Trajectory control device

Patent metadata

Field	Value
Publication number	US-2016282846-A1
Application number	US-201415030794-A
Country	US
Kind code	A1
Filing date	Sep 17, 2014
Priority date	Jan 7, 2014
Publication date	Sep 29, 2016
Grant date	—

Abstract

A trajectory control device that controls a trajectory of a movable portion of a processing machine so as to follow a command path accurately. The trajectory control device includes an integrated-length calculation unit that calculates an integrated command length being a length integrated from a start position along a command path, a simulated servo-response filter unit that calculates an integrated response length, a reference-response calculation unit that calculates a reference response position, a response compensation unit that calculates a corrected command position on each of the plurality of axes, and a servo control unit that controls each of the plurality of axes.

First claim

1 . A trajectory control device that controls a trajectory of a movable portion of a processing machine driven by a plurality of axes, the trajectory control device comprising:
an integrated-length calculation unit that calculates an integrated command length, being a length integrated from a start position, along a command path defined as a history of a command position with respect to each of the plurality of axes; a simulated servo-response filter unit that calculates an integrated response length by activating a first filter that simulates a servo response of the plurality of axes with respect to the integrated command length; a reference-response calculation unit that calculates a reference response position, being a position on the command path, at which a length from the start position along the command path is equal to the integrated response length; a response compensation unit that calculates a corrected command position on each of the plurality of axes by activating a second filter having inverse characteristics of the servo response of the plurality of axes, with respect to respective coordinate values in each of the plurality of axes at the reference response position; and a servo control unit that controls each of the plurality of axes by outputting drive torque so that each position on each of the plurality of axes follows the corrected command position.

2 . The trajectory control device according to claim 1 , wherein a transfer function of the servo control unit is same as a transfer function of the simulated servo-response filter unit.

3 . The trajectory control device according to claim 2 , wherein the servo control unit is configured by a two degree-of-freedom controller using a normative model, and a transfer function of the normative model is same as the transfer function of the simulated servo-response filter unit.

4 . The trajectory control device according to claim 3 , wherein the second filter is a filter represented by an inverse transfer function of the transfer function of a normative model.

Assignees

• Mitsubishi Electric Corp

Inventors

• Nagaoka Kotaro

Classifications

• G05B19/4062 Primary

  Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference · CPC title

• G05B2219/33221

  Drives, servo units, sensors, motors, on local network, ethernet, tcp-ip, wireless · CPC title

• G05B19/404

  characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) · CPC title

• G05B19/402

  characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) · CPC title

• B23Q15/22 Primary

  Control or regulation of position of tool or workpiece · CPC title