Servo motor controller

Abstract

To provide a servo motor controller that can quickly and effectively stop an industrial machine at a particular position even if operation speed is relatively low when a fixed position stop command is issued. The servo motor includes a speed comparison unit configured to compare speed at a time of a fixed position stop command with a first speed, a fixed position stop operation determination unit configured to determine an operation method at the time of the fixed position stop command, and a fixed position stop control unit configured to control the servo motor based on the determined operation method. When speed at the time of the fixed position stop command is higher than the first speed, the fixed position stop operation determination unit decelerates the speed to a second speed lower than the first speed and creates a move command for stopping at a target position based on an acceleration rate during deceleration or a predetermined acceleration rate and, when speed at the time of the fixed position stop command is lower than the first speed, decelerates the speed by a predetermined deceleration rate and creates a move command for stopping at a target stop position, and the fixed position stop control unit controls the servo motor based on the move command.

Claims

1. A servo motor controller used for controlling a servo motor configured to drive a rotating shaft and for controlling a fixed position stop operation, the servo motor controller comprising: a speed detection unit configured to detect speed of the rotating shaft; a speed setting storage unit configured to set and store a first speed and a second speed lower than the first speed; a speed comparison unit configured to compare speed at a time of a fixed position stop command with the first speed; a fixed position stop operation determination unit configured to determine an operation method at the time of the fixed position stop command based on a result of comparison by the speed comparison unit; and a fixed position stop control unit configured to control the servo motor based on an operation method determined by the fixed position stop operation determination unit, the fixed position stop operation determination unit including: a speed command creation unit and a move command creation unit configured to, when the result of comparison indicates that speed at the time of the fixed position stop command is equal to or higher than the first speed, create a first speed command for decelerating to the second speed at a maximum torque and a first move command for stopping at a target position based on an acceleration rate during deceleration determined from the speed detected by the speed detection unit or a predetermined acceleration rate set in advance; and, when the result of comparison indicates that speed at the time of the fixed position stop command is lower than the first speed, create a second speed command for decelerating at a predetermined deceleration rate and a second move command for stopping at a target stop position based on the speed command, the fixed position stop control unit controlling the servo motor based on the first speed command and the first move command or based on the second speed command and the second move command created by the speed command creation unit and the move command creation unit.

2. The servo motor controller according to claim 1, wherein: the servo motor is an induction motor, the fixed position stop operation determination unit further includes: a current detection unit configured to detect current of the induction motor; and a magnetic flux calculation unit configured to determine magnetic flux from a current value detected by the current detection unit, and when speed at the time of the fixed position stop command is lower than the first speed and is to be decelerated by the predetermined deceleration, the speed command creation unit and the move command creation unit create the second speed command for decelerating by the predetermined deceleration rate obtained by correcting the deceleration rate set in advance based on magnetic flux at the start of deceleration, and the second stop command for stopping at a target stop position based on the second speed command.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a block diagram illustrating a controller for a servo motor according to a first embodiment according to one aspect.

(2) FIG. 2 is a diagram illustrating fixed position stop operation control when using a controller for a servo motor according to one aspect.

(3) FIG. 3 is a flowchart illustrating fixed position stop operation control when using the controller for a servo motor according to the first embodiment according to one aspect.

(4) FIG. 4 is a block diagram illustrating a controller for a servo motor according to a second embodiment according to one aspect.

(5) FIG. 5 is a flowchart illustrating fixed position stop operation control when using the controller for a servo motor according to the second embodiment according to one aspect.

DETAILED DESCRIPTION OF THE INVENTION

(6) A controller for a servo motor according to one embodiment will be described below with reference to FIGS. 1 to 5.

(7) The present embodiment relates to a servo motor controller that controls a servo motor (rotating shaft of industrial machine) that drives a spindle of a machine tool, e.g., suitably controls an orientation (stopping at a particular position) operation of stopping a spindle position at a particular position at which the spindle can be replaced when it is time to replace a tool. The servo motor controller according to the present disclosure need only be able to control the orientation operation of an industrial machine including a servo motor (rotating shaft) and is not limited to controlling a machine tool. The servo motor controller may be applied to drive control of a servo motor in another type of industrial machine, such as a robot, a transport machine, a measurement instrument, a testing device, a pressing machine, a press-fitting machine, a printer, a die casting machine, an injection molding machine, a food preparation machine, a packaging machine, a welding machine, a cleaning machine, a painting machine, an assembly device, a mounting machine, a woodworking machine, a sealing device, or a cutting tool.

(8) First, as illustrated in FIG. 1, a control system of the machine tool according to the present embodiment includes a servo motor controller 1 used to control a servo motor 2 that drives the spindle (rotating axis) of a machine tool based on a computerized numerical control (CNC) command output from a command unit, and control an orientation (stopping at a particular position) operation.

Example 1

(9) As illustrated in FIGS. 1 and 2, the servo motor controller 1 according to a “First example” of the present embodiment includes a speed detection unit 3 configured to detect speed of a spindle driven by the servo motor 2, a speed setting storage unit 4 configured to set and store a first speed (parameter) V1 and a second speed (target speed: parameter) V2 lower than the first speed V1, a speed comparison unit 5 configured to compare speed at the time of the orientation command (at the time of the fixed position stop command) with the first speed V1, a fixed position stop operation determination unit 6 configured to determine an operation method of the servo motor 2 at the time of the orientation command based on results of comparison by the speed comparison unit 5, and a fixed position stop control unit 7 configured to control the servo motor 3 based on the operation method determined by the fixed position stop operation determination unit 6. As illustrated in FIG. 1, in the present embodiment, the fixed position stop operation determination unit 6 is configured to include the speed comparison unit 5.

(10) As illustrated in FIGS. 1 and 2, the fixed position stop operation determination unit 6 includes an acceleration rate calculation/setting unit 8 configured to determine an acceleration rate based on speed detected by the speed detection unit 3 or set and store a predetermined acceleration rate in advance, a speed command creation unit 9 configured to create a speed command, and a move command creation unit 10 configured to create a move command.

(11) When the speed comparison unit 5 obtains a result of comparison indicating that the speed at the time of the orientation stop command is higher than the first speed V1, the speed command creation unit 9 and the move command creation unit 10 create a speed command for decelerating to the second speed V2 using maximum torque and a move command for stopping at a target position based on an acceleration rate during deceleration calculated by the acceleration rate calculation/setting unit 8 or a predetermined acceleration rate set in advance.

(12) When the speed comparison unit 5 obtains a result of comparison indicating that the speed at the time of the orientation stop command is lower than the first speed V1, the speed command creation unit 9 and the move command creation unit 10 create a speed command for decelerating at a predetermined deceleration rate and a move command for stopping at a target, stop position based on the speed command.

(13) In the servo motor controller 1 according to the present embodiment, the fixed position stop control unit 7 controls the servo motor 2 based on the speed command created by the speed command creation unit 9 and the move command creation unit 10 and the move command.

(14) More specifically, as illustrated in FIG. 3 (FIGS. 1 and 2), when controlling the orientation operation using the servo motor controller 1 of the “First Example” according to the present embodiment, when an orientation command (fixed position stop command) is output from the CNC, the speed comparison unit 5 checks whether rotation speed of the spindle at the time of the orientation command detected by the speed detection unit 3 is more than or equal to the first speed V1 set and stored in the speed setting storage unit 4 (STEP 1).

(15) If the result of comparison by the speed comparison unit 5 is less than the first speed V1, the move command created by the move command creation unit 10 is output, and the fixed position stop control unit 7 controls operation of the servo motor 2 based on a predetermined acceleration rate A set and stored in advance in the acceleration rate calculation/setting unit 8, i.e., controls deceleration of rotation speed of the spindle and stops the industrial machine at a fixed position (STEP 2).

(16) If the result of comparison by the speed comparison unit 5 is equal to or more than the first speed V1, the speed command creation unit 9 creates the speed command aiming for the second speed (target speed) V2 set and stored in the speed setting storage unit 1, and the move command creation unit 10 creates the move command for stopping at the target position based on an acceleration rate during deceleration determined by the acceleration rate calculation/setting unit 8 or a predetermined acceleration rate set in advance.

(17) At this time, because the speed decelerates to the second speed V2 shortly after the orientation command is output, the speed command is created such that the speed decelerates to the second speed V2 at maximum torque unique to the servo motor 2.

(18) The maximum torque unique to the servo motor 2 varies depending on differences in inertia. Thus, the speed command is created such that the speed decelerates to the second speed V2 at an appropriate maximum torque according to the state at the time of the orientation command.

(19) The move command created as described above (move command based on the speed command) is output to the fixed position stop control unit 7 to control drive of the servo motor (STEP 3). Further, the acceleration rate during deceleration based on the move command is determined by the acceleration rate calculation/setting unit 8 (STEP 4). Then, whether the speed detected by the speed detection unit 3 has reached the second speed V2 is confirmed (STEP 5).

(20) If the speed detected by the speed detection unit 3 has not reached the second speed V2, deceleration drive control for the servo motor 2 based on the move command is continued, and an acceleration rate during deceleration is calculated to check if the speed has reached the second speed V2 (STEP 3, STEP 4, STEP 5).

(21) If the speed detected by the speed detection unit 3 has reached the second speed 72, deceleration control based on the move command is stopped and, at this time, a move command for stopping at a fixed position based on an acceleration rate Ad detected at this time is created, drive of the servo motor 2 is controlled based on the move command, and the industrial machine is stopped at the fixed position (STEP 6).

Example 2

(22) As illustrated in FIG. 4, if the servo motor 2 is an induction machine, the servo motor controller 1 of a “Second Example” according to the present embodiment includes, in addition to the speed detection unit 3, the speed setting storage unit 4, the speed comparison unit 5 (fixed position stop operation determination unit 6), the fixed position stop control unit 7, the acceleration rate calculation/setting unit 8 (fixed position stop operation determination unit 6), the speed command creation unit 9 (fixed position stop operation determination unit 6), the move command creation unit 10 (fixed position stop operation determination unit 6), a current detection unit 11 configured to detect a current value of the servo motor 2 and a magnetic flux calculation unit 12 configured to determine magnetic flux from the current value detected by the current detection unit 11.

(23) If the speed at the time of the orientation command is less than the first speed V1 and decelerates to a predetermined acceleration, the speed command creation unit 9 and move command creation unit 10 in this case create a speed command for decelerating to a present deceleration obtained by correcting the preset deceleration based on the magnetic flux at the start of deceleration, and a move command for stopping at a target stop position based on the speed command

(24) As illustrated in FIG. 5 (FIGS. 2 and 4), when controlling an orientation operation using the servo motor controller 1 of the “Second Example” according to the present example, first, similar to the “First Example”, when an orientation command (fixed position stop command) is output from a CNC, the speed comparison unit 5 sets a rotating speed of the spindle at the time of the orientation command detected by the speed detection unit 3 in the speed setting storage unit 4 and checks whether the rotating speed is more than or equal to the stored first speed V1 (STEP 1).

(25) If the result of comparison by the speed comparison unit 5 is more than or equal to the first speed V1, the speed command creation unit 9 creates a speed command aiming for the second speed (target speed) V2, and the move command creation unit 10 creates a move command for stopping at a target position based on an acceleration rate during deceleration or a predetermined acceleration rate stored in advance.

(26) The created move command (move command based on the speed command) is output to the fixed position stop control unit 7 to control drive of the servo motor 2 (STEP 3). Then, an acceleration rate during deceleration is determined based on this move command (STEP 4) and whether the speed detected by the speed detection unit 3 has reached the second speed V2 is checked (STEP 5).

(27) If the speed detected by the speed detection unit 3 has not reached the second speed V2, acceleration drive control for the servo motor 2 based on the move command is continued, and an acceleration rate during deceleration is calculated to check if the speed has reached the second speed V2 (STEP 3, STEP 4, STEP 5).

(28) If the speed detected by the speed detection unit 3 has reached the second speed V2, a move command for stopping at a fixed position based on the acceleration rate Ad detected at this time is created, drive of the servo motor 2 is controlled based on the move command, and the industrial machine is stopped at the fixed position (STEP 6).

(29) If the result of comparison by the speed comparison unit 5 is less than the first speed V1, whether the servo motor 2 is an induction motor is checked (STEP 7). If the server motor 2 is not an induction motor, the move command created by the move command creation unit 10 is output, and the fixed position stop control unit 7 controls operation of the server motor 2 based on the predetermined acceleration rate A set and stored in advance in the acceleration rate calculation/setting unit 8, i.e., controls deceleration of rotation speed of the spindle and stops the industrial machine at a fixed position (STEP 2).

(30) If the server motor 2 is an induction motor and if the speed at the time of the orientation command is lower than the first speed V1 and is to be decelerated to the predetermined deceleration rate, the speed command creation unit 9 and the move command creation unit 10 create a speed command for decelerating the speed at a predetermined deceleration rate (deceleration rate determined by a predetermined acceleration rate A′) obtained by correcting the deceleration set and stored in advance (predetermined acceleration) based on the magnetic flux at the start of deceleration and a move command for stopping at a target stop position based on the speed command.

(31) Then, drive of the servo motor 2 is controlled based on the move command to stop at a fixed position (STEP 8).

(32) Thus, in the servo motor controller 1 according to the present embodiment, it is possible to quickly and effectively stop an industrial machine at a particular position even when operation speed of the industrial machine when an orientation command is output is relatively slow. In other words, an orientation operation can be performed more quickly.

(33) While an embodiment of a servo motor controller has been described above, the present invention is not limited to the above-described embodiment and may be changed as required without departing from the gist of the present invention.

EXPLANATION OF REFERENCE NUMERALS

(34) 1 Servo motor controller

(35) 2 Servo motor

(36) 3 Speed detection unit

(37) 4 Speed setting storage unit

(38) 5 Speed comparison unit

(39) 6 Fixed position stop operation determination unit

(40) 7 Fixed position stop control unit

(41) 8 Acceleration calculation/setting unit

(42) 9 Speed command creation unit

(43) 10 Move command creation unit

(44) 11 Current detection unit

(45) 12 Magnetic flux calculation unit