Parameter setting method and parameter setting apparatus for positioning apparatus, and positioning apparatus provided with the parameter setting apparatus

Patent metadata

Field	Value
Publication number	US-9645554-B2
Application number	US-201615085726-A
Country	US
Kind code	B2
Filing date	Mar 30, 2016
Priority date	Mar 31, 2015
Publication date	May 9, 2017
Grant date	May 9, 2017

Abstract

A parameter setting apparatus includes a calculator calculating a first resonance frequency ω r1 of a structure composed of a table, a rotor of a drive motor, and an object and a second resonance frequency ω r2 of a structure composed of a stator of the drive motor and a base using equations given below, and a setter setting a frequency band to be removed for a first damping filter based on the calculated first resonance frequency ω r1 and setting a frequency band to be removed for a second damping filter based on the second resonance frequency ω r2 .

First claim

What is claimed is:

1. A control parameter setting method for setting a frequency band to be removed for a damping filter provided in a positioning apparatus controlling a drive motor of a rotary table device, the rotary table device including a base, a table for placing an object thereon, the table being rotatably held by the base, and the drive motor rotating the table with respect to the base,
the control parameter setting method comprising:
calculating a first resonance frequency ω r1 of a structure composed of the table, a rotor of the drive motor, and the object and a second resonance frequency ω r2 of a structure composed of a stator of the drive motor and the base using equations:
ω r1 =( K j ((1/ J r +J t ))+(1/ J j ))) 1/2 , and

ω r2 =( K s ((1/ J b )+(1/ J s ))) 1/2 ,

where J r is an inertia of the rotor of the drive motor, J t is an inertia of the table, J j is an inertia of the object, h is an inertia of the base, J s is an inertia of the stator of the drive motor, K j is a torsional rigidity of the object, and K s is a torsional rigidity of the stator of the drive motor; and
setting the frequency band to be removed for a first damping filter provided in the positioning apparatus based on the calculated first resonance frequency ω r1 and setting the frequency band to be removed for a second damping filter provided in the positioning apparatus based on the calculated second resonance frequency ω r2 .

2. A control parameter setting apparatus for setting a frequency band to be removed for a damping filter provided in a positioning apparatus controlling a drive motor of a rotary table device, the rotary table device including a base, a table for placing an object thereon, the table being rotatably held by the base, and the drive motor rotating the table with respect to the base,
the control parameter setting apparatus comprising:
a calculator calculating a first resonance frequency ω r1 of a structure composed of the table, a rotor of the drive motor, and the object and a second resonance frequency ω r2 of a structure composed of a stator of the drive motor and the base using equations:
ω r1 =( K j ((1/ J r +J t ))+(1/ J j ))) 1/2 , and

ω r2 =( K s ((1/ J b )+(1/ J s ))) 1/2 ,

where J r is an inertia of the rotor of the drive motor, J t is an inertia of the table, J j is an inertia of the object, J b is an inertia of the base, J s is an inertia of the stator of the drive motor, K j is a torsional rigidity of the object, and K s is a torsional rigidity of the stator of the drive motor; and
a setter setting the frequency band to be removed for a first damping filter provided in the positioning apparatus based on the first resonance frequency ω r1 calculated by the calculator and setting the frequency to be removed for a second damping filter provided in the positioning apparatus based on the second resonance frequency ω r2 calculated by the calculator.

3. The positioning apparatus controlling the drive motor, comprising:
the first and second damping filters, and
the control parameter setting apparatus of claim 2 .

Assignees

• Dmg Mori Co Ltd

Inventors

• Ishii Shinji
• Terada Yuki

Classifications

• G05B5/01 Primary

  electric · CPC title

• G05B19/404 Primary

  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

• G05B2219/41166

  Adaptive filter frequency as function of oscillation, rigidity, inertia load · CPC title

• G05B2219/50047

  Positioning, indexing · CPC title

• B23Q15/013 Primary

  Control or regulation of feed movement (B23Q15/12 takes precedence) · CPC title