Synchronization control device, synchronization control system, synchronization control method, and simulation device

A synchronization control device comprising:

• a main axis command calculator configured to calculate a main axis command position with respect to a main axis servo control mechanism based on time-series target position information with respect to the main axis servo control mechanism;
• a main axis modeler configured to calculate a predicted main axis feedback position of the main axis servo control mechanism by a dynamic characteristic model of the main axis servo control mechanism by inputting the main axis command position, a main axis feedback position of the main axis servo control mechanism, and a predicted main axis command position after a predetermined time calculated based on the target position information;
• and
• a driven axis command calculator configured to calculate a driven axis command position with respect to a driven axis servo control mechanism based on the predicted main axis feedback position of the main axis servo control mechanism calculated by the main axis modeler, wherein
• the driven axis servo control mechanism has a plurality of control axes, and
• the synchronization control device further comprises:
• a switch unit configured to switch between synchronization control of the main axis servo control mechanism and the driven axis servo control mechanism, in which processing by the main axis command calculator and processing by the main axis modeler are performed, and non-synchronization control in which the synchronization control is not performed;
• and
• a switch time command calculator configured to calculate the driven axis command position with respect to the driven axis servo control mechanism so that an acceleration of each control axis of the plurality of control axes of the driven axis servo control mechanism continuously changes in a first transition period immediately before the switch unit switches from the non-synchronization control to the synchronization control and/or in a second transition period immediately after the synchronization control is switched to the non-synchronization control.