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Parameter setting assistance device, parameter setting assistance method, and parameter setting assistance program

An auxiliary device and parameter setting technology, applied in program control, instrumentation, adaptive control, etc., can solve problems such as complex control content and increased computing load

Pending Publication Date: 2021-10-08
ORMON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in this technique, since the inertia is estimated in real time, the control content may become complicated and the calculation load may increase

Method used

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  • Parameter setting assistance device, parameter setting assistance method, and parameter setting assistance program
  • Parameter setting assistance device, parameter setting assistance method, and parameter setting assistance program
  • Parameter setting assistance device, parameter setting assistance method, and parameter setting assistance program

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0105] figure 1 A block diagram of the setting assistance device 10 of the present embodiment is shown. The setting assistance device 10 of this embodiment is a device for assisting the setting of control parameters in the motor control device 30 that controls a motor 41 that responds to a load whose mechanical parameters such as inertia change depending on the posture or situation. The device 42 is driven.

[0106]The motor control device 30 controls the motor 41 based on a command (position command, torque command, or speed command) input from a higher-level device (not shown) such as a PLC (Programmable Logic Controller: Programmable Logic Controller). Hereinafter, the portion constituted by the motor 41 and the load device 42 will be referred to as the controlled object 40 , and the portion constituted by the motor control device 30 and the controlled object 40 will be represented as the servo system.

[0107] In the case of inputting a position command from a higher-lev...

Deformed example 1

[0160] In addition, in the above-mentioned embodiment, the reference posture is set to a posture different from the posture with the largest inertia value and the posture with the smallest inertia value, but in the above-mentioned embodiment, the posture with the smallest inertia value may be set as Baseline posture.

[0161] here, as Figure 13 As shown, the frequency response characteristic under the posture with the minimum inertia value (for example, as in embodiment 1) is to divide the value of each gain of the frequency response characteristic under the reference posture by the minimum ratio Jmin_ratio of the inertia value, so it can be considered that at the reference posture , the posture with the largest inertia value, and the posture with the smallest inertia value have the highest frequency response characteristics. Therefore, it can be considered that the reference posture is set to a posture different from the posture with the largest inertia value and the postur...

Deformed example 2

[0164] Next, Modification 2 of the present invention will be described. In the first embodiment described above, the frequency response characteristic is obtained at the reference posture, and the frequency response characteristic at the minimum inertia value posture is obtained by dividing this by the inertia value minimum ratio min_ratio. In addition, the frequency response characteristic in the inertia value maximum posture is obtained by dividing the frequency response characteristic in the reference posture by the inertia value maximum ratio max_ratio. On the other hand, in addition to the reference posture, the respective frequency response characteristics may also be measured for the minimum inertia value posture and the maximum inertia value posture.

[0165] Figure 16 The frequency response characteristics of the reference posture, the posture with the minimum inertia value, and the posture with the maximum inertia value in Modification 2 are shown. Estimated value...

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Abstract

Provided is a technique which makes it possible to set, more easily and beforehand, control parameters for controlling an object to be controlled including a load device of which mechanical parameters, such as inertia, vary due to attitude or the like. A parameter setting assistance device (10) for assisting the setting of control parameters in a control device (30) is provided with: a first identifying means (14) which, on the basis of frequency response characteristics of an object (40) to be controlled in an attitude maximizing the inertia of a load device (42) and an attitude minimizing the inertia of the load device, identifies an evaluation index value indicating the stability of control by the control device (30) or control performance thereof; and a second identifying means (14) which, on the basis of the evaluation index value identified by the first identifying means (14) with respect to the attitude maximizing the inertia of the load device (42) and to the attitude minimizing the inertia of the load device (42), identifies a composite evaluation index value representing the evaluation index values regarding the attitude of the load device (42) in operation.

Description

technical field [0001] The present invention relates to a parameter setting assistance device, a parameter setting assistance method, and a parameter setting assistance program for assisting parameter value setting for a control device that controls a control object including a load device and a motor. Background technique [0002] In a system such as a serial link robot, mechanical parameters (inertia, etc.) of a load device driven by a motor change according to the posture of the load device. Therefore, various control parameters of a control device of a control object (including a load device and a motor) in such a system must be values ​​capable of satisfactorily controlling the control object regardless of the posture of the load device. However, the prior art related to the control parameter setting of the control device (for example, refer to Patent Document 1) all presupposes that the mechanical parameters of the load device are constant. Therefore, when setting / adj...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04H02P29/00
CPCH02P29/00G05B13/04G05B19/0423G05B19/0426
Inventor 松浦尧信惠木守大野悌
Owner ORMON CORP
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