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1. 发明授权

US10353374B2 Servo controller, control method, and computer-readable recording medium for machine tool used for oscillating cutting 有权
公开(公告)号：US10353374B2
公开(公告)日：2019-07-16
申请号：US15470093
申请日：2017-03-27
申请人： FANUC CORPORATION
发明人： Naoto Sonoda , Makoto Haga
IPC分类号： G05B19/402 , G05B19/408 , G05B19/4093 , G05B19/4099 , G05B19/416 , G05B19/418 , G05B19/18
摘要： A controller including: a positional deviation calculating unit that calculates positional deviation using a position command directed to a servo motor for driving a cutting tool, etc., and a position feedback value corresponding to the position of the cutting tool, etc.; an oscillation command calculating unit that calculates an oscillation command using the position command and a spindle axis angle of the rotated work, etc., or using the position feedback value and the spindle axis angle; an oscillation offset calculating unit that calculates an offset for the oscillation command using the positional deviation, the oscillation command, and the spindle axis angle; and a driving unit that determines a drive signal for the servo motor based on the positional deviation, the oscillation command, and the oscillation offset, and outputs the drive signal.

2. 发明申请

US20170075337A1 CONTROL DEVICE FOR MACHINE TOOL HAVING A PLURALITY OF AXES 有权
标题翻译：具有多个轴的机床工具的控制装置
公开(公告)号：US20170075337A1
公开(公告)日：2017-03-16
申请号：US15265930
申请日：2016-09-15
申请人： FANUC CORPORATION
发明人： Kouki Kameta , Naoto Sonoda
IPC分类号： G05B19/35 , G05B19/402
CPC分类号： G05B19/35 , G05B19/402 , G05B2219/34015 , G05B2219/41015 , G05B2219/49055 , G05B2219/49384
摘要： A control device for a machine tool for cutting a rotationally-symmetric workpiece by a tool, includes a machining command making unit for making a machining command for an auxiliary motor based on rotation speeds of the workpiece and the tool, and feed rates of the tool and the workpiece, an oscillation command making unit for making an oscillation command for the auxiliary motor, based on the rotation speeds and the feed rates, so that the oscillation command is asynchronous with the rotation speed of the workpiece around the axis of rotation, and so that the tool intermittently cuts the workpiece, an addition unit for adding the oscillation command to the machining command, and a control unit for controlling the auxiliary motor based on the machining command to which the oscillation command has been added.
摘要翻译：一种用于通过工具切割旋转对称的工件的机床的控制装置，包括：加工指令制造单元，用于根据工件和工具的转速和辅助马达的加工指令进行加工指令;以及刀具的进给速度和工件，用于根据转速和进给速度对辅助电动机进行振荡指令的振荡指令制作单元，使得振荡指令与工件围绕旋转轴线的转速异步，以及使得工具间歇地切割工件，用于将加速指令加到加工指令的加法单元，以及用于根据添加了振荡指令的加工命令来控制辅助马达的控制单元。

3. 发明授权

US09367045B2 Servo control system for grinding inclined surface 有权
标题翻译：伺服控制系统，用于磨削倾斜面
公开(公告)号：US09367045B2
公开(公告)日：2016-06-14
申请号：US14555948
申请日：2014-11-28
申请人： FANUC Corporation
发明人： Naoto Sonoda
IPC分类号： G05B19/18 , G05B1/03
CPC分类号： G05B1/03 , G05B19/4141 , G05B2219/45156 , G05B2219/50216
摘要： Servo control system includes a first repeat control unit for a first servo motor based on a reference angle and a first position error between a swing command and a position of the first servo motor, a multiplication unit which multiplies the swing command by a ratio according to a tilt angle of an inclined surface of a material to be ground to calculate a swing command after multiplication, and a second repeat control unit for a second servo motor based on a reference angle and second position error between the swing command after multiplication and a position of the second servo motor. The first and the second position error are respectively corrected, and driving of the first and the second servo motors are controlled based on the corrected first and second position error, thereby grinding the inclined surface of the material.
摘要翻译：伺服控制系统包括基于参考角度的第一伺服电动机的第一重复控制单元和摆动指令与第一伺服电动机的位置之间的第一位置误差;乘法单元，其使摆动指令乘以根据要研磨的材料的倾斜表面的倾斜角度，以计算相乘后的摆动指令，以及用于第二伺服电动机的第二重复控制单元，其基于参考角度和乘法后的摆动指令与位置之间的第二位置误差的第二伺服电机。分别校正第一和第二位置误差，并且基于校正的第一和第二位置误差来控制第一和第二伺服电机的驱动，从而研磨材料的倾斜表面。

4. 发明授权

US11541500B2 Numerical control device, program recording medium, and control method 有权
公开(公告)号：US11541500B2
公开(公告)日：2023-01-03
申请号：US16910996
申请日：2020-06-24
申请人： FANUC CORPORATION
发明人： Ryou Morihashi , Naoto Sonoda
IPC分类号： B23Q15/013 , B23Q15/08 , G05B19/416 , B23Q17/10 , B23Q17/22
摘要： A numerical control device according to an aspect of the present disclosure includes: a reference speed calculation unit configured to calculate a spindle speed which is a rotation number of the spindle in accordance with a machining program, and a feed speed which is a movement speed of the feed axis in accordance with the machining program; an oscillation command calculation unit configured to calculate an oscillation command, which is a periodic variation component superimposed on a command of the feed axis, based on the spindle speed and the feed speed, as well as an oscillation frequency magnification set in advance; a setting acquisition unit configured to acquire an upper limit value for frequency of the oscillation command; and an adjustment unit configured to adjust the frequency of the oscillation command, or adjust at least either of the spindle speed and the oscillation frequency magnification, so that the frequency of the oscillation command does not exceed the upper limit value.

5. 发明授权

US11453094B2 Servo controller 有权
公开(公告)号：US11453094B2
公开(公告)日：2022-09-27
申请号：US16817194
申请日：2020-03-12
申请人： FANUC CORPORATION
发明人： Ryou Morihashi , Kenta Yamamoto , Naoto Sonoda
IPC分类号： B23Q15/007 , B23Q15/12 , G05B19/414 , G05B19/4062
摘要： A servo controller 20 includes: an oscillation command generating unit 23 that generates an oscillation command for causing the workpiece W and the tool 14 to relatively oscillate; at least one of a position control unit 22 that generates a position command for causing the workpiece W and the tool 14 to relatively move, a speed control unit 24 that generates a speed command for causing the workpiece W and the tool 14 to relatively move, and a current control unit 25 that generates a torque command for driving the plurality of axes; and a gain changing unit 21 that changes a control gain, in which the oscillation command generating unit 23 transmits a signal outputted when oscillating operation is started to the gain changing unit 21, and the gain changing unit 21 changes the control gain.

6. 发明授权

US10444733B2 Adjustment device and adjustment method 有权
公开(公告)号：US10444733B2
公开(公告)日：2019-10-15
申请号：US15944308
申请日：2018-04-03
申请人： FANUC CORPORATION
发明人： Satoshi Ikai , Naoto Sonoda , Ryoutarou Tsuneki
IPC分类号： G06N20/00 , G05B13/00 , G05B15/00 , G05B19/4093 , G06N3/08 , G05B13/02 , G05B19/18
摘要： An adjustment device that controls a control device controlling motors driving at least two axes, and a machine learning device performing machine learning with respect to the control device. The adjustment device includes: a start command output unit configured to output a start command for starting the machine learning device; a feedback information. acquisition unit configured to acquire feedback information acquired on the basis of an evaluation program executed by the control device, from the control device; a feedback information transmission unit configured to transmit the feedback information acquired, to the machine learning device; a parameter setting information acquisition unit configured to acquire control parameter setting information acquired by machine learning using the feedback information, from the machine learning device; and a parameter setting information transmission unit configured to transmit the control parameter setting information acquired, to the control device.

7. 发明授权

US09751178B2 Servo control apparatus having function of sensorless controlled stop 有权
公开(公告)号：US09751178B2
公开(公告)日：2017-09-05
申请号：US15145994
申请日：2016-05-04
申请人： FANUC CORPORATION
发明人： Kouki Kameta , Naoto Sonoda
IPC分类号： H02P6/18 , B23Q5/58 , B23Q5/10 , G05B19/4062
CPC分类号： G05B19/4062 , B23Q5/10 , B23Q5/58 , B23Q11/0092 , B23Q15/08 , G05B2219/34013 , G05B2219/42329
摘要： A servo control apparatus includes a sensor unit for detecting a motor speed; an amplifier for driving a motor and feeding back a current; a magnetic pole position detector; a position controller for outputting a speed command; a speed controller for outputting a current command; a current controller for outputting a voltage command; a speed estimator for calculating an estimated speed from the voltage command; a magnetic pole position estimator for calculating an estimated magnetic pole position from the estimated speed; a sensor malfunction detector; a stop position command generator; and a first switch for switching from the position command to the stop position command, a second switch for switching from the magnetic pole position to the estimated magnetic pole position, and a third switch for switching from the detected speed to the estimated speed, when the sensor malfunction detector has detected a malfunction.

8. 发明授权

US09523975B2 Servo controller for reducing synchronous error in synchronous machining 有权
标题翻译：伺服控制器，用于减少同期加工中的同步误差
公开(公告)号：US09523975B2
公开(公告)日：2016-12-20
申请号：US14680658
申请日：2015-04-07
申请人： FANUC Corporation
发明人： Naoto Sonoda
IPC分类号： G05B15/02 , G05B1/01 , G05B11/01
CPC分类号： G05B15/02 , G05B1/01 , G05B11/011
摘要： A servo controller includes: a first position feedback acquisition unit; a second position feedback acquisition unit; a converter converting the acquired position feedback of the first shaft to a value corresponding to the position feedback of the second shaft based on a synchronous ratio; a synchronous error calculator calculating synchronous error which is difference between the converted position feedback of the first shaft and the position feedback of the second shaft; a positional deviation calculator calculating a positional deviation of the second shaft which is difference between the position command for the second shaft and the position feedback of the second shaft; a filtering processor extracting components in a predetermined frequency range from the difference between the synchronous error and the positional deviation of the second shaft; and, a positional deviation corrector correcting the positional deviation of the second shaft by use of the output from the filtering processor.
摘要翻译：伺服控制器包括：第一位置反馈获取单元; 第二位置反馈获取单元; 转换器，其基于同步比将所述第一轴的所获取的位置反馈转换成对应于所述第二轴的位置反馈的值; 同步误差计算器计算同步误差，其是第一轴的转换位置反馈和第二轴的位置反馈之间的差; 计算所述第二轴的位置偏差的位置偏差计算器，所述位置偏差是所述第二轴的位置指令与所述第二轴的位置反馈之间的差; 滤波处理器从所述同步误差和所述第二轴的位置偏差之间的差提取预定频率范围内的分量; 以及位置偏差校正器，通过使用来自滤波处理器的输出校正第二轴的位置偏差。

9. 发明授权

US09471055B2 Servo control device reducing deflection of front end point of machine 有权
标题翻译：伺服控制装置减少机器前端的偏转
公开(公告)号：US09471055B2
公开(公告)日：2016-10-18
申请号：US14728494
申请日：2015-06-02
申请人： FANUC CORPORATION
发明人： Naoto Sonoda
IPC分类号： H02P6/00 , G05B19/404 , G05B19/19
CPC分类号： G05B19/404 , G05B19/19 , G05B2219/41139
摘要： A servo control device having a position control unit and a speed control unit to control a front end point of a machine of a machine tool, comprising: a position detecting unit for detecting a position of a motor; a first position error calculating unit for calculating a first position error based on a position command to a motor and position feedback from the position detecting unit; a torsion estimating unit for estimating an amount of torsion of the front end point of the machine; a second position error calculating unit for adding the first position error and estimated amount of torsion to calculate a second position error; a coefficient adapting unit for determining a coefficient of feedforward control so as to minimize the second position error; and a higher order feedforward control unit for performing feedforward control by using the determined coefficient and the position command.
摘要翻译：一种具有位置控制单元和速度控制单元的伺服控制装置，用于控制机床的机器的前端，包括：位置检测单元，用于检测电动机的位置; 第一位置误差计算单元，用于基于对电动机的位置命令和来自位置检测单元的位置反馈来计算第一位置误差; 用于估计机器的前端点的扭转量的扭转估计单元; 第二位置误差计算单元，用于将第一位置误差和估计扭转量相加以计算第二位置误差; 系数适应单元，用于确定前馈控制系数，以使第二位置误差最小化; 以及用于通过使用确定的系数和位置命令来执行前馈控制的高阶前馈控制单元。

10. 发明申请

US20160291573A1 SERVO CONTROL APPARATUS THAT PERFORMS LEARNING CONTROL BY CHANGING REFERENCE AXIS 审中-公开
标题翻译：通过改变参考轴进行学习控制的伺服控制装置
公开(公告)号：US20160291573A1
公开(公告)日：2016-10-06
申请号：US15076993
申请日：2016-03-22
申请人： FANUC CORPORATION
发明人： Kouki Kameta , Naoto Sonoda
IPC分类号： G05B19/402 , G06N99/00
CPC分类号： G05B19/402 , G05B19/19 , G05B2219/34013 , G05B2219/42188 , G05B2219/50216
摘要： A servo control apparatus for a machine that performs machining by causing a plurality of synchronizing axes to operate cooperatively in synchronized relationship with a reference axis, the servo control apparatus comprising: a position detection unit for detecting at least one of the position of the servo motor and the position of a driven body; a position error calculation unit for calculating an error between the position command and the position detected by the position detection unit; a reference axis position acquisition unit for acquiring the positions of a plurality of reference axes; a reference axis selection unit for selecting one reference axis based on a machining condition of the driven body from among the plurality of reference axes whose positions have been acquired; and a learning control unit for performing learning control using an angle synchronization method, based on the error and the position of the selected reference axis.
摘要翻译：一种伺服控制装置，用于通过使多个同步轴以与参考轴同步的方式协同工作进行加工的机器，所述伺服控制装置包括：位置检测单元，用于检测所述伺服电动机的位置中的至少一个和被驱动体的位置; 位置误差计算单元，用于计算位置指令与位置检测单元检测到的位置之间的误差; 参考轴位置获取单元，用于获取多个参考轴的位置; 参考轴选择单元，用于基于从已经获取的位置的多个参考轴中的从动体的加工条件来选择一个参考轴; 以及学习控制单元，用于基于所选择的参考轴的误差和位置，使用角度同步方法执行学习控制。

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