Control device, synchronization system, mechanical control method and storage medium

Abstract

The control device (11) is a device connected to a synchronization device that synchronizes action data, which is information related to the drive of a machine, obtained in a time series, with measurement data, which is information related to the sound or vibration of the machine, obtained in a time series, using the characteristics of the data obtained in a time series. The control device includes a user instruction creation unit (111), a synchronization instruction storage unit (112), a synchronization instruction creation unit (113), and a synchronization instruction output unit (114). The user instruction creation unit creates a user instruction, which is an instruction for driving the machine according to the instructions of the user of the control device. The synchronization instruction storage unit stores reproduction information that can reproduce the synchronization instruction, which is an instruction used in synchronization, at a predetermined timing. The synchronization instruction creation unit creates the synchronization instruction based on the reproduction information. The synchronization instruction output unit outputs the synchronization instruction to the oscillator that generates sound or vibration at a predetermined timing of the user instruction, so that the influence of the synchronization instruction is added to the measurement data.

Description

Technical Field

[0001] The present invention relates to a control device, a synchronization system, a machine control method, and a storage medium for synchronizing and outputting a plurality of time-series data. Background Art

[0002] Generally speaking, it is known that in devices having a power source such as an electric motor, the driving sound of the power source or the object driven by the power source, i.e., a machine, contains a large amount of information related to the state of the power source and the machine. Therefore, the following technology is known, namely, obtaining measurement data representing the sound or vibration generated by the machine simultaneously with the information about the drive of the machine, i.e., the action data, and selecting an interval suitable for the cause judgment based on the obtained data to judge the cause of the failure of the power source and the machine or the cause of the sound or vibration. However, in order to simultaneously obtain the action data and the measurement data representing the sound or vibration, the sound or vibration must be obtained on a device synchronized with the machine, which poses a problem in terms of installation. As a solution to this problem, the following technology is known, namely, synchronizing the obtained measurement data and the action data by performing a predetermined operation on the obtained data.

[0003] For example, Patent Document 1 discloses a technique for extracting features representing predetermined motion from measurement data and motion data, and aligning the times representing the extracted features to synchronize the measurement data and motion data.

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2019-219725 Summary of the Invention

[0005] However, the technology described in Patent Document 1 suffers from the problem that the accuracy of synchronization between measurement data and motion data depends on predefined motion features. Therefore, users performing factor identification must carefully configure each feature based on the power source and drive mode of the machine being diagnosed, ensuring that the features extracted for synchronization are not confused with other motions.

[0006] The present invention has been made in view of the above circumstances, and an object thereof is to provide a control device that is stable and can synchronize multiple types of time-series data more easily than before, regardless of the driving mode of the power source and machine to be diagnosed.

[0007] To solve the above-mentioned problems and achieve the purpose, the control device of the present invention is connected to a synchronization device that uses the characteristics of data acquired in a time series to synchronize action data related to the drive of a machine with measurement data related to the sound or vibration of the machine acquired in a time series. The control device includes a user instruction creation unit, a synchronization instruction storage unit, a synchronization instruction creation unit, and a synchronization instruction output unit. The user instruction creation unit creates user instructions, which are instructions for driving the machine according to instructions from the user of the control device. The synchronization instruction storage unit stores reproduction information that allows the synchronization instructions, which are instructions used for synchronization, to be reproduced at a predetermined timing. The synchronization instruction creation unit creates synchronization instructions based on the reproduction information. The synchronization instruction output unit outputs the synchronization instructions to an oscillator that generates sound or vibration at a predetermined timing according to the user instruction, so that the influence of the synchronization instructions is added to the measurement data.

[0008] Effects of the Invention

[0009] The control device according to the present invention has the effect of being stable regardless of the driving mode of the power source and machine to be diagnosed, and being able to synchronize multiple types of time-series data more easily than before. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a block diagram showing an example of the functional configuration of the control device according to the first embodiment.

[0011] Figure 2 This is a diagram showing an example of the hardware configuration of an air blowing device including the control device according to the first embodiment.

[0012] Figure 3 This is a flowchart showing an example of a procedure for inspecting the blower including a procedure of a synchronization method implemented using the control device according to the first embodiment.

[0013] Figure 4 This is a diagram showing an example of the hardware configuration of a synchronization system including the control device according to the first embodiment.

[0014] Figure 5 This is a block diagram showing an example of the configuration of a measuring device used in the synchronization system according to the first embodiment.

[0015] Figure 6 This is a block diagram showing an example of the configuration of a test terminal used in the synchronization system according to the first embodiment.

[0016] Figure 7This is a timing chart showing an example of machine operation achieved by synchronization commands and user commands used by the control device according to the first embodiment.

[0017] Figure 8 This is a block diagram showing an example of the functional configuration of a control device according to the second embodiment.

[0018] Figure 9 This is a diagram showing an example of the hardware configuration of a synchronization system including a control device according to the second embodiment.

[0019] Figure 10 This is a block diagram showing an example of a functional configuration of a synchronization system including a control device according to the second embodiment.

[0020] Figure 11 This is a diagram showing an example of the configuration of an operation display unit of a machine tool according to a second embodiment.

[0021] Figure 12 This is a diagram showing an example of synchronization instructions used by the control device according to the second embodiment.

[0022] Figure 13 This is a diagram showing an example of measurement data of the sound generated by the driving mechanical part when the control device according to the second embodiment is driven by the synchronization command.

[0023] Figure 14 This is a diagram showing another example of synchronization instructions used by the control device according to the second embodiment.

[0024] Figure 15 This is a block diagram showing an example of the functional configuration of a control device according to the third embodiment.

[0025] Figure 16 This is a diagram showing an example of synchronization instructions used by the control device according to the third embodiment.

[0026] Figure 17 This is a diagram showing an example of the configuration of a processing circuit in a case where the processing circuit included in the control device according to Embodiments 1 to 3 is realized by a processor and a memory.

[0027] Figure 18 This is a diagram showing an example of the configuration of a processing circuit in a case where the processing circuit included in the control device according to Embodiments 1 to 3 is configured by dedicated hardware. DETAILED DESCRIPTION

[0028] Hereinafter, a control device, a synchronization system, a machine control method, and a storage medium according to embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0029] Implementation method 1.

[0030] Figure 1 1 is a block diagram showing an example of the functional structure of the control device according to Embodiment 1. The control device 11 is a device that controls a driven object of the power source in a device having a power source. Figure 1 In the figure, only the structure required for synchronizing the action data and the measurement data using the characteristics of the data obtained in a time series among the structures of the control device 11 is shown. The action data is obtained by obtaining information related to the driving of the driven object in a time series, and the measurement data is obtained by obtaining information related to the sound or vibration generated by the driven object in a time series. Figure 1 The control device 11 in the embodiment includes a user instruction creation unit 111 , a synchronization instruction storage unit 112 , a synchronization instruction creation unit 113 , and a synchronization instruction output unit 114 .

[0031] The user command generator 111 generates commands for driving a machine (not shown) connected to the control device 11 in a manner consistent with the user's intent, that is, in accordance with user instructions. Commands for the position, speed, and current time series assigned to the motor, the power source of the machine, are examples of commands generated by the user command generator 111. The user command generator 111 can generate user commands by pre-reading user-assigned commands from memory, or it can generate user commands based on commands assigned from a higher-level device.

[0032] The synchronization instruction storage unit 112 stores reproduction information that can reproduce the synchronization instruction output at a predetermined timing when the machine executes the user instruction. The synchronization instruction is an instruction used for synchronization. The stored reproduction information can be the output value of the synchronization instruction in a time series, or it can be a numerical value that determines the synchronization instruction such as the output time or stop time of the synchronization instruction. In one example, the reproduction information can be set to an instruction pattern that can reproduce the synchronization instruction at a predetermined timing. In addition, the synchronization instruction storage unit 112 can also store instruction execution position information indicating at which timing of the user instruction the synchronization instruction is executed. By storing the instruction execution position information in the synchronization instruction storage unit 112, the synchronization instruction can be executed at a position that does not affect the machine action expected by the user. Here, the instruction object involved in the synchronization instruction can be an object different from the user instruction.

[0033] The synchronization command creation unit 113 creates a synchronization command based on the reproduction information stored in the synchronization command storage unit 112. The synchronization command is created as a command synchronized with a user command.

[0034] The synchronization command output unit 114 outputs the synchronization command created by the synchronization command creation unit 113 to the oscillator 12 at a predetermined timing, thereby influencing the measurement data. The synchronization command is synchronized with the user command and is therefore output at a predetermined timing relative to the user command. The synchronization command can be output immediately after the user command begins, before the start of a user-commanded drive, during motor acceleration or deceleration, during a constant speed, between drives, or after a predetermined time has passed since the end of a drive. These timings can be specified in the command execution position information.

[0035] The oscillating device 12 is connected to the control device 11 and generates sound or vibration according to the synchronization command output by the synchronization command output unit 114. A buzzer or siren installed in the device is an example of the oscillating device 12. Figure 1 In the figure, the oscillator 12 is shown as a device installed outside the control device 11. However, the oscillator 12 can also be built into the control device 11 as an oscillating unit. In addition, the oscillator 12 can be a device other than a dedicated oscillator, but can also be a form that utilizes an existing device that generates sound or vibration in response to a command. Devices that have a relay or circuit breaker that generates sound when opened and closed, a converter that generates vibration at a switching frequency in response to a command, or an actuator that emits a specific sound when operating are also examples of the oscillator 12. By utilizing existing devices, synchronization can be achieved at a low cost.

[0036] The sound or vibration generated by the oscillator 12 is preferably distinguishable from sounds or vibrations outside the scope of observation, such as those generated when the machine is driven by a user command, and ambient sounds and noise observed at a location where the machine is installed, by its frequency, magnitude, sounding duration, sounding interval, or variations therein. Examples include sounds or vibrations that are continuously generated for a predetermined period of time at a specific intensity or a specific frequency, or sounds or vibrations that are periodically generated.

[0037] Figure 2 1 is a diagram showing an example of the hardware configuration of an air supply device having a control device according to Embodiment 1. Figure 2As shown, air blower 100 includes a control device 11, an oscillating device 12, and a blower 13 that generates air by rotating an impeller with an electric motor. Control device 11 also includes a controller 14 that stores user-predicted commands in a time series and creates them; an inverter 15 that supplies current to blower 13; and a recorder 16 that records the operation of blower 13 in a time series as operation data.

[0038] The controller 14 stores the instructions set by the user and creates instructions to be given to the inverter 15 so that the blower 13 performs the operation expected by the user. In one example, the controller 14 has Figure 1 The user command generating unit 111, the synchronization command storing unit 112, the synchronization command generating unit 113 and the synchronization command output unit 114 are shown. In addition, the controller 14 is connected to the oscillating device 12 and outputs the synchronization command to the oscillating device 12.

[0039] The inverter 15 converts the command generated by the controller 14 into a command for the current to be supplied to the motor. The inverter 15 supplies the current to the blower 13 according to the converted command.

[0040] The recorder 16 is connected to the controller 14 and stores the operating state of the blower 13 as time series data based on information such as commands from the controller 14. The operating state of the blower 13 is stored as time series data as operation data.

[0041] In Embodiment 1, the control device 11 includes a controller 14, an inverter 15, and a recorder 16. However, the control device 11 may be any device capable of controlling the blower 13 as a machine, and may have another structure. For example, a single device may perform all the operations from command generation to current supply, or it may be composed of multiple devices. In addition, the number of axes driven by the control device 11 may be one or more. The user command creation unit 111, the synchronization command storage unit 112, the synchronization command creation unit 113, and the synchronization command output unit 114 may be provided in a specific device of the control device 11, or they may be divided and provided in multiple devices.

[0042] The blower 13 is electrically connected to the control device 11 and receives an electrical signal from the control device 11 to rotate a motor attached to an impeller to blow air. The blower 13 operates according to commands generated by a user command generation unit 111 provided in the control device 11.

[0043] Below, Figure 2 An example of a synchronization method implemented using the control device 11 according to the first embodiment will be described by taking an inspection procedure related to the air blowing sound of the air blower 13 in the air blowing device 100 as an example. Figure 3 This is a flowchart showing an example of a procedure for inspecting a blower including the procedure of the synchronization method implemented by the control device according to the first embodiment. Figure 3 As shown, the inspection sequence of the blower 13 consists of 8 steps from step S11 to step S18, and among these steps, steps S12 to step S16 are a synchronization sequence using the control device 11. In this inspection, for the purpose of diagnosing whether there is any abnormality in the air supply device 100, the presence or absence of an abnormality is judged based on the response of the driving sound of the blower 13 to the instruction for driving the blower 13 through the inspection instruction. In this inspection, it is necessary to measure the response of the driving sound to the inspection instruction, so it is necessary to synchronize the inspection instruction as action data and the driving sound as measurement data. Figure 3 Each process is described in detail.

[0044] (1) Installation of the measuring device 17 in step S11

[0045] First, the user who is doing the checking Figure 2 The air supply device 100 shown is provided with a measuring device used for inspection. Figure 4 This diagram shows an example of the hardware configuration of a synchronous system including the control device according to Embodiment 1. Here, the synchronous system is shown as being applied to a ventilation system 190 including the measuring device 17 installed in step S11. Figure 4 The air supply system 190 shown has Figure 2 The air supply device 100, the measuring device 17 and the inspection terminal 18 are shown. Figure 1 and Figure 2 The same structural elements are marked with the same reference numerals and their descriptions are omitted. Figure 2 The different parts are explained.

[0046] The measuring device 17 acquires measurement data obtained by measuring the sound or vibration generated by the blower 13 and the oscillator 12 in time series. The measuring device 17 is installed near the blower 13 and the oscillator 12 so as to be able to measure the sound or vibration generated by both.

[0047] The inspection terminal 18 is connected to the recorder 16 and the measuring device 17, which are the motion data acquisition units of the air supply device 100, and generates inspection data of the air supply device 100 by synchronizing the motion data of the air supply device 100 acquired by the recorder 16 with the measurement data acquired by the measuring device 17. The inspection terminal 18 is an example of a synchronization device that uses the characteristics of the data acquired in time series to synchronize the motion data and measurement data acquired by driving the air blower 13 as a machine using the control device 11. In addition, when setting the measuring device 17 in step S11, only the minimum number of measuring devices 17 need to be set. The inspection terminal 18 can be set at the same time as the measuring device 17 in step S11, but can also be set at any timing between the installation of the measuring device 17 and the data synchronization processing in step S16 described later.

[0048] Figure 5 1 is a block diagram showing an example of the structure of a measuring device used in the synchronization system according to the first embodiment. Figure 5 As shown, the measuring device 17 has a measuring unit 171 and a recording unit 172. The measuring unit 171 measures data related to the sound or vibration generated by the operation of the blower 13. The sound of the air, the acceleration generated by the blower 13, etc. are examples of data measured by the measuring unit 171. The recording unit 172 records the data measured by the measuring unit 171 as time series data, that is, measurement data. A microphone, a vibrometer, an accelerometer, an ammeter, etc. are examples of the measuring device 17 that measures sound or vibration. The measuring device 17 is not used in normal operation, so it is preferably a device that can be easily moved near the object to be measured only during inspection. However, the inspection terminal 18 may have the measuring device 17 built in, and the built-in measuring device 17 may be used during inspection.

[0049] (2) Creation of Inspection Instructions in Step S12

[0050] Next, when creating the inspection instructions in step S12, the instructions for driving the air blower 13 during the inspection are set in the control device 11. Here, the instructions given to the control device 11 can be the same instructions as those for normal operation, or they can be instructions special for inspection purposes. At this time, the control device 11 creates user instructions based on the instructions given by the user instruction creation unit 111. In this sequence, the inspection instructions are user instructions. In addition, there is no need to set the inspection instructions each time the user performs an inspection, and the instructions given last time can be used, or the inspection instructions can be set as presets when the air supply system 190 is constructed.

[0051] (3) Synchronization instruction creation process in step S13

[0052] When creating the synchronization command in the next step S13, the synchronization command creation unit 113 creates the synchronization command based on the synchronization command reproduction information previously stored in the synchronization command storage unit 112. The shape and timing of the synchronization command are preferably those used to improve synchronization accuracy during the data synchronization process in step S16, described later. Details of the synchronization command will be described later.

[0053] (4) Drive Processing by Inspection Instructions in Step S14

[0054] Next, during the operation using the inspection command in step S14, the blower 13 is driven based on the user command generated by the creation of the inspection command in step S12. Furthermore, based on the user command and the synchronization command, the synchronization command output unit 114 outputs a synchronization command to the oscillator 12, causing the oscillator 12 to oscillate at a predetermined timing in the given command.

[0055] Therefore, during the driving process by the inspection command in step S14, the blower 13 is driven according to the given inspection command, and the oscillator 12 is in an oscillating state at a predetermined timing during the driving.

[0056] (5) Processing of obtaining motion data and measurement data in step S15

[0057] When acquiring the action data and measurement data in the subsequent step S15, in the aforementioned state during the drive process performed by the inspection command in step S14, the action state of the blower 13 is recorded as action data by the recorder 16, and the oscillation state is recorded as measurement data by the measurement device 17. Here, the recorder 16 can record a single action data item or multiple action data items simultaneously. However, the recorder 16 records the action data, including data that can be used to estimate the oscillation timing of the oscillation device 12. This can be achieved by having the recorder 16 record data including synchronization commands output to the oscillation device 12 in the action data, or by having the recorder 16 directly record user commands that determine the output timing of the synchronization commands. Alternatively, action data such as the rotational speed of the blower 13 driven by user commands, the current of the motor, and the torque can be recorded and estimated by the user commands. In the first embodiment, the operation data is used for inspection. Therefore, the following describes a case where user commands, the rotation speed of the blower 13, and the current of the motor of the blower 13 are recorded as the operation data.

[0058] Furthermore, the operation data and measurement data recorded as time-series data are recorded with respect to a time including the time when the oscillating device 12 is oscillated by the control device 11 .

[0059] (6) Data Synchronization Processing in Step S16

[0060] Next, during data synchronization in step S16, the recorded motion data and measurement data are synchronized using the inspection terminal 18. Any synchronization method can be used as long as it is based on the measurement data and motion data. The inspection terminal 18 synchronizes the motion data and measurement data, thereby obtaining synchronized measurement data and synchronized motion data.

[0061] Figure 6 1 is a block diagram showing an example of the structure of an inspection terminal used in the synchronization system according to the first embodiment. Figure 6 As shown, the inspection terminal 18 includes an operation data acquisition unit 181 , a measurement data acquisition unit 182 , a synchronization unit 183 , and an output unit 184 .

[0062] The motion data acquisition unit 181 acquires the motion data recorded in the recorder 16 in a state where the inspection terminal 18 and the recorder 16 are connected.

[0063] The measurement data acquisition unit 182 acquires the measurement data recorded in the measurement device 17 in a state where the inspection terminal 18 and the measurement device 17 are connected.

[0064] The acquisition of motion data by the motion data acquisition unit 181 and the acquisition of measurement data by the measurement data acquisition unit 182 may be performed simultaneously or separately.

[0065] The synchronization unit 183 synchronizes the acquired motion data and measurement data based on the waveform characteristics of these data. For example, the synchronization method described in Patent Document 1 can be used, in which the synchronization unit 183 extracts the time at which a characteristic indicating a predetermined phenomenon appears from each of the motion data and the measurement data, and synchronizes the extracted time. Alternatively, a method can be used, in which synchronization is performed based on the point at which the motion data and the measurement data have the highest correlation.

[0066] The output unit 184 outputs the synchronized motion data and measurement data, that is, the synchronized motion data and the synchronized measurement data, to a monitor, etc. Thus, the synchronized motion data and the synchronized measurement data are clearly displayed to the user who performs the inspection.

[0067] Furthermore, the measuring device 17 may be built into the inspection terminal 18. By building the measuring device 17 into the inspection terminal 18, the user's workload of carrying and installing the measuring device 17 can be reduced, and inspections can be performed with less workload.

[0068] (7) Abnormality Confirmation Processing in Step S17

[0069] Next, when confirming the abnormality in step S17, the user confirms whether there is any abnormality in the blower 13 based on the synchronous measurement data and the synchronous action data. The user confirms the synchronized action data and measurement data output by the inspection terminal 18 to the monitor, etc., and checks whether there is no abnormality in the blower 13. By using the synchronous measurement data and the synchronous action data, the inspection terminal 18 can infer the cause of the abnormality in the measurement data with high precision, and a more detailed diagnosis can be performed. The inspection terminal 18 can have an abnormality confirmation unit that uses the synchronous action data and the synchronous measurement data to confirm the abnormality. In one example, the abnormality confirmation unit can detect the abnormal part by comparing the synchronous action data and the synchronous measurement data with the data that serves as a reference. The inspection terminal 18 has an abnormality confirmation unit, which makes it possible to perform inspections more simply.

[0070] (8) Removal of the measuring device 17 in step S18

[0071] Finally, in step S18 , the measurement device 17 and the inspection terminal 18 installed for the inspection are removed from the measurement object, and the inspection is completed.

[0072] Next, details regarding the generated sound or vibration to be measured in the control device 11 according to the first embodiment will be described. Figure 7 This is a timing diagram showing an example of a mechanical action implemented by a synchronization instruction and a user instruction used by the control device according to the first embodiment. Figure 7 In the example, the horizontal axis represents time. Figure 7 The signal waveform of the synchronization command and the driving state of the mechanical operation are shown in . The driving state of the mechanical operation is the state of the blower 13 driven by the user command, and shows an example of the user command.

[0073] exist Figure 7 In the example, it is assumed that the oscillating device 12 generates sound or vibration when the synchronization instruction is Hi. Figure 7 As shown, the synchronization command in the first embodiment is a rectangular wave that is started t seconds before the mechanical drive is performed by the user command and is output for a constant time.

[0074] To implement this behavior, the synchronization command storage unit 112 stores the reproduction information necessary to reproduce the aforementioned behavior. Specifically, examples of this reproduction information include the output start time, end time, output time, command insertion position relative to the user command, command insertion trigger conditions, and the output waveform of the synchronization command for any number of seconds. The synchronization command storage unit 112 stores one or more of these items of information as needed.

[0075] The synchronization command output unit 114 checks the user command and outputs the synchronization command for a constant time, starting from t seconds before the start of the drive. The synchronization command is output for a constant time. Thus, in the abnormality confirmation process, the sound or vibration oscillated by the oscillator 12, the noise or vibration caused by other factors, or the ambient sound or vibration can be easily distinguished based on the duration of the synchronization command output. In addition, the same distinction can be made by setting the sound or vibration oscillated by the oscillator 12 to a sound or vibration with a frequency different from the drive sound or vibration of the blower 13. The duration is preferably shorter than the time t so as not to overlap with the mechanical drive performed by the user command.

[0076] In addition, in embodiment 1, Figure 7 As shown, mechanical operation begins after the synchronization sound or vibration associated with the synchronization command is generated. By inserting the synchronization command immediately before the mechanical operation associated with the user command, a separate sound can be produced, making the sound or vibration of the oscillator 12 easily identifiable. Furthermore, since the mechanical drive generated by the user command and the sound or vibration generated by the synchronization command do not overlap, synchronization can be achieved without affecting the inspection.

[0077] Since the synchronization sound or vibration is generated immediately before the machine operates, an alarm buzzer or the like that warns people near the machine that the machine has started can be used as the oscillator 12 .

[0078] In the first embodiment, the inspection terminal 18, which is connected to the control device 11 and synchronizes motion data with measurement data, and the measurement device 17 that acquires measurement data, are connected externally to the control device 11 via a back-end connection. However, the inspection terminal 18 may be provided in other ways. For example, the inspection terminal 18 may be built into the control device 11, installed externally to the control device 11 and always connected to it, or provided in other ways within the inspection terminal 18 and measurement device 17. By providing the inspection terminal 18 as a back-end connection externally to the control device 11, even if changes are made to the control device 11 being inspected or the inspection sequence, these changes can be handled with minimal effort.

[0079] The control device 11 involved in embodiment 1 adds a synchronization instruction that is different from the action mode of the blower 13 set by the user, that is, the user instruction, to the user instruction. The synchronization instruction is independent of the user instruction, so it is possible to stably synchronize the action data and the measurement data regardless of the user instruction. In particular, in the case where the user instruction is an instruction that produces almost no sound or vibration, and in the case where the user instruction is changed due to a change in the use of the machine, maintenance, etc., it is possible to stably synchronize the action data and the measurement data. In addition, since the synchronization instruction is different from the user instruction, it is possible to select an instruction suitable for the synchronization method of the inspection terminal 18 to be connected as the synchronization instruction, which can improve the synchronization accuracy.

[0080] The control device 11 according to Embodiment 1 creates synchronization commands based on reproduction information stored in the synchronization command storage unit 112, which allows the synchronization commands output at predetermined timing to be reproduced. By creating synchronization commands based on this reproduction information, a constant synchronization command can be added to a user command. Therefore, even when synchronization is performed multiple times, stable synchronization is possible.

[0081] Furthermore, by changing the reproduction information stored in the synchronization command storage unit 112 , the sound or vibration generated by the synchronization command can be easily changed.

[0082] The control device 11 according to Embodiment 1 outputs the user command with the synchronization command appended thereto via the synchronization command output unit 114, based on the user command and the synchronization command. Since the synchronization command is output at a predetermined timing in response to the user command, the synchronization command output unit 114 can output the synchronization command at a constant timing in response to the user command. This allows the time at which the machine operation is initiated by the user command to be identified in the measurement data.

[0083] The control device 11 involved in embodiment 1 is synchronized by the sound or vibration generated by the oscillation device 12 that is external or built into the control device 11. In the case of an external oscillation device 12, a characteristic sound different from the sound or oscillation generated by mechanical action can be used as the sound or vibration used for synchronization, which can improve the accuracy of synchronization. In addition, the sound or vibration used for synchronization can be changed as needed. In particular, when multiple identical machines are used, by using different oscillation devices 12, it is also possible to distinguish which oscillation device 12 is activated to generate the sound or vibration. Moreover, when the device performing synchronization is changed and its sound or vibration is completely different, synchronization can be achieved by using the same oscillation device 12 without changing the synchronization conditions.

[0084] The synchronization system according to Embodiment 1 includes a measuring device 17 and an inspection terminal 18, which are separate devices from the control device 11, thereby enabling inspection of the status of the inspection object. This allows for changes to be made to the control device 11 being inspected, the inspection sequence, and so on, with minimal effort. Furthermore, multiple inspection objects can be inspected using a single inspection terminal 18. Furthermore, for existing equipment that does not include an inspection terminal 18, an existing device such as a relay can be used as the oscillator 12, and the program of the control device 11 can be rewritten, enabling inspection using synchronization similar to that of Embodiment 1.

[0085] Implementation method 2.

[0086] Figure 8 This is a block diagram showing an example of the functional structure of the control device involved in the second embodiment. Figure 1 The same or equivalent structure is marked with Figure 1 The same reference numerals are used and repeated descriptions are omitted.

[0087] In the second embodiment, a synchronization command is superimposed on a motor command, sound or vibration is generated by driving the motor, and the generated sound or vibration is used to synchronize the motion data and the measurement data. Figure 8 The control device 21 in the embodiment includes a user command generating unit 111 , a synchronization command storage unit 212 , a synchronization command generating unit 213 , a synchronization command synthesizing unit 214 , and a control unit 215 .

[0088] The synchronization command storage unit 212 stores reproduction information that can reproduce synchronization commands output at predetermined timings when the machine executes user commands. This stored reproduction information can include commands such as position commands, speed commands, and current commands in a time series of synchronization commands, as well as numerical values ​​that specify synchronization motor commands such as the output and stop times of synchronization commands, the travel distance of the motor, and the maximum speed. Furthermore, command execution position information indicating the timing of the user command at which the synchronization command was executed, or a combination of these information, can also be stored.

[0089] The synchronization command generator 213 generates a synchronization command, which is a drive command for driving the machine, based on the reproduction information stored in the synchronization command storage 212. The synchronization command can be a command of the same dimension as the command transmitted to the control unit 215, or a command in the form of a correction value processed midway through the transmission to the control unit 215.

[0090] The synchronization command synthesizing unit 214 adds the user command and the synchronization command to form a synthesized command. Specifically, the synchronization command synthesizing unit 214 calculates a synthesized command in which the synchronization command is added to the user command at a predetermined timing based on the command execution position information or information equivalent to the command execution position information.

[0091] The control unit 215 drives the motor included in the connected drive mechanism unit 22 based on the synthesized command to which the synchronization command is added. The control method executed by the control unit 215 can be any control method for controlling the motor, and can be feedforward control or feedback control.

[0092] exist Figure 8 In the figure, the synchronization instruction synthesis unit 214 and the control unit 215 are shown as separate functional units, but the synchronization instruction synthesis unit 214 can also be constructed in the form of being built into the control unit 215, or it can be a structure that adds the synchronization instruction and the user instruction within the processing of the control unit 215.

[0093] The drive mechanism 22 is a machine that includes a motor driven by electrical signals controlled by the control unit 215. The drive mechanism 22 is driven by the control unit 215 based on user commands and synchronization commands. Because the drive mechanism 22 includes a motor, it generates sound or vibration when driven. In particular, the sound or vibration is generated by executing synchronization commands. Specifically, the control unit 215 controls the drive mechanism 22 based on the synthesized commands, and the drive mechanism 22 generated by the synchronization commands generates sound or vibration.

[0094] Figure 9: is a diagram showing an example of the hardware configuration of a synchronization system having a control device according to Embodiment 2. Figure 10 This is a block diagram showing an example of the functional structure of a synchronization system having a control device according to Embodiment 2. Here, the synchronization system is shown as being applied to a machine tool 200. More specifically, the machine tool 200 is shown as an NC (Numerical Control) drilling machine that performs hole drilling by being controlled by numerical values ​​generated by a computer. Figure 9 and Figure 10 As shown, the machine tool 200 includes a control device 21, a drive mechanism 22, an operation display 23, a sound vibration measuring unit 24, and a synchronization unit 25. In addition, the actual machine tool 200 includes many parts, but for the sake of simplicity, the following parts are shown in FIG. Figure 9 and Figure 10 Only some of the structural elements are shown.

[0095] The control device 21 has Figure 8 The control device 21 is electrically connected to the driving mechanism 22 and controls the driving mechanism 22 according to user instructions.

[0096] The drive mechanism 22 is a mechanical component of the machine tool 200, which includes four axes: the XY table and the Zθ axis. The drive mechanism 22 includes motors, movable mechanisms, wiring, and other components (not shown) corresponding to each of the four axes. The workpiece is placed on the XY table. The drive mechanism 22 receives electrical signals controlled by the control device 21 and drives the motors of each axis to perform drilling on the workpiece on the XY table. When the motors in the drive mechanism 22 are driven, they generate sound or vibration due to mechanical resonance and other factors.

[0097] The operation display unit 23 is an interface for inputting operations intended by a user into the machine tool 200 and for displaying the status of the machine tool 200 .

[0098] The sound and vibration measuring unit 24 is a sensor provided near the driving mechanism unit 22 and measures the sound or vibration generated by the driving mechanism unit 22 in a time series manner.

[0099] The synchronization unit 25 is a synchronization device that synchronizes the operation data such as the rotation angle, speed, and current of the motor with the measurement data, which is the time-series data of sound or vibration, based on the characteristics of the time-series data.

[0100] When a user issues a start command to the machine tool 200 via the operation display unit 23, the control device 21 adds a synchronization command to the pre-set user command and drives the drive mechanism 22. The sound or vibration of the drive mechanism 22 generated by this drive is measured by the sound and vibration measuring unit 24. The user of the machine tool 200 can obtain synchronized motion data and measurement data via the operation display unit 23.

[0101] Figure 11 1 is a diagram showing an example of the structure of the operation display unit of the working machine involved in the second embodiment. Figure 11 As shown, the operation display unit 23 includes a display 231 , an operation switch 232 , and a transceiver connector 233 .

[0102] The display 231 is an output display device that displays the status of the machine tool 200. The display 231 can be operated to display user commands or information stored in the synchronization command storage unit 212. This allows the user to confirm what commands are currently stored in the machine tool 200.

[0103] The operation switch 232 is an operation unit for operating the machine tool 200. By operating the switch 232, the machine tool 200 can be driven and stopped.

[0104] The transceiver connector 233 is a connector for transmitting and receiving data between the control device 21 and a personal computer (PC) serving as a computer system. The machine tool 200 is connected to the PC via a cable connected to the transceiver connector 233, enabling data transmission and reception. Communication via the transceiver connector 233 can be performed using any communication method, as long as it allows connection with the PC. Furthermore, data transmission and reception with the PC can be performed wirelessly rather than via a wired connection.

[0105] In the second embodiment, the user of the machine tool 200 initially connects the PC to the machine tool 200 using the transceiver connector 233 and makes various settings related to the operation of the machine tool 200. The settings made here include user commands that affect how the drive mechanism 22 is driven and information related to synchronization commands stored in the synchronization command storage unit 212.

[0106] After making the above settings, the user drives the machine tool 200 using the operating switch 232. Furthermore, when acquiring motion data that records information related to the driving of the synchronized machine tool 200 in a time series, the user can acquire the motion data by communicating with the PC via the transceiver connector 233.

[0107] Next, the synchronization instructions used in the second embodiment will be described with reference to specific examples. Figure 12 FIG. 1 is a diagram showing an example of a synchronization instruction used by the control device according to the second embodiment. Figure 12 In FIG, an example of a motor current instruction for determining the amount of current supplied to the motor is shown as a synchronization instruction. Figure 12 In FIG, the horizontal axis represents time, and the vertical axis represents the motor current command.

[0108] The synchronization command in this example repeats multiple cycles of vibrating the motor to generate vibrations between t0 seconds and stopping between t1 seconds. During the vibration interval, the motor current is oscillated in short intervals, causing the drive mechanism 22 to vibrate finely. During the stop interval, the motor current is set to zero, stopping the drive mechanism 22.

[0109] Figure 13 1 is a diagram showing an example of measurement data of the sound generated by the driving mechanical part when driven by the synchronization instruction in the control device according to the second embodiment. Figure 13 In the figure, the horizontal axis represents time and the vertical axis represents sound pressure. Figure 13 , a graph is shown in which the time series data of the sound pressure of the sound generated in the driving mechanical part 22 is used as the measurement data. Figure 12 Synchronization instructions shown.

[0110] like Figure 13 As shown in the measurement data, the drive mechanical unit 22 vibrates the motor during the vibration interval of the synchronization command, generating sound or vibration due to mechanical resonance, etc. Meanwhile, during the stop interval, mechanical resonance, etc., prevents the motor from generating sound or vibration, resulting in a relatively small amount of measured sound or vibration.

[0111] The synchronization device, or synchronization unit 25, connected to the machine tool 200 can obtain characteristic data related to the repetition of vibration application between t0 seconds and rest between t1 seconds, from the motor current command, information related to the drive of the machine tool 200, and sound pressure data, information related to the sound or vibration state of the drive mechanism 22. This data allows the synchronization unit 25 to detect the drive pattern and achieve high-precision synchronization. Furthermore, the frequency of the sound or vibration generated by vibration is determined to a certain extent by the device structure. Therefore, by limiting synchronization to this frequency, synchronization accuracy can be improved.

[0112] The synchronization command can be any command that is easily recognized by the synchronization unit 25 that synchronizes the data. An easily recognized command can be selected based on the synchronization method and the characteristics of the device being used. In particular, to distinguish the synchronization command from user commands, it is preferable to use a command that has characteristics different from user commands. Furthermore, to distinguish it from irrelevant interference or noise, it is preferable to use a command that is different from these.

[0113] An example of a command that is easily recognized by the synchronization unit 25 that synchronizes data is a command to generate sound or vibration at a specific intensity or a specific frequency at a predetermined time.

[0114] As is known in the past, the timing when the intensity of the sound or vibration exceeds the threshold is easy to detect. Therefore, when synchronizing the action data and the measurement data, the synchronization instruction can be detected with high precision and synchronization can be performed. In addition, the time until the intensity of the sound or vibration that exceeds the threshold at the same time is less than or equal to the threshold is measured and compared, thereby making it possible to distinguish the sound or vibration generated by the drive other than the synchronization instruction. At this time, the predetermined time when the intensity of the sound or vibration exceeds the threshold is preferably sufficiently short relative to the drive time involved in the user instruction. By being sufficiently shortened, the influence on the drive performed by the user instruction can be reduced, and the possibility of erroneous synchronization by the user instruction is reduced.

[0115] As another example, sound or vibration of a specific intensity or frequency may be generated multiple times in a predetermined cycle. Figure 14 FIG. 1 is a diagram showing another example of synchronization instructions used by the control device according to the second embodiment. Figure 14 In FIG, there is shown a synchronization instruction for generating a sound or vibration of a specific intensity or a specific frequency multiple times in a predetermined cycle. Figure 14 In FIG. 1 , the horizontal axis represents time, and the vertical axis represents a motor speed command, which is an example of a synchronization command.

[0116] Generally, when the motor is driven, sound or vibration is generated simultaneously, so even if it is not a vibration instruction, it can be set as a synchronization instruction. Figure 14 The trapezoidal acceleration and deceleration instructions for the motor shown generate driving sound or vibration even in the intervals where the speed instruction is not 0, i.e., the intervals T1 to T2, T3 to T4, and T5 to T6. The synchronization unit 25 connected to the working machine 200 detects at least one of the time when the sound or vibration continues to be generated, the time when the sound or vibration stops, the interval when the sound or vibration starts to be generated, and the interval when the sound or vibration stops, thereby enabling synchronization. Figure 14In this case, the duration of sound or vibration is between T1 and T2, T3 and T4, and T5 and T6, and the duration of sound or vibration is between T2 and T3 and T4 and T5. Furthermore, the duration of sound or vibration onset is between T1 and T3 and T3 and T5, and the duration of sound or vibration cessation is between T2 and T4 and T4 and T6. By selecting multiple detection intervals, differentiation from user commands is achieved, reducing the possibility of false detection of user commands.

[0117] For example, when synchronizing based on the correlation between motor speed commands and sound, high-precision synchronization can be achieved by increasing and decreasing the speed multiple times. In this case, the times T1, T2, T3, T4, T5, and T6 are not limited to constant intervals. By setting the times at random intervals, errors caused by autocorrelation can be reduced, and the accuracy of synchronization based on correlation can be improved.

[0118] Time settings such as the duration of sound or vibration used in these detections can be stored as parameters in the synchronization command storage unit 212. Thus, if the user attempts to synchronize by mistake through user commands, the probability of error can be reduced by adjusting the parameters.

[0119] As other examples of synchronization commands, multiple motors may be used to simultaneously generate sounds of multiple frequencies like a chord, or sounds and vibrations may be changed in a constant pattern by commands such as torsional frequency.

[0120] Generally speaking, when a motor is driven, it simultaneously generates sound or vibration. Therefore, any motor command can be used as a synchronization command. However, if the sound or vibration becomes louder in a specific driving mode due to resonance, or if a specific frequency of sound or vibration is generated, it is preferable to use the above-mentioned mode. In addition, from the perspective of not affecting the user's intended command, that is, the user command, it is preferable to use a command that causes the state of the driving mechanical unit 22 to be the same at the start and end of the synchronization command.

[0121] The control device 21 according to Embodiment 2 adds a synchronization instruction, which is different from the user instruction, to the user instruction, which represents the operational mode of the work machine 200 set by the user. Since the synchronization instruction is independent of the user instruction, stable synchronization is possible regardless of the user instruction. In particular, stable synchronization is possible even when the user instruction generates little sound or vibration, or when the user instruction changes due to a change in machine usage or maintenance.

[0122] The control device 21 involved in embodiment 2 superimposes the synchronization instruction on the motor instruction, and generates sound or vibration by driving the motor. That is, an electric motor or a machine is used as the oscillation device 12. As a result, as the oscillation device 12, no external devices such as buzzers and sirens are added to the structure, and the motion data and the measurement data can be synchronized only by using existing devices. That is, without adding external devices, and therefore without increasing costs, it is possible to generate sound or vibration for synchronization. In addition, as a result, characteristic waveforms are added to both the motion data representing the movement of the machine and the driving sound or vibration at the same timing, which has the effect of further improving the synchronization accuracy.

[0123] The control device 21 according to Embodiment 2 uses a vibration command as a synchronization command, which generates sound or vibration of a specific intensity or frequency multiple times in a predetermined cycle. This differentiates the synchronization command from the user command, thus reducing the possibility of erroneous detection of the user command.

[0124] The machine tool 200 according to Embodiment 2 can change the synchronization command by rewriting the parameters stored in the synchronization command storage unit 212. Thus, even if synchronization is erroneously performed by a user command, the synchronization command can be adjusted to reduce the probability of an error.

[0125] Implementation method 3.

[0126] Figure 15 This is a block diagram showing an example of the functional configuration of a control device according to Embodiment 3. Control device 31 according to Embodiment 3 differs from control device 21 according to Embodiment 2 only in the method of creating synchronization instructions. Hereinafter, identical components to those in Embodiments 1 and 2 are denoted by identical reference numerals, and their descriptions are omitted. Only the differences will be described.

[0127] like Figure 15 As shown, the control device 31 according to the third embodiment includes a user command generator 111 , a synchronization command random number generator 311 , a synchronization command storage 312 , a synchronization command generator 213 , a synchronization command synthesizer 214 , and a control unit 215 .

[0128] The synchronization instruction random number generator 311 generates random numbers for one or more parameters used in the synchronization instruction when the user instruction is decided or before the execution of the user instruction is about to begin. At this time, the random number can be randomly generated in accordance with the corresponding parameter so that the numerical value within a predetermined range is randomly generated, and its generation method is not particularly limited. An example of a parameter is at least one of the intensity, frequency, generation duration and period of the sound or vibration generated by the synchronization instruction. When generating random numbers in multiple devices at the same time, from the perspective of generating different random numbers in each device, it is preferred to generate random numbers based on device-specific values ​​such as the device's manufacturing identification number. The synchronization instruction random number generator 311 corresponds to the random number generator.

[0129] The synchronization command storage unit 312 stores the random number generated by the synchronization command random number generation unit 311 as a parameter of the synchronization command.

[0130] Figure 16 FIG. 1 is a diagram showing an example of a synchronization instruction used by the control device according to the third embodiment. Figure 16 In the figure, the horizontal axis represents time, and the vertical axis represents an example of a synchronization instruction, namely the motor speed instruction. Figure 16 As shown, the synchronization command used by the control device 31 according to the third embodiment includes two trapezoidal speed commands and three parameters: P1, P2, and P3. The three synchronization command parameters P1, P2, and P3 each represent the duration of the synchronization command interval. P1 represents the driving time of the first trapezoidal speed command, P2 represents the driving time of the second trapezoidal speed command, and P3 represents the time during which the motor is stopped between the two trapezoidal speed commands, that is, the time from the end of the first trapezoidal speed command to the start of the second trapezoidal speed command.

[0131] The synchronization command random number generator 311 generates random numbers within a predetermined range for each of the three parameters P1, P2, and P3, thereby determining the synchronization command pattern. While the configuration of Embodiment 2 illustrates the configuration in which random numbers within a predetermined range are generated for the parameters, the configuration of Embodiment 1 may also employ the configuration in which random numbers within a predetermined range are generated for the parameters.

[0132] The control device 31 according to Embodiment 3 creates a synchronization command based on a random number generated when a user command is determined or immediately before the execution of a user command. This command is then superimposed on the motor command, generating sound or vibration by driving the motor. This allows synchronization to be achieved even when multiple devices with the same structure are arranged and executed using different synchronization commands. This reduces the possibility of erroneous synchronization due to sound or vibration generated by other devices.

[0133] The control device 31 according to Embodiment 3 generates multiple random numbers as pattern parameters for determining synchronization commands. By using multiple random numbers to determine the command pattern, it is easy to distinguish synchronization commands generated by other devices, thereby reducing the possibility of erroneous synchronization.

[0134] The control device 31 according to Embodiment 3 stores a random number generated when a user command is determined or immediately before execution of a user command in the synchronization command storage unit 312. This allows the user to identify which synchronization command was added during synchronization and accurately synchronize the system.

[0135] Next, the hardware structure of the control devices 11, 21, and 31 according to Embodiments 1 to 3 will be described. The user command generator 111, synchronization command generators 113 and 213, synchronization command output unit 114, synchronization command synthesis unit 214, control unit 215, and synchronization command random number generator 311 are implemented using a processing circuit. The processing circuit can be a memory that stores programs and a processor that executes the programs stored in the memory, or it can be dedicated hardware. A processing circuit is also called a control circuit.

[0136] Figure 17 This is a diagram showing an example of the configuration of a processing circuit in a case where the processing circuit included in the control device according to Embodiments 1 to 3 is realized by a processor and a memory. Figure 17 The processing circuit 90 shown is a control circuit having a processor 91 and a memory 92. When the processing circuit 90 is composed of the processor 91 and the memory 92, the various functions of the processing circuit 90 are implemented by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 92. In the processing circuit 90, the processor 91 reads and executes the program stored in the memory 92, thereby implementing the various functions. In other words, the processing circuit 90 has a memory 92, which is used to store the program that ultimately executes the processing of the control devices 11, 21, and 31. This program can be said to be a program for causing the control devices 11, 21, and 31 to execute the various functions implemented by the processing circuit 90. This program can be provided by a storage medium storing the program, or it can be provided by other means such as a communication medium.

[0137] Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor). Furthermore, the memory 92 is, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), a flash memory, EPROM (Erasable Programmable ROM), or EEPROM (registered trademark) (Electrically EPROM), a magnetic disk, a floppy disk, an optical disk, a compact disk, a minidisc, or a DVD (Digital Versatile Disc).

[0138] Figure 18 This is a diagram showing an example of the configuration of a processing circuit in a case where the processing circuit included in the control device according to Embodiments 1 to 3 is configured by dedicated hardware. Figure 18 The processing circuit 93 shown is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Regarding the processing circuit 93, a portion may be implemented by dedicated hardware, and a portion may be implemented by software or firmware. As described above, the processing circuit 93 can implement the above-mentioned functions by dedicated hardware, software, firmware, or a combination thereof. In addition, the control devices 11, 21, and 31 involved in embodiments 1 to 3 may be executed by a controller having a specific hardware component. Figure 3 The processing program of step S12 to step S14 is a personal computer program that controls the machine.

[0139] The configuration shown in the above embodiment is merely an example, and can be combined with other known technologies, and the embodiments can be combined with each other. Part of the configuration can also be omitted or changed without departing from the scope of the invention.

[0140] Description of the label

[0141] 11, 21, 31 control device, 12 oscillation device, 13 air blower, 14 controller, 15 inverter, 16 recorder, 17 measuring device, 18 inspection terminal, 22 driving mechanical part, 23 operation display part, 24 sound vibration measuring part, 25, 183 synchronization part, 100 air supply device, 111 user instruction creation part, 112, 212, 312 synchronization instruction storage part, 113, 213 synchronization instruction creation part, 114 synchronization instruction output part, 171 measurement part, 172 recording part, 181 action data acquisition part, 182 measurement data acquisition part, 184 output part, 190 air supply system, 200 working machine, 214 synchronization instruction synthesis part, 215 control part, 231 display, 232 operation switch, 233 transceiver connector, 311 synchronization instruction random number generation part.

Claims

1. A control device connected to a synchronization device for synchronizing, using characteristics of the data acquired in time series, motion data acquiring information related to the driving of a machine in time series with measurement data acquiring information related to sound or vibration of the machine in time series; The control device is characterized by having: a user instruction creation unit that creates a user instruction that is an instruction for driving the machine in accordance with an instruction from a user of the control device; a synchronization command storage unit that stores reproduction information capable of reproducing the synchronization command, which is a command used for the synchronization, at a predetermined timing; a synchronization command creation unit that creates the synchronization command based on the reproduction information; and The synchronization command output unit outputs the synchronization command to an oscillation device that generates sound or vibration at a predetermined timing of the user command, thereby adding an influence of the synchronization command to the measurement data.

2. A control device connected to a synchronization device that synchronizes motion data acquired in time series and information related to the driving of a machine with measurement data acquired in time series and information related to sound or vibration of the machine using characteristics of the data acquired in time series, and controls the machine. The control device is characterized by having: a user instruction creation unit that creates a user instruction that is an instruction for driving the machine in accordance with an instruction from a user of the control device; a synchronization command storage unit that stores reproduction information capable of reproducing the synchronization command, which is a command used for the synchronization, at a predetermined timing; a synchronization command generating unit for generating the synchronization command, which is a drive command for driving the machine, based on the reproduction information; a command synthesis unit that calculates a synthesized command to which the synchronization command is added at a predetermined timing of the user command; and A control unit controls the machine based on the synthesized command, and causes the machine to generate sound or vibration by driving the machine according to the synchronization command.

3. The control device according to claim 1 or 2, characterized in that: The sound or vibration generated by the synchronization command is a sound or vibration that is continuously generated at a specific intensity or a specific frequency for a predetermined time.

4. The control device according to claim 1 or 2, characterized in that: The sound or vibration generated by the synchronization command is a sound or vibration of a specific intensity or a specific frequency that occurs multiple times in a predetermined cycle.

5. The control device according to any one of claims 1 to 4, characterized in that: It also includes a random number generating unit that generates a random number and stores the generated random number value in the synchronization instruction storage unit. The synchronization command creation unit determines at least one of the intensity, frequency, generation duration, and period of the sound or vibration generated by the synchronization command based on the random value obtained by the random number generation unit.

6. A synchronization system, characterized in that: have: The control device according to any one of claims 1 to 5; and The synchronization device.

7. A method for controlling a machine, the method being implemented by a control device connected to a synchronization device that synchronizes motion data, which acquires information related to driving the machine in a time series, with measurement data, which acquires information related to sound or vibration of the machine in a time series, using characteristics of the data acquired in a time series. The machine control method is characterized by comprising the following steps: The control device creates a command, i.e., a user command, for driving the machine according to an instruction of a user of the control device; The control device stores reproduction information that enables reproduction of synchronization commands, which are commands used in the synchronization, at predetermined timing; The control device creates the synchronization instruction based on the reproduction information; and The control device outputs the synchronization command to an oscillation device that generates sound or vibration at a predetermined timing of the user command, thereby adding an influence of the synchronization command to the measurement data.

8. A storage medium storing a control program for a machine for a computer connected to a synchronization device that synchronizes, using characteristics of the data acquired in time series, motion data related to the drive of the machine acquired in time series with measurement data related to the sound or vibration of the machine acquired in time series; The control program of this machine is characterized by: The control program causes the computer to execute the following steps: Creating a user instruction for driving the machine according to a user's instruction; storing reproduction information capable of reproducing a synchronization command, which is a command used in the synchronization, at a predetermined timing; creating the synchronization instruction based on the reproduction information; and The synchronization command is output to an oscillation device that generates sound or vibration at a predetermined timing of the user command, so that the influence of the synchronization command is added to the measurement data.

Images