# US 9,110,458 B2 · Positioning control apparatus and machine tool provided therewith

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- Number: US 9,110,458 B2
- Document ID: US9110458B2
- Status: Granted
- Kind: B2
- Application number: 13/349,783
- Filed: 2012-01-13
- Published: 2012-11-22
- Granted: 2015-08-18
- Earliest claimed: 2011-05-19
- Assignees: Dmg Mori Seiki Co., Ltd.
- Applicants: Akira Kimura; Koji Yamamoto; Katsuhiko Ono; Kimiyuki Nishimura; Kenichiro Ueno; Keiichi Nakamachi
- Inventors: Akira Kimura; Koji Yamamoto; Katsuhiko Ono; Kimiyuki Nishimura; Kenichiro Ueno; Keiichi Nakamachi
- Web page: https://patentgrep.com/patent/US9110458B2

## CPC

- G05B 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence)
- G05B 2219/41056: Compensation for changing stiffness, deformation of workpiece
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A positioning control apparatus has a moving body, a feed device having a guide mechanism for guiding the moving body in the direction of its feed axis and a drive mechanism for moving the moving body, a structural body supporting the feed device and a controller for controlling a moving position of the moving body with respect to a reference position on a machine tool by controlling the operation of the drive mechanism, and further has a calculating section calculating displacement of the feed device in the feed-axis direction with respect to the reference position caused by displacement of the structural body and a compensating section receiving the displacement data measured by the calculating section and adding modification data for eliminating the displacement to a control signal in the controller.

## Claims

### Claim 1

A positioning control apparatus comprising:
a moving body;
a feed device having a guide mechanism for guiding the moving body in a predetermined feed-axis direction and a drive mechanism for moving the moving body;
a structural body supporting the feed device; and
a controller for controlling a moving position of the moving body with respect to a predetermined reference position by controlling an operation of the drive mechanism;
wherein the positioning control apparatus has:
a calculating section which calculates a displacement amount of the feed device in the feed-axis direction with respect to the reference position caused by displacement of the structural body, the displacement of the structural body occurring due to a reaction force which is against a force applied to the moving body when the moving body is moved by the feed device and which acts on the structural body through the feed device, and
a compensating section which receives the displacement amount calculated by the calculating section and adds a modification amount for eliminating the displacement amount to a control signal for controlling the drive mechanism in the controller; and
the calculating section calculates the displacement amount x of the feed device in the feed-axis direction with respect to the reference position caused by displacement of the structural body using a following equation:
x=f/K−x″/ω2,
where f is the force acting on the structural body and is also the reaction force against the force applied to the moving body, K is an elastic coefficient of the structural body, ω is a natural angular frequency of the structural body, and x″ is acceleration of the moving body.

### Claim 2 (depends on 1)

A machine tool having the positioning control apparatus according to claim 1, wherein a tool or a workpiece is attached to the moving body.