Tuning device and tuning method

Abstract

The present invention provides a tuning device that easily performs tuning of a motor amplifier. A tuning section (100) performs tuning by causing an action object to act based on a control parameter (200). An improvement grasping section (110) grasps a control parameter (200) that should be improved, based on characteristics of the action object after tuning by the tuning section (100). An improvement prompting section (120) prompts a user with a countermeasure plan for the control parameter (200) that should be improved, grasped by the improvement grasping section (110). Also, the improvement prompting section (120) can prompt the user with either or both of the advantages and disadvantages based on the countermeasure. An improvement execution section (130) causes the tuning section (100) to perform tuning again by the control parameter (200) to which the countermeasure is applied, if an instruction based on the prompting by the improvement prompting section (120) is obtained.

Description

TECHNICAL FIELD

[0001] The present application particularly relates to a tuning device that tunes control parameters of a motor amplifier that feedback-controls rotation of a motor. BACKGROUND

[0002] Conventionally, there is a motor amplifier that feedback-controls rotation of a motor that moves an action object. In this motor amplifier, tuning that adjusts action is required.

[0003] For example, in Patent Literature 1, a control parameter automatic adjustment method of an electric motor control device (motor amplifier) is described, in which, after automatic adjustment, the electric motor (motor) is repeatedly operated using the control parameters, an electric motor operation confirmation operation that determines whether or not the operation characteristics data are within an allowable value range is performed, in the case where the allowable value range is exceeded, a first re-adjustment that searches for and re-sets control parameters that are difficult to exceed the allowable value range even if mechanical characteristics change from previously saved operation characteristics data is performed, or a second re-adjustment that changes adjustment conditions and automatically adjusts again so as to be difficult to exceed the allowable value range even if mechanical characteristics change is performed.

[0004] [Patent Literature]

[0005] [Patent Literature]

[0006] Patent Literature 1: Japanese Patent Laid-Open No. 2016-19304 SUMMARY

[0007] Problems to be Solved by the Invention

[0008] However, in the conventional automatic tuning method described in Patent Literature 1, sometimes the state of actual tuning is not ideal for the user.

[0009] In this case, for a user who has little experience in servo tuning, there is a problem that tuning is difficult.

[0010] The present application is made in view of such a situation, and aims to enable optimal tuning even for a user who has little experience in servo tuning, thereby solving the above problems.

[0011] Technical Solution to Solve the Problems

[0012] One aspect of the present invention relates to a tuning device that tunes the control parameters of a motor amplifier that provides feedback control of the rotation of a motor that moves an object. The tuning device is characterized by comprising: a tuning unit that tunes the object according to the control parameters; an improvement control unit that determines the control parameters to be improved based on the characteristics of the object after tuning by the tuning unit; an improvement prompting unit that prompts a user with a solution for improving the control parameters determined by the improvement control unit, and may also prompt the user with either or both of the advantages and disadvantages of the solution; and an improvement execution unit that, upon receiving an instruction based on the prompt from the improvement prompting unit, re-tunes the tuning unit using the control parameters with the proposed solution.

[0013] With this configuration, even users with little servo tuning experience can achieve optimal tuning.

[0014] The tuning device according to one aspect of the present invention is characterized in that the tuning unit tunes using the basic control parameters in the initial tuning and tunes using the control parameters with countermeasures in subsequent tuning.

[0015] With this configuration, even users without specialized knowledge of tuning or with little experience in servo tuning can perform optimal tuning.

[0016] The tuning device according to one aspect of the present invention is characterized in that the improvement control unit controls the control parameters that should be improved if the tuning conditions for the rotation of the motor are not met.

[0017] With this configuration, even users with little servo tuning experience can easily adjust the control parameters.

[0018] The tuning device according to one aspect of the present invention is characterized in that the tuning conditions are set for tuning time, rebound, vibration level, and overshoot.

[0019] With this configuration, even users with little servo tuning experience can properly adjust the control parameters that need to be adjusted during tuning.

[0020] One aspect of the adjustment device of the present invention is characterized in that the basic control parameters are set to different values ​​depending on whether the object being acted upon is a belt mechanism or a ball screw mechanism.

[0021] With this configuration, even users with little servo tuning experience can perform initial tuning under more appropriate conditions.

[0022] The tuning device according to one aspect of the present invention is characterized in that, when it is desired to suppress position deviation vibration, the improvement prompting unit prompts that the position smoothing filter should be used effectively; when it is desired to improve responsiveness, the prompting unit prompts that the target settling time parameter should be shortened; when it is desired to eliminate overshoot, the prompting unit prompts that the overshoot allowance parameter is not allowed; when it is desired to stabilize the state during setting, the prompting unit prompts that the positioning completion range parameter should be reduced; and when it is desired to stabilize the operation, the prompting unit prompts that the target settling time should be increased.

[0023] With this configuration, even users with little experience in servo tuning can precisely adjust the control parameters they want to adjust.

[0024] One aspect of the present invention relates to a tuning method performed by a tuning device that tunes control parameters of a motor amplifier that provides feedback control of the rotation of a motor that moves an object. The tuning method is characterized by using the control parameters to move the object, determining the control parameters to be improved based on the characteristics of the tuned object, providing the user with suggestions for improving the control parameters, and also providing the user with suggestions based on the advantages and disadvantages of the suggestions. Upon receiving instructions based on these suggestions, the user re-tunes the control parameters using the suggested suggestions.

[0025] With this configuration, even users with little servo tuning experience can achieve optimal tuning.

[0026] Invention Effects

[0027] According to the present invention, a tuning device is provided that, based on the characteristics of the tuned object, determines the parameters that should be improved, prompts the user with countermeasures, advantages and disadvantages based on the countermeasures, and, upon receiving instructions based on the prompts, retunes the parameters using the countermeasures, enabling even users with little experience in servo tuning to achieve optimal tuning. Attached Figure Description

[0028] Figure 1 This is a system structure diagram of the control system X according to an embodiment of the present invention.

[0029] Figure 2 This is a flowchart of the tuning process according to an embodiment of the present invention.

[0030] Figure 3 yes Figure 2 The image shown is an example of a screen displaying an improvement prompt during tuning processing. Detailed Implementation

[0031] <Implementation Method>

[0032] [Structure of Control System X]

[0033] Reference Figure 1 The structure of the control system X according to an embodiment of the present invention will be described. The control system X includes a tuning device 1, a motor amplifier 2, an encoder 3, and a motor 4.

[0034] Tuning device 1 is a device for tuning the control parameters 200 of motor amplifier 2. Tuning device 1 is, for example, a laptop or PC (Personal Computer), "2-in-1" or tablet information device, smartphone, mobile phone, or other dedicated terminal used by users such as service personnel, managers, or factory workers who are setting the control system X.

[0035] The tuning device 1 can also be configured to perform the tuning by installing the tuning application software (hereinafter referred to as "application") into the storage unit 11 and executing it by the control unit 10.

[0036] In this embodiment, the tuning device 1 replaces the host device used in the actual operation process, enabling the motor amplifier 2 to perform a test operation. The results of this test operation are obtained, and the control parameter 200 is tuned.

[0037] Motor amplifier 2 is connected to encoder 3 and is a servo amplifier and other control device used for servo motors to provide feedback control of the rotation of motor 4.

[0038] The motor amplifier 2 is connected to the tuning device 1 via, for example, a field network such as USB (Universal Serial Bus), serial communication (RS-232C), Bluetooth (registered trademark), IP network, or EtherCAT. On the other hand, the motor amplifier 2 is connected to the encoder 3 via, for example, a dedicated line or serial communication line, and also provides power to the servo drive motor 4. This power is supplied to the motor 4 either via the encoder 3 or directly.

[0039] In this embodiment, the motor amplifier 2 may also use the current feedback value of the motor control of the motor 4 to calculate the torque value representing the torque of the shaft driving the object.

[0040] In addition, the motor amplifier 2 can also obtain status information such as temperature from the encoder 3 or the motor 4.

[0041] Furthermore, the motor amplifier 2 can also respond to data requests from other host devices.

[0042] The encoder 3 is a device for obtaining the rotational position of the motor. In this embodiment, the encoder 3 detects position data of the rotational position of the shaft associated with the rotational shaft of the motor 4 and sends it as angle information to the motor amplifier 2.

[0043] Motor 4 is a servo motor or similar device used to move an object. Motor 4 rotates its shaft, which serves as the output shaft, according to a control signal from motor amplifier 2. Motor 4 includes a rotor, bearings, a stator, and a bracket.

[0044] In this embodiment, the objects of motion that are moved by the motor 4 include ball screw mechanisms such as robotic arms and belt mechanisms such as conveyor belts. The braking action varies depending on the type of these objects, the surrounding environment, etc., therefore, the control parameter 200 needs to be tuned.

[0045] Next, the control structure of control system X will be explained.

[0046] The tuning device 1 includes a control unit 10, a storage unit 11, an input unit 12, and a display unit 13.

[0047] The motor amplifier 2 includes a position command filter 21, an FF control unit 22, an FB control unit 23, a torque adjustment unit 24, and a current control unit 25.

[0048] The control unit 10 is a control and arithmetic unit that controls each part of the tuning device 1. The control unit 10 may be, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), or an ASIC (Application Specific Integrated Circuit).

[0049] In this embodiment, the control unit 10 can obtain angle information, information from various other sensors, and torque values ​​from the motor amplifier 2, and perform tuning.

[0050] The storage unit 11 is a non-temporary recording medium such as RAM (Random Access Memory) for storing temporary data or ROM (Read Only Memory) for storing control programs. The storage unit 11 stores control programs including the tuning application program according to this embodiment, as well as various data.

[0051] The input unit 12 is a pointer device such as a keyboard, mouse, or touchpad, or a touch panel that receives user instructions. The input unit 12 obtains input values ​​for control parameters 200, tuning execution instructions, etc., from the application's GUI (Graphical User Interface).

[0052] Display unit 13 can be a liquid crystal display, an organic EL (Electro-Luminescence) display, an LED (Light Emitting Diode), etc. Display unit 13 is capable of displaying the GUI of an application program.

[0053] Alternatively, the input unit 12 and the display unit 13 can be integrated as a single unit, similar to a touch panel display.

[0054] The position command filter 21 is a filtering circuit for command signals (commands, hereinafter referred to as "commands") from the tuning device 1 or the host device during actual operation. In this embodiment, the position command filter 21 includes, for example, a position smoothing filter, which smooths the braking up to the target position (angle, etc.) when a position command (position command) is obtained, thereby smoothing the signal of the drive motor 4. The position command filter 21 outputs the output of the position smoothing filter as an internal position command.

[0055] In addition, the position command filter 21 may also include filters that average the position command or do not drive the motor 4 at the maximum angular velocity.

[0056] The FF control unit 22 is a circuit that performs feedforward (hereinafter also referred to as "FF") control. For example, the FF control unit 22 is a circuit that performs feedforward processing such as increasing or decreasing the angle in accordance with the current axis angle, thereby enabling faster drive to the position command angle. At this time, the FF control unit 22 can also change the control quantity in conjunction with the position command filter 21.

[0057] The FB control unit 23 is a circuit that performs feedback (hereinafter also referred to as "FB") control. The FB control unit 23 acquires angle information from the encoder 3 and current feedback values ​​from the motor 4 as feedback signals, and performs control based on these signals to improve responsiveness. The FB control unit 23 outputs FB commands for FB control.

[0058] The torque adjustment unit 24 is a circuit that performs torque control. In this embodiment, the torque adjustment unit 24 performs torque control based on the position deviation calculated from the FB signal and the internal position command, and the torque command calculated from the FF command and the FB command. Specifically, the torque adjustment unit 24 includes a notch filter for suppressing vibrations caused by resonance. The torque adjustment unit 24 outputs an adjustment command to adjust the torque based on the output of the notch filter.

[0059] The current control unit 25 is a circuit that controls the current to the load of the motor 4 according to the adjustment command of the torque adjustment unit 24.

[0060] The current control unit 25 can also adjust the load current in multiple stages.

[0061] Alternatively, the control unit 10 and the storage unit 11 of the tuning device 1 can also be integrated as a GPU-built CPU or on-chip package.

[0062] Furthermore, some or any combination of the FF control unit 22, FB control unit 23, torque adjustment unit 24, and current control unit 25 of the motor amplifier 2 can also be configured in software.

[0063] Furthermore, the motor amplifier 2 can also incorporate a vibration sensor or other sensors.

[0064] Next, the functional structure of the control system X will be explained.

[0065] The control unit 10 of the tuning device 1 includes a tuning unit 100, an improvement control unit 110, an improvement prompt unit 120, and an improvement execution unit 130.

[0066] Storage unit 11 stores control parameters 200, parameter settings 210, and improvement messages 230.

[0067] The tuning unit 100 controls the motor 4 according to the control parameters 200 to make the object being moved, and obtains angle information, torque value, status information, etc. from the encoder 3 for tuning.

[0068] In this embodiment, the tuning unit 100 performs tuning under the basic control parameters 200 during the initial (first) tuning. On the other hand, during subsequent (second) tunings, the tuning unit 100 performs tuning with countermeasures applied to the control parameters 200. The countermeasured control parameters 200 are displayed by the improvement prompt unit 120 and can be set according to the user's instructions, or the parameter set stored in the parameter setting 210 can be used.

[0069] In this embodiment, the basic control parameter 200 can also be set to different values ​​depending on whether the object of the action is a belt mechanism or a ball screw mechanism.

[0070] The improvement control unit 110 obtains the control parameters 200 that should be improved from the characteristics of the action object tuned by the tuning unit 100.

[0071] In this embodiment, the improvement control unit 110 can grasp the control parameters 200 that should be improved to address the set conditions that do not meet the rotation of the motor 4. Specifically, the set conditions can be set for set time, rebound, vibration level, and overshoot.

[0072] The improvement suggestion unit 120 suggests to the user countermeasures for the control parameter 200 that should be improved, which are controlled by the improvement control unit 110. Based on this, the improvement suggestion unit 120 may also suggest to the user either or both of the advantages and disadvantages of the countermeasures.

[0073] In this embodiment, as a countermeasure, the improvement prompt unit 120 prompts the user to effectively use the position smoothing filter when it is desired to suppress position deviation vibration. Alternatively, the improvement prompt unit 120 prompts the user to shorten the target settling time parameter when it is desired to improve responsiveness. Alternatively, the improvement prompt unit 120 prompts the user to indicate that the overshoot allowance parameter is not allowed when it is desired to eliminate overshoot. Alternatively, the improvement prompt unit 120 prompts the user to reduce the positioning completion range parameter when it is desired to stabilize the setting state. Alternatively, the improvement prompt unit 120 prompts the user to extend the target settling time when it is desired to stabilize the operation.

[0074] The improved prompt unit 120 can also display these prompts on the display unit 13 through the application's GUI.

[0075] Upon receiving instructions from the improvement prompting unit 120, the improvement execution unit 130 uses the control parameters 200 of the countermeasures to cause the tuning unit 100 to re-tune.

[0076] Control parameter 200 refers to the control parameters for each part of the motor amplifier 2 that needs to be tuned.

[0077] The control parameters 200 used in the position command filter 21 can set the on / off state of the position smoothing filter, the adjustment value of the smoothing degree, etc. By adjusting this position smoothing filter, position deviation vibration can be suppressed.

[0078] The control parameter 200 used by the FF control unit 22 can set the value of the feedforward (FF) component related to downstream control. By adjusting the value of this FF component, an overshoot tolerance parameter that suppresses excessive axis movement can be set. In addition, the value of the FF component also serves as a parameter for the positioning completion range.

[0079] The control parameters 200 used by the FB control unit 23 can set the value of the control gain set to adjust the system feedback (FB) component. This control gain set can uniformly set a first control gain representing the feedback value based on the approximate FB signal, a second control gain adjusting the first control gain, and an integral gain related to the velocity and acceleration (integral element) of the FB signal. This control gain set includes parameters for the positioning completion range and target settling time.

[0080] The control parameter 200 used by the torque adjustment unit 24 can set the on / off state and adjustment value of at least two torque notch filters.

[0081] The control parameter 200 used by the current control unit 25 can also be the value of the current amplification factor, etc.

[0082] Parameter setting 210 includes various settings related to the selection and modification of control parameters 200. Parameter setting 210 includes a set of basic control parameters 200 for the first tuning, a set of control parameters 200 with countermeasures for subsequent tunings, and a set of set control parameters 200, etc. The set of basic control parameters 200 can also be set with different values ​​depending on whether the object of the action is a belt mechanism or a ball screw mechanism.

[0083] Additionally, parameter setting 210 includes setting tuning conditions based on tuning. These tuning conditions include ranges for values ​​related to tuning time, rebound, vibration level, and overshoot. Furthermore, a tuning-based positioning completion range is also set. Based on this, rebound and overshoot can be determined. Moreover, regarding vibration level, the allowable range of vibration values ​​for each frequency can be set using methods such as FFT (Fast Fourier Transform).

[0084] Furthermore, parameter setting 210, as the number of repeated trials, can also include settings such as how many times to perform tuning until the tuning conditions are met, or how many times to perform tuning within a set range.

[0085] Improvement message 230 is provided by improvement prompting unit 120, and includes countermeasures for parameters that should be improved, text data or image data related to the advantages and disadvantages of the countermeasures, etc.

[0086] [Tuning Processing]

[0087] Next, according to Figure 2 and Figure 3 The tuning process of the control system X according to an embodiment of the present invention will be described.

[0088] In the tuning process of this embodiment, tuning is generally performed two or more times. In the first tuning, a set of basic control parameters 200 is set, and the object being manipulated is calibrated. At this point, the control parameters 200 that need improvement are determined based on the characteristics of the calibrated object. Then, countermeasures for the determined control parameters 200 that need improvement are suggested. In this embodiment, the advantages and disadvantages of the countermeasures are also suggested to the user. Based on this, if improvement is deemed necessary, an instruction based on the suggestions is obtained. Thus, a second tuning is performed using the set of control parameters 200 with adopted countermeasures. At the end of this second tuning, the comparison results with the first tuning, along with their respective advantages and disadvantages, are presented to the user. By selecting from these tuning results, the parameter state can be set to the optimal value for the user.

[0089] In the tuning process of this embodiment, the control unit 10 mainly cooperates with each part to use hardware resources to execute the control program stored in the storage unit 11.

[0090] The following is based on Figure 2 The flowchart illustrates the details of the tuning process in this embodiment step by step.

[0091] (Step S101)

[0092] First, the improvement execution unit 130 performs basic parameter setting processing.

[0093] The improvement execution unit 130 obtains a set of basic control parameters 200 for the first tuning from the parameter setting 210.

[0094] Here, the improved execution unit 130 allows the user to indicate via the GUI whether the input is for the belt mechanism or the ball screw mechanism, and obtains a set of control parameters 200 corresponding to the indication. That is, the improved execution unit 130 displays the indication on the display unit 13 and obtains the user's indication from the input unit 12.

[0095] These sets can be used, such as the groups shown in Table 1 below:

[0096] [Table 1]

[0097] Name Setting for belt mechanism Setting for ball screw mechanism With / without overshoot allowance Allowance Allowance Positioning completion range (17-bit encoder) 40 encoder pulses 40 encoder pulses Target setting time 60 ms 10 ms With / without use of torque notch filter 1 Use Use With / without use of torque notch filter 2 Use Use With / without use of position smoothing filter Use Do not use Number of repeated trials 1 time 1 time

[0098] (Step S102)

[0099] Here, the tuning section 100 performs tuning processing.

[0100] The tuning unit 100 performs tuning by causing the object to move according to the set of control parameters 200.

[0101] In the initial (first) tuning, the tuning unit 100 performs test actions under basic conditions based on a set of basic control parameters 200. In this first tuning, minimum tuning is performed by executing tuning under these basic conditions. In subsequent tunings, tuning is performed using a set of control parameters 200 with countermeasures.

[0102] In this embodiment, the tuning unit 100, as the control parameter 200 adjusted by tuning, sets the first control gain, the second control gain, and the integral gain as feedback components of the control gain set control system to improve responsiveness and is used by the FB control unit 23.

[0103] Furthermore, the tuning unit 100 sets the feedforward component in the feedforward compensation and control, which is used by the FF control unit 22 to suppress overshoot.

[0104] Furthermore, when using the position smoothing filter of the position command filter 21, the tuning unit 100 smooths the position command input and smooths the signal.

[0105] Furthermore, when using a torque notch filter, the tuning unit 100 is configured to suppress vibration.

[0106] The tuning unit 100 obtains various data during these tuning test operations from the motor amplifier 2, such as time-series data like angle information, torque value, and status information, and stores them in the storage unit 11.

[0107] (Step S103)

[0108] Next, the Improvement and Control Department 110 performs improvement and control processing.

[0109] The Improvement and Control Unit 110 analyzes the data from the test operation. Based on this analysis, the Improvement and Control Unit 110 determines the control parameters 200 that need improvement according to the characteristics of the adjusted target object. In other words, it judges the issues, etc., from the first tuning result and determines the conditions that need improvement in subsequent tunings. The same applies to subsequent tunings.

[0110] Specifically, the control unit 110 controls the control parameters 200 that do not meet the rotation setting conditions of the motor 4.

[0111] (Step S104)

[0112] Next, the improvement prompt unit 120 performs improvement prompt processing.

[0113] The improvement prompting unit 120 prompts the user via the GUI with countermeasures for the control parameters 200 that need improvement, as well as the advantages and disadvantages of the countermeasures. Here, the improvement prompting unit 120 obtains appropriate information from the improvement message 230 and displays it on the display unit 13.

[0114] During the first tuning, the improvement prompt unit 120 prompts the user with countermeasures, advantages, and disadvantages when executing with the set of basic control parameters 200. As a countermeasure, the improvement prompt unit 120 displays the improvement points that can be achieved by doing so. At this time, if multiple improvement points exist, the improvement prompt unit 120 prompts multiple improvement points.

[0115] In subsequent adjustments, the improvement suggestion unit 120 will present the user with the comparison results from the first to the previous one, along with the advantages and disadvantages of each. Furthermore, the improvement suggestion unit 120 will also suggest further countermeasures.

[0116] More specifically, when position deviation vibration exists and its suppression is desired, the improvement prompt unit 120 prompts that the use of a position smoothing filter should be effective. Alternatively, when responsiveness is low and its improvement is desired, the improvement prompt unit 120 prompts a solution to shorten the target settling time parameter. Alternatively, when overshoot occurs and its elimination is desired, the improvement prompt unit 120 prompts that a solution to the overshoot allowance parameter is not permitted. Alternatively, when the setting state is stable, the improvement prompt unit 120 prompts a solution to reduce the parameter of the positioning completion range. Furthermore, when the operation is stable, the improvement prompt unit 120 prompts a solution to increase the target settling time.

[0117] In addition, Table 2 below shows an example of the specific recommendations in message 230:

[0118] [Table 2]

[0119]

[0120] (Step S105)

[0121] Next, the improvement control unit 110 determines whether the setting conditions are met.

[0122] If the setting conditions are met, the Improvement Control Unit 110 determines "Yes".

[0123] Here, refer to Figure 3 Example 300 illustrates the setting conditions. Figure 3 In screen example 300, as a tuning condition and as a "tuning determination criterion" for the response waveform, a graph is shown in the lower left corner with the dark line portion set to outside the range.

[0124] More specifically, in this embodiment, the improved control unit 110 determines the setting time, rebound, vibration level, and overshoot as setting conditions.

[0125] The "set time" indicates the time from when the command value of the position command or internal position command becomes "0" until it converges to the positioning completion range, which is within the target set time.

[0126] "Bounce" indicates that the positional deviation is no longer outside the range once it converges within the positioning completion range. Based on this, the aforementioned settling time in the event of bounce is calculated as the time from the occurrence of bounce until convergence to the positioning completion range. Specifically, as... Figure 3 The length of "T" indicates the time it takes for the target to move out of its stable positioning range and return after it has become a stable positioning range.

[0127] "Vibration Level" indicates that the amplitude of the vibration component of the torque command value generated during operation is below the reference value.

[0128] "Overshoot" indicates that the positional deviation is not below "0".

[0129] The Improvement Control Unit 110 determines "yes" when the tuning conditions are met. Furthermore, the Improvement Control Unit 110 can also determine "yes" even if the tuning conditions are not met even after a certain number of tunings. The Improvement Control Unit 110 further determines "yes" when the user selects a set of control parameters 200 from the first or second time onwards.

[0130] The improved control unit 110 determines that the tuning conditions are not met in any other case, and determines it as "No". Here, usually, the tuning conditions are not met in most cases during the first tuning, so it can also be determined as "No".

[0131] If "yes", the improved control unit 110 causes the processing to proceed to step S107.

[0132] If "No", the improvement control unit 110 causes the process to proceed to step S106. As a result, the improvement control unit 110 controls the control parameter 200 that should be improved if the rotation setting conditions of the motor 4 are not met.

[0133] (Step S106)

[0134] If the tuning conditions are not met, the improvement execution unit 130 performs countermeasure parameter setting processing.

[0135] Therefore, the improvement execution unit 130 obtains instructions based on the prompts from the improvement prompt unit 120. That is, the improvement execution unit 130 displays a dialog box or the like that requesting instructions via the GUI on the display unit 13, and obtains instructions from the input unit 12 to tune the control parameters 200 for which countermeasures have been adopted.

[0136] When the user determines that improvement is needed and receives such instruction, the improvement execution unit 130 changes the tuning conditions and thus obtains a set of control parameters 200 for which countermeasures have been adopted from the parameter setting 210.

[0137] Therefore, the improved execution unit 130 returns the process to step S102, and the tuning unit 100 re-tunes by using the control parameter 200 with countermeasures. Alternatively, this tuning can be repeated until the tuning conditions or tuning limits are met.

[0138] (Step S107)

[0139] When the tuning conditions are met, the improved execution unit 130 performs parameter selection processing.

[0140] The improved execution unit 130 obtains a set of control parameters 200 that meet the setting conditions as a set of control parameters 200 that have been set.

[0141] At this point, after the second or subsequent tuning, the improvement execution unit 130 displays the tuning results via a GUI, allowing the user to make a selection. This enables the control parameter 200 to be set to the optimal value for the user.

[0142] Thus, the tuning process of the embodiments of the present invention is concluded.

[0143] [Main Effects of This Implementation Method]

[0144] By constructing it as described above, the following effect can be achieved.

[0145] In the past, while automatic tuning technology for servo motors could achieve tuning through simple condition settings, the actual tuned state was sometimes unsatisfactory for the user. That is, even if parameter optimization could be achieved under simple tuning conditions in a specific operating environment, it might not be possible to achieve parameter optimization in other operating environments.

[0146] Therefore, it's also possible to execute all configurable conditions and ultimately set the user-selected parameters based on the results. However, in this configuration, the tuning time becomes longer. In this case, the user also needs to select the optimal parameter conditions from multiple tuning results.

[0147] In practice, tuning conditions become complex in order to set optimal parameters for a wide range of usage environments. Therefore, users with little experience in servo tuning can find it difficult to select the best parameter conditions.

[0148] In contrast, the tuning device 1 of this embodiment is a tuning device that tunes the control parameters 200 of the motor amplifier 2, which provides feedback control for the rotation of the motor 4 that moves the object. The tuning device is characterized by comprising: a tuning unit 100 that tunes the object according to the control parameters 200; an improvement control unit 110 that controls the control parameters 200 to be improved based on the characteristics of the object after tuning by the tuning unit 100; an improvement prompting unit 120 that prompts the user with countermeasures for the control parameters 200 to be improved as controlled by the improvement control unit 110, as well as the advantages and disadvantages of the countermeasures; and an improvement execution unit 130 that, upon receiving an instruction based on the prompt from the improvement prompting unit 120, re-tunes the tuning unit 100 using the control parameters 200 with the countermeasures.

[0149] This configuration prompts users with solutions, their advantages and disadvantages, and allows for the easy and unambiguous setting of optimal control parameters 200 when needed. In other words, even users with limited servo tuning experience can easily set the optimal control parameters 200 using simple instructions. Therefore, it reduces tuning-related time and effort, and also lessens the burden on the user.

[0150] In the tuning device 1 according to this embodiment, the tuning unit 100 performs tuning under basic control parameters 200 in the initial tuning, and performs tuning under control parameters 200 with countermeasures in the subsequent tuning.

[0151] This configuration allows for automatic tuning to be performed more than twice, adjusting to the optimal parameters for the user through simple condition settings and judgments. Furthermore, even if the conditions with countermeasures are not optimal for the user, other conditions can be selected. Therefore, even users without servo tuning experience can adjust to the optimal control parameters 200.

[0152] In the tuning device 1 of this embodiment, the improvement control unit 110 is characterized in that it improves the control parameter 200 that does not meet the tuning conditions for the rotation of the motor 4.

[0153] With this configuration, countermeasures for the control parameter 200 can be provided based on specific reference prompts, making it easy for even users with limited servo tuning experience to adjust the control parameter 200.

[0154] In the tuning device 1 according to this embodiment, the setting conditions are set for setting time, rebound, vibration level and overshoot.

[0155] With this configuration, the control parameter 200, which needs to be adjusted during tuning, can be appropriately adjusted. Based on this, the result can be displayed to the user, allowing for suggestions for improvement.

[0156] In the tuning device 1 of this embodiment, the basic control parameter 200 is set to different values ​​depending on whether the object of the action is a belt mechanism or a ball screw mechanism.

[0157] With this configuration, the tuning mode can be tuned under more appropriate conditions for the initial tuning. Therefore, even in the setting of basic tuning conditions, the optimal control parameter 200 can be set, which is the same as that adjusted based on years of cultivated expertise.

[0158] In the tuning device 1 according to this embodiment, the improvement prompting unit 120 prompts that the position smoothing filter should be used effectively when it is desired to suppress position deviation vibration; prompts that the target settling time parameter should be shortened when it is desired to improve responsiveness; prompts that the overshoot allowance parameter is not allowed when it is desired to eliminate overshoot; prompts that the positioning completion range parameter should be reduced when it is desired to stabilize the state during setting; and prompts that the target settling time should be extended when it is desired to stabilize the operation.

[0159] With this configuration, even users with little experience in servo adjustment can tune the specific control parameter 200 they want to adjust.

[0160] [Other Implementation Methods]

[0161] Furthermore, in the above embodiments, an example is described in which the tuning device 1 and the motor amplifier 2 are configured as different devices.

[0162] However, the motor amplifier 2 and the tuning device 1 can also be integrated as a single unit. In this case, for example, the HTTP server or dedicated tuning application built into the motor amplifier 2 can be accessed from other PCs via a network, RS-232C, etc.

[0163] Therefore, without the need for special equipment, it is possible to achieve the same function as the tuning device 1 in the above embodiment.

[0164] In the above embodiments, tuning using a GUI is described.

[0165] However, it is also possible to output the results using a printer during tuning, without using a GUI.

[0166] In the above embodiment, tuning is performed until the tuning conditions are met.

[0167] However, during the initial tuning, tuning can be performed until the conditions are close to the set point, and then suggestions for improvement can be made based on that.

[0168] This configuration allows for faster tuning.

[0169] In the above embodiments, an example is described of a set of control parameters 200 selected by the user in multiple tunings.

[0170] However, it can also be configured to observe the results in the tuning conditions and have the tuning device 1 suggest "this" or select automatically.

[0171] This configuration allows users with limited servo tuning experience to tune without confusion, thus improving usability.

[0172] In the above embodiments, examples of tuning being performed more than twice are described.

[0173] However, if the tuning conditions are met during the first tuning and the user agrees, the control parameter 200 can also be set through only one tuning.

[0174] This configuration allows for tuning tailored to the user's needs. Furthermore, multiple tuning sessions can be performed, starting with basic tuning and progressing to more detailed tuning depending on the relationship with other devices.

[0175] Furthermore, examples of performing tuning optimization are described in the above embodiments.

[0176] However, the same process can be applied to other processes such as aging that require automatic setting of control parameters.

[0177] Furthermore, the structure and operation of the above-described embodiments are examples, and appropriate modifications can be made without departing from the spirit of the present invention.

[0178] Label Explanation

[0179] 1. Tuning device

[0180] 2 motor amplifiers

[0181] 3 encoders

[0182] 4 motors

[0183] 10 Control Department

[0184] 11 Storage Department

[0185] 12 Input Section

[0186] 13 Display Section

[0187] 21-position command filter

[0188] 22FF Control Unit

[0189] 23FB Control Department

[0190] 24 Torque Adjustment Section

[0191] 25 Current Control Section

[0192] 100 tuning section

[0193] 110 Improvement and Mastery Department

[0194] 120 Improvement Tips Department

[0195] 130 Improvement Implementation Department

[0196] 200 control parameters

[0197] 210 parameter settings

[0198] 230 Improvement Message

[0199] 300 screen example

[0200] X Control System.

Claims

1. A tuning device for tuning the control parameters of a motor amplifier, the motor amplifier providing feedback control of the rotation of a motor that moves an object, characterized in that, include: A tuning unit that tunes the object to be moved according to the control parameters; An improvement control unit, which controls the parameters to be improved based on the characteristics of the action object after being tuned by the tuning unit; The improvement prompting unit prompts the user with countermeasures for the control parameters that should be improved, which are grasped by the improvement control unit, and prompts the user with both the advantages and disadvantages of the countermeasures. The improvement execution unit, upon receiving an instruction based on the prompt from the improvement prompt unit, causes the tuning unit to re-tune by employing the control parameters of the countermeasure.

2. The tuning device as described in claim 1, characterized in that, In the tuning section The initial tuning is performed using the aforementioned basic control parameters; The retuning was performed using the control parameters after the countermeasures were adopted.

3. The tuning device as described in claim 1 or 2, characterized in that, The improvement control unit should improve the control parameters that do not meet the rotation setting conditions of the motor.

4. The tuning device as described in claim 3, characterized in that, The setting conditions are set for setting time, rebound, vibration level, and overshoot.

5. The tuning device as described in any one of claims 2 to 4, characterized in that... The basic control parameters are set to different values ​​depending on whether the object being acted upon is a belt mechanism or a ball screw mechanism.

6. The tuning device as described in any one of claims 3 to 5, characterized in that, In the improvement suggestion department, In cases where the goal is to suppress positional deviation vibrations, it is recommended to make the use of a position smoothing filter effective. To improve responsiveness, it is suggested to shorten the target settling time parameter. When attempting to eliminate overshoot, a message appears indicating that the overshoot allowance parameter is not permitted. To stabilize the state during tuning, the system prompts you to reduce the parameters for the completed positioning range. If you want to stabilize the action, suggest increasing the target settling time.

7. A tuning method, executed by a tuning device that tunes control parameters of a motor amplifier, the motor amplifier providing feedback control of the rotation of a motor that moves an object, characterized in that... The control parameters are used to make the object of the action move, thereby performing tuning. Based on the characteristics of the object being tuned, determine the control parameters that should be improved. The system prompts the user with suggested countermeasures for improving the control parameters, and provides the user with a breakdown of both the advantages and disadvantages of each countermeasure. Having received a prompt-based instruction, the control parameters were retuned using countermeasures.

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