Parameter adjustment method and parameter adjustment system

Abstract

And the control parameters of the servo control device are effectively adjusted. The parameter adjustment method includes the following steps. Namely, sensor data detected using a sensor is acquired, said sensor data being time-series data of a positional deviation, which is the difference between a target position and a real position of a drive unit. The sensor data is corrected on the basis of a positional deviation detected using the sensor after the timing at which the movement of the drive unit ends in accordance with a position command for moving the drive unit to the target position. The setting time from the timing at which the drive unit is located at the target position to the timing at which the drive unit reaches the permissible position in the position command is calculated. A control parameter is predicted such that a setting time calculated on the basis of the corrected sensor data satisfies a predetermined condition.

Description

Technical Field

[0001] The present disclosure relates to a parameter adjustment method and a parameter adjustment system for adjusting control parameters of a servo control device that controls a servo motor. Background Art

[0002] In the past, a parameter adjustment method for adjusting control parameters of a servo control device that controls a servo motor has been known. For example, Patent Document 1 discloses a linear motor control device that controls a linear motor with a first servo characteristic parameter in an adjustment mode in which a correction amount is measured by a correction amount measurement unit, and controls the linear motor with a second servo characteristic parameter different from the first servo characteristic parameter after the end of the adjustment mode.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: JP-A-2004-102321 Summary of the Invention

[0006] It is desired to adjust the control parameters of a servo control device that controls a servo motor more efficiently.

[0007] An object of the present disclosure is to provide a parameter adjustment method and a parameter adjustment system that can efficiently adjust the control parameters of a servo control device.

[0008] A parameter adjustment method according to one aspect of the present disclosure is a parameter adjustment method for adjusting control parameters for a servo control device to control a servo motor, and includes the following steps. That is, sensor data detected by a sensor is acquired, and the sensor data is time-series data of a position deviation, which is a difference between a target position and an actual position of a drive unit in an object device including the drive unit driven by the servo motor. Based on the position deviation detected by the sensor after a timing at which movement of the drive unit ends according to a position command for moving the drive unit to the target position, the sensor data is corrected. Based on the corrected sensor data, a settling time, which is a time from a timing at which the drive unit in the position command reaches the target position to a timing at which the drive unit reaches an allowable position that can be evaluated as having reached the target position, is calculated. Control parameters are predicted such that the settling time calculated based on the corrected sensor data satisfies a given condition.

[0009] A parameter adjustment system according to another aspect of the present disclosure performs the above parameter adjustment method.

[0010] According to the present disclosure, a parameter adjustment method and a parameter adjustment system that can effectively adjust the control parameters of a servo control device can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 FIG. 1 is a schematic diagram showing a parameter adjustment system according to an embodiment.

[0012] Figure 2 FIG. 2 is Figure 1 a block diagram showing the functional structure of the parameter adjustment system of FIG.

[0013] Figure 3 FIG. 3 is a perspective view showing an example of a production apparatus.

[0014] Figure 4 FIG. 4 is a diagram showing an example of sensor data in a table.

[0015] Figure 5 FIG. 5 is Figure 1 a sequence diagram showing an example of the operation of the parameter adjustment system of FIG.

[0016] Figure 6 FIG. 6 is Figure 1 a flowchart showing an example of the operation of the parameter adjustment system of FIG.

[0017] Figure 7 FIG. 7 is a diagram showing an example of the display of the parameter adjustment system displayed on Figure 1 FIG.

[0018] Figure 8 FIG. 8 is a diagram showing another example of the display of the parameter adjustment system displayed on Figure 1 FIG.

[0019] Figure 9 FIG. 9 is a graph showing an example of sensor data.

[0020] Figure 10 FIG. 10 is a graph showing an example of a position command.

[0021] Figure 11 FIG. 11 is a graph for explaining the setting time. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, embodiments of the present disclosure will be described. In addition, the embodiments described below are all specific examples of the present disclosure. Therefore, the numerical values, constituent elements, arrangement positions of the constituent elements, connection forms, steps, and order of the steps shown in the following embodiments are examples, and do not limit the gist of the present disclosure. Therefore, among the constituent elements in the following embodiments, the constituent elements not described in the independent claims are described as optional constituent elements.

[0023] In addition, each figure is a schematic diagram and is not necessarily drawn precisely. In addition, in each figure, the same reference numerals are given to substantially the same structures as those in other figures, and repeated explanations are omitted or simplified.

[0024] (Embodiment)

[0025] Figure 1 It is a schematic diagram showing the parameter adjustment system 10 related to the embodiment.

[0026] The parameter adjustment system 10 is a system for adjusting control parameters. The control parameters are the control parameters used by the servo control device 40 to control the operation of the production device 20. Specifically, the control parameters are the control parameters used by the servo control device 40 to control the servo motor 30. For example, the control parameters are position gain, torque gain, integral gain, etc. For example, the parameter adjustment system 10 is implemented by a personal computer or the like.

[0027] The parameter adjustment system 10 sends servo information to the servo control device 40. For example, the servo information includes control parameters and position commands. For example, the servo information includes one or more control parameters and one or more position commands. For example, the position command represents the driving mode of the driving unit 70 determined by the moving distance, maximum speed, acceleration time, and deceleration time of the driving unit 70 (refer to the following Figure 3 ), and is a command for moving the driving unit 70 to the target position based on the driving mode. In addition, the parameter adjustment system 10 acquires the encoder information generated by the encoder 50 and the sensor information generated by the sensor 60. For example, the encoder information includes the encoder value generated by the encoder 50. In addition, for example, the sensor information includes the sensor data generated by the sensor 60.

[0028] The production device 20 is an example of an object device including a driving unit 70 driven by the servo motor 30. The production device 20 includes a servo motor 30, a servo control device 40, an encoder 50, a sensor 60, and a driving unit 70. In addition, for example, the production device 20 includes a mounting device, a processing device, or a working device.

[0029] The servo motor 30 operates the production device 20. Specifically, the servo motor 30 operates the production device 20 by driving the driving unit 70 in the production device 20.

[0030] The servo control device 40 controls the operation of the production device 20. Specifically, the servo control device 40 controls the operation of the production device 20 by controlling the servo motor 30. For example, the servo control device 40 controls the servo motor 30 based on the servo information sent by the parameter adjustment system 10. Thereby, the servo control device 40 controls the operation of the production device 20. For example, the servo control device 40 is a servo amplifier.

[0031] The encoder 50 generates encoder information. As described above, the encoder information includes the encoder value generated by the encoder 50. For example, the encoder value is a value representing the position of the servo motor 30.

[0032] The sensor 60 generates sensor information. As described above, the sensor information includes the sensor data generated by the sensor 60. For example, the sensor data is a value representing the position of the above-described drive unit 70.

[0033] The sensor information collection device 80 collects the sensor information and sends the collected sensor information to the parameter adjustment system 10. For example, the sensor information collection device 80 is implemented by a personal computer or the like.

[0034] Hereinafter, the parameter adjustment system 10 and related devices will be described in detail.

[0035] Figure 2 represents Figure 1 a block diagram of the functional structure of the parameter adjustment system 10.

[0036] As Figure 2 shown, the parameter adjustment system 10 includes an operation unit 11, a display unit 12, a storage unit 13, a control unit 14, a servo information output unit 15, an acquisition unit 16, a processing unit 17, a learning unit 18, and a prediction result output unit 19.

[0037] The operation unit 11 accepts operations from the user. For example, the operation unit 11 is implemented by a keyboard, a mouse, or the like.

[0038] The display unit 12 displays various types of information. Specifically, for example, the display unit 12 displays the sensor data corrected by the processing unit 17, that is, the corrected sensor data. In addition, for example, the display unit 12 displays a screen for accepting the setting of the allowable position at which it can be evaluated that the drive unit 70 has reached the target position. In addition, for example, the display unit 12 displays a screen for accepting the selection of whether to correct the sensor data using a low-pass filter and the selection of the strength of the low-pass filter. In addition, for example, the display unit 12 displays a screen for accepting the change of the set value for calculating the settling time. For example, the display unit 12 is implemented by a display device such as a liquid crystal display, an organic EL (Electro Luminescence) display, or a projection device that projects an image onto a screen.

[0039] The storage unit 13 stores various types of information. For example, the storage unit 13 is implemented by a memory such as an SSD or a storage device such as a hard disk drive.

[0040] The control unit 14 controls the parameter adjustment system 10. Specifically, for example, the control unit 14 controls the display of the display unit 12, etc. For example, the control unit 14 is implemented by a processor, a control circuit equipped with the processor, or a control device equipped with them.

[0041] The servo information output unit 15 outputs servo information. For example, the servo information includes one or more control parameters and one or more position commands. For example, the specific values of each of the one or more control parameters are set by the user, and the specific values of each of the one or more position commands are set by the user. For example, the servo information output unit 15 is implemented by a communication module or the like.

[0042] The acquisition unit 16 acquires encoder information and sensor information. That is, the acquisition unit 16 acquires the sensor data included in the sensor information. The sensor data is time-series data of the position deviation, which is the difference between the target position and the actual position of the drive unit 70, and is data detected by the sensor 60. The target position of the drive unit 70 is the position that is the target for moving the drive unit 70. The actual position of the drive unit 70 is the actual position of the drive unit 70. For example, the acquisition unit 16 is implemented by a communication module or the like.

[0043] The processing unit 17 corrects the sensor data based on the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 based on the position command for moving the drive unit 70 to the target position ends. The drive unit 70 is actually at the target position after the timing when the movement of the drive unit 70 based on the position command ends. For example, the processing unit 17 corrects the sensor data so that the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 based on the position command ends becomes 0. Additionally, for example, the processing unit 17 may also correct the sensor data so that the average value of a plurality of position deviations detected by the sensor 60 after the timing when the movement of the drive unit 70 based on the position command ends becomes 0.

[0044] The processing unit 17 calculates the settling time, which is the time from the timing when the drive unit 70 in the position command is at the target position to the timing when the drive unit 70 reaches the allowable position where it can be evaluated as having reached the target position, based on the corrected sensor data. For example, the timing when the drive unit 70 reaches the allowable position where it can be evaluated as having reached the target position is the timing when the actual position of the drive unit 70 finally reaches the allowable range including the target position. That is, after this timing, the drive unit 70 will not go outside the allowable range. For example, a set value for calculating the settling time is preset. For example, when a change in the set value is received, the changed set value is set as the set value used in the subsequent calculation of the settling time.

[0045] For example, the processing unit 17 uses a low-pass filter to correct the sensor data. For example, the low-pass filter performs a moving average process. For example, the strength of the low-pass filter can be selected by the user. For example, the stronger the strength of the low-pass filter, the greater the number of position deviations used in the moving average process. For example, the processing unit 17 is implemented by a processor, a processing circuit carrying the processor, or a processing device carrying them.

[0046] The learning unit 18 learns the relationship between the control parameters and the operation results of the production device 20. The operation results of the production device 20 include the tuning time of the drive unit 70. That is, the learning unit 18 learns the relationship between the control parameters and the tuning time of the drive unit 70. Specifically, for example, the learning unit 18 learns the tendency of the change in the operation results of the production device 20 associated with the change in the value of the control parameters. For example, the learning unit 18 uses a sequential learning type of machine learning method to perform learning.

[0047] The prediction result output unit 19 predicts the control parameters based on the learning results of the learning unit 18 and outputs the prediction results. For example, the prediction result output unit 19 predicts the control parameters such that the tuning time calculated based on the corrected sensor data satisfies a given condition. For example, the given condition is being consistent with the target time or falling within the target time, etc. That is, for example, the prediction result output unit 19 predicts the control parameters such that the tuning time calculated based on the corrected sensor data is consistent with the target time, or the control parameters such that the tuning time calculated based on the corrected sensor data falls within the target time. For example, the prediction result output unit 19 is a learning model that predicts and outputs the control parameters such that the tuning time of the drive unit 70 satisfies a given condition when the control parameters are input and the drive unit 70 is moved using the control parameters. For example, the prediction result output unit 19 uses an evolutionary strategy to predict and output the values of the control parameters such that the tuning time of the drive unit 70 satisfies a given condition.

[0048] The servo control device 40 includes a servo information acquisition unit 41, a servo information output unit 42, a storage unit 43, and a control unit 44.

[0049] The servo information acquisition unit 41 acquires the servo information output by the parameter adjustment system 10. For example, the servo information acquisition unit 41 is implemented by a communication module or the like.

[0050] The servo information output unit 42 outputs the servo information acquired by the servo information acquisition unit 41. For example, the servo information output unit 42 is implemented by a communication module or the like.

[0051] The storage unit 43 stores various kinds of information. For example, the storage unit 43 is implemented by a memory such as an SSD or a storage device such as a hard disk drive.

[0052] The control unit 44 controls the servo control device 40. For example, the control unit 44 is implemented by a control circuit equipped with a processor, or a control device equipped with them.

[0053] Figure 3 is a perspective view showing an example of the production apparatus 20.

[0054] As Figure 3 shown, the drive unit 70 moves in a given direction (here, the Figure 3 X-axis direction) by the servo motor 30. For example, the servo control device 40 controls the servo motor 30 based on a position command, and moves the drive unit 70 from the movement start position to the target position.

[0055] The sensor 60 is a sensor for detecting the difference between the target position and the actual position of the drive unit 70, that is, the position deviation. The sensor 60 includes a sensor 60a and a sensor 60b. The sensor 60a is a sensor for detecting the actual position of the drive unit 70. The sensor 60a detects the actual position of the drive unit 70 by measuring the distance from the sensor 60a to the drive unit 70. The sensor 60b is a sensor for detecting the target position of the drive unit 70. For example, the sensor 60b detects the target position of the drive unit 70 by measuring the distance from the sensor 60b to the object 90 located at the target position. For example, the difference between the target position and the actual position of the drive unit 70, that is, the position deviation, can be calculated by (the value measured by the sensor 60a) - (the value measured by the sensor 60b). When the value measured by the sensor 60a does not contain an offset error and the value measured by the sensor 60b does not contain an offset error, the position deviation when the drive unit 70 is at the target position becomes 0. For example, the sensors 60a and 60b are laser displacement meters.

[0056] Figure 4 is a diagram showing an example of sensor data in a table.

[0057] As Figure 4 shown, for example, the sensor 60 detects the position deviation according to the timing when the drive unit 70 reaches the target position in the position command. The timing when the drive unit 70 reaches the target position in the position command is the timing when the movement of the drive unit 70 in the position command ends. For example, the sensor 60 detects the position deviation at intervals of 0.01 [ms].

[0058] Figure 5 is a sequence diagram showing an example of the operation of the parameter adjustment system 10 etc. Figure 1 such as

[0059] As Figure 5 shown, the parameter adjustment system 10 sends the control parameter and the position command to the servo control device 40 (step S1).

[0060] The servo control device 40 controls the operation of the production device 20 based on the control parameters and the position command (step S2). Specifically, the servo control device 40 sets the control parameters for the servo control device 40 and controls the servo motor 30 to move the drive unit 70 based on the position command. Thereby, the servo control device 40 controls the operation of the production device 20.

[0061] The parameter adjustment system 10 acquires the encoder information and the sensor information (step S3).

[0062] The parameter adjustment system 10 obtains the operation result of the production device 20 based on the encoder information and the sensor information (step S4).

[0063] In this way, the parameter adjustment system 10 obtains the operation result of the production device 20 that operates based on the transmitted control parameters and the position command. Specifically, the parameter adjustment system 10 obtains the setting time and the like of the drive unit 70 that moves based on the transmitted control parameters and the position command.

[0064] For example, the above processing is repeated based on at least one of the number of control parameters, i.e., the control parameter number, and the number of position commands, i.e., the position command number.

[0065] Figure 6 represents Figure 1 A flowchart of an example of the operation of the parameter adjustment system 10. Specifically, Figure 6 It is a flowchart showing an example of the parameter adjustment method performed by the parameter adjustment system 10. Figure 7 represents the display on Figure 1 An example of the display of the parameter adjustment system 10. Figure 8 represents the display on Figure 1 Another example of the display of the parameter adjustment system 10. Figure 9 It is a chart showing an example of sensor data. Figure 10 It is a chart showing an example of a position command. Figure 11 It is a chart for explaining the setting time.

[0066] As Figure 6 shown, the control unit 14 accepts the setting of data processing (referred to as the selection acceptance step, the setting acceptance step, or the change acceptance step) (step S11). For example, the control unit 14 accepts the setting of data processing by causing the display unit 12 to display a screen for accepting the setting of data processing.

[0067] Specifically, for example, as Figure 7As shown, the control unit 14 accepts the selection of whether to use a low-pass filter to correct sensor data and the selection of the intensity of the low-pass filter by causing the display unit 12 to display a screen for accepting the selection of whether to use a low-pass filter to correct sensor data and the selection of the intensity of the low-pass filter. For example, the user can select not to use the low-pass filter to correct sensor data by checking the checkbox 100. In addition, the user can select to use the low-pass filter to correct sensor data by not checking the checkbox 100. In addition, the user can select the intensity of the low-pass filter by moving the slider 101.

[0068] In addition, as Figure 8 shown, the control unit 14 accepts the setting of the allowable position by causing the display unit 12 to display a screen for accepting the setting of the allowable position (specifically, the setting of the allowable range (tuning amplitude)). For example, the user can set the allowable position by inputting a value representing the allowable range. Figure 8 It is also a screen for accepting the change of the set value used to calculate the tuning time. The control unit 14 accepts the change of the set value used to calculate the tuning time by causing the display unit 12 to display a screen for accepting the change of the set value used to calculate the tuning time. For example, the set value includes the allowable range, etc. For example, the user can change the set value by inputting a value representing the set value. In addition, for example, the set value is preset and the preset set value is displayed, but when the change of the set value is received in step S11, the changed set value is set as the set value used in the subsequent calculation of the tuning time, and the changed set value is displayed. In addition, in Figure 8 the shown screen, the user can set the target tuning time, i.e., the target time, etc.

[0069] For example, the control unit 14 causes the display unit 12 to display Figure 7 the shown screen, and after the timing when the setting using Figure 7 the shown screen is completed, causes the display unit 12 to display Figure 8 the shown screen.

[0070] Returning to Figure 6 , the control unit 14 accepts the setting of the control parameters (step S12). As Figure 8 shown, for example, the control unit 14 accepts the setting of the control parameters by causing the display unit 12 to display a screen for accepting the setting of the control parameters. For example, by the user selecting the detailed setting displayed under the control parameter setting, a screen for inputting the category of the control parameter and the value of the control parameter is displayed, and the user can set the control parameter by inputting the category of the control parameter and the value of the control parameter.

[0071] Returning to Figure 6, the control unit 14 operates the production apparatus 20 based on the control parameters (step S13). Specifically, the control unit 14 causes the servo information output unit 15 to output servo information including the control parameters set in step S12, and based on the output servo information, causes the servo control device 40 to control the servo motor 30, and causes the drive unit 70 to move from the movement start position to the target position. For example, the position command included in the servo information is a position command preset by the user.

[0072] The acquisition unit 16 acquires sensor data (acquisition step) (step S14). Specifically, the acquisition unit 16 acquires the sensor data detected by the sensor 60, and the sensor data is time series data of the difference, i.e., the position deviation, between the target position and the actual position of the drive unit 70 in the production apparatus 20 including the drive unit 70 driven by the servo motor 30. The sensor data is time series data of the difference, i.e., the position deviation, between the target position and the actual position of the drive unit 70 moving in step S13.

[0073] The processing unit 17 performs noise reduction correction on the sensor data (step S15). Specifically, when it is selected in step S11 to correct the sensor data using a low-pass filter, the processing unit 17 corrects the sensor data acquired in step S14 using the low-pass filter with the intensity set in step S11. For example, the low-pass filter performs a moving average process. For example, when it is selected in step S11 not to correct the sensor data using a low-pass filter, the processing unit 17 does not perform noise reduction correction on the sensor data.

[0074] The processing unit 17 performs offset correction on the sensor data (correction step) (step S16). Specifically, the processing unit 17 corrects the sensor data based on the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 according to the position command for moving the drive unit 70 to the target position ends. For example, in step S16, the processing unit 17 corrects the sensor data so that the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 according to the position command ends becomes 0. For example, when at least one of the value measured by the sensor 60a and the value measured by the sensor 60b includes an offset error, as Figure 9 shown in (a) of, sometimes the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 according to the position command ends does not become 0 (sometimes there is a deviation). In such a case, the processing unit 17 corrects the sensor data so that the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 according to the position command ends becomes 0, as Figure 9As shown in (b) thereof, corrected sensor data is generated. For example, if the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 based on the position command ends is 10, the processing unit 17 generates the corrected sensor data by subtracting 10 from each position deviation in the sensor data. When noise reduction correction is performed on the sensor data in step S15, the processing unit 17 performs offset correction on the sensor data that has undergone noise reduction correction.

[0075] The processing unit 17 calculates the settling time (calculation step) (step S17). Specifically, the processing unit 17 calculates, based on the corrected sensor data, the time from the timing when the drive unit 70 in the position command reaches the target position to the timing when the drive unit 70 reaches the allowable position where it can be evaluated as having reached the target position, that is, the settling time. For example, the corrected sensor data is the sensor data corrected in step S15 and further corrected in step S16. Additionally, for example, the corrected sensor data may also be the sensor data without noise reduction correction. As Figure 10 shown, for example, the timing when the drive unit 70 in the position command reaches the target position is the timing when the drive unit 70 in the position command decelerates and the speed of the drive unit 70 becomes 0. The actual movement of the drive unit 70 lags behind the position command, and the timing when the drive unit 70 reaches the allowable position where it can be evaluated as having reached the target position lags behind the timing when the drive unit 70 in the position command reaches the target position. As Figure 11 shown, for example, the line connecting the last position deviation outside the allowable range among the multiple position deviations included in the corrected sensor data and the next new position deviation after this position deviation among the multiple position deviations included in the corrected sensor data is set as the first line. And the straight line (a straight line parallel to the time axis) that intersects the first line and represents the upper limit value or the lower limit value of the allowable range is set as the second line. In such a case, the processing unit 17 sets the time of the intersection point of the first line and the second line as the timing when the drive unit 70 reaches the allowable position where it can be evaluated as having reached the target position.

[0076] Return to Figure 6 Then, the control unit 14 determines whether the settling time satisfies a given condition (step S18). Specifically, the control unit 14 determines whether the settling time calculated in step S17 satisfies the given condition.

[0077] When the settling time satisfies the given condition (step S18 "Yes"), the control unit 14 causes the corrected sensor data to be displayed (display step) (step S19). For example, the control unit 14 causes the display unit 12 to display the corrected sensor data.

[0078] When the setting time does not satisfy the given condition (No in step S18), the prediction result output unit 19 predicts the control parameter (step S20). For example, as Figure 5 shown, the driving unit 70 is moved using a plurality of control parameters respectively, and the setting time of the driving unit 70 when the driving unit 70 is moved using this control parameter is obtained, and the learning unit 18 pre-learns the relationship between the control parameter and the setting time. For example, when the given condition is consistent with the target time, when the control parameter set in step S12 and the setting time calculated in step S17 are input, the prediction result output unit 19 uses the learning result of the learning unit 18 to predict what value the control parameter should be set to so that the setting time of the driving unit 70 is close to the target time, and outputs the predicted control parameter.

[0079] When the control parameter is predicted by the prediction result output unit 19, the control unit 14 causes the production apparatus 20 to operate again based on the predicted control parameter (step S13).

[0080] For example, when the given condition is consistent with the target time, when the setting time obtained after causing the production apparatus 20 to operate again is not consistent with the target time, the prediction result output unit 19 predicts again the control parameter such that the setting time is close to the target time, and the control unit 14 causes the production apparatus 20 to operate again based on the re-predicted control parameter.

[0081] For example, when the given condition is consistent with the target time, when the setting time obtained after causing the production apparatus 20 to operate again is consistent with the target time, the control parameter predicted by the prediction result output unit 19 in the just previous step S20 is the control parameter for which the setting time satisfies the given condition.

[0082] In this way, for example, when the setting time does not satisfy the given condition, the following process is performed one or more times: the prediction result output unit 19 predicts the control parameter, causes the production apparatus 20 to operate based on the predicted control parameter, and calculates the setting time. Thus, the prediction result output unit 19 predicts the control parameter for which the setting time satisfies the given condition (prediction step) (step S20).

[0083] As described above, in the parameter adjustment system 10 and the like, since the setting time can be calculated with good accuracy, the control parameter for which the setting time satisfies the given condition can be predicted earlier, an increase in power consumption required for adjusting the control parameter can be suppressed, and the control parameter can be adjusted effectively.

[0084] The parameter adjustment method according to the embodiment is a parameter adjustment method for adjusting control parameters for controlling the servo motor 30 by the servo control device 40, and includes an acquisition step (step S14), a correction step (S16), a calculation step (S17), and a prediction step (step S20). In the acquisition step, sensor data detected by the sensor 60 is acquired. The sensor data is time-series data of the position deviation, which is the difference between the target position and the actual position of the drive unit 70 in the target device (production device 20) including the drive unit 70 driven by the servo motor 30. In the correction step, based on the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 according to the position command for moving the drive unit 70 to the target position ends, the sensor data is corrected. In the calculation step, based on the corrected sensor data, the settling time, which is the time from the timing when the drive unit 70 in the position command reaches the target position to the timing when the drive unit 70 reaches the allowable position that can be evaluated as reaching the target position, is calculated. In the prediction step, control parameters are predicted such that the settling time calculated based on the corrected sensor data satisfies a given condition.

[0085] Accordingly, since the settling time, which is the time from the timing when the drive unit 70 in the position command is at the target position to the timing when the drive unit 70 reaches the allowable position that can be evaluated as reaching the target position, is calculated based on the corrected sensor data, the settling time can be calculated with higher accuracy. In addition, since control parameters are predicted such that the settling time calculated based on the corrected sensor data satisfies a given condition, control parameters for which the settling time satisfies the given condition can be predicted with higher accuracy, and control parameters can be adjusted efficiently.

[0086] In addition, in the parameter adjustment method according to the embodiment, in the correction step (step S16), the sensor data is corrected so that the position deviation detected by the sensor 60 after the timing when the movement of the drive unit 70 based on the position command ends becomes 0.

[0087] Accordingly, since the sensor data can be easily corrected, control parameters can be adjusted more efficiently.

[0088] In addition, in the parameter adjustment method according to the embodiment, the sensor 60 includes a laser displacement meter.

[0089] Accordingly, even when a laser displacement meter is used, the settling time can be calculated with higher accuracy, and control parameters can be adjusted efficiently.

[0090] In addition, the parameter adjustment method according to the embodiment includes a setting acceptance step (step S11) for accepting the setting of the allowable position.

[0091] Accordingly, the user can set the allowable position.

[0092] In addition, the parameter adjustment method according to the embodiment includes a display step (step S20) of displaying the corrected sensor data.

[0093] Accordingly, the user can identify the corrected sensor data.

[0094] In addition, the parameter adjustment method according to the embodiment includes a selection acceptance step (step S11) of accepting the selection of whether to use a low-pass filter to correct the sensor data and the selection of the intensity of the low-pass filter.

[0095] Accordingly, the user can select whether to use a low-pass filter to correct the sensor data and can select the intensity of the low-pass filter.

[0096] In addition, in the parameter adjustment method according to the embodiment, the low-pass filter performs a moving average process.

[0097] Accordingly, since the sensor data can be corrected by the moving average process, the control parameter such as the setting time that satisfies the given condition can be predicted with further good accuracy, and the control parameter can be adjusted with further good efficiency.

[0098] In addition, the parameter adjustment method according to the embodiment includes a change acceptance step (step S11) of presetting the set value required to calculate the setting time and accepting the change of the set value. When the change of the set value is accepted in the change acceptance step, the changed set value is set as the set value used in the subsequent calculation of the setting time.

[0099] Accordingly, the setting time can be calculated using the preset set value, and when the change of the set value is received, the setting time can be calculated using the changed set value.

[0100] In addition, in the parameter adjustment method according to the embodiment, the target device (production device 20) includes a mounting device, a processing device, or a working device.

[0101] Accordingly, even when the target device (production device 20) includes a mounting device, a processing device, or a working device, the control parameter can be adjusted with further good efficiency.

[0102] In addition, the parameter adjustment system 10 according to the embodiment performs the above parameter adjustment method.

[0103] Accordingly, the parameter adjustment system 10 has the same effect as the above parameter adjustment method.

[0104] (Other embodiments, etc.)

[0105] As described above, as an example of the technology disclosed in the present application, embodiments have been described. However, the technology of the present disclosure is not limited thereto, and can also be suitably applied to embodiments or modified examples that have been changed, replaced, added, omitted, etc., as long as the gist of the present disclosure is not deviated from.

[0106] In addition, the general or specific aspects of the present disclosure can be implemented by a system, a device, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM. In addition, it can also be implemented by any combination of a system, a device, a method, an integrated circuit, a computer program, and a recording medium.

[0107] For example, the present disclosure can be implemented as the parameter adjustment system of the above-described embodiment. In addition, the present disclosure can be implemented as a parameter adjustment device. In addition, the present disclosure can be implemented as a parameter adjustment method. In addition, the present disclosure can also be implemented as a program for causing a computer to execute the parameter adjustment method, and can also be implemented as a computer-readable non-transitory recording medium recording such a program.

[0108] (Supplementary Note)

[0109] Through the description of the above embodiments and the like, the following technology is disclosed.

[0110] (Technology 1)

[0111] A parameter adjustment method is a parameter adjustment method for adjusting control parameters for a servo control device to control a servo motor. The parameter adjustment method includes: an acquisition step of acquiring sensor data detected by a sensor, where the sensor data is time-series data of a position deviation, which is a difference between a target position and an actual position of a drive unit in an object device including the drive unit driven by the servo motor; a correction step of correcting the sensor data based on the position deviation detected by the sensor after the timing when the movement of the drive unit based on a position command for moving the drive unit to the target position ends; a calculation step of calculating, based on the corrected sensor data, a settling time, which is the time from the timing when the drive unit in the position command reaches the target position to the timing when the drive unit reaches an allowable position that can be evaluated as reaching the target position; and a prediction step of predicting the control parameters such that the settling time calculated based on the corrected sensor data satisfies a given condition.

[0112] (Technology 2)

[0113] In the parameter adjustment method according to (Technology 1), in the correction step, the sensor data is corrected so that the position deviation detected by the sensor after the timing when the movement of the drive unit based on the position command ends becomes 0.

[0114] (Technology 3)

[0115] In the parameter adjustment method described in (Technology 1) or (Technology 2), the sensor includes a laser displacement meter.

[0116] (Technology 4)

[0117] In the parameter adjustment method described in any one of the technologies from (Technology 1) to (Technology 3), it has: a setting acceptance step of accepting the setting of the allowable position before the calculation step.

[0118] (Technology 5)

[0119] In the parameter adjustment method described in any one of the technologies from (Technology 1) to (Technology 4), it has: a display step of displaying the corrected sensor data.

[0120] (Technology 6)

[0121] In the parameter adjustment method described in any one of the technologies from (Technology 1) to (Technology 5), it has: a selection acceptance step of accepting the selection of whether to correct the sensor data using a low-pass filter and the selection of the strength of the low-pass filter before the correction step.

[0122] (Technology 7)

[0123] In the parameter adjustment method described in (Technology 6), the low-pass filter performs a moving average process.

[0124] (Technology 8)

[0125] In the parameter adjustment method described in any one of the technologies from (Technology 1) to (Technology 7), a set value for calculating the tuning time is preset, and it has: a change acceptance step of accepting the change of the set value. When the change of the set value is accepted in the change acceptance step, the changed set value is set as the set value used in the subsequent calculation of the tuning time.

[0126] (Technology 9)

[0127] In the parameter adjustment method described in any one of the technologies from (Technology 1) to (Technology 8), the target device includes a mounting device, a processing device, or a working device.

[0128] (Technology 10)

[0129] A parameter adjustment system performs the parameter adjustment method described in any one of the technologies from (Technology 1) to (Technology 9).

[0130] Industrial applicability

[0131] The parameter adjustment method and parameter adjustment system according to the present disclosure can efficiently adjust the control parameters of the control device. Thus, the parameter adjustment method and parameter adjustment system according to the present disclosure are industrially useful.

[0132] Explanation of Reference Numerals

[0133] 10 Parameter adjustment system

[0134] 11 Operation unit

[0135] 12 Display unit

[0136] 13 Storage unit

[0137] 14 Control unit

[0138] 15 Servo information output unit

[0139] 16 Acquisition unit

[0140] 17 Processing unit

[0141] 18 Learning unit

[0142] 19 Prediction result output unit

[0143] 20 Production device

[0144] 30 Servo motor

[0145] 40 Servo control device

[0146] 41 Servo information acquisition unit

[0147] 42 Servo information output unit

[0148] 43 Storage unit

[0149] 44 Control unit

[0150] 50 Encoder

[0151] 60, 60a, 60b Sensors

[0152] 70 Drive unit

[0153] 80 Sensor information collection device

[0154] 90 Object

[0155] 100 Check box

[0156] 101 Strip.

Claims

1. A parameter adjustment method for adjusting control parameters used by a servo control device to control a servo motor, obtaining sensor data detected by a sensor, the sensor data being time-series data of the difference between the target position and the actual position of a drive unit in an object device including the drive unit driven by the servo motor, i.e., the position deviation, correcting the sensor data based on the position deviation detected by the sensor after the timing when the movement of the drive unit according to a position command for moving the drive unit to the target position ends, calculating, based on the corrected sensor data, the settling time, which is the time from the timing when the drive unit in the position command reaches the target position to the timing when the drive unit reaches an allowable position that can be evaluated as reaching the target position, predicting the control parameters such that the settling time calculated based on the corrected sensor data satisfies a given condition.

2. The parameter adjustment method according to claim 1, wherein, the sensor data is corrected so that the position deviation detected by the sensor after the timing when the movement of the drive unit according to the position command ends becomes 0.

3. The parameter adjustment method according to claim 1 or 2, wherein, the sensor includes a laser displacement meter.

4. The parameter adjustment method according to claim 1 or 2, wherein, before calculating the settling time, the setting of the allowable position is accepted.

5. The parameter adjustment method according to claim 1 or 2, wherein, the corrected sensor data is displayed.

6. The parameter adjustment method according to claim 1 or 2, wherein, before correcting the sensor data, the selection of whether to correct the sensor data using a low-pass filter and the selection of the strength of the low-pass filter are accepted.

7. The parameter adjustment method according to claim 6, wherein, the low-pass filter performs a moving average process.

8. The parameter adjustment method according to claim 1 or 2, wherein, a set value for calculating the settling time is preset, the change of the set value is accepted, and when the change of the set value is accepted in the change acceptance step, the changed set value is set as the set value used in the subsequent calculation of the settling time.

9. The parameter adjustment method according to claim 1 or 2, wherein, the object device includes a mounting device, a processing device, or a working device.

10. A parameter adjustment system for performing the parameter adjustment method according to claim 1 or 2.

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