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    • 9. 发明授权
    • Servo controller for reducing synchronous error in synchronous machining
    • 伺服控制器,用于减少同期加工中的同步误差
    • US09523975B2
    • 2016-12-20
    • US14680658
    • 2015-04-07
    • FANUC Corporation
    • Naoto Sonoda
    • G05B15/02G05B1/01G05B11/01
    • G05B15/02G05B1/01G05B11/011
    • 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.
    • 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。