Adjustment assistance method and adjustment assistance system

Abstract

The invention efficiently adjusts control parameters. The adjustment assistance method includes the following steps. (a) a step (S203) for driving the object to be driven under a plurality of operation conditions using the control parameters. And (b) a step (S204) for calculating a plurality of evaluation values. And (c) a step (S206) for determining a representative evaluation value from among the plurality of evaluation values. And (d) a step (S207) for changing the control parameter on the basis of the representative evaluation value. And (e) repeating the steps (a) to (d) using the control parameters changed by (d). And (f) a step (S212) for terminating the adjustment of the control parameter on the condition that the representative evaluation value reaches the target performance value. And (g) if the representative evaluation value does not reach the target performance value, interrupting the adjustment of the control parameter on the condition that the adjustment time of the control parameter reaches a predetermined set time or the number of changes of the control parameter reaches a predetermined set number (S214).

Description

Technical Field

[0001] The present disclosure relates to an adjustment assistance method and an adjustment assistance system. Background Art

[0002] A system for adjusting motor control parameters is known (see, for example, Patent Document 1). This system repeatedly operates the motor using the control parameters to calculate an evaluation value related to the motor's performance. The control parameters are varied each time the evaluation operation is repeated, and the evaluation operation ends when a predetermined termination condition is met. The optimal control parameter among the multiple evaluation values ​​obtained during the repeated evaluation operation is then determined as the optimized control parameter.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 7105882 Summary of the Invention

[0006] However, in the above-mentioned conventional system, since it is difficult to define the optimal solution, there arises a problem in that it is difficult to determine how many times the evaluation operation should be repeated until the optimal solution is obtained.

[0007] Therefore, the present disclosure provides an adjustment support method and an adjustment support system capable of efficiently adjusting control parameters.

[0008] An adjustment assisting method according to one embodiment of the present disclosure assists in adjusting control parameters for controlling a driven object included in an object device including a servo motor, the adjustment assisting method comprising: (a) using the control parameters to drive the driven object under a plurality of operating conditions; (b) calculating a plurality of evaluation values ​​related to the performance of the object device when the driven object is driven under the plurality of operating conditions; (c) determining a representative evaluation value from among the plurality of evaluation values; (d) changing the control parameters based on the representative evaluation value; (e) repeating steps (a) to (d) using the control parameters changed by (d); (f) terminating the adjustment of the control parameters on the condition that the representative evaluation value reaches a target performance value; and (g) suspending the adjustment of the control parameters if the representative evaluation value does not reach the target performance value, on the condition that (i) the adjustment time of the control parameters reaches a predetermined set time or (ii) the number of changes of the control parameters reaches a predetermined set number.

[0009] Furthermore, these general or specific aspects may be implemented by systems, methods, integrated circuits, computer programs, or computer-readable recording media such as CD-ROMs (Compact Disc-Read Only Memory), or by any combination of systems, methods, integrated circuits, computer programs, and recording media.

[0010] According to the adjustment support method and the like of one aspect of the present disclosure, control parameters can be adjusted efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a diagram showing an overview of an adjustment support system according to an embodiment.

[0012] Figure 2 This is a block diagram showing the functional configuration of the adjustment support system according to the embodiment.

[0013] Figure 3 This is a sequence diagram showing the overall operation flow of the adjustment support system according to the embodiment.

[0014] Figure 4 This is a flowchart showing the flow of adjustment of control parameters in the adjustment support system according to the embodiment.

[0015] Figure 5 This is a diagram showing an example of a plurality of adjustment target operation groups set in the adjustment support system according to the embodiment.

[0016] Figure 6 This is a diagram for explaining evaluation values ​​calculated in the adjustment support system according to the embodiment.

[0017] Figure 7 This is a diagram showing an example of an adjustment condition setting screen according to a modification of the embodiment. DETAILED DESCRIPTION

[0018] Hereinafter, embodiments will be described in detail with reference to the drawings.

[0019] In addition, the embodiments described below are all general or specific examples. The numerical values, shapes, materials, components, configuration positions of components, connection methods, steps, and the order of steps shown in the following embodiments are examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, the components that are not described in the independent claims representing the highest concept are described as arbitrary components.

[0020] (Implementation Method)

[0021] [1. Overview of the Adjustment Assistance System]

[0022] First, refer to Figure 1 The outline of the adjustment support system 2 according to the embodiment will be described. Figure 1 It is a diagram showing an outline of the adjustment support system 2 according to the embodiment.

[0023] like Figure 1 As shown, the adjustment support system 2 includes a production device 4 (an example of a target device), a sensor information collection device 6, and a terminal device 8. The production device 4, the sensor information collection device 6, and the terminal device 8 are connected to each other via a communication line so as to be able to communicate with each other. The communication via the communication line can be wired or wireless.

[0024] The production device 4 is, for example, various industrial devices such as an assembly device, a processing device, or a working device installed in a factory, etc. The production device 4 includes a driven object 9 , a servo motor 10 , a servo control device 12 , an encoder 14 , and a sensor 16 .

[0025] The driven object 9 is driven by a servo motor 10. For example, when the production device 4 is an assembly device, the driven object 9 is a moving part that mounts electronic components on a substrate by moving relative to the substrate.

[0026] The servo motor 10 drives the driven object 9. For example, when the production device 4 is an assembly device, the servo motor 10 moves the driven object 9 relative to the substrate.

[0027] The servo control device 12 is, for example, a servo amplifier. The servo control device 12 drives (controls) the servo motor 10 based on servo information transmitted from the terminal device 8, thereby controlling the driving of the driven object 9. The servo information includes control parameters and an operation mode. The control parameters are used by the servo control device 12 to control the driven object 9. The control parameters are a set of parameters consisting of multiple parameters, such as position gain, torque gain, and integral gain. The operation mode is the operation mode of the driven object 9, including, for example, the travel distance, maximum speed, acceleration time, and deceleration time of the driven object 9.

[0028] The encoder 14 detects the displacement amount of the servo motor 10 and the like, and generates encoder information indicating the detected displacement amount of the servo motor 10 and the like. The encoder 14 transmits the generated encoder information to the terminal device 8 .

[0029] The sensor 16 detects the position of the driven object 9 and the like, and generates sensor information indicating the detected position of the driven object 9 and the like. The sensor 16 transmits the generated sensor information to the sensor information collecting device 6 .

[0030] The sensor information collecting device 6 collects sensor information generated by the sensor 16. The sensor information collecting device 6 transmits the collected sensor information to the terminal device 8.

[0031] The terminal device 8 is, for example, a personal computer installed in a factory, etc., and is operated by a user. The terminal device 8 is used to adjust the aforementioned control parameters. The terminal device 8 receives encoder information transmitted from the encoder 14 and sensor information transmitted from the sensor information collection device 6. Furthermore, the terminal device 8 adjusts the control parameters based on the received encoder information and sensor information, and transmits servo information containing the adjusted control parameters to the production device 4.

[0032] [2. Adjust the functional structure of the auxiliary system]

[0033] Next, refer to Figure 2 Next, the functional configuration of the adjustment support system 2 according to the embodiment will be described. Figure 2 1 is a block diagram showing the functional configuration of the adjustment support system 2 according to the embodiment.

[0034] like Figure 2 As shown, the servo control device 12 of the production device 4 includes a servo information acquisition unit 18 , a servo information output unit 20 , a storage unit 22 , and a control unit 24 as a functional structure.

[0035] The servo information acquisition unit 18 acquires (receives) servo information transmitted from the terminal device 8. The servo information acquisition unit 18 is implemented by, for example, a communication module or the like.

[0036] The servo information output unit 20 outputs the servo information acquired by the servo information acquisition unit 18 to the control unit 24. The servo information output unit 20 is realized by, for example, a communication module or the like.

[0037] The storage unit 22 stores various information, programs, etc. The storage unit 22 is implemented by, for example, a memory or the like.

[0038] The control unit 24 drives the servo motor 10 based on the servo information output from the servo information output unit 20, thereby controlling the driving of the driven object 9. The control unit 24 is implemented by, for example, a processor. Specifically, the processor executes a program stored in a memory to perform various functions of the servo control device 12.

[0039] In addition, if Figure 2 As shown, the terminal device 8 includes an operation unit 26 , a display unit 28 , a storage unit 30 , a control unit 32 , a setting unit 34 , an operation result acquisition unit 36 ​​, an adjustment unit 38 , an adjustment result output unit 40 , and a servo information output unit 42 as a functional structure.

[0040] The operation unit 26 receives input from the user. Specifically, the operation unit 26 receives input from the user for the target performance value, the set time, and the set number of times. The target performance value is a target numerical value of an indicator related to the performance of the production device 4 (for example, the stabilization time and vibration of the driven object 9). In addition, the stabilization time is the time required for the driven object 9 to reach the allowable position from the drive start position to be evaluated as reaching the target position. In addition, the set time is the adjustment time of the control parameter input in advance by the user when adjusting the control parameter as described later. The set number of times is the number of changes of the control parameter input in advance by the user when adjusting the control parameter as described later. The operation unit 26 is implemented by, for example, a keyboard and a mouse.

[0041] The display unit 28 displays various information and is implemented by, for example, a liquid crystal display.

[0042] The storage unit 30 stores various information and programs, etc. The storage unit 30 is implemented by, for example, a memory, etc. In addition, the storage unit 30 may also store a learned model.

[0043] The control unit 32 controls the entire terminal device 8. The control unit 32 is implemented by, for example, a processor, etc. Specifically, the processor executes a program stored in a memory to execute various functions of the terminal device 8.

[0044] The setting unit 34 sets the target performance value, the set time, and the set number of times based on the user input accepted by the operation unit 26. The setting unit 34 is realized by, for example, a processor or the like.

[0045] The operation result acquisition unit 36 ​​acquires encoder information from the encoder 14 and sensor information from the sensor information collection device 6. Furthermore, the operation result acquisition unit 36 ​​acquires the operation result of the driven object 9 (i.e., the operation result of the production device 4) based on at least one of the acquired encoder information and sensor information. The operation result acquisition unit 36 ​​is implemented, for example, by a communication module.

[0046] The adjustment unit 38 sets one or more adjustment target motion groups as motion patterns for the driven object 9 when adjusting control parameters, as described below. Each adjustment target motion group includes multiple motion conditions. For example, the multiple motion conditions include: (a) a motion condition for moving the driven object 9 1 mm from the drive start position; (b) a motion condition for moving the driven object 9 5 mm from the drive start position; and (c) a motion condition for moving the driven object 9 10 mm from the drive start position.

[0047] Furthermore, when operating the driven object 9 in the aforementioned motion pattern, the adjustment unit 38 adjusts the control parameters based on the motion results of the driven object 9 acquired by the motion result acquisition unit 36 ​​(i.e., based on the worst value of the evaluation values ​​described below). Subsequently, when the driven object 9 is again operated using the adjusted control parameters, the adjustment unit 38 again adjusts the control parameters based on the motion results of the driven object 9 acquired by the motion result acquisition unit 36. Furthermore, the adjustment unit 38 repeatedly performs the aforementioned process to sequentially search for the optimal control parameters. Specifically, the adjustment unit 38 executes an algorithm for solving a so-called "combinatorial optimization" problem, searching for a control parameter that achieves the desired target performance value from among multiple control parameters.

[0048] Alternatively, instead of the above-described processing, the adjustment unit 38 may use the learned model stored in the storage unit 30 to adjust control parameters based on the results of the driven object 9's operation acquired by the operation result acquisition unit 36 ​​when operating the driven object 9 in the above-described operation mode. For example, the learned model may be constructed by performing machine learning using the performance of the production device 4, encoder information generated by the encoder 14, and sensor information generated by the sensor 16 as training data. A neural network, for example, is used to construct the logical model in machine learning.

[0049] The adjustment result output unit 40 outputs the operation mode set by the adjustment unit 38 and the control parameters adjusted by the adjustment unit 38 .

[0050] The servo information output unit 42 outputs (transmits) the servo information including the operation mode and control parameters output from the adjustment result output unit 40 to the production device 4 .

[0051] [3. Adjust the overall operation of the auxiliary system]

[0052] Next, refer to Figure 3 The overall operation of the adjustment support system 2 according to the embodiment will be described. Figure 3 It is a sequence diagram showing the flow of the overall operation of the adjustment support system 2 according to the embodiment.

[0053] like Figure 3 As shown, first, the adjustment unit 38 of the terminal device 8 sets initial control parameters and sets the first adjustment target motion group as the initial motion mode for driving the object 9 (S101). Next, the servo information output unit 42 of the terminal device 8 outputs servo information including the initial control parameters and motion mode (the first adjustment target motion group) set by the adjustment unit 38 to the production device 4 (S102).

[0054] Next, the servo information acquisition unit 18 of the servo control device 12 of the production device 4 acquires servo information from the terminal device 8. The servo information output unit 20 of the servo control device 12 outputs the servo information acquired by the servo information acquisition unit 18 to the control unit 24. The control unit 24 drives (controls) the servo motor 10 based on the servo information output from the servo information output unit 20, thereby controlling the drive of the driven object 9 (S103). As a result, the driven object 9 is moved by the servo motor 10 based on the servo information.

[0055] Next, the operation result acquisition unit 36 ​​of the terminal device 8 acquires the encoder information transmitted from the encoder 14 and the sensor information transmitted from the sensor 16 (i.e., the sensor information collection device 6) (S104). The operation result acquisition unit 36 ​​then acquires the operation result of the driven object 9 based on at least one of the acquired encoder information and sensor information (S105).

[0056] Next, the adjustment unit 38 of the terminal device 8 adjusts the control parameters based on the motion results of the driven object 9 acquired by the motion result acquisition unit 36, sequentially searching for the optimal control parameters. Furthermore, the adjustment unit 38 sets a second set of adjustment target motions, different from the first set of adjustment target motions, as the motion pattern of the driven object 9. Alternatively, instead of the above process, the adjustment unit 38 may use a learned model stored in the storage unit 30 to adjust the control parameters based on the motion results of the driven object 9 acquired by the motion result acquisition unit 36.

[0057] Next, the servo information output unit 42 of the terminal device 8 outputs servo information including the control parameters adjusted by the adjustment unit 38 and the operation mode (second adjustment target operation group) set by the adjustment unit 38 to the production device 4 ( S102 ). Thereafter, steps S102 to S105 are repeated as described above.

[0058] [4. Control parameter adjustment method]

[0059] Next, refer to Figures 4 to 6 A method of adjusting control parameters in the adjustment support system 2 according to the embodiment will be described. Figure 4 This is a flowchart showing the flow of adjustment of control parameters in the adjustment support system 2 according to the embodiment. Figure 5 1 is a diagram showing an example of a plurality of adjustment target operation groups set in the adjustment support system 2 according to the embodiment. Figure 6 This is a diagram for explaining evaluation values ​​calculated in the adjustment support system 2 according to the embodiment.

[0060] The user previously arbitrarily inputs a target performance value, a set time, and a set number of times using the operation unit 26 of the terminal device 8. In this case, the user can arbitrarily input the target performance value, set time, and set number of times according to, for example, the type of production equipment 4. Thus, the setting unit 34 of the terminal device 8 sets the target performance value, set time, and set number of times based on the user input received by the operation unit 26.

[0061] like Figure 4 As shown in FIG. 1 , the adjustment unit 38 of the terminal device 8 sets the initial control parameters ( S201 ). Next, the adjustment unit 38 sets a plurality of different adjustment target action groups ( S202 ). For example, Figure 5 As shown, the setting unit 34 sets a total of six adjustment target operation groups A, B, C, D, E, and F. Furthermore, when adjusting the control parameters, the performance of the production device 4 is evaluated each time the driven object 9 is driven in the order of the adjustment target operation groups A, B, C, D, E, and F.

[0062] Next, the servo information output unit 42 of the terminal device 8 outputs (transmits) the servo information including the initial control parameters set by the adjustment unit 38 and the adjustment target operation group A to the production device 4. The adjustment target operation group A includes a plurality of operation conditions, for example, a total of three operation conditions A1, A2, and A3.

[0063] Next, the servo information acquisition unit 18 of the servo control device 12 of the production device 4 acquires servo information from the terminal device 8. The servo information output unit 20 of the servo control device 12 outputs the servo information acquired by the servo information acquisition unit 18 to the control unit 24. The control unit 24 of the servo control device 12 drives the servo motor 10 based on the initial control parameters and the operation condition A1 of the adjustment target operation group A included in the servo information output from the servo information output unit 20, thereby controlling the drive of the driven object 9 (S203). As a result, the driven object 9 is moved by the servo motor 10 based on the initial control parameters and the operation condition A1 of the adjustment target operation group A. The operation condition A1 is an operation condition that causes the driven object 9 to move 1 mm from the drive start position.

[0064] Next, the operation result acquisition unit 36 ​​of the terminal device 8 acquires the encoder information transmitted from the encoder 14 and the sensor information transmitted from the sensor 16 , and acquires the operation result of the driven object 9 based on at least one of the acquired encoder information and sensor information.

[0065] Next, the adjustment unit 38 of the terminal device 8 calculates an evaluation value based on the action result of the driven object 9 acquired by the action result acquisition unit 36 ​​(S204). That is, the adjustment unit 38 calculates an evaluation value (hereinafter referred to as "evaluation value A") when the driven object 9 is driven based on the initial control parameters and the action condition A1 of the adjustment object action group A. The evaluation value A is an indicator related to the performance of the production device 4 when the driven object 9 is driven with the initial control parameters and the action condition A1 of the adjustment object action group A. Specifically, for example, when the time change of the position deviation of the driven object 9 is Figure 6 In the case of a waveform as shown, the adjustment unit 38 calculates the evaluation value A based on the multiplication and accumulation operation shown in the following formula 1.

[0066] Evaluation value A = α × stabilization time + β × waveform area (Formula 1)

[0067] In the above formula 1, α and β are weight coefficients multiplied by the settling time and the waveform area (an example of a plurality of evaluation indices). Figure 6 The waveform shown and the area enclosed by the horizontal axis (in Figure 6 The total area of ​​the weight coefficients α and β is the shaded area in the figure. Alternatively, the user can arbitrarily input weight coefficients α and β using the operation unit 26 of the terminal device 8. For example, if the user wishes to further shorten the stabilization time of the driven object 9, the user can set the weight coefficient α to be greater than β; if the user wishes to further reduce the vibration of the driven object 9, the user can set the weight coefficient β to be greater than α. Alternatively, the weight coefficients α and β can be automatically set by the setting unit 34 based on the type of production device 4, etc.

[0068] If the operating conditions A1, A2, and A3 of the adjustment target motion group A have not all been fulfilled (No in S205), the process returns to step S203. In this case, the control unit 24 of the servo control device 12 controls the drive of the servo motor 10 based on the initial control parameters contained in the servo information output from the servo information output unit 20 and the operating condition A2 of the adjustment target motion group A (S203). As a result, the driven object 9 is moved by the servo motor 10 based on the initial control parameters and the operating condition A2 of the adjustment target motion group A. Furthermore, the operating condition A2 is an operating condition that causes the driven object 9 to move 5 mm from the drive start position.

[0069] Next, the operation result acquisition unit 36 ​​of the terminal device 8 acquires the encoder information transmitted from the encoder 14 and the sensor information transmitted from the sensor 16 , and acquires the operation result of the driven object 9 based on at least one of the acquired encoder information and sensor information.

[0070] Next, the adjustment unit 38 of the terminal device 8 calculates an evaluation value based on the operation results of the driven object 9 acquired by the operation result acquisition unit 36 ​​(S204). Specifically, the adjustment unit 38 calculates an evaluation value (hereinafter referred to as "evaluation value B") when the driven object 9 is driven based on the initial control parameters and the operation conditions A2 of the adjustment target operation group A. This evaluation value B is an indicator of the performance of the production device 4 when the driven object 9 is driven using the initial control parameters and the operation conditions A2 of the adjustment target operation group A. The calculation method for evaluation value B is the same as that of Equation 1 above, so its description is omitted.

[0071] If the operating conditions A1, A2, and A3 of the adjustment target motion group A have not all been fulfilled (No in S205), the process returns to step S203. In this case, the control unit 24 of the servo control device 12 drives the servo motor 10 based on the initial control parameters contained in the servo information output from the servo information output unit 20 and the operating condition A3 of the adjustment target motion group A, thereby controlling the drive of the driven object 9 (S203). As a result, the driven object 9 is moved by the servo motor 10 based on the initial control parameters and the operating condition A3 of the adjustment target motion group A. Furthermore, the operating condition A3 is an operating condition that causes the driven object 9 to move 10 mm from the drive start position.

[0072] Next, the operation result acquisition unit 36 ​​of the terminal device 8 acquires the encoder information transmitted from the encoder 14 and the sensor information transmitted from the sensor 16 , and acquires the operation result of the driven object 9 based on at least one of the acquired encoder information and sensor information.

[0073] Next, the adjustment unit 38 of the terminal device 8 calculates an evaluation value based on the operation results of the driven object 9 acquired by the operation result acquisition unit 36 ​​(S204). Specifically, the adjustment unit 38 calculates an evaluation value (hereinafter referred to as "evaluation value C") when the driven object 9 is driven based on the initial control parameters and the operation conditions A3 of the adjustment target operation group A. This evaluation value C is an indicator related to the performance of the production device 4 when the driven object 9 is driven using the initial control parameters and the operation conditions A3 of the adjustment target operation group A. The calculation method of the evaluation value C is the same as that of the above-mentioned formula 1, so its description is omitted.

[0074] If all of the operating conditions A1, A2, and A3 of the adjustment target action group A are met (YES in S205), the adjustment unit 38 of the terminal device 8 determines the worst value (an example of a representative evaluation value) having the largest difference from the target performance value from among the plurality of evaluation values ​​A, B, and C calculated as described above (S206). The worst value is, for example, the evaluation value with the largest numerical value among the evaluation values ​​A, B, and C (i.e., the evaluation value with the longest stabilization time and the largest waveform area in the above equation 1).

[0075] Next, to sequentially search for optimal control parameters, the adjustment unit 38 of the terminal device 8 changes (adjusts) the initial control parameters based on the worst value (S207). The storage unit 30 stores the number of control parameter changes, and the adjustment unit 38 increments the control parameter change count stored in the storage unit 30 by "1." Alternatively, in step S207, the adjustment unit 38 may use a learned model stored in the storage unit 30 instead of the above process to change the initial control parameters based on the worst value.

[0076] Next, if the performance of the production device 4 has not yet been evaluated based on all of the adjustment target operation groups A to F (No in S208), the process proceeds to step S209. If the performance of the production device 4 continues to be evaluated using the same adjustment target operation group A (Yes in S209), the process returns to step S203 and repeats the above steps S203 to S208.

[0077] On the other hand, if the performance evaluation of production equipment 4 is not continuing using the same adjustment target action group A (No in S209), the adjustment unit 38 of the terminal device 8 sets the next adjustment target action group B (S210) and returns to step S203. Steps S203 to S210 are repeated until the performance evaluation of production equipment 4 has been completed based on all adjustment target action groups A to F.

[0078] When the performance of the production device 4 is evaluated based on all of the adjustment object action groups A to F in step S208 (yes in S208), the adjustment unit 38 of the terminal device 8 determines whether the worst value corresponding to the adjustment object action group F reaches the target performance value (that is, whether it becomes less than the numerical value represented by the target performance value) (S211).

[0079] If the worst value reaches the target performance value (Yes in S211), the adjustment unit 38 of the terminal device 8 ends the adjustment of the control parameters and outputs the adjustment log (S212). In addition, the so-called "ending the adjustment of the control parameters" means that the adjustment of the control parameters is completely ended without restarting the adjustment of the control parameters. Figure 4 Flowchart processing.

[0080] If the worst value in step S211 does not reach the target performance value (No in S211 ), the setting unit 34 of the terminal device 8 determines whether the adjustment time of the control parameter has reached the set time and the number of changes of the control parameter has reached the set number ( S213 ).

[0081] When the adjustment time of the control parameter has not reached the set time and the number of changes of the control parameter has not reached the set number of times (No in S213 ), the process proceeds to the above-mentioned step S209 .

[0082] On the other hand, if the control parameter adjustment time reaches the set time, or the number of control parameter changes reaches the set number (YES in S213), the adjustment unit 38 of the terminal device 8 interrupts the control parameter adjustment and outputs an interruption log (S214). "Interrupting the control parameter adjustment" means temporarily terminating the control parameter adjustment with the intention of restarting the control parameter adjustment.

[0083] After step S214 , if the user inputs an instruction to resume control parameter adjustment using the operating unit 26 of the terminal device 8 (Yes in S215 ), the adjustment unit 38 of the terminal device 8 reads the interruption log and resumes control parameter adjustment ( S216 ). The process then proceeds to step S202 described above.

[0084] On the other hand, after step S214 , when the user has not input an instruction to restart the adjustment of the control parameters (No in S215 ), the process proceeds to step S212 described above.

[0085] [5. Effect]

[0086] As described above, in this embodiment, when the worst value reaches the target performance value, the adjustment unit 38 of the terminal device 8 terminates the control parameter adjustment. Alternatively, if the worst value does not reach the target performance value, (i) the control parameter adjustment time reaches a set time, or (ii) the number of control parameter changes reaches a set number, the adjustment unit 38 of the terminal device 8 discontinues the control parameter adjustment.

[0087] This makes it clear to what extent the operation for evaluating the performance of the production device 4 should be repeated, and allows efficient adjustment of control parameters.

[0088] [6. Modifications]

[0089] In the present embodiment, the user inputs the target performance value, the set time, and the set number of times in advance using the operation unit 26 of the terminal device 8 . However, this may be done as follows, for example. Figure 7This is a diagram showing an example of an adjustment condition setting screen 44 according to a modification of the embodiment.

[0090] like Figure 7 As shown, an adjustment condition setting screen 44 for selecting a production apparatus for which control parameters are to be adjusted is displayed on the display unit 28 of the terminal device 8. A plurality of icons 46, 48, and 50 are displayed on the adjustment condition setting screen 44. Icons 46, 48, and 50 are icons for selecting production apparatus A, production apparatus B, and production apparatus C, respectively, as the objects for which control parameters are to be adjusted.

[0091] For example, if the user wishes to adjust the control parameters of production equipment A, they select icon 46 using cursor 52 on adjustment condition setting screen 44. Consequently, setting unit 34 of terminal device 8 sets the target performance value, set time, and set count corresponding to production equipment A. Specifically, the target performance value, set time, and set count are set in conjunction with the user's operation to select the type of production equipment 4.

[0092] (Other variations)

[0093] While the above description describes one or more aspects of the adjustment assistance system based on the aforementioned embodiments, the present disclosure is not limited to the aforementioned embodiments. Any modifications conceivable by those skilled in the art to the aforementioned embodiments, or any combination of components from different embodiments, may also be included within the scope of one or more aspects, without departing from the spirit of the present disclosure.

[0094] In addition, in the above-mentioned embodiments, each component may be formed by dedicated hardware, or implemented by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0095] Furthermore, a part or all of the functions of the adjustment support system according to the above-described embodiment may be realized by executing a program by a processor such as a CPU.

[0096] Some or all of the components of each of the aforementioned devices may be comprised of an IC card or a single module that can be installed and removed from the device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or module may also include the aforementioned ultra-multifunctional LSI. The IC card or module achieves its functions through the microprocessor operating according to a computer program. The IC card or module may also be tamper-resistant.

[0097] (Way)

[0098] The following aspects are disclosed through the above-described embodiments.

[0099] The adjustment assisting method according to the first embodiment of the present invention assists in adjusting control parameters for controlling a driven object included in an object device including a servo motor, the adjustment assisting method comprising: (a) a step (S203) of using the control parameters to drive the driven object under a plurality of action conditions; (b) a step (S204) of calculating a plurality of evaluation values ​​related to the performance of the object device when the driven object is driven under the plurality of action conditions; (c) a step (S206) of determining a representative evaluation value from among the plurality of evaluation values; and (d) a step (S207) of changing the selected control parameters based on the representative evaluation value. (e) repeating steps (a) to (d) using the control parameters changed by step (d); (f) terminating the step (S212) of adjusting the control parameters on the condition that the representative evaluation value reaches the target performance value; and (g) interrupting the step (S214) of adjusting the control parameters if the representative evaluation value does not reach the target performance value, on the condition that (i) the adjustment time of the control parameters reaches a predetermined set time or (ii) the number of changes of the control parameters reaches a predetermined set number.

[0100] According to this method, control parameter adjustment is terminated when the representative evaluation value reaches the target performance value. Furthermore, if the representative evaluation value does not reach the target performance value, control parameter adjustment is interrupted when (i) the control parameter adjustment time reaches a predetermined set time, or (ii) the number of control parameter changes reaches a predetermined set number. This clarifies the appropriate degree of repetition of actions for evaluating the performance of the target device, enabling efficient control parameter adjustment.

[0101] Furthermore, in the adjustment support method according to the second aspect of the present disclosure, in the first aspect, the representative evaluation value may be a worst value having the largest difference from the target performance value among the plurality of evaluation values.

[0102] According to this aspect, since the representative evaluation value is the worst value, it is easy to define the worst value. As a result, the worst value can be easily determined from a plurality of evaluation values.

[0103] Furthermore, in the adjustment support method according to the third aspect of the present disclosure, in the first aspect or the second aspect, the target performance value, the set time, and the set number of times may be arbitrarily set by a user.

[0104] According to this aspect, the target performance value, the set time, and the set number of times can be arbitrarily set according to, for example, the type of the target device.

[0105] In addition, in the adjustment assistance method involved in the fourth aspect of the present disclosure, it can also be configured that, in the first aspect or the second aspect, the target performance value, the set time, and the set number of times are set in conjunction with the operation of selecting the type of the object device performed by the user.

[0106] According to this aspect, the target performance value, the set time, and the set number of times can be easily set in conjunction with the user's operation of selecting the type of target device.

[0107] Furthermore, the adjustment support method according to the fifth aspect of the present disclosure may be configured such that, in any one of the first to fourth aspects, in (b), the plurality of evaluation values ​​are calculated by multiplication and accumulation operations of multiplying a plurality of evaluation indices by a plurality of weighting coefficients.

[0108] According to this aspect, a plurality of evaluation values ​​can be easily calculated.

[0109] Furthermore, in the adjustment support method according to the sixth aspect of the present disclosure, in the fifth aspect, the plurality of weight coefficients may be arbitrarily set by a user.

[0110] According to this aspect, a plurality of weighting coefficients can be arbitrarily set according to, for example, the type of target device or the like.

[0111] In addition, the adjustment assisting system (2) according to the seventh embodiment of the present disclosure assists in adjusting a control parameter for controlling a driven object (9) included in an object device (4) including a servo motor (10), wherein the adjustment assisting system (2) includes a processor and a memory, and the processor performs the following processing: (a) using the control parameter to drive the driven object (9) under a plurality of action conditions, (b) calculating a plurality of evaluation values ​​related to the performance of the object device (4) when the driven object (9) is driven under the plurality of action conditions, and (c) calculating a plurality of evaluation values ​​from the plurality of evaluation values. (d) determining a representative evaluation value, (d) changing the control parameter based on the representative evaluation value, (e) repeating (a) to (d) using the control parameter changed by (d), (f) terminating the adjustment of the control parameter on the condition that the representative evaluation value reaches a target performance value, and (g) interrupting the adjustment of the control parameter if the representative evaluation value does not reach the target performance value, on the condition that (i) the adjustment time of the control parameter reaches a predetermined set time or (ii) the number of changes of the control parameter reaches a predetermined set number.

[0112] According to this aspect, similarly to the above, the control parameters can be adjusted efficiently.

[0113] In addition, these general or specific methods can be implemented through systems, methods, integrated circuits, computer programs, or non-temporary recording media such as computer-readable CD-ROMs, or through any combination of systems, methods, integrated circuits, computer programs, or recording media.

[0114] Industrial applicability

[0115] The adjustment support system according to the present disclosure is useful as, for example, a system that supports adjustment of control parameters for controlling the driving of a driven object included in a production device including a servo motor.

[0116] -Explanation of symbols-

[0117] 2 Adjusting the assistance system

[0118] 4 Production equipment

[0119] 6 Sensor information collection device

[0120] 8 Terminal devices

[0121] 9 Driven objects

[0122] 10 Servo motors

[0123] 12 Servo control device

[0124] 14 Encoder

[0125] 16 sensors

[0126] 18. Servo information acquisition unit

[0127] 20, 42 Servo information output unit

[0128] 22, 30 Storage Department

[0129] 24, 32 Control Department

[0130] 26 Operation Department

[0131] 28 Display unit

[0132] 34 Setting section

[0133] 36 Action result acquisition unit

[0134] 38 Adjustment Department

[0135] 40 Adjustment result output unit

[0136] 44 Adjustment condition setting screen

[0137] Icons 46, 48, and 50

[0138] 52 cursor.

Claims

1. An adjustment assisting method for assisting adjustment of a control parameter for controlling a driven object included in an object device including a servo motor, The adjustment auxiliary method includes: (a) using the control parameters to drive the driven object under a plurality of operating conditions; (b) calculating a plurality of evaluation values ​​related to the performance of the target device when the driven object is driven under the plurality of operating conditions; (c) a step of determining a representative evaluation value from among the plurality of evaluation values; (d) a step of changing the control parameter based on the representative evaluation value; (e) repeating steps (a) to (d) using the control parameters changed in step (d); (f) terminating the step of adjusting the control parameters on the condition that the representative evaluation value reaches the target performance value; and (g) if the representative evaluation value does not reach the target performance value, interrupting the adjustment of the control parameter if (i) the adjustment time of the control parameter reaches a predetermined set time or (ii) the number of changes of the control parameter reaches a predetermined set number of times.

2. The adjustment assisting method according to claim 1, wherein: The representative evaluation value is the worst value having the largest difference from the target performance value among the plurality of evaluation values.

3. The adjustment assisting method according to claim 1 or 2, wherein: The target performance value, the set time, and the set number of times can be arbitrarily set by the user.

4. The adjustment assisting method according to claim 1 or 2, wherein: The target performance value, the set time, and the set number of times are set in conjunction with an operation of selecting the type of the target device by a user.

5. The adjustment assisting method according to claim 1 or 2, wherein: In the above (b), the plurality of evaluation values ​​are calculated by performing a multiplication and accumulation operation by multiplying a plurality of evaluation indices by a plurality of weighting coefficients.

6. The adjustment assisting method according to claim 5, wherein: The plurality of weight coefficients can be arbitrarily set by the user.

7. An adjustment assisting system for assisting adjustment of control parameters for controlling a driven object included in an object device including a servo motor, The adjustment assistance system includes a processor and a memory. The processor performs the following processing: (a) driving the driven object under a plurality of operating conditions using the control parameters, (b) calculating a plurality of evaluation values ​​related to the performance of the target device when the driven object is driven under the plurality of operating conditions, respectively; (c) determining a representative evaluation value from among the plurality of evaluation values, (d) changing the control parameter based on the representative evaluation value, (e) Repeating (a) to (d) using the control parameter changed in (d), (f) terminating the adjustment of the control parameters on the condition that the representative evaluation value reaches the target performance value; (g) when the representative evaluation value does not reach the target performance value, suspending the adjustment of the control parameter if (i) the adjustment time of the control parameter reaches a predetermined set time or (ii) the number of changes of the control parameter reaches a predetermined set number of times.

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