公开(公告)号：EP0943973A1

公开(公告)日：1999-09-22

申请号：EP97944150.8

申请日：1997-10-16

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： NAKAMURA, Hiroshi, KK Yaskawa Denki ,  FUTAMI, Shigeru, KK Yaskawa Denki

IPC分类号： G05D3/00

CPC分类号： G05B19/4141 ,  G05B2219/34095 ,  G05B2219/50218

摘要： There is provided a synchronous control appratus of high synchronous control accuracy, and the synchronous control accuracy is seldom deteriorated even if input of the position command and detection of the main shaft position are delayed. The synchronous control appratus comprises a command generating device 1, a main shaft device 2, and a subsidiary shaft device 3. The command generating device 1 includes a memory 7 for storing the main shaft position command increments inputted into a plurality of time points from the past to the present, an output means 7' for outputting the main shaft position command increment Δr s (i) inputted before (M-1) times of samplings in the values stored in the memory 7, a memory 8 for storing the main shaft position increments inputted into a plurality of time points from the past to the present, a calculator 9 for finding prediction values of a plurality of main shaft position increments for several times of future samplings by the dynamic characteristic model of the main shaft device including the delay of d times of samplings and also by the stored main shaft position command increments and the main shaft position increment, and a converter 10 for finding a plurality of subsidiary shaft future position command increments by a plurality of prediction values of the main shaft position increments obtained by the calculator.

摘要翻译： 提供了具有高同步控制精度的同步控制装置，即使位置指令的输入和主轴位置的检测被延迟，同步控制精度也很少劣化。 同步控制装置包括命令发生装置1，主轴装置2和副轴装置3.命令生成装置1包括：存储器7，用于存储输入到多个时间点的主轴位置指令增量; 输出装置7'，用于输出在存储器7中存储的值中的采样之前（M-1）次之前输入的主轴位置指令增量DELTA rs（i），用于存储主轴的存储器8 输入到从过去到现在的多个时间点的位置增量;计算器9，用于通过包括延迟的主轴装置的动态特性模型来找到多次未来取样的多个主轴位置增量的预测值 的采样次数以及存储的主轴位置指令增量和主轴位置增量，以及用于找到多个子系统的转换器10 后方未来位置指令通过由计算器获得的主轴位置增量的多个预测值增加。