
And saves a lot of time for manual adjustment
Every time the conditions of the program etc. are changed
There is no need to select the optimum value, and workability can be improved.
You. Also, the physical accuracy caused by switching the interpolation command
Degradation can be prevented, and an improvement in accuracy can be expected. Sa
In addition, since there is no need to purchase external measurement equipment,
Cost reduction can be achieved. Embodiment 4 FIG. FIG. 7 shows an embodiment according to the present invention.
Embodiment of Numerical Controller with Port Tuning Function
FIG. 4 is a block diagram illustrating the configuration of a drive control unit in detail.
FIG.
Auto-tuning of set value and acceleration / deceleration filter set value
This is to explain what to do. In FIG. 7, FIG.
The same or corresponding parts are denoted by the same reference numerals and description thereof is omitted.
You. Acceleration / deceleration filters are mechanical
It is used to suppress vibration and is used during acceleration / deceleration.
That has the function of converting the speed command of the
is there. The setting value of the acceleration / deceleration filter is
It is also called the length. In FIG. 7, the NC drive control unit 3
, But the set value set for parameter 1 is
Drive control via NC man-machine interface 2
This configuration is the same as that of the conventional device shown in FIG.
The same is true. Further, the drive control unit 3 includes the speed command generation unit 1
1, motor maximum current extraction unit 12, comparison / calculation control unit 13
And a block stop control unit 14. The NC according to the fourth embodiment configured as shown in FIG.
Then, set the external acceleration / deceleration filter (length) and
And auto-tuning of feed forward gain
Is performed, the acceleration / deceleration
Filter length and feed forward gain generate speed command
Input to the unit 11. Then, the speed command generation unit 11
Generate speed command from the movement command specified by the program
The generated command speed is output to the amplifier 4. this
At the time, the processing accuracy is emphasized by the selection means or the processing time is reduced
If you choose whether to place importance on
Feed forward gain to the maximum possible value,
If you choose to reduce machining time, change the acceleration / deceleration filter length.
Fix each to the lowest possible value, and
Performs the startup. The motor maximum current extracting unit 12
Connected to the amplifier 4 by the name of the motor 5 input from the
The maximum current of the motor 5
And output to the comparison / calculation control unit 13
You. The comparison / arithmetic control unit 13 controls the current filter from the amplifier 4.
Motor and the maximum current of the motor 5, and
If the maximum current value is larger, focus on accuracy by selecting means
If you select, the acceleration / deceleration
Subtract the filter length setting value and select the machining time
If the emphasis on shortening is selected, parameter 1 is set.
Add the feed forward gain setting. Soshi
The decremented acceleration / deceleration filter length and the added filter
The speed command generator 11 uses the forward gain
The command speed is generated again. The comparison / arithmetic control unit 13 includes an amplifier 4
Ratio of current feedback from motor to maximum current of motor 5
If the maximum current of the motor is smaller than
The designated program during continuous operation by the stop control unit 14
To stop. With such a configuration, from start to stop
Optimal acceleration / deceleration filter length and feed during
Autotuned to forward gain. 8 to 10 show filter lengths during acceleration / deceleration.
And automatic tuning of feed forward gain
Flowchart of the drive control unit according to the fourth embodiment
It is. First, the numerical controller is automatically tuned.
Create a program to be used for
Choose between emphasizing accuracy and reducing machining time.
U. If you choose to emphasize processing accuracy, feed forward
Maximum value that can be set for both gain and acceleration / deceleration filter length
Value and the emphasis on shortening the processing time
Set both forward gain and acceleration / deceleration filter length
Set the minimum possible value as the initial value in parameter 1.
Keep it. Then, by starting auto tuning,
The processor of the control device performs the processes shown in FIGS.
This is performed every fixed cycle (speed command generation cycle). Upon receiving the activation request, the drive control unit 3
Either emphasis on degree or shortening of processing time
It is determined whether or not it has been selected (step S801).
If it is determined that importance is selected, first
Acceleration / deceleration filter length and feed set to data 1
The forward gain is input (step S802), and the speed
A speed command is generated by the command generation unit 11 (step S
803), and outputs the result to the amplifier 4 (step S80).
4). In the case of the first activation (step S805), the
4 to input the name of the motor 5 (step S806),
In the motor maximum current extracting section 12, the maximum
Corresponds to the name of motor 5 from the table where the current is defined
The maximum current value to be extracted is extracted (step S807). next
Input the current feedback from the amplifier 4 (step S
808), the comparison / calculation control unit 13 determines the maximum current of the motor 5
And the current feedback is compared (step S80)
9). In the first comparison by the comparison / calculation control unit 13
The current feedback exceeds the maximum current
And the acceleration / deceleration filter length set in parameter 1
Is the maximum value (step S810), the feed
The word gain is subtracted (step S811), and the
Returning to step S802, the process is repeated. The acceleration / deceleration filter
If the filter length is not the maximum value, change the acceleration / deceleration filter length.
Are added (step S812), and similarly, step S802
Return to and repeat the process. Next, the current feedback exceeds the maximum current.
If not, subtract the acceleration / deceleration filter length first (scan
Step S813). Then, the acceleration / deceleration filter
Speed command generator for filter length and feed forward gain
11 (step S814) to generate a speed command.
(Step S815), and output to the amplifier 4.
(Step S816). After that, the current
Input (step S817), and compare / calculate
The control unit 13 controls the maximum current of the motor 5 and the current feedback.
Are compared (step S818). And the maximum
If the flow is larger, adjust the value set in parameter 1.
The set value of the speed filter length is subtracted (step S82).
0), if the current feedback is greater than the maximum current
Unless otherwise, the processing of steps S814 to S820 is repeated
You. If the current feedback is higher than the maximum current
Stops the running program (step S81).
9). Subsequently, the drive control unit 3 reduces the machining time.
If it is determined that the emphasis is selected by the selection means (S8
01) First, the acceleration / deceleration
Enter the filter length and feed forward gain (step
Step S821), the speed command generation unit 11 generates a speed command.
(Step S822) and output to the amplifier 4.
(Step S823). In the case of initial startup (step S8
24) input the name of the motor 5 from the amplifier 4 (step
Step S825), the motor maximum current extraction unit 12
From the table in which the maximum current of the motor 5 is defined,
Extract the maximum current value corresponding to the name of the data 5 (step
S826). Next, input current feedback from amplifier 4.
(Step S827), the comparison / operation control unit 13
Compare the large current and the current feedback (step S
828). For the first comparison by the comparison / calculation control unit 13
And the current feedback exceeds the maximum current,
And feedforward gay set to parameter 1
If the value is the minimum value (step S829), the acceleration / deceleration
The length of the filter is added (step S830), and the step is repeated.
It returns to S821 and repeats the process. Also, feedfoy
If the feed gain is not at the minimum,
The gain is subtracted (step S831).
It returns to S821. Next, the current feedback exceeds the maximum current.
If not, first add the feedforward gain.
(Step S832). And the adjustment of parameter 1
Speed command for speed filter length and feed forward gain
The speed command is input to the generation unit 11 (step S833).
Generated (step S834) and output to the amplifier 4.
(Step S835). After that, the current
Input feedback (step S836), and
The arithmetic control unit 13 determines the maximum current of the motor 5 and the current feedback.
The comparison is made (step S837). And the largest
If the current is larger, the
The set value of the feed forward gain is added (step S
839), the current feedback is greater than the maximum current
Unless otherwise, the processing of steps S833 to S839 is repeated.
Return. If the current feedback is higher than the maximum current,
If so, the running program is stopped (step S8).
38). In this way, the optimal feed format is automatically
Adjustable word gain and acceleration filter settings
It becomes. In the configuration of the fourth embodiment, the parameter
Feed-forward gain and acceleration set for data
The tuning of the filter set value can be adjusted by the selection
Automatically determines the maximum value depending on whether the emphasis is on machining accuracy or reduction of machining time.
It can be set to an appropriate value, and many
Great work time can be reduced and workability can be improved
You. Also, there is no need to purchase external measurement equipment.
Thus, cost can be reduced. Embodiment 5 FIG. 11 shows a process using NC.
The speed waveform diagram when controlling the work machine is shown in the program.
The machine tool reciprocates based on the movement command
When performing, that is, continuous command of movement command by reciprocating motion
Speed and acceleration when the direction of movement between blocks is reversed
It is a waveform diagram shown. Note that, in FIG.
Movement command block so that the received acceleration is achieved
Is not controlled. In FIG. 11, the program before reversing the moving direction is shown.
Set the ram command speed to F [mm / s]
Command speed as F '[mm / s] and allowable acceleration as α [m
m / s ^Two ], The cutting feed command indicates that multiple fingers
Command blocks for the purpose of smoothly connecting between command blocks.
Check the command completion with and then the speed of the next command block
Command is generated, and the acceleration when the moving direction is reversed is α '
[Mm / s ^Two ], Which is larger than the allowable acceleration α.
It will get worse. FIG. 12 shows the change in acceleration when the moving direction is reversed.
Control the movement command block so that it is within the allowable value.
Control of the drive control unit 3 according to the fifth embodiment.
It is a flowchart. First, the NC is used for auto tuning.
Create a program that moves
Is equivalent to the acceleration allowed when reversing the direction of travel
Commanded by cutting feed clamp speed and program
Time constant that delays generation of speed command from
Set the cutting feed time constant. And on startup
The NC processor executes the process shown in FIG.
This is performed every (speed command generation cycle). The drive control unit 3 that has received the start-up request
In the case of motion (step S1001), set to parameter 1
Input cutting feed clamp speed and cutting feed time constant
Is performed (step S1002). Directed by program
The speed command generation unit 11 converts the speed command from the
Generated and output to amplifier 4. And how to move the movement command
The direction is reversed and the speed of the movement block of the current movement command
If the command output has been completed (step S1003),
The programmed speed and speed of the movement block of the current movement command
And speed command of the next movement command
(Step S1004). Here, the comparison / calculation control unit 1
3 is the program command of the movement block of the current movement command
Sum of the speed and the speed command of the next movement command
And the cutting clamp speed set in the parameter
If the sum is smaller (step S1005),
The speed command generation unit 11 sends the speed of the movement block of the next movement command.
A degree command is generated (step S1006), and the amplifier 4
Then, a speed command is output (step S1007).
That is, the movement direction of the movement command issued by the program
Based on the programmed speed of the move command before and after reversing
Acceleration and the parameter 1 set by the setting means
Acceleration based on command speed, comparing with allowable acceleration
If the speed does not exceed the allowable acceleration, the speed command generator
11 based on the programmed command speed after reversing the move command
The speed command is generated and output. [0053] Also, the current movement command
Program command speed and the speed of the move block of the next move command
When the sum of the commands is equal to or higher than the cutting clamp speed (step S
1005) is the speed finger of the movement block of the current movement command.
Command output is completed, and set to parameter 1 if the
Until the specified cutting feed time constant elapses.
Step S1008), speed command by the speed command generation unit 11
Is paused and delayed.
In this way, the reciprocating motion is most likely to occur when the moving direction is reversed.
An appropriate speed can be generated. In the configuration of the fifth embodiment, the round-trip transportation
The change in acceleration when reversing the movement direction is allowed
When it is judged that the acceleration is exceeded, the moving direction is reversed.
To delay the output of the command speed after
The direction of movement of the movement command by the program command is reversed
Command program needs to be created taking into account
And the creation of a command program becomes easier. Ma
Also, without excessive acceleration, machine tool vibration
The occurrence of motion can be suppressed, and the processing accuracy can be improved.
You. Embodiment 6 FIG. FIG. 13 shows an embodiment of the present invention.
FIG. 14 is a block diagram illustrating a configuration of a sixth embodiment, in which a synchronous tap is performed.
Numerical system with auto tuning function of spindle acceleration
FIG. 2 is a block diagram showing a configuration of a drive control unit of the control device in detail.
In FIG. 13, the same or equivalent parts as those in FIG.
The description is omitted by attaching the reference numerals. In FIG. 13, NC
The drive control unit 3 of FIG.
The set value is set by the NC man-machine interface 2.
The configuration is transferred to the drive control unit 3 via the
8 is similar to the conventional device of FIG. In addition, the drive control unit 3
Degree command generation unit 11, spindle position command generation unit 15, synchronization error
It has an amount calculation unit 16 and a block stop control unit 14.
You. In the sixth embodiment configured as shown in FIG.
In C, the acceleration of the spindle during external synchronization tap
When tuning starts, parameter 1 is initialized.
The acceleration of the spindle at the set synchronous tap is
It is input to the component 11. Then, the speed command generator 11
Is the speed command from the movement command specified by the program.
Is generated and this speed command is used as the servo axis speed command.
Output to amplifier 4. Also, based on the generated speed command
Then, the spindle position command generation unit 15 executes position loop control.
Generates the spindle position command, and outputs the servo axis, that is, the tap axis.
The main shaft position command is output to the amplifier 4 together with the speed command. The synchronization error amount calculator 16 receives the input from the amplifier 4.
Velocity feedback V, parameter of tap axis to be applied
Ball screw pitch PIT, position preset to 1
Detector resolution RNG, servo gear ratio PC1, and program
The tap pitch command F or the like commanded by the ram is input.
The speed of the tap shaft is calculated by the following formulas (1) and (2).
The degree feedback V is expressed as the main shaft movement pulse, that is, the rotation speed.
Conversion is made to the equivalent of a pulse. Here, A and B are roughly reduced
When expressed as a number, RNG / PIT = A / B (1) Then, the speed feedback of the tap axis is
The value Vp converted to the movement pulse of
Assuming that the number of pulses is P, it is obtained from the above equation (1).
Using the obtained integer B, the following formula (2) is used.
Can be Vp = (V * PIT * P) / (F * RNG * PCI * B) (2)
The number of pulses found and the speed of the spindle input from the amplifier 4
Comparing the degree feedback, the pre-specified tolerance
If the error is smaller than
The acceleration of the spindle at the time of the synchronous tap is added. That is, compare
Error that is allowed for each nominal tap diameter
If it does not exceed the spindle speed,
Add the acceleration. And the acceleration set by adding
, The speed command generation unit 11 again calculates the speed of the tap axis.
Generate a command. In addition, the pal calculated by equation (2)
Speed and the spindle speed feedback input from the amplifier 4.
Error, the error is greater than the pre-specified tolerance.
In the case of a critical condition, continuous operation is performed by the block stop control unit 14.
The specified program will be stopped. With such a configuration, from start to stop
Auto-tuning to the spindle acceleration during the optimal synchronous tap during
Is trained. When the program stops, the same
Spindle acceleration value at initial tap changes from initial setting value.
If there is no change, reduce the initial setting value and
Tuning can be performed. In the configuration of the sixth embodiment, the parameter
Acceleration of the spindle at the time of synchronous tap set in the data
Automatically sets the tuning of the set value to the optimum value
Tremendous work time for manual adjustment
It can be reduced and workability can be improved. Also external
Eliminates the need to purchase measuring equipment, reducing costs
Can be achieved. Embodiment 7 FIG. FIG. 14 shows an embodiment of the present invention.
FIG. 16 is a block diagram showing a form 7, in which lost motion correction is performed.
Auto-tuning of the amount of protrusion, that is, the amount of protrusion correction when switching quadrants.
Block showing the configuration of a numerical controller with a tuning function
FIG. The protrusion correction amount is set when the motor rotation direction is reversed.
Protrusion caused by dead zone due to friction or torsion of motor
To accelerate the reversal and remove the protrusions
3 shows the amount of motion compensation. Figure 14
The same or corresponding parts as those of the conventional apparatus of FIG.
And the description is omitted. Note that in FIG.
Although the control unit 14 is mainly shown, the parameter 1 is set.
The set value is the NC machine-machine interface 2 of NC.
Is transferred to the drive control unit 3 via the
This is the same as the eighteenth conventional device. In the seventh embodiment configured as shown in FIG.
In C, the projection correction amount when switching quadrants from outside
When tuning starts, set to parameter 1
The projected protrusion correction amount is input, and the drive control unit 3
Speed generated based on the movement command given by the gram
The degree command is output to the amplifier 4. Output from amplifier 4
NC machine tool 17 operated by the speed command
A double ball bar (DBB) measuring device 16 is attached,
The measurement result of the measuring device 16 is analyzed by the analysis unit 19.
It is. The analysis unit 19 obtains a location where the movement direction of the axis changes.
Change point measuring device 20 tolerant error amount for recognizing direction change
Is stored in the error amount 21 and the projection compensation generated when the quadrant is switched.
The correction amount 22 in which the positive amount is stored is set to the parameter 1
Composed of a correction amount adder 23 for increasing the protrusion correction amount
Is done. FIG. 15 shows a projection correction amount at the time of quadrant switching.
In the seventh embodiment that performs automatic tuning of
It is a control flowchart of a motion control part. Here, first, an allowable error amount 21 is obtained.
You. This is due to the DBB measurement result as shown in FIG.
Contains various disturbances, so the true direction change point
It is necessary to set an allowable error amount
This is set to satisfy this requirement. error
Assuming that the value of the quantity 21 is 0 (step S1301), the speed finger
Arc input from the machine tool 17 controlled by the command
Position feedback signal within a circle during inter-operation
Change point measurement based on the measurement result of the DBB measuring device 16
The detector 20 determines the number of direction reversals. Then, the direction change obtained by the change point measuring device 20 is obtained.
When the number of conversion points becomes two (step S1302), the loop
The processing is exited (step S1303),
The error amount 21 at the time is stored as an allowable error amount. direction
If the number of change points is other than two (step S1302),
The difference 21 is increased, and the same processing is repeated (step S
1304). Next, when the quadrant is switched, the projections bite.
The correction amount 22, that is, the state from the state 0 as shown in FIG.
The first correction amount 2 that has transited to states 2a to 2c via
Ask for 2. First, the quadrant projection set in parameter 1
A direction change point when the correction amount is 0 is obtained (step S13).
05), when there are two direction change points (step S130)
6) The set quadrant protrusion correction amount is stored in the correction amount 22.
(Step S1307), the correction amount adder 23
The quadrant protrusion correction amount of the meter 1 is increased (step S1).
308). And until the direction change point exceeds two
Is repeated (step S1309). Direction change point
Exceeds two, and as shown in state 2 of FIG.
At the time when the error occurred, it was stored in the correction amount 22;
Quadrant projection compensation with the quadrant projection correction amount set to parameter 1
A positive amount is set (step S1310). Like this
Automatically adjusts the amount of protrusion correction during optimal quadrant switching.
Adjustment becomes possible. In the configuration of the seventh embodiment, the motor
A protrusion correction amount for correcting a protrusion generated when the rotation direction is reversed,
That is, the adjustment of the lost motion correction amount is automatically adjusted to the optimal value.
Can be set to a large amount for manual adjustment
Work time can be reduced and workability can be improved.
Can be. As described above, the autochute according to the present invention is
Numerical controllers with tuning functions
To the rapid feed or cutting feed mode of the movement command set in
The corresponding feed forward gain is entered and the
The speed command is generated from the movement command
Connected to the speed command generator that outputs to the amplifier
Motor Information to identify Is input from the amplifier and the motor
Motor that extracts and outputs the maximum output current value corresponding to
The current extraction means and the maximum current output by the motor maximum current extraction means
Large output current and motor current input from the amplifier
The maximum output current value is
If it is larger than the feedback, the position
Move the feedback finger Command Reach target accuracy compared to
Add the feed forward gain to
For the rapid feed or cutting feed mode of the set movement command,
Comparison / operation to add corresponding feedforward gain
Control means, and an optimum value of the feed forward gain
Automatically tuned to
The time required for manual adjustment can be reduced and workability can be improved.
In addition, each feed forward gay for rapid feed / cutting feed
Can be adjusted independently, reducing processing time
This has the effect. ## EQU00002 ##

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a configuration of a drive control unit of a numerical controller having an automatic tuning function of a feedforward gain according to a first embodiment of the present invention. FIG. 2 is a control flowchart of a drive control unit according to the first embodiment for performing automatic tuning of a feedforward gain. FIG. 3 is a block diagram illustrating a configuration of a drive control unit of a numerical control device having an auto-tuning function of an acceleration / deceleration filter according to Embodiment 2 of the present invention. FIG. 4 is a control flowchart of a drive control unit according to a second embodiment for performing auto-tuning of an acceleration / deceleration filter. FIG. 5 is a block diagram showing a configuration of a drive control unit of a numerical control device having an automatic tuning function of a deceleration speed between movement command blocks according to Embodiment 3 of the present invention. FIG. 6 is a control flowchart of a drive control unit according to a third embodiment for performing auto-tuning of a deceleration speed. FIG. 7 is a block diagram illustrating a configuration of a drive control unit of a numerical controller having an auto-tuning function of a filter length and a feedforward gain during acceleration / deceleration according to a fourth embodiment of the present invention. FIG. 8 is a diagram illustrating a part of a control flowchart of a drive control unit according to a fourth embodiment for performing automatic tuning of a filter length and a feedforward gain during acceleration / deceleration. FIG. 9 is a diagram illustrating a part of a control flowchart of a drive control unit according to a fourth embodiment for performing automatic tuning of a filter length and a feedforward gain during acceleration / deceleration. FIG. 10 is a diagram illustrating a fourth embodiment for performing auto-tuning of the filter length and the feedforward gain during acceleration / deceleration.
FIG. 5 is a diagram showing a part of a control flowchart of a drive control unit in FIG. FIG. 11 is a speed waveform diagram showing a state of a speed change and an acceleration during a reciprocating motion of a machine tool according to a fifth embodiment of the present invention. FIG. 12 is a control flowchart of a drive control unit according to a fifth embodiment for controlling an acceleration when the moving direction is reversed to be within an allowable value. FIG. 13 is a block diagram showing a configuration of a drive control unit of a numerical control device having an auto-tuning function of the acceleration of a spindle at the time of a synchronization tap according to a sixth embodiment of the present invention. FIG. 14 is a block diagram showing a configuration of a numerical controller having an automatic tuning function of a correction amount of a projection generated at the time of switching a quadrant according to a seventh embodiment of the present invention. FIG. 15 is a control flowchart of a drive control unit according to a seventh embodiment for performing automatic tuning of the protrusion correction amount at the time of quadrant switching. FIG. 16 is a diagram showing a state of a projection when a quadrant is switched in a seventh embodiment. FIG. 17 is a diagram illustrating an example of a result of a true circle measurement by a DBB for explaining the seventh embodiment; FIG. 18 is a block diagram illustrating an example of a conventional numerical control device that performs drive control of a machine tool. [Description of Signs] 1 parameter, 2 man-machine interface, 3
Drive controller, 4 amplifiers, 5 motors, 6 servos,
7 spindle, 8 encoder, 9 D / A output channel, 10 external equipment, 11 speed command generator, 12 motor maximum current extractor, 13 comparison / calculation controller, 14
Block stop control unit, 15 Spindle position command generation unit, 16
Synchronization error calculator, 17 machine, 18 DBB measuring device, 19 analyzer, 20 change point measuring device, 21 error amount, 22 correction amount, 23 correction amount adder.

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Sanae Chiba 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Inside Mitsubishi Electric Corporation (56) References JP-A-3-242703 (JP, A) JP-A-4 −302306 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05B 19/18-19/46 B23Q 15/00-15/28 G05D 3/00-3/20 B24B 41 / 00-51/00 G05B 11/00-13/02

Claims (1)

(57) [Claims] [Claim 1] A feedforward gain corresponding to a rapid feed or cutting feed mode of a movement command set in a parameter is input, and a speed command is generated from the movement command specified by the program. Speed command generating means for outputting to an amplifier, information for specifying a motor connected to the amplifier is input from the amplifier, and motor maximum current extracting means for extracting and outputting a maximum output current value corresponding to the motor; The maximum output current value output by the motor maximum current extracting means is compared with the motor current feedback input from the amplifier, and if the maximum output current value is larger than the motor current feedback, the position feedback input from the amplifier is converted to the position feedback signal. Feed forward until the target accuracy is reached compared to the command shape based on the movement command. A comparison / arithmetic control means for adding a feed gain corresponding to the rapid feed or cutting feed mode of the movement command set in the above parameter, and a numerical value having an auto-tuning function. Control device.