PC Based

PC

PC

PC

PC

 PC Based CNC

PC
(Man Machine Interface)
MMI
(CPU)
RAM
(DIO)
PC CNC
PC Based

PC Based CNC
CNC
G
CODE
M
CODE

CNC

CNC

I/O PORT

CNC

PC Based CNC

2
1
3


(Path Interpolation)
(Servo Loop
Control)

command generation feedback control loop

r DX2 DY2

DXDY X
Y r

N r VT
V T
N

dx DX N

dy DY N

dxdyXY

R
V R

d T

dx A 1x
dy A 1 y

A cos
d

n 1
n 1

By
Bx

n 1
n 1

B sin
d

dx, dy XY


y d( z - 1)
PG

ZOH

-1

Cv( z )

Gp ( s )

Gh( s )

y(s)

T
T
y( z -1)

PG
-1

Cv( z )

Cv(z )= Kp +K 1 -1
i 1-z
-1

-Ts
1-e
G (s) = s
h
b
G
(s)
=
()
G p (s)
p
s+a
G (S)
h

ab

ZPETC
yd ( z -1 )

r( z-1 )

-1

Gf( z )

Gc( z -1 )

feedforward
controller

closed loop
system

y( z -1 )

ZPETC
case 1:

(z1)

Gc

Bc(z1)
Ac(z1)

y(z1) Gc(z1) r(z1)

Ac(z1)

1
Gf (z )
B (z1)
c

Ac ( z1)

1
1)
r(z )

y
(
z
B ( z1) d

c
y( z1) y ( z1)
d

case 2: Bc (z1) Bc ( z1) Bac ( z1) Bcu ( z1)

Bac ( z1)

B (z
Gc( z1) c

Bcu ( z1)

1) Bu ( z1)

Ac ( z1)

Gf ( z1)

y(z1) Gc(z1) r(z1)

Ac ( z1) Bcu ( z)
Bac ( z1)[ Bcu (1)]2

Ac ( z1) Bcu ( z)
y ( z1)

Bac ( z1)[ Bcu (1)]2 d

y( z1) Bcu ( z1) Bcu ( z)

u (1)]2
y ( z1)
[
B
c
d
r ( z1)

y( z1) yd ( z1)

(Phase Shift)

y( z1) y ( z1)
d


DVAFF Controller
FFA( z - 1)

FFV( z - 1)

-1

yd ( z )
PG

ZOH

-1

Cv( z )

Gh ( s )

Gp( s )

y(s)

T
T
y( z -1)

DVAFF
y( z1)

y ( z1)
d

1 PG Cvz 1 Cvz 1 FFV( z 1 ) FFV( z 1 ) FFA( z 1 ) G i G p G h z 1

1
1
1
1
yd z
1 Cv z G p G h z PG G i G p G h z
y z


FFA( z1)

FFA( z - 1)

v (s)

vd ( z -1)

ZOH

-1

Cv( z )

Gp( s )

Gh ( s )

-1
-1
-1
-1
Cv
z

FFA
z

G
G
z
V
z

p h

-1
-1
-1
V
z
1

Cv
z

G
G
z
p

d
h

1
FFA
z

1
1
G pG
z
h

1
FFV
z

1
1
FFV z1 C z1

G
G
G
p h z
1

V
i
G pG z
h

1 C z1 G pG z1

V
h

1
G pG
z
1
h
FFV
z

G G G
z1
p

i
h

 ZPETC DVAFF
-1

yd ( z )
FF( z - 1)

PG

ZOH

-1

Cv( z )

Gp ( s )

Gh( s )

y(s)

T
T
y( z -1)

ZPETC
1 Cv z1 G pG z1 PG G G pG z1
h
i
h

FF z1
PG Cv z1 G G pG z1
i
h

DVAFF
ZPETC


Floppy Disk

Plotter

HP3562A
Dynamic Signal Analyzer
Torque Command
(Swept Sine)

Speed(Voltage)

ONO SOKKI
FV-900
F/V Converter

Panasonic
AC Servo Driver

AC Servo
Motor
Encoder

HP3562A

ONO SOKKI FV-900 F/V

5
1
2
4


X
Y

G'p (s) = 33.518

s+14.451
G'p (s) = 32.07
s+13.823

F/V
24000 Pulse/sec-Volt)
D/A
10/2048 (10 Volt 12 Bit D/A)

G p 3927.8906
s 14.451
Gp 3758.2
s 13823
.


AC Servo
Motor

AC Servo
Motor
Encoder

Current
Controlled
Driver

D/A
D I
Enc oder
Interfac e

Motion Interface
Card

Intel
486

DO

ZPETCDVAFFDVFF (FFA=0)

ZPETCDVAFFDVFF (FFA=0)

 FFV

FFV DVAFF

FFV DVAFF

ZPETCDVAFFDVFF (FFA=0)

ZPETCDVAFFDVFF (FFA=0)

ZPETCDVAFFDVFF (FFA=0)

ZPETCDVAFFDVFF (FFA=0)

 FFV

FFV DVAFF

FFV DVAFF

ZPETCDVAFFDVFF (FFA=0)

ZPETCDVAFFDVFF (FFA=0)

 FFV

FFV DVAFF

FFV DVAFF

ZPETCDVAFFDVFF (FFA=0)

ZPETCDVAFFDVFF (FFA=0)

 FFV

FFV DVAFF

FFV DVAFF

PC Based CNC
CNC

CNC

CNC

Mtr 1 Cmd Vel (cts/sec)

10000

5000

0
0

-5000

-10000

Time (second)

Vx

Vx

t
Vy

Vy

t
Non-Blended

t
Blended

Execute

"R"

Calculate
1 Time
Calculate

3
2

time

()

TS = 0

TA

TA

TA
TS

(: msec)
S (: %)

0 < TS<100
Ts=TA*TS/2

Ts

Ts

Ta

Ts

Ts
Ta

TS= 100

Ts

Ts
2*Ts

Ts

Note that TA=2Ts

Ts
2*Ts

TA

TM orDP/F

time
TA

TA

TM orDP/F

TA

TM orDP/F

time
TA

TA

TM orDP/F

TA

TM orDP/F

time
TA

TA

TA
TA

TM orDP/F

TA

TM orDP/F

TM orDP/F

time