Servo motor drive control device

Abstract

Learning control is performed when carrying out processing by repeating operational instructions in a pattern cycle for a servo motor. Time / position converting means determines the positional deviation for a prescribed position with respect to a reference position from a positional deviation determined by sampling, and the reference position output in synchronization with the drive of the servo motor. Corresponding correction data stored in a memory means is added to the positional deviation, and then the result is subjected to filtering processing by means to update the correction data corresponding to the position. Position / time converting means then determines correction data for the current sampling time, on the basis of the correction data corresponding to the position as stored in the memory means, and the detected reference position. This correction data is processed by an element to compensate for dynamic properties, thereby deriving a correctional quantity, which is added to the positional deviation.

Description

technical field [0001] The present invention relates to servo motor drive control devices in machine tools and industrial mechanical equipment driven and controlled by control devices such as digital control devices, especially related to repeated processing of the same action pattern such as the same shape by specifying a position command of a certain pattern. The learning control used during repetition. Background technique [0002] In the case of repeatedly issuing the same pattern command to perform machining, learning control is known as a method for improving machining accuracy by converging the control deviation to zero. This kind of learning control is to use the time of the pattern action such as one rotation of the workpiece as the learning cycle, let the workpiece rotate multiple times, obtain the position deviation according to the specified control cycle, and store the correction data in the memory according to the position deviation. The correction data of the...

AI Technical Summary

Problems solved by technology

However, in the invention described in Japanese Unexamined Patent Publication No. 4-323705, a conversion table for obtaining the position of the linear movement axis from the feedback position of the rotary axis is required, and when the mode of 1 mode period is changed, it is necessary to reset the table. This conversion table is made, so it is difficult to apply it to various modes of processing, etc.

Images