Parameter determination device and parameter determination method

Abstract

A parameter determination device (10) for an actuator (20) having a movable member (52) and a motor (54) is provided with: an input parameter acquisition unit (120) that acquires an input parameter relating to a target position (G) and a movement speed of the movable member; a torque acquisition unit (126) that acquires a torque of the motor for a cycle time (Tc) until the movable member reaches the target position by the motor moving the movable member on the basis of the input parameter; and a determination unit (128) that determines whether or not the input parameter is appropriate on the basis of the torque.

Description

Technical Field

[0001] The present invention relates to a parameter determination device and a parameter determination method. Background Art

[0002] Japanese Patent Application Laid-Open No. 2012-108608 discloses a drive control device for an actuator. The drive control device for an actuator performs drive control of the actuator. The actuator includes a displacement member and a drive unit. The drive unit is, for example, a linear motor that displaces the displacement member. The drive control device for an actuator determines the detailed operation of the displacement member by setting the moving distance and moving time of the displacement member.

[0003] The drive control device for an actuator disclosed in Japanese Patent Application Laid-Open No. 2012-108608 uses information (weight, posture, load, etc.) of a workpiece conveyed or pressed by the displacement member to determine the detailed operation of the displacement member as described above. There is a technical problem that the determined detailed operation of the displacement member may not be appropriate. Summary of the Invention

[0004] An object of the present invention is to solve the above-described technical problem.

[0005] A first aspect of the present invention is a parameter determination device for an actuator, the actuator including: a fixed member, a movable member that can move relative to the fixed member, and a motor that moves the movable member, the parameter determination device including: an input parameter acquisition unit that acquires input parameters related to a target position and a moving speed of the movable member; a torque acquisition unit that acquires a torque of the motor for a period from when the movable member starts to move until it reaches the target position by moving the movable member by the motor based on the input parameters; and a determination unit that determines whether the input parameters are appropriate based on the torque.

[0006] A second aspect of the present invention is a parameter determination method for an actuator, the actuator including: a fixed member, a movable member that can move relative to the fixed member, and a motor that moves the movable member, the parameter determination method including: an input parameter acquisition step of acquiring input parameters related to a target position and a moving speed of the movable member; a torque acquisition step of acquiring a torque of the motor for a period from when the movable member starts to move until it reaches the target position by moving the movable member by the motor based on the input parameters; and a determination step of determining whether the input parameters are appropriate based on the torque.

[0007] According to the present invention, it is possible to determine appropriate control parameters for the actuator. Brief Description of the Drawings

[0008] Figure 1 This is a diagram for explaining a parameter determination device according to an embodiment.

[0009] Figure 2 This is a block diagram illustrating the structure of the parameter determination device.

[0010] Figure 3 This is a diagram showing an example of a parameter setting screen in which input parameters are input.

[0011] Figure 4 This is a diagram showing an example of a parameter setting screen for a user to instruct a stroke test based on input parameters.

[0012] Figure 5 This is a diagram showing an example of a parameter setting screen for a user to select whether to extend the cycle time.

[0013] Figure 6 This is a diagram showing an example of a parameter setting screen displayed when the cycle time is extended.

[0014] Figure 7 This is a diagram showing an example of a parameter setting screen for outputting the corrected input parameters to the control device as the set parameters of the actuator.

[0015] Figure 8 This is a flowchart showing the processing steps of the appropriateness determination process of the control parameters performed by the parameter determination device. Detailed Embodiment

[0016] Figure 1 This is a diagram for explaining a parameter determination device 10 according to an embodiment. The parameter determination device 10 is, for example, a computer. The parameter determination device 10 determines the appropriateness of input parameters when the control parameters of the actuator 20 are input. Details of the input parameters are described below. The parameter determination device 10 is connected to the control device 40 of the actuator 20 via a communication network 30.

[0017] The actuator 20 has a fixed member 50, a movable member 52, a motor 54, and a housing portion 56. The motor 54 is housed in the housing portion 56. By driving the motor 54, the movable member 52 moves relative to the fixed member 50. By converting the rotational motion of the motor 54 into a linear forward motion via a linear motion mechanism (not shown), the movable member 52 moves. The linear motion mechanism is constituted by, for example, a ball screw and a nut. In addition, the motor 54 may be a linear motor.

[0018] In the actuator 20 of the present embodiment, the movable member 52 moves by sliding on the fixed member 50. That is, the movable member 52 is a slider. The movable member 52 as the slider can linearly move while carrying a workpiece.

[0019] In the present embodiment, the movement of the movable member 52 from the movement start position S to the target position G is referred to as a stroke. Further, in one stroke, the time required for the movable member 52 to reach the target position G from the movement start position S by the motor 54 is referred to as the cycle time Tc.

[0020] In addition, the movable member 52 is not limited to a slider. For example, the movable member 52 may be a rod that moves within a cylinder. The movable member 52 as a rod can linearly move while carrying a workpiece. The movable member 52 may also be a rotary table. The movable member 52 as a rotary table can rotationally move while carrying a workpiece. The movable member 52 may also be a jig that holds a workpiece with a pair of fingers. By opening and closing the pair of fingers, positioning for holding the workpiece is performed.

[0021] The control device 40 is connected to the actuator 20 through a cable 70. The control device 40 inputs and outputs signals to and from the actuator 20 via the cable 70 to control the actuator 20. The control device 40 includes a processor and a memory (not shown). The processor of the control device 40 executes a program stored in the memory using control parameters stored in the memory. Thereby, the control device 40 controls the actuator 20 to move the movable member 52. In addition, the control device 40 detects the current value of the motor 54. Further, the control device 40 may be provided inside the actuator 20.

[0022] Figure 2 is a block diagram illustrating the structure of the parameter determination device 10. The parameter determination device 10 includes a processing circuit 100, a storage device 102, a communication module 104, an operation device 106, and a display device 108. The operation device 106 and the display device 108 may be external devices of the parameter determination device 10. The processing circuit 100 includes a processor such as a CPU or a GPU.

[0023] The storage device 102 includes a volatile memory such as a RAM and a non-volatile memory such as a ROM or a flash memory. The volatile memory is used as a working memory for the processor. The non-volatile memory stores programs executed by the processor and other necessary data.

[0024] The communication module 104 is used for wired communication or wireless communication. The operation device 106 is, for example, a keyboard, a mouse, or a touch panel. The display device 108 is, for example, a liquid crystal display, an organic EL display, or a projector.

[0025] The processing circuit 100 includes an input parameter acquisition unit 120, a calculation unit 122, a test control unit 124, a torque acquisition unit 126, a determination unit 128, an extension acceptance unit 130, a correction unit 132, and an output unit 136. By executing the program stored in the storage device 102 by the processing circuit 100, the input parameter acquisition unit 120, the calculation unit 122, the test control unit 124, the torque acquisition unit 126, the determination unit 128, the extension acceptance unit 130, the correction unit 132, and the output unit 136 are implemented.

[0026] At least a part of the input parameter acquisition unit 120, the calculation unit 122, the test control unit 124, the torque acquisition unit 126, the determination unit 128, the extension acceptance unit 130, the correction unit 132, and the output unit 136 may also be implemented by an integrated circuit such as an ASIC or an FPGA, or an electronic circuit including discrete devices.

[0027] The user can input input parameters related to the target position G and the moving speed of the movable member 52 into the input parameter determination device 10 by operating the operation device 106. The input parameter acquisition unit 120 acquires the input parameters input by the user. The calculation unit 122 calculates the cycle time Tc based on the input parameters acquired by the input parameter acquisition unit 120.

[0028] The test control unit 124 outputs the input parameters acquired by the input parameter acquisition unit 120 to the control device 40 of the actuator 20, and instructs the control device 40 to perform a stroke test of the movable member 52. The control device 40 stores the input parameters output from the test control unit 124 as control parameters of the actuator 20 in the memory. The control device 40 controls the actuator 20 based on the control parameters stored in the memory, and moves the movable member 52 toward the motor 54. During the cycle time Tc when the movable member 52 moves from the movement start position S to the target position G, the control device 40 continuously detects the current value of the motor 54 via the cable 70.

[0029] In addition, the environment for performing the above-described stroke test is preferably the same as the actual environment for performing the actual operation using the actuator 20. For example, when the movable member 52 moves while carrying a workpiece in the actual operation using the actuator 20, in the stroke test, it is also performed in a state where the workpiece is mounted on the movable member 52.

[0030] The torque acquisition unit 126 acquires the torque of the motor 54 driven during the stroke test. Specifically, the torque acquisition unit 126 acquires the current value of the motor 54 from the control device 40. The torque acquisition unit 126 calculates the torque of the motor 54 for the above-mentioned cycle time Tc based on the acquired current value of the motor 54. In addition, the torque acquisition unit 126 may directly acquire the torque of the motor 54 from the control device 40. In this case, the control device 40 calculates the torque of the motor 54 based on the current value of the motor 54.

[0031] Based on the torque of the motor 54 acquired by the torque acquisition unit 126, the determination unit 128 determines whether the input parameters acquired by the input parameter acquisition unit 120 are appropriate. For example, when the state where the torque of the motor 54 exceeds the specified value continues for more than the specified time, it is determined that the input parameters are inappropriate. In other cases, it is determined that the input parameters are appropriate. When the torque of the motor 54 is higher than the specified value, adverse conditions such as a shortened life of the motor 54 or a failure of the actuator 20 may occur.

[0032] When it is determined by the determination unit 128 that the input parameters are appropriate, the cycle time Tc calculated by the calculation unit 122 based on the input parameters can be extended. The user operates the operation device 106 to instruct the parameter determination device 10 to extend the cycle time Tc. The user operates the operation device 106 to input the extended value of the cycle time Tc into the parameter determination device 10. The extension acceptance unit 130 accepts the extension of the cycle time Tc by acquiring the user's instruction to extend the cycle time Tc.

[0033] The correction unit 132 corrects the input parameters based on the extended cycle time Tc. Specifically, the parameters related to the moving speed of the movable member 52 in the input parameters are corrected based on the extended cycle time Tc. Since the cycle time Tc is extended, the motor 54 will not exceed the specified value by the input parameters corrected based on the extended cycle time Tc. Therefore, the corrected input parameters are appropriate.

[0034] When it is determined by the determination unit 128 that the input parameters are appropriate, the input parameters determined to be appropriate or the corrected input parameters can be used as the setting parameters for actual work. The user uses the operation device 106 to perform the setting operation of the setting parameters for actual work.

[0035] When the user performs the setting operation of the setting parameters, the output unit 136 outputs the input parameters determined to be appropriate by the determination unit 128 as the setting parameters for actual work to the control device 40. When the input parameters are corrected by the correction unit 132, the output unit 136 outputs the corrected input parameters as the setting parameters to the control device 40.

[0036] The control device 40 stores the set parameters as control parameters for the actuator 20 in the memory. The processor of the control device 40 controls the actuator 20 (motor 54) based on the control parameters stored in the memory, thereby performing the actual operation.

[0037] Figure 3 It is a diagram showing an example of a parameter setting screen for inputting input parameters. Figure 3 The parameter setting screen shown is displayed on the display device 108. As described above, the input parameters include input parameters related to the target position G of the movable member 52 and input parameters related to the moving speed of the movable member 52. In the present embodiment, the input parameters further include the moving start position S of the movable member 52.

[0038] In Figure 3 In the parameter setting screen shown, there is a field Fs for inputting the value of the moving start position S and a field Fg for inputting the value of the target position G. The user operates the operation device 106 to input respective values into the field Fs of the moving start position S and the field Fg of the target position G. Values are input into the field Fs and the field Fg in the case where one end of the fixed member 50 where the movable member 52 can move is set to 0% and the other end is set to 100%.

[0039] In Figure 3 In the example shown, "10%" is input into the field Fs of the moving start position S. In this case, the moving start position S of the movable member 52 is a position that has moved a distance corresponding to 10% from one end of the fixed member 50 toward the other end. When the moving start position S is different from the current position of the movable member 52, the movable member 52 moves from the current position to the moving start position S and stops at the moving start position S. Subsequently, the movable member 52 starts moving from the moving start position S to the target position G. In this example, the moving direction of the movable member 52 is from one end of the fixed member 50 toward the other end.

[0040] In addition, the current position of the movable member 52 can also be the moving start position S. In this case, the value corresponding to the current position of the movable member 52 is automatically input into the field Fs of the moving start position S.

[0041] In Figure 3 In the example shown, "90%" is input into the field Fg of the target position G. In this case, the target position G of the movable member 52 is a position that has moved a distance corresponding to 90% from one end of the fixed member 50 toward the other end.

[0042] In addition, the value of the field Fs of the input moving start position S may also be a value larger than the value of the field Fg of the input target position G. In this case, the moving direction of the movable member 52 is the direction opposite to the above direction. Further, when the moving start position S is fixed, the field Fs of the moving start position S is not required. When the target position G is fixed, the field Fg of the target position G is not required.

[0043] During the acceleration period P1 from when the movable member 52 starts to move at the moving start position S, the moving speed of the movable member 52 accelerates from 0 at an acceleration A and reaches a specified speed V. In the subsequent constant speed period P2, the moving speed of the movable member 52 maintains the specified speed V. Further, in the subsequent deceleration period P3, the moving speed of the movable member 52 decelerates from the specified speed V at a deceleration D and becomes 0 at the target position G.

[0044] In the present embodiment, as input parameters related to the moving speed of the movable member 52, the acceleration A during the acceleration period P1, the specified speed V during the constant speed period P2, and the deceleration D during the deceleration period P3 are input. In addition, depending on the type of the motor 54, there may be a case where the field Fa for the acceleration A and the field Fd for the deceleration D are not provided. In this case, the acceleration A and the deceleration D are automatically calculated based on the moving start position S, the target position G, and the specified speed V.

[0045] In Figure 3 In the parameter setting screen shown, there are provided a field Fa for inputting the value of the acceleration A, a field Fm for inputting the value of the specified speed V, and a field Fd for inputting the value of the deceleration D. The user operates the operation device 106 to input respective values to the field Fa for the acceleration A, the field Fm for the specified speed V, and the field Fd for the deceleration D.

[0046] In Figure 3 In the example shown, “A0” is input to the field Fa for the acceleration A. In this case, during the acceleration period P1, the moving speed of the movable member 52 accelerates from 0 at an acceleration A = A0. In Figure 3 In the example shown, “V0” is input to the field Fm for the specified speed V. In this case, during the constant speed period P2, the moving speed of the movable member 52 maintains the specified speed V = V0. In Figure 3 In the example shown, “D0” is input to the field Fd for the deceleration D. In this case, during the deceleration period P3, the moving speed of the movable member 52 decelerates from the specified speed V = V0 at a deceleration D = D0.

[0047] Figure 3The input parameters shown are acquired by the input parameter acquisition unit 120 described above. The calculation unit 122 calculates the cycle time Tc based on the acquired input parameters. Figure 4 FIG. is an example of a parameter setting screen for a user to indicate a stroke test based on input parameters. As Figure 4 shown, the input parameters are displayed on the parameter setting screen. Figure 4 The parameter setting screen shown is displayed on the display device 108. In Figure 4 , the description of the display content common to Figure 3 is omitted.

[0048] In Figure 4 the parameter setting screen shown, a field Ft for displaying the calculated cycle time Tc is provided. In Figure 4 the example shown, "T0" is displayed in the field Ft of the cycle time Tc. That is, the cycle time Tc = T0 calculated by the calculation unit 122 is displayed in the field Ft. By displaying the calculated cycle time Tc, the user can estimate the operation time allocated to the actual operation using the actuator 20.

[0049] In Figure 4 the parameter setting screen shown, a button B1 with the display "Test" for instructing the control device 40 to perform a stroke test of the movable member 52 is provided. When the user operates the operation device 106 and selects the button B1, the test control unit 124 outputs the input parameters displayed in Figure 4 the parameter setting screen shown to the control device 40 and instructs the control device 40 to perform a stroke test of the movable member 52. The stroke test of the movable member 52 is performed based on the movement start position S, target position G, acceleration A, specified speed V, and deceleration D input as input parameters.

[0050] During the cycle time Tc = T0 for performing the stroke test of the movable member 52, the torque acquisition unit 126 acquires the torque of the motor 54 multiple times. The determination unit 128 determines the appropriateness of the input parameters based on the acquired torque of the motor 54.

[0051] In the case where it is determined that the input parameters are inappropriate, the same parameter setting screen as Figure 3 is displayed on the display device 108. At this time, a message prompting the user to change the input parameters may also be displayed on the display device 108. The user changes the input parameters on the parameter setting screen. Based on the changed input parameters, the calculation unit 122 calculates the cycle time Tc again and displays it on the same Figure 4 screen. Based on the user's selection operation, the stroke test of the movable member 52 is performed again. The appropriateness of the input parameters is determined again.

[0052] When the determination unit 128 determines that the input parameters are appropriate, the parameter setting screen shown in Figure 5 is displayed on the display device 108. Figure 5 is a diagram showing an example of a parameter setting screen for a user to select whether to extend the cycle time Tc. As Figure 5 shown, the input parameters and the cycle time Tc are displayed on the parameter setting screen. Figure 5 The parameter setting screen shown in Figure 5 is displayed on the display device 108. In Figure 3 or Figure 4 the description of the common display content is omitted.

[0053] In Figure 5 the shown parameter setting screen, there is a button B2 displayed as "OK" for determining without extending the cycle time Tc. The user operates the operation device 106 and selects the button B2 to determine the cycle time Tc.

[0054] The operation of the user selecting the button B2 corresponds to the setting operation of the setting parameter of the actuator 20. The input parameter determined to be appropriate corresponding to the cycle time Tc is output as the setting parameter of the actuator 20 by the output unit 136 to the control device 40. The control device 40 uses this setting parameter as the control parameter of the actuator 20 to perform the actual operation using the actuator 20.

[0055] In Figure 5 the shown parameter setting screen, there is a button B3 displayed as "EXTEND" for accepting the extension of the cycle time Tc. The user can give an instruction to extend the cycle time Tc by operating the operation device 106 and selecting the button B3. The extension acceptance unit 130 accepts the extension of the cycle time Tc by obtaining this extension instruction.

[0056] After the user selects the button B3, the value T0 displayed in the field Ft of the cycle time Tc can be changed to a larger value. By extending the cycle time Tc, the occurrence of adverse conditions such as the shortening of the life of the motor 54 or the failure of the actuator 20 can be further suppressed.

[0057] Suppose the value T0 of the cycle time Tc is changed to a value T1 larger than the ratio T0. Figure 6 is a diagram showing an example of a parameter setting screen displayed when the cycle time Tc is extended. As Figure 6 shown, the input parameters and the changed cycle time Tc are displayed on the parameter setting screen.

[0058] Figure 6 The parameter setting screen shown in Figure 6 is displayed on the display device 108. In Figure 3 , Figure 4Or Figure 5 Explanation of common display content. In Figure 6 In the parameter setting screen shown, there is a button B4 displayed as "Calibration" for correcting the input parameters based on the extended cycle time Tc. When the user operates the operating device 106 and selects the button B4, the acceleration A, the specified speed V, and the deceleration D in the input parameters are corrected by the calibration unit 132.

[0059] In addition, when the cycle time Tc is changed to the value T1, the input parameters can also be automatically corrected by the calibration unit 132. In this case, the parameter setting screen including the button B4 may not be displayed. Figure 6 The parameter setting screen shown in

[0060] Figure 7 is a diagram showing an example of a parameter setting screen for outputting the corrected input parameters as the setting parameters of the actuator 20 to the control device 40. As shown in Figure 7 In the parameter setting screen, the input parameters and the cycle time Tc are displayed. Figure 7 The parameter setting screen shown in Figure 7 In Figure 3 , Figure 4 , Figure 5 Or Figure 6 Explanation of common display content.

[0061] In Figure 7 In the example shown, "A1" is displayed as the corrected acceleration A in the field Fa of the acceleration A. "V1" is displayed as the corrected specified speed V in the field Fm of the specified speed V. "D1" is displayed as the corrected deceleration D in the field Fd of the deceleration D.

[0062] In addition, in Figure 7 In the parameter setting screen shown, there is a button B5 displayed as "Setting". When the user operates the operating device 106 and selects the button B5, the appropriately corrected input parameters are output as the setting parameters of the actuator 20 to the control device 40 by the output unit 136.

[0063] Figure 8 is a flowchart showing the processing steps of the appropriateness determination process of the control parameters performed by the parameter determination device 10. This processing step is performed by the processing circuit 100 of the parameter determination device 10 executing the program stored in the storage device 102. This program is stored in the storage device 102 by installing the computer program recorded on the computer-readable recording medium on the computer used as the parameter determination device 10.

[0064] When starting this processing step, in step S1, the input parameter acquisition unit 120 acquires the input parameters input by the user. In step S2, the calculation unit 122 calculates the cycle time Tc based on the input parameters acquired in step S1. In step S3, the test control unit 124 instructs the control device 40 to perform a stroke test of the movable member 52 based on the input parameters acquired in step S1.

[0065] In step S4, the torque acquisition unit 126 acquires the torque of the motor 54 at the cycle time Tc. In step S5, the determination unit 128 determines the appropriateness of the input parameters acquired in step S1 based on the torque of the motor 54 acquired in step S4. If it is "Yes" in step S5, this processing step proceeds to step S6. If it is "No" in step S5, this processing step returns to step S1.

[0066] In step S6, the extension acceptance unit 130 determines whether an extension instruction for the cycle time Tc of the user has been accepted. When the user selects Figure 5 the button B3 shown as "Extend", the extension instruction for the cycle time Tc is accepted, and the processing in step S6 is "Yes".

[0067] When the user selects Figure 5 the button B2 shown as "OK", the processing in step S6 is "No". The selection operation of the button B2 corresponds to the setting operation of setting the input parameters as the setting parameters of the actuator 20. If it is "Yes" in step S6, this processing step proceeds to step S7. If it is "No" in step S6, this processing step proceeds to step S8.

[0068] In step S7, the correction unit 132 corrects the input parameters based on the extended cycle time Tc. Further, a setting operation of setting the corrected input parameters as the setting parameters of the actuator 20 is performed. The setting operation corresponds to Figure 7 the operation of the user selecting the button B5 shown as "Set". In step S8, the output unit 136 outputs the input parameters as the setting parameters for actual operation to the control device 40. When the processing in step S8 is completed, this processing step ends.

[0069] In this embodiment, a stroke test of the movable member 52 is performed based on the input parameters input by the user. Based on the torque of the motor 54 at the cycle time Tc in the stroke test, the appropriateness of the input parameters is determined. Thereby, appropriate control parameters of the actuator 20 can be determined. At this time, information about the workpiece (weight, posture, load, etc.) is not required.

[0070] In addition, after the determination unit 128 determines that the input parameters are appropriate, the user can also operate the operation device 106 to instruct the parameter determination device 10 to shorten the cycle time Tc. In this case, according to the shortening of the cycle time Tc, the acceleration A, the specified speed V, and the deceleration D in the input parameters are corrected. Then, the stroke test is performed again. Based on the torque of the motor 54 during the cycle time Tc of the stroke test, it is determined whether the corrected input parameters are appropriate.

[0071] [Invention obtained according to the embodiment]

[0072] Hereinafter, the invention that can be grasped according to the above embodiment will be described.

[0073] (1) A parameter determination device 10 of an actuator 20 having a fixed member 50, a movable member 52 movable relative to the fixed member, and a motor 54 for moving the movable member, the parameter determination device 10 including: an input parameter acquisition unit 120 that acquires input parameters related to a target position G and a moving speed of the movable member; a torque acquisition unit 126 that acquires the torque of the motor during a cycle time Tc from when the movable member starts moving until it reaches the target position by moving the movable member based on the input parameters by the motor; and a determination unit 128 that determines whether the input parameters are appropriate based on the torque. Thus, appropriate control parameters of the actuator can be determined.

[0074] (2) Optionally, the parameter determination device may further include an output unit 136 that outputs the input parameters as set parameters of the actuator to a control device 40 of the actuator when it is determined that the input parameters are appropriate. Thus, the control device of the actuator can perform an actual operation using the actuator based on appropriate control parameters.

[0075] (3) Optionally, the parameter determination device further includes: an extension acceptance unit 130 that accepts an extension of the cycle time based on the input parameters when it is determined that the input parameters are appropriate; and a correction unit 132 that corrects the input parameters based on the extended cycle time. Thus, it is possible to further suppress the occurrence of adverse conditions such as a shortened life of the motor or actuator failure.

[0076] (4) Optionally, the input parameters include a movement start position S of the movable member, and the torque acquisition unit acquires the torque of the motor during the cycle time from when the movable member starts moving at the movement start position by the motor until it reaches the target position. Thus, the movement start position of the movable member can be set to an arbitrary position.

[0077] A method for determining parameters of an actuator 20 having a fixed member 50, a movable member 52 capable of moving relative to the fixed member, and a motor 54 for moving the movable member, the method comprising: an input parameter acquisition step of acquiring input parameters related to a target position G and a moving speed of the movable member; a torque acquisition step of moving the movable member by the motor based on the input parameters and acquiring the torque of the motor for a cycle time Tc from the start of movement of the movable member until it reaches the target position; and a determination step of determining the appropriateness of the input parameters based on the torque. Thereby, appropriate control parameters of the actuator can be determined.

[0078] (6) Alternatively, the parameter determination method may further comprise an output step of outputting the input parameters as set parameters of the actuator to a control device 40 of the actuator when it is determined that the input parameters are appropriate. Thereby, the life of the motor can be extended and failures of the actuator can be prevented.

[0079] (7) Alternatively, the parameter determination method may further comprise: an extension acceptance step of accepting an extension of the cycle time based on the input parameters when it is determined that the input parameters are appropriate; and a correction step of correcting the input parameters based on the extended cycle time. Thereby, the occurrence of adverse conditions such as a shortened life of the motor or actuator failures can be further suppressed.

[0080] (8) Alternatively, the input parameters may include a movement start position S of the movable member, and in the torque acquisition step, the torque for the cycle time from when the movable member starts to move at the movement start position by the motor until it reaches the target position is acquired. Thereby, the movement start position of the movable member can be set to an arbitrary position.

[0081] In addition, the present invention is not limited to the above-disclosed content, and various structures can be adopted without departing from the gist of the present invention.

[0082] Reference Signs

[0083] 10… Parameter determination device

[0084] 20… Actuator

[0085] 30… Communication network

[0086] 40… Control device

[0087] 50… Fixed member

[0088] 52… Movable member

[0089] 54… Motor

[0090] 56…Receiving Department

[0091] 70…Cable

[0092] 100…Processing Circuit

[0093] 102…Storage Device

[0094] 104…Communication Module

[0095] 106…Operating Device

[0096] 108…Display Device

[0097] 120…Input Parameter Acquisition Unit

[0098] 122…Calculation Unit

[0099] 124…Test Control Unit

[0100] 126…Torque Acquisition Unit

[0101] 128…Judgment Unit

[0102] 130…Extended Acceptance Unit

[0103] 132…Calibration Unit

[0104] 136…Output Unit.

Claims

1. A parameter determination device is a parameter determination device (10) for an actuator (20), the actuator having: a fixed member (50), a movable member (52) capable of moving relative to the fixed member, and a motor (54) for moving the movable member. Characterized in that: It comprises: An input parameter acquisition unit (120) that acquires input parameters related to the target position (G) and moving speed of the movable member; A torque acquisition unit (126) that acquires the torque of the motor during the period (Tc) from when the movable member starts to move until it reaches the target position as the motor moves the movable member based on the input parameters; And A determination unit (128) that determines the suitability of the input parameters based on the torque.

2. The parameter determination device according to claim 1, Characterized in that: It further comprises an output unit (136), which outputs the input parameters as set parameters of the actuator to the control device (40) of the actuator when it is determined that the input parameters are suitable.

3. The parameter determination device according to claim 1 or 2, Characterized in that: It further comprises: An extension acceptance unit (130) that accepts an extension of the period time based on the input parameters when it is determined that the input parameters are suitable; And A correction unit (132) that corrects the input parameters based on the extended period time.

4. The parameter determination device according to claim 1 or 2, Characterized in that: The input parameters include the moving start position (S) of the movable member, And the torque acquisition unit acquires the torque of the motor during the period from when the movable member starts to move at the moving start position until it reaches the target position.

5. A parameter determination method is a parameter determination method for an actuator (20), the actuator having: a fixed member (50), a movable member (52) capable of moving relative to the fixed member, and a motor (54) for moving the movable member. Characterized in that: It comprises: An input parameter acquisition step of acquiring input parameters related to the target position (G) and moving speed of the movable member; A torque acquisition step of acquiring the torque of the motor during the period (Tc) from when the movable member starts to move until it reaches the target position as the motor moves the movable member based on the input parameters; And A determination step of determining the suitability of the input parameters based on the torque.

6. The parameter determination method according to claim 5, Characterized in that: It further comprises an output step of outputting the input parameters as set parameters of the actuator to the control device (40) of the actuator when it is determined that the input parameters are suitable.

7. The parameter determination method according to claim 5 or 6, Characterized in that: It further comprises: An extension acceptance step of accepting an extension of the period time based on the input parameters when it is determined that the input parameters are suitable; and Calibration step, calibrating the input parameter based on the extended cycle time.

8. The parameter determination method according to claim 5 or 6, characterized in that the input parameter includes the starting position (S) of the movement of the movable part, in the torque acquisition step, acquiring the torque of the cycle time from when the movable part starts the movement at the starting position of the movement to when it reaches the target position by the motor.

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