Servo Synchronization Control Using Predicted Main Axis Feedback
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Solution Overview
Problem
Existing synchronization control methods for servomotors, such as those described in Patent Document 1, face accuracy issues when the main axis changes speed, particularly during deceleration and stopping, leading to suboptimal synchronization of the driven axis.
Innovation Solution
A synchronization control device that calculates a main axis command position based on time-series target position information, predicts the main axis feedback position using a dynamic characteristic model, and adjusts the driven axis command position accordingly, while also incorporating features like dynamic characteristic model acquisition and switching control to manage acceleration changes during transitions between synchronization and non-synchronization modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the future position prediction value is calculated from the main axis command position and main axis feedback position up to the present, then the calculation is simple, but the accuracy of the future position prediction value deteriorates when the main axis moves with speed changes
Solution Approach 1:
The system performs preliminary calculation of the predicted main axis command position after a predetermined time based on target position information before using it for driven axis command calculation. This advance preparation of prediction data improves the accuracy of synchronization control when the main axis changes speed, while keeping the overall calculation process manageable through structured preprocessing.
2Measurement precision
If the driven axis command position is calculated based on the predicted main axis feedback position, then the synchronization accuracy is improved, but the device complexity increases due to additional calculation components
Solution Approach 1:
The synchronization control device integrates the main axis command calculator, main axis modeler, and driven axis command calculator into a unified control system. By merging these functional components into a single integrated device, the system achieves improved synchronization accuracy through coordinated calculation while avoiding the complexity of multiple separate systems.
Solution Approach 2:
The synchronization control device performs multiple functions including calculating main axis command positions, modeling main axis dynamics, predicting future positions, and generating driven axis commands. This multi-functionality is achieved within a single control device, improving synchronization accuracy without requiring separate specialized systems for each function.
Data Source
AI summary
A synchronization control device (10) includes: a main axis command calculator (Cmm) that calculates a main axis command position based on time-series target position information; a main axis modeler (Mm) that calculates a predicted main axis feedback position by a dynamic characteristic model of a main axis servo control mechanism (20) by inputting the main axis command position, a main axis feedback position, and a predicted main axis command position after a predetermined time calculated based on the target position information; and a driven axis command calculator (Cms) that calculates a driven axis command position based on the predicted main axis feedback position. This configuration achieves synchronization control that improves the accuracy of synchronous drive of the driven axis.