Servo controller for measuring lubrication characteristics of a machine by experimental modal analysis

Patent metadata

Field	Value
Publication number	US-9791103-B2
Application number	US-201615010671-A
Country	US
Kind code	B2
Filing date	Jan 29, 2016
Priority date	Jan 30, 2015
Publication date	Oct 17, 2017
Grant date	Oct 17, 2017

Abstract

A servo controller includes: a sinusoidal wave disturbance input unit for supplying a sinusoidal wave disturbance to a speed control loop including a speed command generator, a torque command generator and a speed detector; a frequency response calculator for estimating the gain and phase from the output of the speed control loop; a resonance frequency detector for detecting resonance frequencies at which the gain becomes maximum; a resonance mode characteristics analyzer for estimating resonance characteristics from the frequency response; and, a reference modal damping ratio retainer for retaining a reference modal damping ratio as a resonance characteristic corresponding to the reference lubricating condition, and the resonance mode characteristics analyzer calculates lubrication characteristics on the basis of the reference modal damping ratio and the measured modal damping ratio at the resonance frequency corresponding to the reference modal damping ratio.

First claim

The invention claimed is:

1. A servo controller for a servo motor that drives a feed axis provided for a machine tool, comprising:
a speed command generator configured to generate a speed command value for a servo motor;
a torque command generator configured to generate a torque command value for the servo motor on the basis of the speed command value;
a speed detector configured to detect the speed of the servo motor driven on the basis of the torque command value;
a sinusoidal wave disturbance input unit configured to supply a sinusoidal wave disturbance to a speed control loop including the speed command generator, the torque command generator and the speed detector;
a frequency response calculator configured to estimate the gain and phase of the speed control loop input/output signal on the basis of the output of the speed control loop when the sinusoidal wave disturbance is input to the speed control loop;
a resonance frequency detector configured to detect resonance frequencies at which the gain of the frequency response estimated by the frequency response calculator becomes maximum;
a resonance mode characteristics analyzer configured to estimate resonance characteristics from the frequency response at and around the response frequency detected by the resonance frequency detector; and,
a reference modal damping ratio retainer configured to retain the reference modal damping ratio as a resonance characteristic corresponding to the reference lubricating condition,
wherein the resonance mode characteristics analyzer calculates lubrication characteristics on the basis of the reference modal damping ratio and the measured modal damping ratio at the resonance frequency corresponding to the reference modal damping ratio.

2. The servo control apparatus according to claim 1 ,
wherein the resonance mode characteristics analyzer evaluates the degree of relative lowering of the lubricating condition by determining the relative ratio between the reference modal damping ratio and the measured modal damping ratio.

3. The servo control apparatus according to claim 1 ,
wherein when the measured modal damping ratio relative to the reference modal damping ratio is lower than a threshold, the resonance mode characteristics analyzer warns of degradation in lubricating condition in order to demonstrate the necessity of inspection of the lubricating condition.

Assignees

• Fanuc Corp

Inventors

• Iijima Kazunori

Classifications

• G05B2219/41154

  Friction, compensation for friction · CPC title

• G05B23/0256 Primary

  injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system · CPC title

• G05B19/4163

  Adaptive control of feed or cutting velocity (without NC B23Q15/12) · CPC title

• H02P2205/07

  Speed loop, i.e. comparison of the motor speed with a speed reference · CPC title

• F16N29/04 Primary

  enabling a warning to be given; enabling moving parts to be stopped · CPC title