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Servo control device

A technology of servo control device and controller, applied in the direction of control system, digital control, electric controller, etc., can solve difficult processing, assembly, transportation and other problems

Pending Publication Date: 2021-11-26
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it is difficult to perform operations such as processing, assembly, and transportation when the above-mentioned displacement measuring device is installed, so it is necessary to stop the operation every time the measurement is performed.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0044] figure 1 It is a figure which shows the structural example of the numerical control machine tool 99 which concerns on Embodiment 1 of this invention. The numerical control work machine 99 is an orthogonal three-axis vertical work machine, and has three servo control devices in total of the X axis, the Y axis, and the Z axis. The numerically controlled machine tool 99 drives the tool 76 in the directions of the X-axis and the Z-axis, drives the workpiece 78 provided on the table 77 in the direction of the Y-axis, and processes the workpiece 78 . That is, in the numerically controlled machine tool 99 , the driven object to be controlled on the X axis and the Z axis is the tool 76 , and the driven object to be controlled on the Y axis is the workpiece 78 .

[0045] In the numerically controlled machine tool 99 , in each axis, the rotational motion of the electric motor 71 serving as an actuator is converted into a linear motion in the driving direction of each axis by the...

Embodiment approach 2

[0080] In Embodiment 2, a case where full-closed loop control is performed in a servo control device will be described.

[0081] Figure 11 It is a figure which shows the structural example of the servo control apparatus 100b which performs system identification concerning Embodiment 2. In the servo control device 100b of the second embodiment, the difference from the servo control device 100 of the first embodiment is that, as the input of the detected position, the linear motion position detector 21 is used instead of the rotation angle detector 2, and the same as that of the first embodiment is used. 1 The mechanical part 7b with a different structure, and the controller part 6b is used for the control of the mechanical part 7b.

[0082] Figure 12 It is a schematic diagram showing a configuration example of an X-axis servo control device 101 b that is an axis of a numerically controlled machine tool 99 according to the second embodiment. The X-axis servo control device ...

Embodiment approach 3

[0089] In Embodiment 1 and Embodiment 2, an application example to a servo control device as a linear feed axis was shown, but a numerically controlled machine tool may have a rotary axis. In Embodiment 3, a case where it is applied to a servo control device as a rotating shaft will be described.

[0090] Figure 14 It is a schematic diagram showing a configuration example of the servo control device 100c according to the third embodiment. The difference between the servo control device 100c of the third embodiment and the servo control device 100 of the first embodiment is that a mechanical part 7c having a different structure from that of the first embodiment is used. The electric motor 71 decelerates the rotational motion through the worm gear 81 to rotate the rotary table 82 . exist Figure 14 The axis of rotation of the servo control device 100 c shown is provided with the workpiece 78 on the mechanical structural member 72 , so the evaluation point of the rotational a...

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PUM

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Abstract

A servo control device (100): feeds back a detected position (Xd) detected by a rotational angle detector (2) to an actuator that drives a mechanical unit (7a) to which a driven body is connected so as to follow a position command (Xc) computed by a command value computation unit (9); and controls the actuator with a controller unit (6a). The servo control device (100) comprises: an evaluation point sensor (1a) that detects the state quantity of an evaluation point; a reference point sensor (1b) that detects the state quantity of a reference point; a first transfer function computation unit (4a) that computes a first transfer function (FRF1(s)) using the state quantity of the evaluation point and the state quantity of the reference point; a second transfer function computation unit (4b) that computes a second transfer function (FRF2(s)) using the state quantity of the reference point and the detected position; and a simulation unit (5) that computes an estimated position of the reference point using the first transfer function (FRF1(s)), the second transfer function (FRF2(s)), and a hardness value parameter (Kdr).

Description

technical field [0001] The invention relates to a servo control device for system identification. Background technique [0002] The servo control device is a device that performs feedback control using an actuator so that the position of a driven body detected by a position detector coincides with a command position. [0003] Mechanical devices with multiple degrees of freedom, such as CNC machine tools, industrial machines, robots, and conveyors, have servo-controlled devices called axes. The mechanical device as described above controls the position of the driven body through the actuators installed on each axis, and by combining the position control of each axis, motion with multiple degrees of freedom is realized. [0004] The servo control that controls the motion trajectory to accurately follow the specified path, that is, the command trajectory, is called trajectory control or contour motion control. In trajectory control, if an error occurs in the movement of the a...

Claims

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Application Information

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IPC IPC(8): G05B11/36G05D3/12H02P29/00
CPCG05B19/19H02P23/14H02P23/0018H02P29/028
Inventor 藤田智哉池田辽辅佐藤刚
Owner MITSUBISHI ELECTRIC CORP