Abstract: The temperature of a molten pool is measured based on an image captured by an infrared camera or the like. A three-dimensional laminating and shaping apparatus include a material ejector that ejects a material of a three-dimensional laminated and shaped object. The three-dimensional laminating and shaping apparatus includes a light beam irradiator that irradiates the ejected material with a light beam. The three-dimensional laminating and shaping apparatus includes an image capturer that captures a molten pool of the material formed by irradiating the ejected material with the light beam. The three-dimensional laminating and shaping apparatus includes a temperature deriving unit that derives a temperature of the molten pool based on a luminance of an image of the molten pool captured by the image capturer.

Abstract: The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device for a machine apparatus is equipped with: a speed control unit for calculating a torque command for the machine apparatus; a friction estimation unit for calculating an estimated value of the friction force produced by the machine apparatus; an amplitude phase adjustment unit for calculating a corrected friction value by multiplying the proportional gain by the friction force estimated by the friction estimation unit; and a correction unit for correcting the torque command by using the corrected friction value calculated by the amplitude phase adjustment unit. Furthermore, the proportional gain is determined on the basis of the gain properties of the transfer function of the machine apparatus from the position command to the position deviation.

Abstract: The temperature of a molten pool is measured based on an image captured by an infrared camera or the like. A three-dimensional laminating and shaping apparatus include a material ejector that ejects a material of a three-dimensional laminated and shaped object. The three-dimensional laminating and shaping apparatus includes a light beam irradiator that irradiates the ejected material with a light beam. The three-dimensional laminating and shaping apparatus includes an image capturer that captures a molten pool of the material formed by irradiating the ejected material with the light beam. The three-dimensional laminating and shaping apparatus includes a temperature deriving unit that derives a temperature of the molten pool based on a luminance of an image of the molten pool captured by the image capturer.

Abstract: The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device for a machine apparatus is equipped with: a speed control unit for calculating a torque command for the machine apparatus; a friction estimation unit for calculating an estimated value of the friction force produced by the machine apparatus; an amplitude phase adjustment unit for calculating a corrected friction value by multiplying the proportional gain by the friction force estimated by the friction estimation unit; and a correction unit for correcting the torque command by using the corrected friction value calculated by the amplitude phase adjustment unit. Furthermore, the proportional gain is determined on the basis of the gain properties of the transfer function of the machine apparatus from the position command to the position deviation.

Abstract: A machine tool includes: a column movably supported on a bed; a saddle movably supported on the column; a ram movably supported on the saddle; moving means for moving the column, the saddle, and the ram respectively along movement axes; a table where a workpiece is placed; table-tilt detecting means for detecting atilt of the table; and controlling means for controlling the moving means based on a detection result from the table-tilt detecting means.

Abstract: A servo control device (20) includes a position feedback unit (21) that performs position feedback control for matching the position of a driven unit to the position command for each of X, Y, and Z axes and a speed feed forward unit (22) that performs speed feed forward control, which is for compensating a delay in the position control for the driven unit due to position feedback control, for each axis. The servo control device (20) changes the position loop gain for each axis to the same value set in advance when the speed feed forward control is OFF, and changes the position loop gain based on the position feedback control to the optimal gain corresponding to each axis when the speed feed forward control of the speed feed forward unit (22) is ON.

Abstract: The purpose of the present invention is to provide a method for estimating load inertia and a method for adjusting control parameters. To achieve this aim, a load position control test is performed in a load position control system, based on a feedback control system (21) and a first position deviation (??) generated at a prescribed load position (?L) is estimated. Then, in a load inertia estimation model (60) which is a model of a load position control system, a load position control simulation of a feed system model is performed based on a feedback control system model, a load inertia (JL) included in the feed system model is adjusted, and the load position control simulation repeated until a second position deviation (??) that generated at this time at the prescribed load position equals the first position deviation.

Abstract: A control unit performs servo control of a table, which is a load, by performing feedback control of a servomotor. An inverse characteristic model performs feedforward compensation control by obtaining a speed compensation signal that compensates for the dynamic errors of a mechanical system. When the rigidity of a screw section of a ball screw along the axial direction changes, a rigidity-change compensation unit changes the rigidity value of the screw section along the axial direction that is included in the compensation control transfer functions of the inverse characteristic model, in accordance with the change in rigidity. Thus, the servo control apparatus compensates for such changes in rigidity and performs accurate servo control of the position of the table, even when the ball screw of a feeding mechanism expands or contracts due to secular change or change in temperature, and rigidity along the axial direction changes.