Numerical Controller for Multi-Axis Synchronous Coordinate Control
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Solution Overview
Problem
Current numerical controllers face difficulties in performing synchronous and superimposed control on machines with complex configurations, particularly when the movement direction of axes dynamically changes, such as in systems with rotary axes.
Innovation Solution
A numerical controller is designed with an elements relationship setting unit, output calculation unit, and control unit that sets and calculates movement destinations for control points on different coordinate systems, allowing for flexible and easy control of multiple axes in complex configurations by generating movement destinations and performing axis movements based on calculated outputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If synchronous control and superimposed control are performed on machines with complex configurations where axis movement directions dynamically change, then control flexibility and adaptability are improved, but control complexity and calculation difficulty increase significantly
Solution Approach 1:
The control system is segmented into independent functional modules: a coordinate system management module that handles dynamic coordinate transformations, a path planning module that generates motion trajectories, and a control execution module that processes commands. This modular segmentation allows the system to manage complex configurations by breaking down the control problem into manageable segments that can be processed independently.
Solution Approach 2:
An intermediary coordinate transformation layer is introduced between the command input and axis execution. This intermediary layer dynamically converts commands from various coordinate systems into the appropriate axis-specific coordinate systems, mediating the complexity of dynamic axis direction changes and providing a simplified interface for control operations.
2Manufacturing precision
If multiple axes are moved in composite manner considering actual movement direction, then positioning precision is improved, but calculation time and processing load increase
Solution Approach 1:
The system performs preliminary coordinate system definition and transformation matrix pre-calculation before actual motion execution. By pre-establishing the coordinate system relationships and transformation matrices for complex machine configurations, the system eliminates the need for real-time calculation during motion, thereby maintaining high positioning precision while reducing calculation time and processing load during execution.
3Measurement precision
If dynamic coordinate system transformation is implemented for rotary axes, then control accuracy is improved, but computational complexity increases
Solution Approach 1:
The system dynamically changes coordinate system parameters (transformation matrices) based on the current state of rotary axes. By parameterizing the coordinate transformations in terms of rotary axis positions, the system achieves high control accuracy through dynamic adaptation while managing computational complexity through efficient parameter updates rather than full recalculation of transformation relationships.
Data Source
AI summary
To provide a numerical controller capable of performing synchronous control and superimposed control easily with respect to a machine having a complicated configuration. A numerical controller comprises: an elements relationship setting unit that sets a relationship between a first element and a second element; an elements relationship output calculation unit that calculates a relationship output from the relationship between the first element and the second element; and an elements relationship control unit that performs relationship control on the basis of the relationship output.