Position control apparatus
A position control apparatus includes an inversion detector which detects an inversion of a position command and generates an inversion detection signal, a deflection characteristic storage unit which stores a deflection characteristic representing an amount of deflection with respect to a torque command, and an inversion correction calculator which calculates an inversion correction amount. The inversion correction calculator stores a torque command immediately before the inversion, and calculates the inversion correction amount from a difference between an amount of deflection immediately before inversion in which the stored torque command is checked with the deflection characteristic, and an amount of deflection after the inversion in which a value obtained by inverting a sign of the stored torque command is checked with the deflection characteristic. A value obtained by adding the inversion correction amount to the position command value is used for position error calculation.
1. A position control apparatus that controls a position of a movable part of a machine tool based on a position command value from an upper-level, numerical control apparatus, the position control apparatus comprising:
a position control loop that acquires a position of the movable part, and that executes a position feedback using a value based on the acquired position of the movable part as a position feedback value; and
a velocity control loop that calculates a torque command value for a motor, which drives the movable part via a drive force transmission system including a ball screw, based on a velocity command value calculated by the position control loop, and that controls a velocity of the motor, wherein
the position control apparatus further comprises:
an inversion detector that detects an inversion of a direction of the position command value;
a storage unit that stores a deflection characteristic which is a correspondence relationship between the torque command value and an amount of deflection of the drive force transmission system; and
an inversion compensation calculator that acquires the amount of deflection immediately before inversion by applying the deflection characteristic on a torque command value immediately before the inversion, that estimates the amount of deflection immediately after the inversion by applying the deflection characteristic on a value calculated by inverting a sign of the torque command value immediately before the inversion, and that calculates an inversion compensation amount which is a difference between the amount of deflection immediately before the inversion and the estimated amount of deflection, and wherein
when the inversion detector detects the inversion of the direction of the position command value, the position is controlled using, as a new position command value, a value obtained by adding the inversion compensation amount to the position command value.
2. The position control apparatus according to claim 1 , wherein
the position control loop low-pass filter processes a difference between the position of the movable part based on a detection value of a rotary encoder which detects the position of the motor and the position of the movable part based on a detection value of a scale which detects the position of the movable part, and executes the position feedback using, as a position feedback value, a value obtained by adding the low-pass filter processed value to the position of the movable part based on the detection value of the rotary encoder, and
when the inversion detector detects the inversion of the direction of the position command value, the position is controlled further using, as a new position feedback value, a value obtained by adding a value obtained by low-pass filter processing the inversion compensation amount to the position feedback value.
3. The position control apparatus according to claim 1 , wherein
the position control loop acquires the position of the movable part based on a detection value of a rotary encoder which detects the position of the motor, and executes the position feedback using, as a position feedback value, the acquired position of the movable part.