Adjustment assisting device

Abstract

An adjustment assistance device according to one embodiment of the present disclosure, which is capable of appropriately performing automatic adjustment of a parameter, provides an initial setting value for automatic adjustment to an adjustment device that automatically adjusts a parameter of a servo control device by operating the servo control device that controls a servo motor in accordance with an automatic adjustment program. The adjustment assistance device is provided with: an initial setting value candidate reading unit that reads initial setting value candidates, which are initial setting values for automatic adjustment, from the outside; an initial setting value approval unit that determines whether or not the use of the initial setting value candidates is permitted; and an initial setting value transmission unit that transmits, to the adjustment device, the initial setting value candidates that are permitted to be used by the initial setting value approval unit.

Description

Technical Field

[0001] The invention relates to an adjustment assistance device. Background Art

[0002] In a servo control device for controlling a servo motor, the control characteristics thereof vary according to various parameters such as control gain, filter parameters, quadrant protrusion correction parameters, etc. In order to perform optimal control according to the purpose of use of the servo motor, a servo control device has been proposed, which drives the servo motor in a predetermined operation mode while changing the parameters little by little, confirms the actual operation of the servo motor, and thereby automatically sets the optimal parameters (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. WO2010 / 119605 Summary of the invention

[0006] Problems to be solved by the invention

[0007] Patent Document 1 proposes to start automatic adjustment by reading the initial value of the parameter. However, when the load of the servo motor is different, the parameter may not be properly adjusted due to unexpected interference, vibration, etc. Therefore, a technology that can automatically adjust the parameters properly is desired.

[0008] Means for solving problems

[0009] An adjustment assisting device according to one embodiment of the present invention provides an initial setting value for automatic adjustment to an adjustment device, and the adjustment device automatically adjusts the parameters of the servo control device by causing a servo control device that controls a servo motor to operate according to an automatic adjustment program. The adjustment assisting device comprises: an initial setting value candidate reading unit that reads initial setting value candidates from the outside as the initial setting value for the automatic adjustment; an initial setting value approval unit that determines whether to allow the use of the initial setting value candidates; and an initial setting value sending unit that sends the initial setting value candidates allowed for use in the initial setting value approval unit to the adjustment device.

[0010] Effects of the Invention

[0011] According to the present disclosure, automatic adjustment of parameters can be appropriately performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a block diagram showing the configuration of a servo system according to the first embodiment of the present disclosure. DETAILED DESCRIPTION

[0013] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Figure 1 1 is a block diagram showing the structure of a servo system 1 according to an embodiment of the present disclosure.

[0014] The servo system 1 includes a servo control device 10, an adjustment device 20, and an adjustment support device 30. The servo system 1 is a system for controlling one or more servo motors 40, and can constitute a part of a machine tool, a robot system, or the like, for example.

[0015] The servo control device 10 is, for example, a CNC (Computerized Numerical Controller), which has a memory, a processor, an input / output interface, etc., and can be composed of one or more computer devices that execute an appropriate servo control program. The servo control device 10 controls the current applied to the servo motor so that the rotational position, rotation speed, etc. of the servo motor change according to the action program. The servo control device 10 sets various parameters such as the gain, filter parameters, and quadrant protrusion correction parameters of the servo loop for the control of the servo motor. Through the combination of these parameters (parameter set), the control characteristics of the servo control device 10 can be optimally controlled relative to the characteristics of the servo motor 40 and the load driven by the servo motor 40.

[0016] The adjustment device 20 receives the initial setting values ​​for automatic adjustment (the initial values ​​of the control parameters and the setting values ​​of the automatic adjustment program, the settings of the automatic adjustment (gain margin, number of trials, etc.)) from the adjustment auxiliary device 30, and automatically adjusts the parameters by executing the automatic adjustment program. The adjustment device 20 has a memory, a processor, an input and output interface, etc., and can be composed of one or more computer devices that execute an appropriate adjustment control program. In addition, the adjustment device 20 can be integrally configured with the servo control device 10, and can also be integrally configured with the adjustment auxiliary device 30. The adjustment device 20 can be configured to have an adjustment execution unit 21 and a machine learning unit 22. In addition, the adjustment execution unit 21 and the machine learning unit 22 are structural units that classify the functions of the adjustment device 20, and can be indistinguishable in terms of physical structure and program structure.

[0017] The adjustment execution unit 21 sets the parameters of the servo control device 10 and inputs instructions to the servo control device 10 so that the servo motor 40 performs an action according to the automatic adjustment program. The adjustment execution unit 21 receives a feedback signal representing the actual action of the servo motor 40 from the servo control device 10, and adjusts the control parameters of the servo control device 10 so that the difference between the action of the servo motor 40 according to the automatic adjustment program and the actual action becomes smaller. The adjustment execution unit 21 can also adjust the control parameters of the servo control device 10 as needed, taking into account a signal received from an external measuring device that detects the action of the servo motor 40 without passing through the servo control device 10. The adjustment execution unit 21 sets, for example, a feedforward gain, a gain margin of a speed loop, a phase margin, etc. for automatic adjustment. In particular, when an external measuring device that detects the action of the servo motor 40 is used, the measurement value can be corrected according to the set value of the gain of the measurement signal.

[0018] The machine learning unit 22 analyzes the feedback value received by the adjustment execution unit 21, and instructs the adjustment execution unit 21 on the adjustment amount of the parameter of the servo control device 10. More specifically, the machine learning unit 22 can be configured to cause the adjustment execution unit 21 to repeatedly change the parameter and cause the servo motor 40 to operate, and to derive the parameter that reduces the error of the operation of the servo motor 40 through reinforcement learning. Thus, the adjustment device 20 automatically adjusts the parameter through machine learning. The machine learning unit 22 sets, for example, on / off of various functions, various coefficients, various allowable errors, the number of trials, etc. for machine learning.

[0019] The adjustment assisting device 30 provides the adjustment executing unit 21 with the initial setting value for automatic adjustment, thereby enabling the adjustment executing unit 21 to appropriately perform automatic adjustment of the parameters. The adjustment assisting device 30 itself is one embodiment of the adjustment assisting device of the present disclosure.

[0020] The adjustment assisting device 30 includes a memory, a processor, an input / output interface, etc., and can be composed of one or more computer devices that execute a program for setting appropriate initial setting values. In addition, the adjustment assisting device 30 can be integrally formed with the adjustment device 20 or the servo control device 10.

[0021] The adjustment support device 30 includes an initial setting value candidate reading unit 31, a past initial setting value acquiring unit 32, an initial setting value approving unit 33, an initial setting value transmitting unit 34, a test operation unit 35, and a user correction unit 36. These structures are structures obtained by classifying the functions of the adjustment support device 30, and may not be clearly distinguished in terms of physical structure and program structure.

[0022] The initial setting value candidate reading unit 31 reads initial setting value candidates for automatic adjustment from the outside. As the initial setting value candidates read by the initial setting value candidate reading unit 31, it is assumed that the setting values ​​used in the automatic adjustment of other servo control devices are used. Therefore, the initial setting value candidate reading unit 31 can be connected to other servo systems and computers that manage other servo systems through a network or the like so as to be communicable. In addition, the initial setting value candidate reading unit 31 can also be configured to be able to obtain the initial setting value candidates via a recording medium such as a USB memory. It is preferred that the initial setting value candidates include, for example, information for identifying the device that created or applied the setting value, such as a device ID, as header information.

[0023] The past initial setting value acquisition unit 32 acquires the past initial setting value, which is the initial setting value used in the past automatic adjustment of the adjustment device 20. The past initial setting value acquisition unit 32 may be configured to acquire and store the setting value each time the adjustment device 20 performs automatic adjustment, or may be configured to acquire log information of the adjustment device 20 or a computer that manages the adjustment device 20 as needed.

[0024] The initial setting value approval unit 33 determines whether to allow the initial setting value candidate read by the initial setting value candidate reading unit 31 to be used as the initial setting value for automatic adjustment in the adjustment device 20. Whether to allow the use can be determined by confirming whether the initial setting value candidate is a candidate generated for the same model as the servo control device 10. If the initial setting value candidate is generated for the same model as the servo control device 10, there is a high possibility that there is no problem even if it is used for the servo control device 10, so the initial setting value approval unit 33 allows the use.

[0025] The initial setting value approval unit 33 may also confirm whether the initial setting value candidate is consistent with the initial setting value used in the past automatic adjustment of the adjustment device 20, that is, the past initial setting value. In the case where the initial setting value candidate is consistent with the past initial setting value, even if the initial setting value candidate is used as the initial setting value for automatic adjustment, the possibility of being able to perform automatic adjustment without problems is high, so the initial setting value approval unit 33 allows the use of the initial setting value candidate. In addition, the initial setting value candidate is consistent with the past initial setting value means that the errors of each setting value are respectively less than the preset allowable error. The initial setting value approval unit 33 may also confirm the elapsed time since the past initial setting value consistent with the initial setting value candidate was used in the servo control device. In the case where a long time has passed since the same initial setting value was used in the past, the load driven by the servo motor 40 may change, so when a certain time has passed, it is not allowed to use the initial setting value candidate as it is.

[0026] The initial setting value approval unit 33 may be configured to prompt the user to confirm when it cannot be determined that the initial setting value candidate can be used, and to allow the initial setting value candidate to be used when the user allows it. In addition, the initial setting value approval unit 33 may be configured to allow the use of the initial setting value candidate that has been corrected by the user in the user correction unit 36 ​​described later and allowed to be used. In this way, when the initial setting value approval unit 33 cannot determine that the initial setting value candidate can be used, the user is requested to take action, thereby preventing the adjustment device 20 from performing inappropriate automatic adjustment and making it easy to use the automatic adjustment of the adjustment device 20.

[0027] The initial setting value transmission unit 34 transmits the initial setting value candidates permitted to be used in the initial setting value approval unit 33 to the adjustment device 20. As described above, the initial setting value candidates transmitted by the initial setting value transmission unit 34 may include initial setting value candidates that the initial setting value approval unit 33 cannot determine as usable but are permitted to be used by the user, and initial setting value candidates permitted to be used after being corrected by the user in the user correction unit 36 ​​described later. The initial setting value transmission unit 34 may be configured to store the permitted initial setting value candidates and transmit the initial setting value candidates in response to a request from the adjustment device 20.

[0028] The test operation unit 35 causes the servo control device 10 to perform a test operation for allowing the user to determine whether the initial setting value candidate is appropriate when the initial setting value approval unit 33 does not permit the use of the initial setting value candidate. The test operation is performed by setting the control parameters in the initial setting value candidate to the parameters of the servo control device 10 and inputting a command to the servo control device 10 so that the servo motor 40 performs a predetermined operation based on the setting value of the automatic adjustment program in the initial setting value candidate.

[0029] The action of the servo motor 40 in the test operation can be the same as the action according to the automatic adjustment program. In the test operation, since the parameters are not changed unlike the automatic adjustment, the possibility of interference, abnormal vibration, etc. of the driven body developing into a serious problem is small. The user confirms the test operation by visual inspection and various data. When the parameters are changed according to the initial setting value candidate for automatic adjustment and it is expected that the interference, abnormal vibration, etc. of the driven body will develop into a serious problem, the initial setting value candidate is not allowed to be used as the initial setting value for automatic adjustment.

[0030] Preferably, the test operation unit 35 provides a user interface that displays a start button for starting the test operation after the user completes preparation for the observation test operation, an interrupt button for interrupting the test operation when the user confirms an abnormality during the test operation, and an end message to inform the user that the test operation is completed.

[0031] When the initial setting value approval unit 33 does not allow the use of the initial setting value candidate, the user correction unit 36 ​​urges the user to correct the initial setting value candidate or the setting of the adjustment device 20 (adjustment execution unit 21 and machine learning unit 22). Therefore, the user correction unit 36 ​​provides a user interface including a screen displayed in a manner that allows the user to edit the initial setting value candidate and the setting of the adjustment device 20. When the user completes the correction work, the user correction unit 36 ​​sends the corrected setting to the adjustment device 20, and requests the initial setting value approval unit 33 to allow the use of the corrected initial setting value candidate, or allows the use of the corrected initial setting value candidate instead of the initial setting value approval unit 33, and causes the initial setting value sending unit 34 to send the corrected initial setting value candidate to the adjustment device 20.

[0032] As described above, in the servo system 1, for example, the setting values ​​used in the automatic adjustment of other servo control devices are read by the initial setting value candidate reading unit 31, and the initial setting value approval unit 33 determines whether the read settings can be used as the initial setting values ​​of the adjustment device 20, and the setting values ​​of the parameter set and the automatic adjustment program that can be used are optimized for the servo control device 10 by the adjustment device 20 as the initial setting values. Therefore, the servo system 1 can prevent in advance the failure that may be caused by the automatic adjustment using inappropriate setting values, and can appropriately perform the automatic adjustment of parameters.

[0033] The embodiments of the present disclosure are described above, but the present invention is not limited to the above embodiments. In addition, the effects described in the above embodiments are merely preferred effects of the present invention, and the effects of the present invention are not limited to the effects described in the above embodiments.

[0034] The servo system disclosed in the present invention may also be a system that does not include a servo control device and a servo motor, and automatically adjusts the parameters of an external servo control device. In addition, the adjustment auxiliary device disclosed in the present invention may not have a part or all of the past initial setting value acquisition unit, the test operation unit 35, and the user correction unit.

[0035] Description of Reference Numerals

[0036] 1 Servo system

[0037] 10 Servo control device

[0038] 20 Adjustment device

[0039] 21 Adjustment Execution Department

[0040] 22 Machine Learning Department

[0041] 30 Adjustment auxiliary device

[0042] 31 Initial setting value candidate reading section

[0043] 32 Past initial setting value acquisition unit

[0044] 33 Initial setting value approval department

[0045] 34 Initial setting value sending unit

[0046] 35Test Operation Department

[0047] 36 User Correction Department

[0048] 40 servo motors.

Claims

1. An adjustment assisting device, which provides an initial setting value for automatic adjustment to an adjustment device, wherein the adjustment device automatically adjusts the parameters of the servo control device by causing a servo control device that controls a servo motor to operate according to an automatic adjustment program, It is characterized in that The auxiliary adjustment device comprises: an initial setting value candidate reading section for reading an initial setting value candidate as an initial setting value for the automatic adjustment from the outside; an initial setting value approval unit that determines whether to permit the use of the initial setting value candidate; An initial setting value transmitting unit transmits the initial setting value candidates permitted to be used by the initial setting value approving unit to the adjustment device.

2. The adjustment assisting device according to claim 1, characterized in that: The initial setting value approval unit confirms whether the initial setting value candidate is generated for the same model as the servo control device.

3. The adjustment assisting device according to claim 1 or 2, characterized in that: The adjustment assisting device further includes a past initial setting value acquiring unit that acquires a past initial setting value, which is an initial setting value for automatic adjustment used in past automatic adjustment of the adjustment device. The initial setting value approval unit confirms whether the initial setting value candidate is consistent with the past initial setting value.

4. The adjustment assisting device according to claim 3, characterized in that: The initial setting value approval unit further checks an elapsed time since the past initial setting value that matches the initial setting value candidate was used in the servo control device.

5. The adjustment assisting device according to any one of claims 1 to 4, characterized in that: The adjustment assisting device further includes a test operation unit that causes the servo control device to execute a test operation for allowing a user to determine whether the initial setting value candidate is appropriate, when the initial setting value approving unit does not permit use of the initial setting value candidate.

6. The adjustment aid according to any one of claims 1 to 5, characterized in that: The adjustment assisting device further includes a user correction unit configured to prompt a user to correct the initial setting value candidate or the setting of the adjustment device when the initial setting value approving unit does not permit the use of the initial setting value candidate.

7. A servo system, characterized in that: have: The adjustment assisting device according to any one of claims 1 to 6; and An adjustment device receives the initial setting value candidate from the initial setting value transmission unit and automatically adjusts the parameter by executing an automatic adjustment program.

8. The servo system according to claim 7, characterized in that: The adjustment device automatically adjusts the parameters through machine learning.

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