Adjustment assistance method, program, and adjustment assistance system

Abstract

The present invention enables a user to easily adjust a controller having a resonance frequency and an anti-resonance frequency as inputs in a motor control device for driving a servo motor. An adjustment assistance system (1) comprises a measurement processing unit (21), an input processing unit (22), a calculation processing unit (23), and a display processing unit (24). The measurement processing unit (21) measures the frequency characteristics of a control target (42) and outputs the frequency characteristics as first frequency characteristics. The calculation processing unit (23) calculates the frequency characteristics of the control target (42) on the basis of a plurality of characteristic values inputted to the input processing unit (22), and outputs the frequency characteristics as second frequency characteristics. The display processing unit (24) displays the first frequency characteristics and the second frequency characteristics.

Description

Adjustment support method, program, and adjustment support system

[0001] The present disclosure generally relates to an adjustment support method, a program, and an adjustment support system, and more particularly to an adjustment support method, a program, and an adjustment support system for supporting adjustment of a controller in a motor control device that drives a servo motor, in which a resonance frequency and an anti-resonance frequency of a controlled object are set as control parameters.

[0002] To control a servo motor, various control parameters must be appropriately adjusted (set). For example, the servo control device disclosed in Patent Document 1 has a first-order lag filter, and the first-order lag filter sets a time constant according to the damping constant, anti-resonance frequency, and load inertia of the machine to be driven so as to reduce the influence of the damping characteristics of the machine to be driven, thereby correcting the position command signal. Furthermore, the electric motor control device disclosed in Patent Document 2 determines a model with a small error from the measured value of the frequency characteristics as the actual model, and uses the determination result to adjust the electric motor control device.

[0003] JP 2004-272883 A JP 2003-079174 A

[0004] When adjusting the parameters of a controller, if the measurement accuracy of the frequency characteristics of the controlled object is insufficient, automatic calculation cannot achieve optimal adjustment for accurate operation. In this case, the user must make manual adjustments, but there is no clear guideline for adjustment.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide an adjustment support method, program, and adjustment support system that enable a user to easily adjust a controller that sets the resonant frequency and anti-resonant frequency as control parameters in a motor control device that drives a servo motor.

[0006] An adjustment assistance method according to one aspect of the present disclosure includes a measuring step, an input step, a calculation step, and a display step. In the measuring step, a frequency characteristic of a controlled object in a servo system is measured and output as a first frequency characteristic. In the input step, a user inputs a plurality of characteristic values ​​of the controlled object. The plurality of characteristic values ​​includes a resonant frequency and an anti-resonant frequency of the controlled object. In the calculation step, a frequency characteristic of the controlled object is calculated based on the plurality of characteristic values ​​input in the input step and output as a second frequency characteristic. In the display step, the first frequency characteristic and the second frequency characteristic are displayed.

[0007] A program according to one aspect of the present disclosure is a program readable by a computer system, causing one or more processors of the computer system to execute the adjustment support method.

[0008] An adjustment support system according to one aspect of the present disclosure includes a measurement processing unit, an input processing unit, a calculation processing unit, and a display processing unit. The measurement processing unit measures the frequency characteristics of a controlled object and outputs the measured frequency characteristics as a first frequency characteristic. The servo system includes a motor control device that drives the servo motor based on a position measurement value so as to follow a position command value of the servo motor, and the controlled object. The controlled object includes a servo motor and a load. The input processing unit accepts input of multiple characteristic values ​​of the controlled object by a user. The multiple characteristic values ​​include a resonance frequency and an anti-resonance frequency of the controlled object. The calculation processing unit calculates the frequency characteristics of the controlled object based on the multiple characteristic values ​​input to the input processing unit, and outputs the calculated frequency characteristics as a second frequency characteristic. The display processing unit displays the first frequency characteristic and the second frequency characteristic.

[0009] The present disclosure has the advantage that by displaying the frequency characteristics of the controlled object that are actually measured and the frequency characteristics of the controlled object calculated from the resonant frequency and anti-resonant frequency adjusted by the user, the user can easily adjust the controller that sets the resonant frequency and anti-resonant frequency as control parameters.

[0010] Fig. 1 is a block diagram including an adjustment support system according to one embodiment. Fig. 2 is a diagram showing an image displayed by the adjustment support system according to one embodiment. Fig. 3 is a diagram showing an image displayed by the adjustment support system according to one embodiment. Fig. 4 is an operation flow diagram of the adjustment support system according to one embodiment.

[0011] (Embodiments) An adjustment support method, a program, and an adjustment support system 1 according to embodiments will be described below with reference to the drawings. However, the following embodiment is merely one of various embodiments of the present disclosure. The following embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved.

[0012] 1, an adjustment support system 1 is used together with a servo system 4. The servo system 4 includes a motor control device 41 and a control target 42. The control target 42 includes a servo motor 421 and a load 422.

[0013] The servo motor 421 is used in, for example, semiconductor manufacturing equipment, conveying machines, machine tools, industrial robots, tape feeders, printers, etc. However, the uses of the servo motor 421 are not limited to these.

[0014] The servo system 4 receives a position command signal C1 from the controller 3 as an operation command signal. The motor control device 41 generates a torque command signal C2 including a torque command value based on the position command value. The torque command signal C2 includes a current command value corresponding to the torque to be generated by the servo motor 431. The servo motor 421 is rotationally driven based on the torque command signal C2, and applies torque to the load 422.

[0015] The servo motor 421 is equipped with, for example, a rotary encoder, which makes it possible to measure the position of the servo motor 421. Hereinafter, the measured position of the servo motor 421 will be referred to as the position measurement value. The speed measurement value is obtained by differentiating the position measurement value. The thermomotor 421 outputs a position measurement signal P1 and a speed measurement signal M1. The motor control device 41 generates a torque command signal C2 based on the position measurement value so as to follow the position command value.

[0016] The controlled object 42 has a frequency characteristic. In the present disclosure, the term "gain of the controlled object 42" refers to the amplitude ratio of the measured speed value to the torque command value (current command value).

[0017] Furthermore, the "phase of the controlled object 42" in this disclosure refers to the lag or lead of the phase θ' of the speed measurement signal M1 relative to the phase θ of the torque command signal C2. In other words, the phase of the controlled object 42 is expressed as θ-θ'.

[0018] The input signal used to calculate the frequency characteristic, that is, the torque command signal C2 including the torque command value, is, for example, a sine wave sweep signal or a white noise signal.

[0019] The controlled object 42 includes rigidity and damping elements because the servo motor 421 and the load 422 are joined together, and vibrates when the servo motor 421 is operated. There are two types of vibration: resonance and anti-resonance. In other words, the frequency characteristics of the controlled object 42 may vary not only depending on the configuration of the controlled object 42, but also depending on the load 422 connected to the servo motor 421.

[0020] A plurality of parameters related to the control of the servo motor 421 are set in the motor control device 41. The plurality of parameters are input to the motor control device 41 from the adjustment support system 1. The motor control device 41 controls the servo motor 421 in accordance with the plurality of parameters.

[0021] The multiple parameters include multiple characteristic values ​​of the controlled object 42. The multiple characteristic values ​​of the controlled object 42 include a resonance frequency and an anti-resonance frequency of the controlled object 42. The multiple characteristic values ​​also include, for example, one or more control parameters of a filter 4110 described below. The multiple parameters also include, for example, an inertia ratio, an unbalanced load, a friction characteristic, and a vibration characteristic of the servo motor 421.

[0022] In this disclosure, the terms "resonant frequency" and "anti-resonant frequency" refer to the resonant frequency and anti-resonant frequency of the controlled object 42, respectively.

[0023] Methods for setting the resonant frequency and anti-resonant frequency include a method in which the user inputs the resonant frequency and anti-resonant frequency, and a method in which the frequency characteristics of the control object 42 are measured and the resonant frequency and anti-resonant frequency are set to values ​​automatically calculated based on the measured frequency characteristics. Here, when the measurement error of the frequency characteristics is relatively large, it may not be possible to control the servo motor 421 with high precision even if the resonant frequency and anti-resonant frequency are set to values ​​automatically calculated based on the measured frequency characteristics. In such cases, the user needs to input the resonant frequency and anti-resonant frequency. The adjustment support system 1 supports the user in inputting the resonant frequency and anti-resonant frequency.

[0024] As shown in FIG. 1 , the adjustment support system 1 of this embodiment includes a measurement processing unit 21, an input processing unit 22, a calculation processing unit 23, and a display processing unit 24. The measurement processing unit 21 measures the frequency characteristics of a control object 42 and outputs the measured frequency characteristics as a first frequency characteristic. The input processing unit 22 accepts input of multiple characteristic values ​​of the control object 42 by a user. The multiple characteristic values ​​include a resonant frequency and an anti-resonant frequency of the control object 42. The calculation processing unit 23 calculates the frequency characteristics of the control object 42 based on the multiple characteristic values ​​input to the input processing unit 22 and outputs the calculated frequency characteristics as a second frequency characteristic. The display processing unit 24 displays the first frequency characteristic and the second frequency characteristic. With the above configuration, a user can adjust a controller by setting the resonant frequency and anti-resonant frequency of the control object 42 as control parameters while visually comparing the first frequency characteristic and the second frequency characteristic. This allows the user to easily perform adjustments.

[0025] Furthermore, functions similar to those of the adjustment support system 1 can be embodied in an adjustment support method. The adjustment support method of this embodiment has a measurement step, an input step, a calculation step, and a display step. In the measurement step, the frequency characteristics of the control object 42 are measured and output as a first frequency characteristic. In the input step, input of multiple characteristic values ​​of the control object 42 by a user is accepted. The multiple characteristic values ​​include a resonant frequency and an anti-resonant frequency of the control object 42. In the calculation step, the frequency characteristics of the control object 42 are calculated based on the multiple characteristic values ​​input in the input step and output as a second frequency characteristic. In the display step, the first frequency characteristic and the second frequency characteristic are displayed.

[0026] The adjustment support method can be embodied as a program. The program of this embodiment is a program readable by a computer system and causes one or more processors of the computer system to execute the adjustment support method. The program may be recorded on a non-transitory recording medium readable by the computer system.

[0027] (Details) The adjustment support system 1 and the servo system 4 of this embodiment will be described in more detail below.

[0028] (1) Coordination Support System The coordination support system 1 includes a computer system having one or more processors and a memory. At least some of the functions of the coordination support system 1 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium (such as a memory card) that can be read by the computer system.

[0029] The computer system of the adjustment support system 1 includes, for example, a personal computer, an industrial computer, a computer server, a smartphone, or a tablet computer.

[0030] As shown in FIG. 1 , the adjustment support system 1 includes a communication device 11 , an operation device 12 , a storage device 13 , a display device 14 , and a processing device 2 .

[0031] The communication device 11 includes a communication interface device. The adjustment support system 1 is capable of communicating with the servo system 4 via the communication device 11. In the present disclosure, "capable of communication" means that signals can be exchanged directly or indirectly via a network, a repeater, or the like, using an appropriate communication method such as wired communication or wireless communication.

[0032] The operation device 12 receives operations from a user and includes, for example, at least one of a button, a key switch, a touch panel, and a touch panel display.

[0033] The storage device 13 is a non-volatile storage device configured by a hard disk drive (HDD), a solid state drive (SSD), etc. The storage device 13 stores information.

[0034] The display device 14 displays information. The display device 14 has, for example, at least one of a display and a touch panel display. If the adjustment support system 1 is equipped with a touch panel display, the touch panel display may serve as both the display device 14 and the operation device 12.

[0035] The processing device 2 includes one or more processors of the adjustment support system 1. The processing device 2 executes a program to realize a predetermined function.

[0036] The processing device 2 includes a measurement processing unit 21, an input processing unit 22, a calculation processing unit 23, and a display processing unit 24. Note that these merely indicate functions realized by the processing device 2, and do not necessarily indicate actual configurations.

[0037] The measurement processing unit 21 measures the frequency characteristics of the controlled object 42 and outputs the measured frequency characteristics as a first frequency characteristic (measurement step). The gain and phase of the controlled object 42 are each an example of the frequency characteristics of the controlled object 42.

[0038] 2 shows the relationship between the gain of the controlled object 42 and frequency. Curve G1 represents the first frequency characteristic (i.e., the measured value of the gain), and curve G2 represents the second frequency characteristic (i.e., the calculated value of the gain calculated from multiple characteristics input by the user). Note that in FIG. 2, the horizontal axis (frequency) is a logarithmic scale. In the second frequency characteristic, frequency f11 is the anti-resonance frequency, and frequency f12 is the resonant frequency.

[0039] Figure 3 shows the relationship between phase and frequency. Curve Q1 represents the first frequency characteristic (i.e., the measured phase value), and curve Q2 represents the second frequency characteristic (i.e., the calculated phase value calculated from multiple characteristic values ​​entered by the user). Note that in Figure 3, the horizontal axis (frequency) is on a logarithmic scale.

[0040] The measurement processing unit 21 acquires gain and phase information from the servo system 4 via the communication device 11, and calculates the first frequency characteristic.

[0041] The input processing unit 22 receives input of a plurality of parameters including a plurality of characteristic values ​​of the control target 42 by the user (input step). More specifically, the user inputs the plurality of parameters by operating the operation device 12. The input processing unit 22 acquires the plurality of parameters from the operation device 12. The plurality of parameters input in the input step are stored in the storage device 13.

[0042] The calculation processing unit 23 calculates the frequency characteristics of the controlled object 42 based on the multiple characteristic values ​​input to the input processing unit 22, and outputs the calculated frequency characteristics as second frequency characteristics (calculation step). Here, the multiple characteristic values ​​include at least the resonant frequency and anti-resonant frequency of the controlled object 42. Preferably, the multiple characteristic values ​​further include the damping ratio of the resonance of the controlled object 42. The smaller the damping ratio of the resonance, the sharper the resonance peak. Preferably, the multiple characteristic values ​​further include the damping ratio of the anti-resonance of the controlled object 42. The smaller the damping ratio of the anti-resonance, the sharper the anti-resonance peak. Preferably, the multiple characteristic values ​​further include the total inertia of the controlled object 42. The smaller the total inertia, the larger the gain.

[0043] The calculation processing unit 23 calculates the second frequency characteristic by inputting the plurality of characteristic values ​​input to the input processing unit 22 into a model representing the frequency characteristic of the controlled object 42. The model is stored in advance in the storage device 13.

[0044] The display processing unit 24 executes a display step of displaying the first frequency characteristic and the second frequency characteristic. More specifically, the display processing unit 24 controls the display device 14 to display the first frequency characteristic and the second frequency characteristic on the display device 14.

[0045] In the display step, the display processing unit 24 displays the gain of the controlled object 42 for each frequency as the first frequency characteristic and the second frequency characteristic, as shown in Fig. 2. Also, in the display step, the display processing unit 24 displays the phase of the controlled object 42 for each frequency as the first frequency characteristic and the second frequency characteristic, as shown in Fig. 3.

[0046] In the display step, the display processing unit 24 displays the first frequency characteristic and the second frequency characteristic in a common area with the same scale. That is, in the example shown in Fig. 2, the vertical and horizontal axes of the curve G1 representing the first frequency characteristic coincide with the vertical and horizontal axes of the curve G2 representing the second frequency characteristic, and the curves G1 and G2 are displayed in a common area. Similarly, in the example shown in Fig. 3, the vertical and horizontal axes of the curve Q1 representing the first frequency characteristic coincide with the vertical and horizontal axes of the curve Q2 representing the second frequency characteristic, and the curves Q1 and Q2 are displayed in a common area. Furthermore, a constant value is added to the gain of the second frequency characteristic and displayed. The constant value can be set by the user.

[0047] Also, as shown in FIG. 2 , the resonant frequency (frequency f12) is usually greater than the anti-resonant frequency (frequency f11). If the user inputs a value equal to or less than the anti-resonant frequency as the resonant frequency in the input step, the pair of resonant frequency and anti-resonant frequency is an inappropriate value. Therefore, if the resonant frequency input in the input step is equal to or less than the anti-resonant frequency, the display processing unit 24 does not display the second frequency characteristic in the display step. On the other hand, if the resonant frequency input in the input step is greater than the anti-resonant frequency, the display processing unit 24 displays both the first frequency characteristic and the second frequency characteristic in the display step.

[0048] 1, the servo system 4 includes a motor control device 41 and a controlled object 42. The controlled object 42 includes a servo motor 421 and a load 422.

[0049] A position command signal C1 for the servo motor 421 is output from the controller 3 to the motor control device 41. In addition, a speed measurement signal M1 including the position measurement value and speed measurement value of the servo motor 421 is output from the servo motor 421 to the motor control device 41.

[0050] The motor control device 41 includes a vibration suppression unit 411 , a first control unit 412 , and a second control unit 413 .

[0051] The vibration suppression unit 411 corrects the position command signal and calculates feedforward signals for position, velocity, and torque based on the position command signal C1, and outputs the corrected signals to the first control unit 412. The vibration suppression unit 411 also includes a filter 4110. The filter 4110 is a vibration suppression filter that, for example, attenuates the anti-resonance frequency of the controlled object 42 to calculate feedforward signals for the position command and velocity command, and attenuates the resonant frequency of the controlled object 42 to calculate a feedforward signal for the torque command. The multiple characteristic values ​​of the controlled object 42 include one or more control parameters of the filter 4110. A user can adjust one or more control parameters of the filter 4110. The first control unit 412 internally includes a feedback controller such as a proportional-integral controller. The first control unit 412 calculates a velocity command value from the deviation between the filtered position command signal output by the vibration suppression unit and the position measurement signal P1, performs PI control based on the deviation between the calculated velocity command value and the velocity measurement signal M1, and outputs the result as a torque command signal to the second control unit 413. The second control unit (current control unit) 413 outputs a current command value corresponding to the torque command to the servo motor 42. The second control unit 413 controls the current flowing through the servo motor 421, and outputs a torque command signal C2 (i.e., a current command signal).

[0052] The servo motor 421 is rotationally driven based on the torque command signal C2, and applies torque to the load 422.

[0053] The servo motor 421 outputs a position measurement signal P1 and a speed measurement signal M1 including a speed measurement value to the motor control device 41.

[0054] (3) Operation Flow Next, an example of the operation flow of the adjustment support system 1 will be described with reference to Fig. 4. Note that the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0055] In the initial state, the first frequency characteristic and the second frequency characteristic are not displayed. As an example, displaying the curve G1 in Fig. 2 and the curve Q1 in Fig. 3 corresponds to displaying the first frequency characteristic. Also, as an example, displaying the curve G2 in Fig. 2 and the curve Q2 in Fig. 3 corresponds to displaying the second frequency characteristic.

[0056] The measurement processing unit 21 of the adjustment support system 1 measures the first frequency characteristic of the control target 42 (step ST1). The display processing unit 24 causes the display device 14 to display the first frequency characteristic (step ST2).

[0057] The user operates the operation device 12 to input a plurality of characteristic values ​​including the resonant frequency and anti-resonant frequency of the controlled object 42 (step ST3: Yes).

[0058] If the resonance frequency input in step ST3 is equal to or lower than the anti-resonance frequency input in step ST3 (step ST4: No), the display processing unit 24 maintains the state in which the second frequency characteristic is not displayed.

[0059] If the resonant frequency input in step ST3 is greater than the anti-resonant frequency input in step ST3 (step ST4: Yes), the calculation processing unit 23 calculates a second frequency characteristic based on the multiple characteristic values ​​input in step ST3 (step ST5), and the display processing unit 24 displays the second frequency characteristic on the display device 14 (step ST6).

[0060] The measurement processing unit 21 measures the first frequency characteristic of the control target 42. The display processing unit 24 displays the first frequency characteristic most recently measured by the measurement processing unit 21 on the display device 14. The display processing unit 24 may be configured to display one or more pieces of frequency characteristic data arbitrarily selected from a plurality of pieces of frequency characteristic data measured in the past.

[0061] In addition, when the user operates the operation device 12 to input new characteristic values, the display processing unit 24 changes the second frequency characteristic to be displayed on the display device 14 to a frequency characteristic corresponding to the new characteristic values.

[0062] (Modifications of the embodiment) Modifications of the embodiment are listed below. The following modifications may be implemented in appropriate combination. Hereinafter, the configuration of the above-described embodiment will be referred to as a basic example.

[0063] In the basic example, when the resonance frequency input in the input step is equal to or lower than the anti-resonance frequency, the display processing unit 24 hides the second frequency characteristic in the display step. On the other hand, when the resonance frequency input in the input step is equal to or lower than the anti-resonance frequency, the display processing unit 24 may display the second frequency characteristic in a different manner from when the resonance frequency input in the input step is higher than the anti-resonance frequency. This allows the user to recognize that the second frequency characteristic is not a normal value. For example, when the resonance frequency input in the input step is equal to or lower than the anti-resonance frequency, at least one of the color and the line type of the curves G2 and Q2 representing the second frequency characteristic may be different from when the resonance frequency input in the input step is higher than the anti-resonance frequency. Furthermore, only when the resonance frequency input in the input step is equal to or lower than the anti-resonance frequency, a predetermined notification may be displayed in addition to the curves G2 and Q2 representing the second frequency characteristic. The predetermined notification may be, for example, an error notification, an alarm notification, or a notification indicating that the resonance frequency is equal to or lower than the anti-resonance frequency.

[0064] When the resonance frequency input in the input step is equal to or lower than the anti-resonance frequency, the second frequency characteristic may be hidden and a predetermined notification may be displayed.

[0065] The adjustment support system 1 of the basic example displays the gain and phase of the controlled object 42 as the frequency characteristics of the controlled object 42. However, the adjustment support system 1 may display only one of the gain and phase of the controlled object 42.

[0066] In the display step, the area in which the first frequency characteristic is displayed and the area in which the second frequency characteristic is displayed may be separate areas. Even in this case, it is preferable that the scale of the first frequency characteristic and the scale of the second frequency characteristic match.

[0067] The execution entity of the adjustment support system 1 or adjustment support method in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. At least a portion of the functions of the execution entity of the adjustment support system 1 or adjustment support method in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), or ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0068] In addition, in the embodiment, multiple functions that are integrated into one device may be distributed among multiple devices. For example, multiple functions of the processing device 2 may be distributed among multiple devices.

[0069] Conversely, in the embodiment, multiple functions that are distributed among multiple devices may be integrated into one device. For example, at least a portion of the configuration of the servo system 4 and at least a portion of the configuration of the adjustment support system 1 may be integrated into one device.

[0070] In the present disclosure, when comparing two values, "greater than or equal to" may be used instead of "greater than." There is no technical difference between "greater than or equal to" and "greater than or equal to." Similarly, "less than" may be used instead of "less than or equal to."

[0071] (Summary) The above-described embodiments and the like disclose the following aspects.

[0072] The adjustment support method according to the first aspect includes a measurement step, an input step, a calculation step, and a display step. In the measurement step, the frequency characteristics of a controlled object (42) are measured and output as a first frequency characteristic. A servo system (4) drives a servo motor (421) based on a position measurement value so as to follow a position command value of the servo motor (421). In the input step, a user inputs a plurality of characteristic values ​​of the controlled object (42). The plurality of characteristic values ​​includes a resonance frequency and an anti-resonance frequency of the controlled object (42). In the calculation step, the frequency characteristics of the controlled object (42) are calculated based on the plurality of characteristic values ​​input in the input step and output as a second frequency characteristic. In the display step, the first frequency characteristic and the second frequency characteristic are displayed.

[0073] According to the above configuration, the user can adjust the resonant frequency and anti-resonant frequency of the controlled object (42) while visually comparing the first frequency characteristic with the second frequency characteristic, thereby easily adjusting the controller having the resonant frequency and anti-resonant frequency as inputs.

[0074] In addition, in the adjustment support method according to the second aspect, in the first aspect, when the resonance frequency input in the input step is equal to or lower than the anti-resonance frequency, the second frequency characteristic is not displayed in the display step.

[0075] According to the above configuration, the user can recognize that the second frequency characteristic has been hidden, and can thereby realize that an inappropriate value has been entered as a pair of resonant frequency and anti-resonant frequency.

[0076] In addition, in the adjustment support method according to the third aspect, in the first aspect, when the resonant frequency input in the input step is equal to or lower than the anti-resonant frequency, the display mode of the second frequency characteristic in the display step is made different from that when the resonant frequency input in the input step is greater than the anti-resonant frequency.

[0077] According to the above configuration, the user can notice that he or she has input inappropriate values ​​as a pair of the resonant frequency and the anti-resonant frequency, based on the display mode of the second frequency characteristic.

[0078] In addition, in the adjustment support method according to a fourth aspect, in any one of the first to third aspects, in the display step, the first frequency characteristic and the second frequency characteristic are displayed in a common area with the same scale.

[0079] According to the above configuration, the user can easily visually compare the first frequency characteristic with the second frequency characteristic.

[0080] In addition, in the adjustment support method according to a fifth aspect, in any one of the first to fourth aspects, the plurality of characteristic values ​​further include damping ratios of resonance and anti-resonance of the controlled object (42).

[0081] According to the above configuration, the second frequency characteristic can be set in more detail.

[0082] In addition, in the adjustment assistance method according to a sixth aspect, in any one of the first to fifth aspects, the plurality of characteristic values ​​further includes a total inertia of the controlled object (42).

[0083] According to the above configuration, since the magnitude of the gain changes depending on the total inertia, it becomes easy to visually compare the resonance and anti-resonance peaks of the first and second frequency characteristics, and the user can recognize that there is an error between the total inertia of the controlled object and the total inertia set as a control parameter.

[0084] In addition, in the adjustment support method according to the seventh aspect, in any one of the first to sixth aspects, in the display step, a constant value is added to the gain of the control object (42) as the second frequency characteristic and displayed.

[0085] According to the above configuration, the user can easily visually compare the gain of the first frequency characteristic with the gain of the second frequency characteristic.

[0086] In addition, in an adjustment support method according to an eighth aspect, in any one of the first to seventh aspects, the display step displays the phase of the control object (42) for each frequency as each of the first frequency characteristic and the second frequency characteristic.

[0087] According to the above configuration, the user can grasp the magnitude of the phase.

[0088] The configurations other than the first aspect are not essential for the adjustment support method and can be omitted as appropriate.

[0089] In addition, a program according to a ninth aspect is a program that can be read by a computer system and causes one or more processors of the computer system to execute the adjustment support method according to any one of the first to eighth aspects.

[0090] According to the above configuration, the user can adjust the resonant frequency and anti-resonant frequency of the controlled object (42) while visually comparing the first frequency characteristic with the second frequency characteristic, thereby easily adjusting the controller having the resonant frequency and anti-resonant frequency as inputs.

[0091] Also, an adjustment support system (1) according to a tenth aspect includes a measurement processing unit (21), an input processing unit (22), a calculation processing unit (23), and a display processing unit (24). The measurement processing unit (21) measures the frequency characteristics of a control object (42) and outputs the measured frequency characteristics as a first frequency characteristic. The servo system (4) drives a servo motor (421) based on the position measurement value so as to follow a position command value of the servo motor (421). The input processing unit (22) accepts input of multiple characteristic values ​​of the control object (42) by a user. The multiple characteristic values ​​include a resonance frequency and an anti-resonance frequency of the control object (42). The calculation processing unit (23) calculates the frequency characteristics of the control object (42) based on the multiple characteristic values ​​input to the input processing unit (22) and outputs the calculated frequency characteristics as a second frequency characteristic. The display processing unit (24) displays the first frequency characteristic and the second frequency characteristic.

[0092] According to the above configuration, the user can adjust the resonant frequency and anti-resonant frequency of the controlled object (42) while visually comparing the first frequency characteristic with the second frequency characteristic, thereby easily adjusting the controller that sets the resonant frequency and anti-resonant frequency as control parameters.

[0093] Not limited to the above aspects, various configurations (including modified examples) of the adjustment support system (1) according to the embodiment can be embodied as an adjustment support method, a (computer) program, or a non-transitory recording medium on which a program is recorded.

[0094] The adjustment support method, program, and adjustment support system of the present disclosure have the advantage that by displaying the actually measured frequency characteristics of the controlled object and the frequency characteristics of the controlled object calculated from the resonance frequency and anti-resonance frequency adjusted by the user, the user can easily adjust a controller in which the resonance frequency and anti-resonance frequency are set as control parameters. In this way, the adjustment support method, program, and adjustment support system of the present disclosure are industrially useful.

[0095] REFERENCE SIGNS LIST 1 Adjustment support system 21 Measurement processing unit 22 Input processing unit 23 Calculation processing unit 24 Display processing unit 41 Motor control device 421 Servo motor 422 Load

Claims

1. An adjustment support method for a motor control device that drives a servo motor based on the deviation between a position command value of the servo motor and a position measurement value, and that includes a controller that has as input the resonant frequency and anti-resonant frequency of a controlled object, the method comprising: a measurement step that measures the frequency characteristics of the controlled object and outputs them as a first frequency characteristic; an input step that accepts input from a user of multiple characteristic values ​​of the controlled object including the resonant frequency and anti-resonant frequency of the controlled object; a calculation step that calculates the frequency characteristics of the controlled object based on the multiple characteristic values ​​input in the input step and outputs them as a second frequency characteristic; and a display step that displays the first frequency characteristic and the second frequency characteristic.

2. The adjustment support method according to claim 1, wherein the second frequency characteristic is not displayed in the display step when the resonance frequency input in the input step is equal to or lower than the anti-resonance frequency.

3. The adjustment assistance method according to claim 1, wherein, when the resonance frequency input in the input step is equal to or lower than the anti-resonance frequency, the display mode of the second frequency characteristic in the display step is made different from when the resonance frequency input in the input step is higher than the anti-resonance frequency.

4. The adjustment support method according to claim 1, wherein in the display step, the first frequency characteristic and the second frequency characteristic are displayed in a common area with the same scale.

5. The adjustment assistance method according to claim 1, wherein the plurality of characteristic values ​​further include damping ratios of resonance and anti-resonance of the controlled object.

6. The adjustment assistance method according to claim 1, wherein the plurality of characteristic values ​​further includes a total inertia of the controlled object.

7. The adjustment support method according to claim 1, wherein the display step displays, as each of the first frequency characteristic and the second frequency characteristic, a gain or a phase of the controlled object for each frequency, or both.

8. The adjustment support method according to claim 7, wherein the display step displays the second frequency characteristic by adding a constant value to a gain of the controlled object.

9. A program readable by a computer system, causing one or more processors of said computer system to execute the adjustment support method according to claim 1.

10. An adjustment support system for a motor control device that drives a servo motor based on the deviation between a position command value of the servo motor and a position measurement value, and that has a controller that has as input the resonant frequency and anti-resonant frequency of a controlled object, the adjustment support system comprising: a measurement processing unit that measures the frequency characteristics of the controlled object and outputs them as a first frequency characteristic; an input processing unit that accepts user input of multiple characteristic values ​​of the controlled object including the resonant frequency and anti-resonant frequency of the controlled object; a calculation processing unit that calculates the frequency characteristics of the controlled object based on the multiple characteristic values ​​input to the input processing unit, and outputs them as a second frequency characteristic; and a display processing unit that displays the first frequency characteristic and the second frequency characteristic.

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