Gantry drive system, motor control system, and control method

Patent metadata

Field	Value
Publication number	US-12134546-B2
Application number	US-202217865816-A
Country	US
Kind code	B2
Filing date	Jul 15, 2022
Priority date	Jul 29, 2021
Publication date	Nov 5, 2024
Grant date	Nov 5, 2024

Abstract

A gantry drive system includes: a first motor configured to drive a driving object along a first axis; a second motor configured to drive the driving object along a second axis parallel with the first axis; and a motor control system configured to control the first and second motors. The motor control system includes a mode switch that performs a switching between a first control mode in which a position of the driving object on each of the first and second axes is individually controlled while reducing an inter-axis positional deviation between the first and second axes, and a second control mode in which a rotational state of the driving object is controlled while controlling a position of the driving object, based on detected positions of the driving object on the first and second axes.

First claim

What is claimed is:

1. A gantry drive system comprising:
a first motor configured to drive a driving object along a first axis;
a second motor configured to drive the driving object along a second axis parallel with the first axis; and
a motor control system configured to control the first and second motors,
wherein the motor control system includes a mode switch that performs a switching between a first control mode in which a position of the driving object on each of the first and second axes is individually controlled while reducing an inter-axis positional deviation between the first and second axes, the inter-axis positional deviation being a deviation between the position of the driving object on the first axis and the position of the driving object on the second axis, and a second control mode in which a rotational state of the driving object is controlled while controlling a position of the driving object, based on detected positions of the driving object on the first and second axes, and
the motor control system controls the first and second motors according to the control mode switched by the mode switch.

2. The gantry drive system according to claim 1 , wherein the mode switch switches the first and second control modes based on an evaluation value indicating a degree of rigidity of the driving object.

3. The gantry drive system according to claim 2 , wherein the mode switch performs a switching to the first control mode when the evaluation value exceeds a predetermined threshold value, and performs a switching to the second control mode when the evaluation value falls below the predetermined threshold value.

4. The gantry drive system according to claim 2 , wherein the motor control system further includes
a test controller configured to execute an initial setting control for the first and second motors to make the detected positions on the first and second axes follow a test target position, and
a rigidity evaluator configured to calculate the evaluation value based on the inter-axis positional deviation obtained during the execution of the initial setting control, and a difference between thrust commands to the first and second motors, respectively, when the inter-axis positional deviation is obtained.

5. The gantry drive system according to claim 1 , wherein the motor control system includes a first control device connected to the first motor, and a second control device connected to the second motor,
the first and second control devices are connected to each other for a communication,
in the first control mode, the first control device generates a command directed to the first motor based on the detected position on the first axis, and the second control device generates a command directed to the second motor based on the detected position on the second axis,
in the first control mode, at least one of the first and second control devices generates compensation values of the commands directed to the first and second motors based on the inter-axis positional deviation, and
in the second control mode, the first control device generates a command directed to the first and second motors based on the detected positions on the first and second axes, and the second control device generates a command directed to the first and second motors based on the inter-axis positional deviation.

6. The gantry drive system according to claim 5 , wherein
the first control device includes
a first individual controller configured to generate a first command directed to the first motor based on the detected position on the first axis and the inter-axis positional deviation, in the first control mode, and
a first cooperative controller configured to generate a translational thrust command directed to the first and second motors based on the detected positions on the first and second axes, in the second control mode, and
the second control device includes
a second individual controller configured to generate a second command directed to the second motor based on the detected position on the second axis and the inter-axis positional deviation, in the first control mode, and
a second cooperative controller configured to generate a rotational torque command directed to the first and second motors based on the inter-axis positional deviation, in the second control mode.

7. The gantry drive system according to claim 6 , wherein
the first individual controller operates the first motor based on the first command,
the first cooperative controller outputs the translational thrust command to the second control device, and operates the first motor based on the translational thrust command and the rotational torque command obtained from the second cooperative controller,
the second individual controller operates the second motor based on the second command, and
the second cooperative controller outputs the rotational torque command to the first control device, and operates the second motor based on the rotational torque command and the translational thrust command obtained from the first cooperative controller.

8. The gantry drive system according to claim 6 , wherein the first and second control devices control the first and second motors to make the driving object approach a target position, and reduce the inter-axis positional deviation, every predetermined period,
the first individual controller generates the first command and operates the first motor based on the first command, per the predetermined period, and
the second individual controller generates the second command and operates the second motor based on the second command, per the predetermined period.

9. The gantry drive system according to claim 6 , wherein the first and second control devices control the first and second motors to make the driving object approach a target position, and reduce the inter-axis positional deviation, every predetermined period,
per the predetermined period, the first cooperative controller generates and outputs the translational thrust command, and operates the first motor based on the translational thrust command and the rotational torque command which are generated in a previous period, and
per the predetermined period, the second cooperative controller generates and outputs the rotational torque command, and operates the second motor based on the translational thrust command and the rotational torque command which are generated in the previous period.

10. The gantry drive system according to claim 6 , wherein the first individual controller acquires a position command indicating a target position of the driving object, and generates the first command so as to reduce a deviation between the detected position on the first axis and the position command, and reduce the inter-axis positional deviation, and
the second individual controller acquires the position command, and generates the second command so as to reduce a deviation between the detected position on the second axis and the position command, and reduce the inter-axis positional deviation.

11. The gantry drive system according to claim 6 , wherein the first cooperative controller acquires a position command indicating a target position of the driving object, and generates the translational thrust command so as to reduce a deviation between an average value of the detected positions on the first and second axes and the position command, and
the second cooperative controller generates the rotational torque command so as to reduce the inter-axis positional deviation.

12. A motor control system comprising:
a controller configured to control a first motor that drives a driving object along a first axis, and a second motor

Assignees

• Yaskawa Electric Corp

Inventors

• Koga Minoru
• Kawahara Shota
• Ito Junichi

Classifications

• B66C13/46 Primary

  Position indicators for suspended loads or for crane elements · CPC title

• G05D3/12

  using feedback · CPC title

• H02P6/28

  Arrangements for controlling current (H02P6/10 takes precedence) · CPC title

• H02P5/56

  Speed and position comparison between the motors by electrical means · CPC title

• G05B2219/40293

  Gantry, portal · CPC title