Track control apparatus
A track control apparatus includes an interpolation/acceleration and deceleration calculating unit that interpolates a commanded route and calculates a post-acceleration and deceleration interpolation route, an axis distributing unit that generates a position command for each movable axis from the post-acceleration and deceleration interpolation route, a servo-response calculating unit that calculates a servo response to the position command, a tangential-direction-servo-response calculating unit that obtains a tangential direction servo response from the post-acceleration and deceleration interpolation route, a reference-point generating unit that obtains a reference point from the tangential direction servo response, a position-vector correcting unit that corrects the position command for each movable axis to output a post-correction position command for each movable axis, and a servo control unit that outputs motor driving torque such that each movable axis follows the corresponding post-correction position command.
1. A track control apparatus that controls a track of a movable part by simultaneously controlling motors for a plurality of movable axes, the track control apparatus comprising:
a hardware processor configured to function as an interpolation/acceleration and deceleration calculator configured to interpolate a given commanded route and executes an acceleration and deceleration calculation along the commanded route, thereby calculating a post-acceleration and deceleration interpolation route;
an axis distributor configured to generate a position command for each movable axis from the post-acceleration and deceleration interpolation route;
a servo-response calculator configured to calculate, for each movable axis, a servo response of each movable axis on the basis of the position command for each movable axis;
a tangential-direction-servo-response calculator configured to calculate a tangential direction servo response of a tangential direction movement amount on the basis of the post-acceleration and deceleration interpolation route;
a reference-point generator configured to calculate a correction reference point from the tangential direction servo response;
a position-vector corrector configured to calculate, on the basis of the servo response of each movable axis and the correction reference point, a correction vector for suppressing a track error and corrects the position command for each movable axis with the correction vector, thereby outputting a post-correction position command for each movable axis; and
a servo controller configured to output motor driving torques to the motor for each movable axis respectively such that a position of each movable axis follow the post-correction position command for each movable axis.
2. The track control apparatus according to claim 1 , wherein the servo-response calculator for each movable axis is independent for each movable axis, and is a filter whose response between an input and an output is the same as a position response of the corresponding movable axis respectively.
3. The track control apparatus according to claim 1 , wherein the tangential-direction-servo-response calculator is a filter whose response between an input and an output is the same as a position response of each movable axis, and receives, as an input, a scalar value of a length along the commanded route from a start point of the commanded route to a post-acceleration/deceleration commanded position.
4. The track control apparatus according to claim 2 , wherein the servo controller is independent for each movable axis, and the position response of the movable axis is a response characteristic of an input of the servo controller of the movable axis to a position signal of the motor for the movable axis.
5. The track control apparatus according to claim 2 , wherein all the position responses for the movable axes are the same.
6. The track control apparatus according to claim 1 , wherein the reference-point generator is configured to calculate, as the correction reference point, a point ahead of a start point of the commanded route by a length obtained by the tangential direction servo response along the post-acceleration and deceleration interpolation route.
7. The track control apparatus according to claim 1 , wherein the position-vector corrector is configured to set, as the correction vector, a vector from a point determined by the servo response for each movable axis to the correction reference point and obtains, as the post-correction position command, a result obtained by adding the correction vector to a point determined by the position command.
8. The track control apparatus according to claim 3 , wherein the servo controller is independent for each movable axis, and the position response of the movable axis is a response characteristic of an input of the servo controller of the movable axis to a position signal of the motor for the movable axis.
9. The track control apparatus according to claim 3 , wherein all the position responses for the movable axes are the same.