Application inspection device and application inspection method for adjustment result

Abstract

It is possible to check whether or not an adjustment result representing a machine can be applied before the adjustment result is applied to another machine of the same type. The application inspection device for the adjustment result comprises: a first information acquisition unit that acquires an adjusted first control parameter of a first motor control unit that drives a shaft of a first machine; a second information acquisition unit that acquires a preset second control parameter of a second motor control unit that drives a shaft of a second machine and a first frequency characteristic of the second machine when operating with the second control parameter; a frequency characteristic prediction unit that, on the basis of the first control parameter, the second control parameter, and the first frequency characteristic, predicts a second frequency characteristic of a second machine when the first control parameter is applied to the second motor control unit; and an adjustment result application checking unit that uses at least the second frequency characteristic to check whether or not the first control parameter can be applied to the second motor control unit.

Description

Technical Field

[0001] This disclosure relates to an application inspection device and method for checking the application results of adjustments, and particularly to an application inspection device and method for checking whether the adjustment results of a first machine among the multiple identical machines can be applied to the adjustment results of a second machine among the multiple identical machines when multiple identical machines exist. Background Technology

[0002] Patent document 1 describes a machine tool and diagnostic method for determining whether a machine tool has abnormalities by measuring its frequency characteristics, while patent document 2 describes a frequency characteristic prediction device and a frequency characteristic prediction method for predicting the frequency characteristics of machine tools or industrial machinery.

[0003] Specifically, Patent Document 1 describes the following: A machine tool controls a first motor and a second motor to drive a first movable part and a second movable part with predetermined driving actions in multiple posture positions. Furthermore, it describes that the machine tool acquires the frequency characteristics of at least one of the first motor and the second motor when the first movable part and the second movable part are in each of the multiple posture positions, compares these frequency characteristics with corresponding standard frequency characteristics, and determines whether the machine tool has any abnormalities based on the comparison results.

[0004] Furthermore, Patent Document 2 describes the following: A frequency characteristic prediction device includes: a motor control unit for moving the axis of a machine tool or industrial machinery; a movement command generation unit for outputting a movement command to the motor control unit for changing the position of the axis from a first position to a second position; a frequency characteristic measurement unit for measuring the frequency characteristics of the machine tool or industrial machinery at a first position and a second position; a state switching unit for switching the state of the motor control unit at a first position; and a frequency characteristic prediction unit for predicting the frequency characteristics of the machine tool or industrial machinery at a second position. The frequency characteristic measurement unit measures multiple frequency characteristics f1 with respect to multiple states switched by the state switching unit at the first position, and measures a frequency characteristic f2 with respect to at least one of the multiple states at the second position. The frequency characteristic prediction unit uses the multiple frequency characteristics f1 and frequency characteristics f2 to predict a frequency characteristic f3 with respect to a state other than at least one of the multiple states at the second position.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: International Publication No. 2022 / 113966

[0008] Patent Document 2: Japanese Patent No. 7022261 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] In the case of multiple identical machines, it is desirable to adjust the control parameters of the first machine among the multiple identical machines, and apply the adjustment result to the second machine among the multiple identical machines, thereby saving the effort of adjusting the control parameters of the second machine of the same model.

[0011] However, due to manufacturing or assembly deviations between multiple machines of the same model, even if the adjustment results of the control parameters of the first machine are directly applied to the second machine of the same model, problems such as oscillation or narrowing of the control bandwidth of the machine may sometimes occur.

[0012] Therefore, it is desirable to have an application inspection device and application inspection method that can check whether the adjustment results of the first machine can be applied to the adjustment results of the second machine before applying the adjustment results of the first machine to the second machine of the same model.

[0013] Methods for solving problems

[0014] A representative first aspect of this disclosure is an application checking device for adjustment results, which has:

[0015] The first information acquisition unit acquires the adjusted first control parameters from the first motor control unit that drives the shaft of the first machine.

[0016] The second information acquisition unit acquires a second control parameter preset by the second motor control unit that drives the shaft of the second machine, which is the same type as the first machine, and a first frequency characteristic of the second machine when it operates with the second control parameter.

[0017] A frequency response prediction unit predicts, based on the first control parameter, the second control parameter, and the first frequency response, the second frequency response of the second machine when the first control parameter is applied to the second motor control unit of the second machine; and

[0018] The adjustment result application inspection unit, which at least uses the second frequency characteristic, checks whether the first control parameter can be applied to the second motor control unit of the second machine.

[0019] A representative second approach of this disclosure is an application checking method for adjusting results, wherein the following processing is performed by a computer:

[0020] The adjusted first control parameters of the first motor control unit that drives the first machine shaft are obtained;

[0021] The system acquires a second control parameter preset by a second motor control unit that drives the shaft of a second machine of the same type as the first machine, and a first frequency characteristic of the second machine when it operates with the second control parameter.

[0022] Based on the first control parameter, the second control parameter, and the first frequency characteristic, predict the second frequency characteristic of the second machine when the first control parameter is applied to the second motor control unit of the second machine; and

[0023] Using at least the second frequency characteristic, check whether the first control parameter can be applied to the second motor control unit of the second machine. Attached Figure Description

[0024] Figure 1 This is a block diagram showing the structure of an application inspection device that demonstrates the adjustment results of the first embodiment of this disclosure.

[0025] Figure 2 This is a block diagram representing an example of a mechanical structure.

[0026] Figure 3 This is a block diagram representing an example of the structure of a machine of the same type.

[0027] Figure 4 This is a Bode plot representing an example of phase margin, gain margin, and maximum gain of the closed-loop characteristics.

[0028] Figure 5 This is a flowchart illustrating the operation of the application inspection device in the first embodiment.

[0029] Figure 6 This is a block diagram showing the structure of the application inspection device for the adjustment results of the second embodiment of this disclosure.

[0030] Figure 7 This is a block diagram showing the structure of an application inspection device that demonstrates the adjustment results of the third embodiment of this disclosure.

[0031] Figure 8 This is a flowchart illustrating the operation of the application inspection device in the third embodiment.

[0032] Figure 9 This is a block diagram showing the structure of the application inspection device for the adjustment results of the fourth embodiment of this disclosure. Detailed Implementation

[0033] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0034] (First Implementation)

[0035] Figure 1 This is a block diagram illustrating the structure of an application checking device that shows the adjustment results of the first embodiment of this disclosure. (As shown...) Figure 1 As shown, a representative machine 11 and a machine of the same model as the representative machine 11 (hereinafter referred to as the same model machine) 12 are connected to the application inspection device 10 for adjusting the results. The representative machine 11 is the first machine, and the same model machine 12 is the second machine of the same model as the first machine.

[0036] exist Figure 1 The diagram shows one identical machine 12, but two or more identical machines 12 can also be connected to the application inspection device 10 for adjustment results. In the case of multiple identical machines, any one of them is selected as the representative machine 11, and the remaining identical machines become identical machine 12.

[0037] The machine 11 and the same type of machine 12, such as machine tools, robots, or industrial machinery, are each equipped with a motor control unit for controlling the electric motor. The motor control unit includes a speed control unit, a current control unit, or a filter, etc.

[0038] The controller parameters of the representative machine 11 are adjusted so that the frequency characteristic of the representative machine 11 becomes the desired frequency characteristic, and the adjusted control parameters P are then set. 1af Output to application inspection device 10. Control parameter P 1af It becomes the first control parameter. In this specification, when simply referred to as "frequency characteristics," "frequency characteristics" refers to the frequency characteristics of the gain and the frequency characteristics of the phase delay.

[0039] The same model of machine 12 will control the controller's preset control parameters P 2bf and control parameter P 2bf The frequency characteristic F of the same model mechanical 12 measured by activating the motor control unit 2bf Output to application inspection device 10. Control parameter P 2bf The second control parameter is the frequency response F. 2bf This represents the first frequency characteristic of the second machine.

[0040] When there are two or more machines of the same model 12, the controllers of each machine of the same model 12 can be set to the same control parameter P. 2bf Alternatively, the control parameter P can be set differently. 2bf The frequency characteristics F output from two or more identical mechanical units 12. 2bf Sometimes the differences may occur due to manufacturing or assembly deviations between two or more identical machine parts 12.

[0041] The application inspection device 10 is based on the control parameter P output from the representative machine 11. 1af Control parameters P output from the same model of machine 12 2bf and frequency response F 2bf The predicted control parameter P of the controller representing machine 11 is... 1af The frequency characteristic F of the same model of machine 12 when the control parameters of the controller are applied to the same model of machine 12 2af Frequency response F 2af It becomes the second frequency characteristic of the second machine.

[0042] Then, the inspection device 10 applies the predicted frequency characteristics F of the same model of machine 12. 2af Check if the control parameter P representing machine 11 can be changed. 1af It is applied to the same type of machine 12, and the inspection results are output to the same type of machine 12.

[0043] The following is a detailed description of the structure of the representative machine 11, the same model machine 12, and the application inspection device 10.

[0044] (Representative of Mechanical Engineering 11)

[0045] Figure 2 This is a block diagram representing an example of a mechanical structure.

[0046] like Figure 2 As shown, the representative machine 11 includes an electric motor control unit 110, a frequency generation unit 120, a frequency characteristic measurement unit 130, and an adjustment unit 140. The electric motor control unit 110 of the representative machine 11 is a first electric motor control unit that drives the shaft of the first machine.

[0047] One or more of the frequency generation unit 120, frequency response measurement unit 130, and adjustment unit 140 may be installed in the motor control unit 110. The frequency response measurement unit 130 may also be installed in the adjustment unit 140. The frequency response measurement unit 130 may also be installed in the application inspection device 10.

[0048] The following describes each part of the motor control unit 110, frequency generation unit 120, frequency characteristic measurement unit 130, and adjustment unit 140.

[0049] The motor control unit 110 includes a subtractor 111, a speed control unit 112, a filter 113, a current control unit 114, and a motor 115. The speed control unit 112, filter 113, and current control unit 114 each function as a controller. The motor 115 can be a linear motor that performs linear motion or a motor with a rotating shaft, etc. The object driven by the motor 115 is, for example, a mechanism (machine shaft, etc.) of a machine tool, robot, or industrial machinery.

[0050] The subtractor 111 calculates the difference between the input speed command and the detected speed of the speed feedback (which becomes the speed deviation) and outputs it to the speed control unit 112.

[0051] The speed control unit 112 adds the value obtained by multiplying the speed deviation by the integral gain K1v and integrating it, to the value obtained by multiplying the speed deviation by the proportional gain K2v, and outputs it as a torque command to the filter 113. The integral gain K1v and the proportional gain K2v become the control parameters of the speed control unit 112.

[0052] Mathematical expression 1 (hereinafter referred to as numerical expression 1) represents the transfer function G of the speed control unit 112. V (s).

[0053] [Formula 1]

[0054]

[0055] Filter 113 is a filter that attenuates specific frequency components, such as a notch filter, low-pass filter, or band-stop filter. The output of filter 113 is output to the current control unit 114 as a torque command.

[0056] Mathematical expression 2 (hereinafter referred to as numerical expression 2) represents the transfer function G of the notch filter 113. F (s). Coefficient ω c τ and δ are the control parameters of filter 113.

[0057] In mathematical formula 2, the coefficient δ is the attenuation coefficient, and the coefficient ω c This is the center angular frequency, and the coefficient τ is the relative bandwidth. If the center frequency is set to f... c Set the bandwidth to f w Then the coefficient ω c By ω c =2πf c It is indicated that the coefficient τ is derived from τ = f w / f c express.

[0058] [Formula 2]

[0059]

[0060] The current control unit 114 generates a current command for driving the motor 115 based on the torque command, and outputs the current command to the motor 115.

[0061] When the motor 115 is a linear motor, the position of the movable part is detected by a linear scale (not shown). The detection speed is obtained by differentiating the detected position, and the obtained detection speed is input to the subtractor 111 as speed feedback.

[0062] In the case where the motor 115 is a motor with a rotating shaft, the rotation angle position is detected by a rotary encoder (not shown), and the detected speed is input to the subtractor 111 as speed feedback.

[0063] The frequency generation unit 120 outputs a sine wave signal as a speed command to the subtractor 111 of the motor control unit 110 and the frequency characteristic measurement unit 130 while changing the frequency.

[0064] The frequency response measurement unit 130 uses the speed command (sine wave) generated by the frequency generation unit 120 as the input signal, and the detection speed (sine wave) output from the rotary encoder (not shown) installed on the motor 115 as the output signal, or the derivative (sine wave) of the detection position output from the linear scale as the output signal, to calculate the frequency response of the amplitude ratio (input-output gain) of the input signal to the output signal and the frequency response of the phase delay for each frequency specified by the speed command, and outputs them to the adjustment unit 140. The calculated frequency response is the closed-loop frequency response Pc.

[0065] Furthermore, the frequency response measurement unit 130 calculates the open-loop frequency response Po based on the frequency response Pc and outputs it to the adjustment unit 140. The closed-loop frequency response Pc is expressed using the open-loop frequency response Po as Pc = Po / (1 + Po). Therefore, the open-loop frequency response Po can be obtained by Po = Pc / (1 - Pc).

[0066] The integral gain K1v and proportional gain K2v of the speed control unit 112, which are preset as control parameters, and the coefficient ω of the transfer function of the filter 113 are also preset as control parameters. c τ, δ. The adjustment unit 140 uses the open-loop frequency characteristic Po or the open-loop frequency characteristic Po to adjust the gain of one or both of the integral gain K1v and proportional gain K2v of the speed control unit 112, and the coefficient ω of the transfer function of the filter 113, in the preset control parameters. c At least one of τ, δ (becomes the control parameter P) 1af The optimal value is determined by adjusting the first control parameter (the adjusted control parameter) P. 1af The adjusted control parameters are output to the application inspection device 10. Here, the adjusted control parameters are not necessarily the optimal control parameters; any control parameters adjusted from the preset control parameters are acceptable.

[0067] There are no particular limitations on the method for finding the optimal values ​​of control parameters using frequency characteristics, as described in, for example, Japanese Patent Application Publication No. 2020-057211. Japanese Patent Application Publication No. 2020-057211 describes a machine learning device that optimizes the coefficients of a filter based on measurement information from a measuring device that measures at least one of the input-output gain and phase delay of the servo control device, according to the input and output signals of the servo control device that exhibit frequency variations. In Japanese Patent Application Publication No. 2020-057211, the measurement information is measured value. However, for example, International Publication No. 2021 / 251226 describes estimating values ​​for the frequency characteristics of the input-output gain and phase delay of the motor control unit, using these estimating values ​​to optimize the control parameters of the motor control unit (integral gain K1v and proportional gain K2v, and the coefficients ω of the transfer function of filter 113). c For example, if τ and δ are set to their optimal values, the optimal values ​​of the control parameters can also be obtained using the estimated frequency characteristics.

[0068] (Mechanical model 12)

[0069] Figure 3 This is a block diagram representing an example of the structure of a machine of the same type.

[0070] like Figure 3 As shown, the same model of mechanical 12 has the same Figure 2 The structure shown is the same as that of representative machine 11. Figure 3 In the text, the markings of various parts of the same model mechanical 12 are the same as... Figure 2 The same reference numerals are used for all parts of the representative machine 11. The motor control unit 110 of the same model machine 12 becomes the second motor control unit for driving the shaft of the second machine. The frequency characteristic measuring unit 130 of the same model machine 12 may also be installed within the application inspection device 10. The operation of the frequency characteristic measuring unit 130 and the adjustment unit 140 of the same model machine 12 differs from that of the representative machine 11.

[0071] The operation of the same type of machine 12, which is different from the representative machine 11, will be explained below.

[0072] The integral gain K1v and proportional gain K2v of the speed control unit 112 of the same model mechanical 12, and the coefficient ω of the transfer function of the filter 113. c τ and δ are preset to the same values ​​as the control parameters representing machine 11 before adjustment. The integral gain K1v and proportional gain K2v, and the coefficient ω are the preset control parameters. c τ and δ are stored in the frequency characteristic measurement unit 130 of the same model of machine 12.

[0073] In the same model of machine 12, the frequency characteristic measurement unit 130 uses the speed command (sine wave) generated by the frequency generation unit 120 as the input signal and the detection speed (sine wave) output from the rotary encoder (not shown) installed on the motor 115 as the output signal, or the derivative (sine wave) of the detection position output from the linear scale as the output signal, as the output signal, to calculate the frequency characteristic F of the amplitude ratio (input-output gain) and phase delay of the input signal and the output signal for each frequency specified by the speed command. 2bf The frequency characteristic F 2bf The frequency characteristics are obtained by the motor control unit 110 operating with preset control parameters.

[0074] The frequency response measurement unit 130 will use the control parameter P, which becomes the first control parameter (adjusted control parameter), as the control parameter. 1af The corresponding control parameter P becomes the second control parameter. 2bf and frequency response F 2bf The output is sent to the application checking device 10. For example, if the control parameter P... 1af The coefficients ω of the transfer function of filter 113 c If τ and δ are given, then the control parameter P 2bf The integral gain K1v and proportional gain K2v, as well as the coefficient ω, are stored in the frequency response measurement unit 130. c The coefficients ω of the transfer function of filter 113 in τ, δ c 、τ、δ.

[0075] When there are two or more machines of the same model 12, the preset control parameters of the controllers of each machine of the same model 12 can be set to the same control parameters. However, the frequency characteristics of the multiple machines of the same model 12 measured may sometimes be different due to manufacturing or assembly deviations between the machines.

[0076] When the application inspection device 10 determines that the control parameter P represents the machine 11 1af When applicable to the same type of machine 12, the adjustment unit 140 of the same type of machine 12 receives from the application inspection device 10 a judgment result indicating applicability and control parameter P. 1af ( Figure 3 (The inspection results). Furthermore, the adjustment unit 140 of the same model of mechanical 12 sets control parameters P for the motor control unit 110. 1af .

[0077] On the other hand, when the application inspection device 10 determines that the control parameter P representing the machine 11 cannot be obtained... 1af When applied to the same type of machine 12, the adjustment unit 140 of the same type of machine 12 receives a judgment result from the application inspection device 10 indicating that it cannot be applied. Figure 3 (The inspection results). Then, the adjustment unit 140 of the same model of machine 12, in the same way as the representative machine 11, calculates the optimal value of the control parameters.

[0078] (Application Inspection Device 10)

[0079] like Figure 1 As shown, the application inspection device 10 includes an information acquisition unit 101, an information acquisition unit 102, a frequency characteristic prediction unit 103, and an adjustment result application inspection unit 104. The information acquisition unit 101 is a first information acquisition unit, and the information acquisition unit 102 is a second information acquisition unit.

[0080] Information acquisition unit 101 acquires control parameter P from adjustment unit 140 representing machine 11. 1af The control parameter P 1af These are the control parameters obtained as a result of the adjustment.

[0081] Information acquisition unit 102 acquires control parameter P from frequency characteristic measurement unit 130 of the same model of machine 12. 2bf and frequency response F 2bf The control parameter P 2bf These are pre-set control parameters.

[0082] The frequency response prediction unit 103 uses the control parameter P obtained by the information acquisition unit 101. 1af Calculate the frequency response C of the controller representing machine 11. 1af .

[0083] As the control parameter P is used 1af Calculate the frequency response C of the controller representing machine 11. 1af One method is to derive the frequency response from the transfer function. For example, the frequency response of the filter 113, which acts as a controller, can be derived from the transfer function on the right-hand side of equation 3. Software capable of analyzing the frequency response from the transfer function is well-known; for example, software such as [software name omitted] can be used.

[0084]

[0085] The software shown.

[0086] In addition, the frequency response prediction unit 103 uses the control parameter P obtained by the information acquisition unit 102. 2bf To calculate the frequency characteristic C of the controller of the same model mechanical 12. 2bf Frequency response C 2bf Able to communicate with frequency characteristics C 1af The same method can be used to find it.

[0087] The control parameter P representing machine 11 1afThe frequency characteristic C of the controller of the same model of machine 12 when the control parameters are applied to the controller of the same model of machine 12. 2af With frequency response C 1af Same (C) 2af =C 1af This is because representative machine 11 and identical machine 12 use the same type of controller; if the control parameters are the same, the frequency characteristics of the controller are also the same. For example, if representative machine 11 and identical machine 12 use the same type of filter 113, and the coefficient ω of filter 113, which is a control parameter, is... c If τ and δ are the same, then the frequency characteristics of filter 113 are also the same.

[0088] The frequency response prediction unit 103 calculates the control parameter P representing the machine 11 using mathematical formula 3 (hereinafter referred to as formula 3). 1af The frequency characteristic F of the same model of machine 12 when the control parameters of the controller are applied to the same model of machine 12 2af .

[0089] [Formula 3]

[0090]

[0091] In the same model of machine 12, the frequency characteristic F becomes the first frequency characteristic. 2bf The frequency characteristic F becomes the second frequency characteristic. 2af This is because the control parameters P of the controller of the same model mechanical 12 are changed. 2bf Transformed into control parameter P 1af As shown in mathematical formula 3, the frequency response prediction unit 103 predicts the frequency response F... 2bf Add the frequency characteristic C of the controller of the same model mechanical 12. 2af The frequency characteristics C of the controller of the same model mechanical 12 2bf The difference (C) 2af -C 2bf ), capable of predicting frequency characteristics F 2af In addition, the difference in "frequency characteristics" refers to the difference in the frequency characteristics of the gain and the difference in the frequency characteristics of the phase delay.

[0092] The adjustment result application inspection unit 104 is based on the frequency characteristic F as the prediction result. 2af Check whether the adjustment result representing mechanical 11, i.e., the control parameter P, can be obtained. 1af Applied to the same model of machinery 12.

[0093] Adjustment results application inspection unit 104 based on frequency characteristics F 2afThe system calculates phase margin, gain margin, and maximum closed-loop gain to determine stability. Phase margin and gain margin are calculated based on open-loop phase characteristics and open-loop gain characteristics, while maximum closed-loop gain is calculated based on closed-loop gain characteristics. Figure 4 This is a Bode plot representing an example of phase margin, gain margin, and maximum closed-loop gain. For example, the adjustment result application inspection unit 104 sets a phase margin of 30 degrees, a gain margin of 6 dB, and a maximum closed-loop gain of 5 dB as stability evaluation criteria. If the calculated phase margin and gain margin are larger than these evaluation criteria, and the maximum closed-loop gain is smaller than the evaluation criteria, then it is judged to be stable. These evaluation criteria represent one example; other values ​​can also be used as stability evaluation criteria. The adjustment result application inspection unit 104 can also use stability as a responsiveness evaluation criterion. For example, if the calculated phase margin and gain margin are less than 30 degrees and 6 dB, and the calculated maximum closed-loop gain is greater than 5 dB, then it is judged to have excellent responsiveness.

[0094] The adjustment result application inspection department 104 determines, based on the judgment result, whether to adjust the control parameter P representing the machine 11. 1af Applied to the same model of machinery 12.

[0095] For example, when the adjustment result application inspection unit 104 determines that the system is stable, in order to adjust the control parameter P representing the machine 11... 1af When applied to the same model of machine 12, the applicable judgment result and control parameter P will be used. 1af The inspection results are output to the adjustment section 140 of the same model of machine 12.

[0096] On the other hand, if the adjustment result application inspection unit 104 determines that the system is unstable, it will indicate that the control parameter P representing the machine 11 cannot be adjusted. 1af The judgment result applied to the same type of machine 12 is used as the inspection result and output to the adjustment unit 140 of the same type of machine 12.

[0097] Next, refer to Figure 5 The flowchart below explains the operation of the application inspection device 10 in this embodiment.

[0098] In step S11, the information acquisition unit 101 acquires the adjusted control parameter P from the adjustment unit 140 representing the machine 11. 1af .

[0099] In step S12, the information acquisition unit 102 acquires the preset control parameter P from the frequency characteristic measurement unit 130 of the same model of machine 12. 2bf The frequency characteristics F of the same model mechanical 12 2bf .

[0100] In step S13, the frequency response prediction unit 103 determines the control parameter P. 1af Frequency characteristics F when applied to the same type of machine 12 2af Frequency response F 2af As already explained, it can be obtained using mathematical formula 3.

[0101] In step S14, the adjustment result application inspection unit 104 adjusts the frequency characteristic F that becomes the prediction result. 2af Determine whether the adjustment results of representative machine 11 can be applied to machine 12 of the same model.

[0102] In this embodiment, as already explained, the adjustment result is applied by the inspection unit 104 based on the frequency characteristic F. 2af Calculate phase margin, gain margin, closed-loop maximum gain, etc., to determine stability.

[0103] In step S15, the adjustment result application inspection unit 104 adjusts the judgment result or the judgment result and control parameter P. 1af The inspection results are output to the same model of machine 12.

[0104] According to the embodiment described above, it is possible to check whether the adjustment results of the representative machine can be applied to other machines of the same model before applying them. Furthermore, according to this embodiment, the representative machine and other machines of the same model will not oscillate, ensuring stability.

[0105] (Second Implementation)

[0106] Figure 6 This is a block diagram illustrating the structure of an application checking device showing the adjustment results of the second embodiment of this disclosure. Figure 6 In the middle, to and Figure 1 The structural parts shown are labeled with the same reference numerals.

[0107] like Figure 6 As shown, the application checking device 10A of this embodiment replaces the adjustment result application checking unit 104 of the application checking device 10 of the first embodiment with the adjustment result application checking unit 104A.

[0108] Information acquisition unit 101 acquires control parameter P from representative machine 11. 1af and control parameter P 1af The frequency characteristic F of the representative machine 11 during operation 1af Frequency response F 1af It becomes the third frequency characteristic of the first machine.

[0109] The adjustment result application inspection unit 104A obtains the frequency characteristic F representing the machine 11 from the information acquisition unit 101. 1afFor frequency response F 1af and the frequency response F calculated by the frequency response prediction unit 103 2af The comparison is performed. The results are adjusted using the inspection unit 104A, for example, by comparing the control bands to determine the frequency characteristics F. 2af With frequency response F 1af The comparison (comparison of the second frequency characteristic and the third frequency characteristic). The control band refers to the frequency at which the gain intersects with 0dB or -3dB. Then, based on the comparison results, the adjustment result application inspection unit 104A determines whether to adjust the control parameter P representing the machine 11. 1af Applied to the same model of machinery 12.

[0110] The adjustment result application inspection unit 104A, for example, when it is determined that the control frequency band of the same model machine 12 is greater than the control frequency band of the representative machine 11 or greater than 90% of the control frequency band of the representative machine 11, in order to adjust the control parameter P of the representative machine 11... 1af When applied to the same model of machine 12, the applicable judgment result and control parameter P will be used. 1af The inspection results are output to the adjustment section 140 of the same model of machine 12.

[0111] On the other hand, if the adjustment result application inspection unit 104A determines, for example, that the control frequency band of the same model machine 12 is below or less than 90% of the control frequency band of the representative machine 11, it will indicate that the control parameter P of the representative machine 11 cannot be adjusted. 1af The judgment result applied to the same type of machine 12 is output as the inspection result to the adjustment unit 140 of the same type of machine 12.

[0112] The operation of the application inspection device 10A in this embodiment and Figure 5 The operation of the application inspection device 10 shown differs from that of the device in the following aspects.

[0113] In step S11, the information acquisition unit 101 acquires the adjusted control parameter P from the adjustment unit 140 representing the machine 11. 1af In addition, the frequency characteristic F representing mechanical 11 was also obtained. 1af .

[0114] In step S14, the adjustment result is checked by the inspection unit 104A using the control parameter P. 1af The frequency characteristic F of the representative machine 11 during operation 1af and the frequency response F calculated by the frequency response prediction unit 103 2af A comparison is made, and based on the comparison results, it is determined whether to assign control parameter P, representing machine 11, to the appropriate parameter. 1af Applied to the same model of machinery 12.

[0115] As described above, this embodiment, similar to the first embodiment, allows for checking whether the adjustment results of the representative machine can be applied to other machines of the same model before application. Furthermore, according to this embodiment, the representative machine and other machines of the same model can be guaranteed to have the same control frequency band and other characteristics as the adjusted representative machine.

[0116] (Third Implementation)

[0117] Figure 7 This is a block diagram illustrating the structure of an application checking device that demonstrates the adjustment results of the third embodiment of this disclosure. Figure 7 In the middle, to and Figure 1 The structural parts shown are labeled with the same reference numerals.

[0118] like Figure 7 As shown, the application checking device 10B of this embodiment replaces the adjustment result application checking unit 104 of the first embodiment with the adjustment result application checking unit 104B. The adjustment result application checking unit 104B includes a time response prediction unit 105 and a time response determination unit 106.

[0119] The time response prediction unit 105 uses the frequency response F predicted by the frequency response prediction unit 103. 2af To predict time response T 2af Time response, for example, refers to the step response when given a stepped input, the impulse response when given a pulsed input, and the ramp response when the input changes from a static state to a state changing at a constant rate.

[0120] Utilizing frequency characteristics F 2af To predict time response T 2af The method uses frequency characteristics F 2af We then perform pattern analysis to generate a transfer function model T(s). When we perform an inverse Laplace transform on this transfer function model T(s), we obtain the time response T. 2af (t). A method for predicting time response using frequency characteristics is described, for example, in Japanese Patent No. 6515844.

[0121] The following illustrates an example of a method for predicting time response using frequency characteristics.

[0122] The time response prediction unit 105 obtains the frequency response F, which is the open-loop frequency response and / or closed-loop frequency response, from the frequency response prediction unit 103. 2af Mode analysis is then performed. Mode analysis refers to inferring the mode vibration frequency ω and mode attenuation ratio ζ of mechanical vibration based on frequency characteristics.

[0123] For example, the transfer function model T(s) of mathematical expression 4 (hereinafter referred to as expression 4) is generated through pattern parsing. The transfer function model T(s) is the control parameter P. 1af The transfer function of the same model mechanical 12 under the same conditions. The first term on the right side of mathematical expression 4 is the rigid body mode, and the second term is the resonance mode. ω n and ζ n This represents the vibration frequency and attenuation ratio of the nth mode. K0, K n It is a coefficient.

[0124] [Formula 4]

[0125]

[0126] Next, principal component analysis is performed to obtain the transfer function model T(s)' of mathematical expression 5 (hereinafter, expression 5). Principal component analysis extracts only the dominant (dominant) patterns from multiple patterns obtained from pattern analysis.

[0127] [Formula 5]

[0128]

[0129] Equations 4 and 5 above constitute a model of the machine considering only the rigid mode and the first resonance mode. Therefore, the characteristics of the machine can be represented by a model with the minimum required degrees of freedom (modes).

[0130] Furthermore, if we perform an inverse Laplace transform on the above mathematical formula 5, we obtain the time response T of mathematical formula 6 (hereinafter referred to as formula 6). 2af (t). Time response T 2af (t) is the control parameter P 1af The time response of the same model mechanical 12 under the same conditions.

[0131] [Formula 6]

[0132]

[0133] The time response determination unit 106 obtains the time response T from the time response prediction unit 105. 2af (t), and based on the time response T 2af (t) Determine whether the adjustment result of representative machine 11 can be applied to the same type of machine 12.

[0134] Time response judgment unit 106 is based on time response T 2af (t) Calculate at least one of rise time, overshoot, settling time, etc., to determine the controllability of stabilizing at the target value. The conditions for rise time, overshoot, settling time, etc., used to determine controllability are appropriately set based on the requirements such as the calculated period time.

[0135] When the time response judgment unit 106 determines that the time response meets the condition, in order to change the control parameter P representing the machine 11... 1af When applied to the same model of machine 12, the applicable judgment result and control parameter P will be used. 1af The inspection results are output to the adjustment section 140 of the same model of machine 12.

[0136] On the other hand, when the time response judgment unit 106 determines that the time response does not meet the conditions, it will indicate that it is impossible to transfer the control parameter P representing the machine 11. 1af The judgment result applied to the same type of machine 12 is output as the inspection result to the adjustment unit 140 of the same type of machine 12.

[0137] Next, refer to Figure 8 The flowchart below explains the operation of the application inspection device 10B in this embodiment. Figure 8 Steps S11-S13 and S15 of the application inspection device 10B shown are related to Figure 5 The operation of the application inspection device 10 shown is the same, therefore description is omitted. Figure 8 In the middle, Figure 5 The step S14 shown is replaced by steps S16 and S17.

[0138] In step S16, the time response prediction unit 105 uses the frequency characteristic F 2af To calculate the time response T 2af (t). Specifically, as already explained, the time response prediction unit 105 acquires the frequency characteristic F. 2af Using frequency characteristics F 2af Pattern analysis is performed, followed by master analysis. The time response T is obtained by performing an inverse Laplace transform on the transfer function derived from the master analysis. 2af (t).

[0139] In step S17, the time response determination unit 106 determines the time response based on the time response T, which is the prediction result. 2af (t), determine whether the adjustment result representing machine 11 can be applied to machine 12 of the same model.

[0140] In this embodiment, as already explained, the time response determination unit 106 is based on the time response T. 2af (t), calculate at least one of rise time, overshoot, settling time, etc., and determine the controllability of stabilizing at the target value.

[0141] As described above, this embodiment, similar to the first embodiment, allows for checking whether the adjustment results of the representative machine can be applied to other machines of the same model before application. Furthermore, according to this embodiment, machines of the same model as the representative machine can guarantee the same controllability as the adjusted representative machine, maintaining a stable target value.

[0142] (Fourth Implementation)

[0143] Figure 9 This is a block diagram illustrating the structure of an application checking device that shows the adjustment results of the fourth embodiment of this disclosure. Figure 9 In the middle, to and Figure 7 The structural parts shown are labeled with the same reference numerals.

[0144] like Figure 9 As shown, in this embodiment, the application checking device 10C replaces the time response prediction unit 105 and the time response judgment unit 106 of the third embodiment with the time response prediction unit 105A and the time response judgment unit 106A.

[0145] The time response prediction unit 105A utilizes frequency characteristics F 2af To predict time response T 2af And obtain control parameter P from information acquisition unit 101 1af The frequency characteristic F of the representative machine 11 during operation 1af Utilizing frequency characteristics F 1af To predict time response T 1af Time response T 1af It is a first-time response, and the time response T 2af It is a second-time response.

[0146] The time response judgment unit 106A will determine the time response T 2af With time response T 1af A comparison is made. The time response judgment unit 106A is based on the time response T. 2af and time response T 1af The time response determination unit 106A calculates at least one of the following: rise time, overshoot, and settling time (hereinafter referred to as evaluation indicators). Then, the time response determination unit 106A processes the calculated time response T... 2af Evaluation metrics and time-response-based T 1af The evaluation indicators were compared.

[0147] Then, based on the comparison result, the time response judgment unit 106A determines whether to change the control parameter P representing the machine 11. 1af This applies to the same model of machine 12. The following description provides examples where the evaluation metric is settling time.

[0148] For example, when the time response judgment unit 106A determines that the set time of the machine 12 of the same model is less than the set time of the representative machine 11 or less than 90% of the set time of the representative machine 11, in order to adjust the control parameter P of the representative machine 11... 1af When applied to the same model of machine 12, the applicable judgment result and control parameter P will be used. 1af The inspection results are output to the adjustment section 140 of the same model of machine 12.

[0149] On the other hand, when the time response judgment unit 106A determines that the setting time of the machine 12 of the same model is greater than or equal to the setting time of the representative machine 11 or more than 90% of the setting time of the representative machine 11, it will indicate that the control parameter P of the representative machine 11 cannot be changed. 1af The judgment result applied to the same type of machine 12 is output as the inspection result to the adjustment unit 140 of the same type of machine 12.

[0150] The operation of the application inspection device 10C in this embodiment and Figure 8 The operation of the application inspection device 10B shown differs from that of the device in the following aspects.

[0151] In step S16, the time response prediction unit 105A utilizes the frequency characteristic F 2af To predict time response T 2af And obtain control parameter P from information acquisition unit 101 1af The frequency characteristic F of the representative machine 11 during operation 1af Utilizing frequency characteristics F 1af To predict time response T 1af .

[0152] In step S17, the time response determination unit 106A determines the time response T. 2af With time response T 1af A comparison is made. The time response judgment unit 106A is based on the time response T. 2af and time response T 1af The time response determination unit 106A calculates at least one evaluation index, such as rise time, overshoot, and settling time. Then, it uses the calculated time response T... 2af Evaluation metrics and time-response-based T 1af The evaluation indicators are compared, and based on the comparison results, it is determined whether to adjust the control parameter P representing machine 11. 1af Applied to the same model of machinery 12.

[0153] As described above, this embodiment, similar to the first embodiment, allows for checking whether the adjustment results of the representative machine can be applied to other machines of the same model before application. Furthermore, according to this embodiment, the representative machine and other machines of the same model can be guaranteed to meet the same evaluation criteria as the adjusted representative machine.

[0154] In order to realize the functional blocks included in the application checking device for the adjustment results in this embodiment, the application checking device can be implemented by hardware, software, or a combination thereof. Here, implementation by software means implementing it by reading and executing a program by a computer.

[0155] In order to implement the functional blocks included in the application checking device of this embodiment through software or a combination thereof, the application checking device specifically includes an arithmetic processing unit such as a CPU (Central Processing Unit). In addition, the application checking device also includes an auxiliary storage device such as an HDD (Hard Disk Drive) that stores various control programs such as application software or an OS (Operating System), and a main storage device such as RAM (Random Access Memory) that stores data temporarily needed by the arithmetic processing unit when executing programs.

[0156] Then, in the application checking device, the arithmetic processing device reads application software or operating system from the auxiliary storage device, expands the read application software or operating system in the main storage device, and performs arithmetic processing based on these application software or operating system. Furthermore, based on the results of this processing, it controls various hardware components of each device. Thus, the functional blocks of this embodiment are implemented.

[0157] The various structural components included in the application testing device can be implemented using hardware, including electronic circuits. When the application testing device is constructed from hardware, for example, integrated circuits (ICs) such as ASICs (Application Specific Integrated Circuits), gate arrays, FPGAs (Field Programmable Gate Arrays), and CPLDs (Complex Programmable Logic Devices) can constitute part or all of the functionality of the various structural components included in the application testing device.

[0158] Programs can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash memory ROMs, and RAMs (random access memory)). Additionally, programs can also be provided to a computer using various types of transient computer-readable media.

[0159] Furthermore, the application checking apparatus and application checking method based on the adjustment results of this disclosure, which includes this embodiment, can check whether the adjustment results representing the machine can be applied to other machines of the same model before applying them.

[0160] The above-described embodiments are preferred embodiments of the present invention, but the scope of the present invention is not limited to the above-described embodiments. Various modifications can be made without departing from the spirit of the present invention.

[0161] Regarding the above-described embodiments, the following notes are further disclosed.

[0162] (Note 1)

[0163] An application inspection device for adjustment results, comprising:

[0164] The first information acquisition unit 101 acquires the adjusted first control parameter P from the first motor control unit 110 that drives the shaft of the first machine 11. 1af ;

[0165] The second information acquisition unit 102 acquires the second control parameter P preset by the second motor control unit 110 that drives the shaft of the second machine 12, which is the same model as the first machine. 2bf and the first frequency characteristic F of the second machine when it operates according to the second control parameter. 2bf ;

[0166] Frequency response prediction unit 103 predicts, based on the first control parameter, the second control parameter, and the first frequency response, the second frequency response F of the second machine when the first control parameter is applied to the second motor control unit of the second machine. 2af ;as well as

[0167] The adjustment results are applied to inspection units 104, 104A, 104B, and 104C, which at least use the second frequency characteristic to check whether the first control parameter can be applied to the second motor control unit of the second machine.

[0168] (Note 2)

[0169] According to the application inspection device described in Appendix 1, wherein...

[0170] The adjustment result application checking unit 104 uses the second frequency characteristic F predicted by the frequency characteristic prediction unit 103 as the basis. 2af Determine whether to set the first control parameter P. 1af The second motor control unit 110 is applied to the second machine 12.

[0171] (Note 3)

[0172] According to the application inspection device described in Appendix 1, wherein...

[0173] The first information acquisition unit 101 acquires the first control parameter P 1af The third frequency characteristic F of the first mechanical 11 during operation 1af ,

[0174] The adjustment result is applied to the inspection unit 104A to check the second frequency characteristic F. 2af and the third frequency characteristic F 1af The comparison is performed, and based on the comparison result, it is determined whether to adjust the first control parameter P. 1af The second motor control unit 110 is applied to the second machine 12.

[0175] (Note 4)

[0176] According to the application inspection device described in Appendix 1, wherein...

[0177] The adjustment result application inspection unit 104B has the following features:

[0178] Time response prediction unit 105, which is based on the second frequency characteristic F 2af To predict time response T 2af ; and a time response determination unit 106, which determines whether to set the first control parameter P based on the predicted time response. 1afThe second motor control unit 110 is applied to the second machine 12.

[0179] (Note 5)

[0180] According to the application inspection device described in Appendix 1, wherein...

[0181] The first information acquisition unit 101 acquires the first control parameter P 1af The third frequency characteristic F of the first mechanical 11 during operation 1af ,

[0182] The adjustment result application checking unit 104C includes: a time response prediction unit 105A, which is based on the third frequency characteristic F. 1af To predict the first response T 1af And based on the second frequency characteristic F 2af To predict the second time response T 2af ; and a time response determination unit 106A, which compares the first time response with the second time response, and determines whether to adjust the first control parameter P based on the comparison result. 1af The second motor control unit 110 is applied to the second machine 12.

[0183] (Note 6)

[0184] The application inspection device according to any one of Appendices 1 to 5, wherein it comprises measuring the first frequency characteristic F of the second machine 12. 2bf Frequency response measurement unit.

[0185] (Note 7)

[0186] An application checking method for adjustment results, wherein the following processing is performed by a computer:

[0187] The adjusted first control parameter P of the first motor control unit 110 that acquires the shaft driving the first machine 11 is obtained. 1af ;

[0188] The second control parameter P is preset by the second motor control unit 110 that acquires the shaft of the second machine 12, which is of the same type as the first machine. 2bf and the first frequency characteristic F of the second machine when it operates according to the second control parameter. 2bf ;

[0189] Based on the first control parameter, the second control parameter, and the first frequency characteristic, predict the second frequency characteristic F of the second machine when the first control parameter is applied to the second motor control unit of the second machine. 2af ;as well as

[0190] Using at least the second frequency characteristic, check whether the first control parameter can be applied to the second motor control unit of the second machine.

[0191] Explanation of reference numerals in the attached figures

[0192] Application inspection device for adjustment results of 10, 10A, 10B, and 10C;

[0193] 11 represents machinery;

[0194] 12 identical machine models;

[0195] 101 Information Acquisition Department;

[0196] 102 Information Acquisition Department;

[0197] 103 Frequency Response Prediction Unit;

[0198] The adjustment results of 104, 104A, 104B, and 104C are applied to the inspection department.

[0199] 105, 105A Time Response Prediction Unit;

[0200] 106, 106A Time Response Judgment Unit;

[0201] 110 Electric Motor Control Unit;

[0202] 111 Subtractor;

[0203] 112 Speed ​​Control Unit;

[0204] 113 filter;

[0205] 114 Current Control Unit;

[0206] 115 electric motor;

[0207] 120 frequency generation unit;

[0208] 130 Frequency Response Measurement Unit;

[0209] 140 Adjustment Department.

Claims

1. An application inspection device for adjustment results, characterized in that, The device for checking the application of the adjustment results includes: The first information acquisition unit acquires the adjusted first control parameters from the first motor control unit that drives the shaft of the first machine. The second information acquisition unit acquires a second control parameter preset by the second motor control unit that drives the shaft of the second machine, which is the same type as the first machine, and a first frequency characteristic of the second machine when it operates with the second control parameter. The frequency characteristic prediction unit predicts the second frequency characteristic of the second machine when the first control parameter is applied to the second motor control unit of the second machine, based on the first control parameter, the second control parameter and the first frequency characteristic. as well as The adjustment result application inspection unit, which at least uses the second frequency characteristic, checks whether the first control parameter can be applied to the second motor control unit of the second machine.

2. The application inspection device according to claim 1, characterized in that, The adjustment result application inspection unit determines, based on the second frequency characteristic predicted by the frequency characteristic prediction unit, whether to apply the first control parameter to the second motor control unit of the second machine.

3. The application inspection device according to claim 1, characterized in that, The first information acquisition unit acquires the third frequency characteristics of the first machine when it operates with the first control parameters. The adjustment result is compared by the inspection unit with the second frequency characteristic and the third frequency characteristic. Based on the comparison result, it is determined whether to apply the first control parameter to the second motor control unit of the second machine.

4. The application inspection device according to claim 1, characterized in that, The adjustment result application inspection department has the following: A time response prediction unit that predicts the time response based on the second frequency characteristic; and The time response determination unit determines, based on the predicted time response, whether to apply the first control parameter to the second motor control unit of the second machine.

5. The application inspection device according to claim 1, characterized in that, The first information acquisition unit acquires the third frequency characteristics of the first machine when it operates with the first control parameters. The adjustment result application inspection department has the following: A time response prediction unit that predicts a first time response based on the third frequency characteristic and predicts a second time response based on the second frequency characteristic; and The time response determination unit compares the first time response with the second time response and determines, based on the comparison result, whether to apply the first control parameter to the second motor control unit of the second machine.

6. The application inspection device according to any one of claims 1 to 5, characterized in that, The application inspection device has a frequency characteristic measuring unit for measuring the first frequency characteristic of the second machine.

7. A method for checking the application of adjustment results, characterized in that, The computer performs the following processing: The adjusted first control parameters of the first motor control unit that drives the first machine shaft are obtained; The system acquires a second control parameter preset by a second motor control unit that drives the shaft of a second machine of the same type as the first machine, and a first frequency characteristic of the second machine when it operates with the second control parameter. Based on the first control parameter, the second control parameter, and the first frequency characteristic, predict the second frequency characteristic of the second machine when the first control parameter is applied to the second motor control unit of the second machine; as well as Using at least the second frequency characteristic, check whether the first control parameter can be applied to the second motor control unit of the second machine.

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