Feed shaft control method and numerical control work device
AssigneeMakino Milling Machine Co., Ltd.
InventorMitsunari ODA
Life of this patent
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Abstract
Provided is a feed shaft control method, wherein a speed feedback loop having a speed controller is disposed within a position feedback loop having a position controller, forming a cascade coupling, and an acceleration feedback signal which is outputted from a compensator on the basis of an output signal of an acceleration detector is subtracted from a torque instruction. Furthermore, the method implements control wherein a speed is acquired on the basis of the output signal of the acceleration detector, and a signal obtained by multiplying the acquired speed by a gain is added to a speed instruction which is outputted from the position controller.
Claims11
A feed axis control method of a machine tool a cascade connection in which a speed feedback loop including a speed control part into which a speed command is inputted is provided inside a position feedback loop including a position control part into which a position command is inputted, the control device controlling a servo motor for driving a feed axis in accordance with a torque command outputted from the speed control part, the method comprising:
- obtaining an acceleration based on an output signal of a state sensor attached to at least one of a machine structure and an axis feed mechanism, and subtracting an acceleration feedback signal in which an obtained acceleration is multiplied by a predetermined first gain from the torque command outputted from the speed control part;
- and
- performing at least one of controls consisting of comprising a control in which a speed is obtained based on the output signal of the state sensor and a signal in which the obtained speed is multiplied by a predetermined gain is added to the speed command outputted from the position control part, and a control in which a position is obtained based on the output signal of the state sensor and a signal in which the obtained position is multiplied by a predetermined gain is added to the position command inputted into the position control part.
The feed axis control method, wherein a position is obtained based on an output signal of the state sensor, and a signal in which the obtained position is multiplied by a predetermined fourth gain is added to the acceleration feedback signal.
A feed axis control method of a machine tool, including forming that includes a control device in which a cascade connection in which a speed feedback loop including a speed control part into which a speed command is inputted is provided inside a position feedback loop including a position control part into which a position command is inputted, the control device controlling a servo motor for driving a feed axis in accordance with a torque command outputted from the speed control part, the method comprising:
- obtaining an acceleration based on an output signal of a state sensor attached to at least one of a machine structure and an axis feed mechanism, and subtracting an acceleration feedback signal in which an obtained acceleration is multiplied by a predetermined gain from the torque command outputted from the speed control part;
- and
- performing at least one of controls comprising a control in which a speed is obtained based on the output signal of the state sensor and a signal in which the obtained speed is multiplied by a predetermined gain is added to the acceleration feedback signal and a control in which a position is obtained based on the output signal of the state sensor and a signal in which the obtained position is multiplied by a predetermined gain is added to the acceleration feedback signal.
A numerical control machine tool comprising a control device in which a cascade connection in which a speed feedback loop including a speed control part into which a speed command is inputted is provided inside a position feedback loop including a position control part into which a position command is inputted is formed, the control device controlling a servo motor for driving a feed axis in accordance with a torque command outputted from the speed control part, wherein
- the control device includes a circuit in which a signal in which an acceleration is obtained based on an output signal of a state sensor attached to at least one of a machine structure and an axis feed mechanism and a signal in which the obtained acceleration is multiplied by a predetermined gain is subtracted from the torque command outputted from the speed control part, and
- further includes at least one of circuits comprising a circuit in which a speed is obtained based on the output signal of the state sensor and a signal in which the obtained speed is multiplied by a predetermined gain is added to the speed command outputted from the position control part and a circuit in which a position is obtained based on the output signal of the state sensor and a signal in which the obtained position is multiplied by a predetermined gain is added to the position command inputted into the position control part.
A numerical control machine tool comprising a control device in which a cascade connection in which a speed feedback loop including a speed control part into which a speed command is inputted is provided inside a position feedback loop including a position control part into which a position command is inputted is formed, the control device controlling a servo motor for driving a feed axis in accordance with a torque command outputted from the speed control part, wherein
- the control device includes a circuit in which an acceleration is obtained based on an output signal of a state sensor attached to at least one of a machine structure and an axis feed mechanism and an acceleration feedback signal in which the obtained acceleration is multiplied by a predetermined gain is subtracted from the torque command outputted from the speed control part, and
- further includes at least one of circuits comprising a circuit in which a speed is obtained based on the output signal of the state sensor and a signal in which the obtained speed is multiplied by a predetermined gain is added to the acceleration feedback signal and a circuit in which a position is obtained based on the output signal of the state sensor and a signal in which the obtained position is multiplied by a predetermined gain is added to the acceleration feedback signal.
Dependencies are inferred from the claim text.