Track control device

A trajectory control and trajectory technology, which is applied in the field of trajectory control devices, can solve the problems of inconsistency and inconsistency of machining shapes, and achieve the effect of trajectory error suppression.

Active Publication Date: 2014-12-10
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Usually, if a track error occurs, the processed shape will become inconsistent with the original shape, so it is not preferable

Method used

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Experimental program
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Effect test

Embodiment approach 1

[0024] figure 1 It is a block diagram which shows the structure of the trajectory control apparatus 10 which concerns on Embodiment 1 of this invention. The commanded path is supplied to the interpolation / acceleration / deceleration calculation unit 1 in the form of an NC program or the like as a coordinate value on the locus of the movable part of the machine. In addition, the interpolation method (straight line, arc, spline curve, etc.) between the commanded coordinate values ​​and the movement speed in the trajectory direction, that is, the feed rate, are simultaneously supplied to the interpolation, acceleration and deceleration by using the NC program or the like. Operation part 1. In the interpolation / acceleration / deceleration calculation unit 1, by interpolating between the commanded coordinate values ​​by the specified method, acceleration is performed along the command path with a predetermined acceleration or acceleration / deceleration time constant specified separatel...

Embodiment approach 2

[0063] Figure 5 It is a block diagram which shows the structure of the trajectory control apparatus 15 which concerns on Embodiment 2 of this invention. The difference from Embodiment 1 is that there are three movable axes of the machine, and a servo control unit (a first axis servo control unit 6, a second axis servo control unit 7, and a third axis servo control unit) is provided for each movable axis. section 8) and a servo response calculation section (a first axis servo response calculation section 51, a second axis servo response calculation section 52, and a third axis servo response calculation section 53). The structure other than this is the same as that of Embodiment 1.

[0064] In the present embodiment, a command including a three-dimensional shape is given to a machine having three movable axes, the X axis, the Y axis, and the Z axis. Let the X axis be the first axis, the Y axis be the second axis, and the Z axis be the third axis. The standard model gains of...

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PUM

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Abstract

A track control apparatus includes an interpolation / acceleration and deceleration calculating unit that interpolates a commanded route and calculates a post-acceleration and deceleration interpolation route, an axis distributing unit that generates a position command for each movable axis from the post-acceleration and deceleration interpolation route, a servo-response calculating unit that calculates a servo response to the position command, a tangential-direction-servo-response calculating unit that obtains a tangential direction servo response from the post-acceleration and deceleration interpolation route, a reference-point generating unit that obtains a reference point from the tangential direction servo response, a position-vector correcting unit that corrects the position command for each movable axis to output a post-correction position command for each movable axis, and a servo control unit that outputs motor driving torque such that each movable axis follows the corresponding post-correction position command.

Description

technical field [0001] The invention relates to a trajectory control device for suppressing trajectory errors and realizing high-speed and high-precision machining in control devices such as machine tools and laser processing machines. Background technique [0002] When processing is performed using a machine such as a machine tool or a laser processing machine, control is performed so that the position of the processing tool with respect to the workpiece follows a commanded path. This control is called trajectory control, and is usually realized by servo control so that the actual position of each movable axis of the machine follows the position command of each movable axis obtained from the command path. [0003] As a problem in the trajectory control, there is a problem that the actual trajectory deviates from the commanded path due to the response delay of the control system of each movable axis. Usually, since each movable axis of the machine is controlled, errors caus...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/404G05D3/12
CPCB23Q3/18G05B19/404G05B15/02G05B2219/41189G05B2219/41194
Inventor 长冈弘太朗
Owner MITSUBISHI ELECTRIC CORP
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