Adjustment assistance method for motor control device, adjustment assistance program for motor control device, and adjustment assistance system for motor control device

Abstract

In order to improve operability when adjusting control parameters, the adjustment assistance method for a motor control device (1) is provided with a control unit (12), a first calculation unit (13), and a second calculation unit (14). The first calculation unit (13) calculates a first frequency characteristic on the basis of a second setting value. The second calculation unit (14) calculates a second frequency characteristic. An adjustment assistance method for a motor control device (1) has an input step and a display step. In the input step, input of a first set value and a second set value by a user is accepted. In the display step, a first frequency characteristic that is a calculation result of the first calculation unit (13) and a second frequency characteristic that is a calculation result of the second calculation unit (14) are superimposed and displayed on a display unit (42).

Description

Technical Field

[0001] This disclosure generally relates to an adjustment assistance method, an adjustment assistance procedure, and an adjustment assistance system for a motor control device. More specifically, this disclosure relates to an adjustment assistance method, an adjustment assistance procedure, and an adjustment assistance system for a motor control device that assists in adjusting control parameters in the motor control device. Background Technology

[0002] Patent Document 1 describes a method for calculating control parameters in a motor control device. The method described in Patent Document 1 calculates the load frequency characteristics from a first torque command input point or a second torque command input point to a motor speed output point, adjusts the control parameters based on the calculated load frequency characteristics, and calculates and displays the speed open-loop characteristics under the adjusted control parameters.

[0003] [Prior art literature]

[0004] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2010-142117 Summary of the Invention

[0006] In the calculation method described in Patent Document 1, it is desirable to improve the operability when adjusting control parameters.

[0007] The purpose of this disclosure is to provide an adjustment assistance method, an adjustment assistance program, and an adjustment assistance system for a motor control device that improves operability when adjusting control parameters.

[0008] The adjustment assistance method for a motor control device disclosed herein includes a control unit, a first calculation unit, and a second calculation unit. The control unit generates a torque command based on a first setpoint and outputs it to the motor, such that the motion quantity detected by a detection unit that detects the motion quantity of the motor tracks the motion command. The first setpoint is a setting value of a first control parameter input by a user. The first calculation unit calculates a first frequency characteristic based on a second setpoint. The second setpoint is a setting value of a second control parameter input by the user. The first frequency characteristic is the frequency characteristic of one or more filters included in the control unit. The second calculation unit calculates a second frequency characteristic. The second frequency characteristic is the frequency characteristic of the motion quantity in response to the motion command within a closed loop including the control unit. The adjustment assistance method for the motor control device includes an input step and a display step. In the input step, the user inputs the first setpoint and the second setpoint. In the display step, the first frequency characteristic, which is the result of the calculation by the first calculation unit, and the second frequency characteristic, which is the result of the calculation by the second calculation unit, are superimposed and displayed on the display unit.

[0009] Another aspect of this disclosure relates to an adjustment assistance program for a motor control device, which is a program for causing one or more processors to execute the adjustment assistance method of the motor control device.

[0010] Another aspect of this disclosure relates to an adjustment assistance system for a motor control device, which includes a control unit, a first calculation unit, and a second calculation unit. The control unit generates a torque command based on a first setpoint and outputs it to the motor, such that the motion quantity detected by a detection unit that detects the motion quantity of the motor tracks the motion command. The first setpoint is a setting value of a first control parameter input by a user. The first calculation unit calculates a first frequency characteristic based on a second setpoint. The second setpoint is a setting value of a second control parameter input by the user. The first frequency characteristic is the frequency characteristic of one or more filters included in the control unit. The second calculation unit calculates a second frequency characteristic. The second frequency characteristic is the frequency characteristic of the motion quantity in response to the motion command within a closed loop including the control unit. The adjustment assistance system for the motor control device includes an input unit and a display control unit. The input unit accepts the first setpoint and the second setpoint input by the user. The display control unit superimposes the first frequency characteristic (the result of the calculation by the first calculation unit) and the second frequency characteristic (the result of the calculation by the second calculation unit) and displays them on the display unit.

[0011] The adjustment assistance method, adjustment assistance program, and adjustment assistance system for the motor control device disclosed herein can improve the operability when adjusting control parameters. Attached Figure Description

[0012] Figure 1 This is a block diagram of the motor control device and adjustment auxiliary system according to the embodiments of this disclosure.

[0013] Figure 2 This is a block diagram of the control unit in the motor control device according to the embodiments of this disclosure.

[0014] Figure 3 This is a Bode plot showing an example of the frequency characteristics of a notch filter included in the control unit of an electric motor control device according to an embodiment of the present disclosure.

[0015] Figure 4 This is a Bode plot showing an example of the frequency characteristics of a closed loop including a control unit in a motor control device according to an embodiment of the present disclosure.

[0016] Figure 5 It is Figure 3 The frequency characteristics of the notch filter and Figure 4 Bode plot of the state after the frequency characteristics of the closed loop are superimposed.

[0017] Figure 6 This is a Bode plot showing an example of the frequency characteristics of the closed loop in a motor control device according to an embodiment of the present disclosure, including the control unit when the control parameters of the notch filter are adjusted. Detailed Implementation

[0018] Hereinafter, the adjustment assistance method, adjustment assistance procedure, and adjustment assistance system of the motor control device according to embodiments of the present disclosure will be described with reference to the accompanying drawings. The figures described in the following embodiments are schematic diagrams. Furthermore, the structures described in the following embodiments are merely examples of the present disclosure. The present disclosure is not limited to the following embodiments; various modifications can be made according to design, etc., as long as the effects of the present disclosure are achieved.

[0019] (Implementation Method)

[0020] (1) Summary

[0021] First, refer to Figures 1-3 This section will describe the adjustment assistance method for the motor control device 1 and the adjustment assistance system 4 of the motor control device 1 as described in the embodiments. Figure 1 This is a block diagram of the motor control device 1 and the adjustment auxiliary system 4 according to the embodiments of this disclosure. Figure 2 This is a block diagram of the control unit 12 in the motor control device 1 according to the embodiments of this disclosure. Figure 3 This is a Bode plot showing an example of the frequency characteristics of a notch filter (filter 123) included in the control unit 12 of the motor control device 1 according to an embodiment of the present disclosure.

[0022] The adjustment assistance method for the motor control device 1 according to the embodiment (hereinafter, abbreviated as "adjustment assistance method") is a method for assisting in the adjustment of control parameters in the motor control device 1. More specifically, the adjustment assistance method is used for adjusting the filter 123 (see reference 123) included in the control unit 12 of the motor control device 1. Figure 2 This is an auxiliary method for adjusting the control parameters.

[0023] In this embodiment, as an example, filter 123 has the function of filtering a specific frequency ( Figure 3 A notch filter is a signal filter that removes signals at frequency f1. Notch filters have multiple control parameters. For example... Figure 3 As shown, several control parameters include frequency f1, width W1, and depth D1. Frequency f1 is the frequency at which the gain becomes very small so that the signal at that frequency f1 is attenuated. Figure 3 In the example, the gain at frequency f1 is -60dB. Width W1 is, for example, the bandwidth at which the gain is attenuated to below -3dB. Depth D1 is the amount of gain attenuation at frequency f1. Figure 3 In the example, the attenuation at frequency f1 is 60dB.

[0024] Motor control device 1 is a device used to control motor 2. Motor 2 is, for example, a servo motor used to drive equipment such as a robot arm. Motor control device 1 is, for example, a servo amplifier that controls the servo motor.

[0025] like Figure 1As shown, the motor control device 1 includes a control unit 12, a first calculation unit 13, and a second calculation unit 14. The control unit 12 generates a torque command C2 based on a first setpoint and outputs it to the motor 2, so that the motion quantity AM1 detected by the detection unit 3, which detects the motion quantity AM1 of the motor 2, tracks the motion command C1 of the motor 2. The first setpoint is a setting value of a first control parameter input by the user. The first calculation unit 13 calculates a first frequency characteristic based on a second setpoint. The second setpoint is a setting value of a second control parameter input by the user. The first frequency characteristic is the frequency characteristic of one or more filters 123 included in the control unit 12. The second calculation unit 14 calculates a second frequency characteristic. The second frequency characteristic is the frequency characteristic of the motion quantity AM1 in the closed loop including the control unit 12 in response to the motion command C1. Here, the first control parameter is the control parameter of the filter 123 included in the control unit 12, and is used when the control unit 12 generates the torque command C2. Furthermore, the second control parameter is the control parameter of the filter 123 included in the control unit 12, and is used when the first calculation unit 13 calculates the first frequency characteristic.

[0026] The adjustment assistance method includes an input step and a display step. In the input step, a first setting value and a second setting value are accepted from the user. In the display step, a first frequency characteristic, which is the result of the calculation by the first calculation unit 13, and a second frequency characteristic, which is the result of the calculation by the second calculation unit 14, are superimposed and displayed on the display unit 42.

[0027] In the adjustment assistance method described in the embodiment, during the display step, a first frequency characteristic, which is the frequency characteristic of the filter 123, and a second frequency characteristic, which is the frequency characteristic of the closed loop including the control unit 12, are superimposed and displayed on the display unit 42. Therefore, the user, observing the first and second frequency characteristics displayed on the display unit 42, can visually confirm the appropriate adjustment level of the first frequency characteristic relative to the second frequency characteristic. As a result, the operability of adjusting control parameters is improved compared to the case where the display unit only displays the second frequency characteristic.

[0028] Furthermore, as an example, the adjustment assistance method involved in the implementation method is as follows: Figure 1 The adjustment assistance system 4 (hereinafter referred to as "adjustment assistance system 4") of the motor control device 1 shown is used to perform the adjustment. In other words, the adjustment assistance system 4 is a means of implementing the above-described adjustment assistance method.

[0029] like Figure 1As shown, the adjustment assistance system 4 according to the embodiment includes an input unit 41 and a display control unit 432. The input unit 41 accepts a first setting value and a second setting value input by the user. The display control unit 432 superimposes a first frequency characteristic, which is the result of the calculation by the first calculation unit 13, and a second frequency characteristic, which is the result of the calculation by the second calculation unit 14, and displays it on the display unit 42.

[0030] Here, the adjustment assistance system 4 uses a computer system with one or more processors and one or more memories as its main structure. In other words, the adjustment assistance method described in the implementation method is used on the computer system (adjustment assistance system 4). In other words, the adjustment assistance method can also be implemented by a program.

[0031] (2) Detailed content

[0032] Next, refer to Figures 1-3 The structure of the motor control device 1 and the adjustment auxiliary system 4 involved in the implementation method is explained.

[0033] (2.1) Motor

[0034] Motor 2 is, for example, a servo motor used to drive devices such as robot arms. More specifically, motor 2 is, for example, a rotary servo motor. Figure 1 As shown, the motor 2 includes a detection unit 3. The detection unit 3 includes, for example, a rotary encoder. The detection unit 3 detects the movement quantity AM1 of the motor 2. As the movement quantity AM1 of the motor 2, the detection unit 3 detects, for example, the rotational speed of the motor 2. The detection unit 3 outputs the detected movement quantity AM1 of the motor 2 to the control unit 12 and the second calculation unit 14 of the motor control device 1.

[0035] (2.2) Motor control device

[0036] The motor control device 1 is, for example, a servo amplifier that controls a motor 2, which includes a servo motor. The motor control device 1 may include a computer system. The computer system has a processor and memory as its main hardware components. The processor executes a program recorded in the computer system's memory, thereby enabling it to function as the motor control device 1. The program may be pre-recorded in the computer system's memory, provided via electrical communication lines, or provided via a non-temporary recording medium such as a memory card, optical disc, or hard disk drive that can be read by the computer system.

[0037] like Figure 1 As shown, the motor control device 1 includes an instruction generation unit 11, a control unit 12, a first arithmetic unit 13, and a second arithmetic unit 14.

[0038] The instruction generation unit 11 generates an operation instruction C1 for the motor 2. The operation instruction C1 includes, for example, a target speed instruction value for the motor 2. The instruction generation unit 11 outputs the generated operation instruction C1 to the control unit 12 and the second calculation unit 14. Furthermore, when the input unit 41 of the adjustment assistance system 4 receives a first setpoint input, the instruction generation unit 11 outputs the first setpoint to the control unit 12. Additionally, when the input unit 41 receives a second setpoint input, the instruction generation unit 11 outputs the second setpoint to the first calculation unit 13.

[0039] The control unit 12 generates a torque command C2 and outputs it to the motor 2, so that the motion quantity AM1 of the motor 2 detected by the detection unit 3 tracks the motion command C1. Here, the frequency characteristic (second frequency characteristic) of the motion quantity AM1 in the closed loop of the control unit 12 in response to the motion command C1 is described later. Figure 5 As shown, the gain at a specific frequency (resonant frequency) becomes more than 0dB due to the effect of resonance, resulting in the feedback control, including the control unit 12, sometimes becoming unstable.

[0040] like Figure 2 As shown, the control unit 12 includes a first control unit 121 and a second control unit 122. The first control unit (speed proportional-integral control unit) 121 performs PI control based on the difference output from the subtractor 15 and outputs the result to the second control unit 122. The difference output from the subtractor 15 is the difference between the target speed command value contained in the action command C1 output from the command generation unit 11 and the rotational speed of the motor 2 detected by the detection unit 3. The second control unit (torque command control unit) 122 generates a torque command C2 based on the calculation result of the first control unit 121. The torque command C2 includes a current command value that is equivalent to causing the motor 2 to generate torque. That is, the second control unit 122 (control unit 12) outputs a current command value corresponding to the action command C1 to the motor 2.

[0041] Furthermore, such as Figure 2 As shown, the second control unit 122 includes a filter 123. The filter 123, as described above, is a notch filter. The notch filter includes a frequency f1, a width W1, and a depth D1 (see reference). Figure 3As described above, the second frequency characteristic in the closed loop including control unit 12 has a gain of 0dB or more at the resonant frequency. As a result, the feedback control including control unit 12 sometimes becomes unstable. In the motor control device 1 described above, the user needs to adjust the control parameters of the notch filter so that the frequency f1, width W1, and depth D1 of the notch filter are consistent with the resonant frequency, width, and depth of the second frequency characteristic in the closed loop, so that the feedback control including control unit 12 becomes stable. Therefore, in the technical field of motor control device 1, it is desirable to improve the operability when adjusting the above control parameters. In the adjustment assistance method according to the embodiment, in order to solve the above problems, as described below... Figure 5 As shown, the first frequency characteristic, which is the frequency characteristic of the filter 123, and the second frequency characteristic, which is the closed-loop frequency characteristic including the control unit 12, are superimposed and displayed by the display unit 42 of the adjustment assistance system 4.

[0042] In the motor control device 1 described in this embodiment, the control unit 12 generates a torque command C2 based on a first set value and outputs it to the motor 2, so that the motion quantity AM1 of the motor 2 detected by the detection unit 3 tracks the motion command C1. The first set value is the set value of a first control parameter input by the user. The first control parameter is the control parameter of the filter 123, which is used when the control unit 12 generates the torque command C2.

[0043] The first calculation unit 13 calculates the first frequency characteristic based on a second set value. The second set value is the setting value of a second control parameter input by the user. The second control parameter is the control parameter of the filter 123 and is used when the first calculation unit 13 calculates the first frequency characteristic. That is, the first frequency characteristic is the frequency characteristic of the filter 123 based on the second set value. In addition, if the user changes the second set value, the first calculation unit 13 recalculates the first frequency characteristic based on the changed second set value. The first calculation unit 13 outputs the calculated (or recalculated) first frequency characteristic to the control unit 43 of the adjustment assistance system 4, which will be described later.

[0044] The second arithmetic unit 14 calculates the second frequency characteristic. The second frequency characteristic is the frequency characteristic of the action quantity AM1 in the closed loop of the control unit 12 in response to the action command C1. More specifically, the second arithmetic unit 14 calculates the second frequency characteristic based on the action command C1 from the command generation unit 11 and the action quantity AM1 from the detection unit 3. The second arithmetic unit 14 outputs the calculated second frequency characteristic to the control unit 43 of the adjustment assistance system 4.

[0045] (2.3) Adjusting the auxiliary system

[0046] The adjustment assistance system 4 may include, for example, a computer system. The computer system has a processor and memory as its main hardware components. The processor executes programs recorded in the computer system's memory, thereby implementing the functions of the adjustment assistance system 4. The programs may also be pre-recorded in the computer system's memory, provided via electrical communication lines, or provided on non-temporary recording media such as memory cards, optical discs, or hard disk drives that can be read by the computer system. In this embodiment, as an example, the adjustment assistance system 4 is a personal computer 40.

[0047] like Figure 1 As shown, the adjustment assistance system 4 includes an input unit 41, a display unit 42, and a control unit 43.

[0048] The input unit 41 accepts given input from the user. Specifically, the input unit 41 accepts the first setting value and the second setting value input by the user. In this embodiment, as described above, the adjustment assistance system 4 is a personal computer 40, and the input unit 41 includes an input interface such as a keyboard, mouse, or touch panel. In this embodiment, the processing performed by the input unit 41 is an input step. That is, the adjustment assistance method according to the embodiment has an input step that accepts the first setting value and the second setting value input by the user.

[0049] Display unit 42 includes, for example, a liquid crystal display. As described later, display unit 42 superimposes and displays a first frequency characteristic, which is the result of calculation by the first arithmetic unit 13, and a second frequency characteristic, which is the result of calculation by the second arithmetic unit 14 (see reference). Figure 5 It should be noted that when the adjustment auxiliary system 4 is equipped with a touch panel display, the touch panel display can also serve as both the input unit 41 and the display unit 42.

[0050] The control unit 43 is electrically connected to the input unit 41 and the display unit 42, respectively. The control unit 43 sets the first setting value based on the input received from the input unit 41. Furthermore, the control unit 43 sets the second setting value based on the input received from the input unit 41. The control unit 43 outputs control signals to the display unit 42, thereby causing the display unit 42 to display a given image. Figure 1 As shown, the control unit 43 includes a change unit 431 and a display control unit 432.

[0051] The modification unit 431 modifies the first setting value. More specifically, if the user changes the second setting value, the modification unit 431 modifies the first setting value so that the first control parameter and the second control parameter become equal. In this embodiment, the above-described processing performed by the modification unit 431 is equivalent to a modification step. That is, the adjustment assistance method according to the embodiment, in addition to the input step and the display control step described later, also includes a modification step. In the modification step, if the user changes the second setting value, the first setting value is modified so that the first control parameter and the second control parameter become equal.

[0052] The display control unit 432 controls the display unit 42. By controlling the display unit 42, the display control unit 432 causes the display unit 42 to display a given image. Specifically, the display control unit 432 controls the display unit 42 to superimpose a first frequency characteristic, which is the result of the calculation by the first arithmetic unit 13, and a second frequency characteristic, which is the result of the calculation by the second arithmetic unit 14, and displays this on the display unit 42 (see reference). Figure 5 In this embodiment, the processing performed by the display control unit 432 is equivalent to a display step. That is, the adjustment assistance method according to this embodiment has a display step in which a first frequency characteristic, which is the result of the calculation by the first calculation unit 13, and a second frequency characteristic, which is the result of the calculation by the second calculation unit 14, are superimposed and the display unit 42 displays the result.

[0053] Furthermore, when the first frequency characteristic is recalculated by the first arithmetic unit 13, the display control unit 432 causes the display unit 42 to display the recalculated first frequency characteristic. That is, in the display step, when the first frequency characteristic is recalculated by the first arithmetic unit 13, the display unit 42 is caused to display the recalculated first frequency characteristic.

[0054] (3) Display example

[0055] Next, refer to Figures 4-6 This document describes a display example of the display unit 42 of the motor control device 1 according to the embodiment, which is based on an adjustment assistance method. Figures 4-6 The Bode plot is displayed on the display unit 42 by adjusting the auxiliary method.

[0056] Figure 4 This is a Bode plot representing an example of the second frequency characteristic as the result of the operation of the second arithmetic unit 14. Figure 4 In the example, without adjusting the control parameters of filter 123, there is a region where the gain exceeds 0dB due to resonance. Therefore, Figure 4 In the frequency characteristics shown, the feedback control of the control unit 12 becomes unstable.

[0057] Figure 5 Is Figure 4The second frequency characteristic shown overlaps with the first frequency characteristic, which is the result of the operation of the first arithmetic unit 13 (see reference). Figure 3 The Bode plot of the state. That is, Figure 5 It is a Bode plot after superimposing the first frequency characteristic, which is the result of the operation of the first arithmetic unit 13, and the second frequency characteristic, which is the result of the operation of the second arithmetic unit 14, and displaying it by the display unit 42. Figure 5 In the diagram, the solid line represents the second frequency response, and the dashed line represents the first frequency response. That is, Figure 5 In the diagram, the solid line represents the frequency characteristics of the closed loop including the control unit 12, and the dashed line represents the frequency characteristics of the filter 123.

[0058] Figure 6 This is a Bode plot showing an example of the frequency characteristics of the closed loop including the control unit 12 in the motor control device 1 according to an embodiment of the present disclosure when the control parameters (first control parameters) of the filter 123 (notch filter) are adjusted.

[0059] Figure 5 In the example, the control parameters (first control parameters) of filter 123 (notch filter) are adjusted so that the frequency f1 in the first frequency characteristic (refer to) Figure 3 The peak frequency (resonant frequency) in the first frequency characteristic is consistent with that in the second frequency characteristic. As a result, by applying the first frequency characteristic to the second frequency characteristic, thus achieving... Figure 6 As shown, the gain can be set to below 0dB across all frequencies. This allows for stable feedback control, including the control unit 12.

[0060] As described above, in the technical field of motor control device 1, there is a desire to improve operability when adjusting control parameters. Therefore, as Figure 5 As shown, by superimposing the first frequency characteristic, which is the frequency characteristic of the filter 123, and the second frequency characteristic, which is the frequency characteristic of the closed loop including the control unit 12, and displaying it on the display unit 42, the adjustment amount of the control parameter (first control parameter) of the filter 123 relative to the second frequency characteristic can be visually confirmed. As a result, the operability of adjusting the control parameter can be improved compared to the case where the display unit only displays the second frequency characteristic.

[0061] Here, Figure 5 The second frequency characteristic is the second frequency characteristic before the user adjusts the control parameters. That is, Figure 5 In the example, during the display step, the display unit 42 displays the second frequency characteristic based on the second setting value before it was changed by the user, as the second frequency characteristic.

[0062] (4) Effects

[0063] In the adjustment assistance method of the motor control device 1 according to the embodiment, in the display step, a first frequency characteristic, which is the frequency characteristic of the filter 123, and a second frequency characteristic, which is the closed-loop frequency characteristic including the control unit 12, are superimposed and displayed on the display unit 42. Therefore, the user who observes the first and second frequency characteristics displayed on the display unit 42 can visually confirm to what extent the first frequency characteristic should be adjusted relative to the second frequency characteristic. As a result, the operability of adjusting control parameters is improved compared to the case where the display unit only displays the second frequency characteristic.

[0064] Furthermore, in the adjustment assistance method of the motor control device 1 according to the embodiment, the first arithmetic unit 13 calculates the first frequency characteristic, and the second arithmetic unit 14 calculates the second frequency characteristic. Therefore, compared with the case where a single arithmetic unit is used to calculate both the first and second frequency characteristics, the computational load in each arithmetic unit can be reduced.

[0065] Furthermore, in the adjustment assistance method of the motor control device 1 according to the embodiment, the closed loop of the control unit 12 includes a speed closed loop based on the speed of the motor 2. In this case, as... Figure 4 As shown, the measurement accuracy can be improved by adjusting the gain in the relatively high frequency region.

[0066] Furthermore, in the adjustment assistance method of the motor control device 1 according to the embodiment, as a second frequency characteristic, the display unit 42 displays a second frequency characteristic based on a second setting value before the user changes it. Therefore, in addition to the first frequency characteristic, the display unit 42 can also display the second frequency characteristic before the user changes it.

[0067] Furthermore, in the adjustment assistance method of the motor control device 1 according to the embodiment, if the user changes the second setting value, the first setting value is also changed so that the first control parameter and the second control parameter become equal. Thus, the first setting value can be changed simply by changing the second setting value.

[0068] Furthermore, in the adjustment assistance method of the motor control device 1 according to the embodiment, if the user changes the second setting value, the first frequency characteristic is recalculated based on the changed second setting value, and the display unit 42 displays the recalculated first frequency characteristic. Thus, the display unit 42 can display the first frequency characteristic corresponding to the changed second setting value.

[0069] Furthermore, in the adjustment assistance method of the motor control device 1 according to the embodiment, the filter 123 included in the control unit 12 includes a notch filter. Therefore, the display unit 42 can display a first frequency characteristic corresponding to the type of filter 123.

[0070] (5) Variations

[0071] The above-described embodiments are merely one of the various embodiments disclosed herein. Various modifications can be made to the above-described embodiments based on design, etc., as long as the purpose of this disclosure is achieved. Furthermore, the same function as the adjustment assistance method of the motor control device 1 described in the above embodiments can also be implemented by the adjustment assistance system 4 of the motor control device 1, a program (computer program), or a non-temporary recording medium containing the program. In addition, one embodiment of the adjustment assistance program for the motor control device 1 is an adjustment assistance program for the motor control device 1 used to execute the above-described adjustment assistance method of the motor control device 1 on one or more processors. According to this adjustment assistance program, the operability when adjusting control parameters can be improved.

[0072] Hereinafter, variations of the above-described embodiments are listed. The variations described below can be appropriately combined and applied.

[0073] Integrating multiple functions of the adjustment assistance system 4 into a single housing is not a necessary structural feature of the adjustment assistance system 4; the structural elements of the adjustment assistance system 4 can also be distributed across multiple housings. Furthermore, at least some functions of the adjustment assistance system 4, such as a portion of the functions of the control unit 43, can also be implemented via the cloud (cloud computing).

[0074] Conversely, in the above embodiments, at least some of the functions distributed between the motor control device 1 and the adjustment auxiliary system 4 can also be integrated into a single housing.

[0075] In the above embodiments, the motor 2 has a detection unit 3, but the detection unit 3 may also be located outside the motor 2.

[0076] In the above embodiments, filter 123 is a notch filter, but it can also be a filter other than a notch filter. For example, as shown in Table 1, filter 123 can also be a first-order low-pass filter, a second-order low-pass filter, a first-order phase lead compensation filter, a second-order phase lead compensation filter, a first-order phase delay compensation filter, or a second-order phase delay compensation filter.

[0077] [Table 1]

[0078]

[0079] When filter 123 is a first-order low-pass filter, the control parameter is the time constant of the first-order low-pass filter. When filter 123 is a second-order low-pass filter, the control parameters are the time constant and attenuation term of the second-order low-pass filter. When filter 123 is a first-order phase-lead compensation filter, the control parameters are the time constant and phase-lead coefficient of the first-order phase-lead compensation filter. When filter 123 is a second-order phase-lead compensation filter, the control parameters are the time constant, phase-lead coefficient, and attenuation term of the second-order phase-lead compensation filter. When filter 123 is a first-order phase-delay compensation filter, the control parameters are the time constant and phase-delay coefficient of the first-order phase-delay compensation filter. When filter 123 is a second-order phase-delay compensation filter, the control parameters are the time constant, phase-delay coefficient, and attenuation term of the second-order phase-delay compensation filter.

[0080] Furthermore, the control unit 12 may also include two or more filters selected from the various filters described above. That is, the one or more filters 123 included in the control unit 12 may include at least one of a notch filter, a first-order low-pass filter, a second-order low-pass filter, a first-order phase lead compensation filter, a second-order phase lead compensation filter, a first-order phase delay compensation filter, and a second-order phase delay compensation filter.

[0081] In the above embodiments, the adjustment assistance system 4 is a personal computer 40, but the adjustment assistance system 4 is not limited to a personal computer 40. For example, it can also be a smartphone or tablet terminal.

[0082] In the above embodiments, such as Figure 5 As shown, in the display step, the display unit 42 displays a second frequency characteristic based on the second setting value before the user's change, as the second frequency characteristic. Alternatively, in the display step, the display unit 42 may display a second frequency characteristic based on the second setting value after the user's change, as the second frequency characteristic. Furthermore, in the display step, the display unit 42 may display both the second frequency characteristic based on the second setting value before the user's change and the second frequency characteristic based on the second setting value after the user's change, as the second frequency characteristic. That is, in the display step, it is sufficient for the display unit 42 to display at least one of the second frequency characteristic based on the second setting value before the user's change and the second frequency characteristic based on the second setting value after the user's change, as the second frequency characteristic.

[0083] In the above embodiments, motor 2 is a rotary servo motor, but motor 2 is not limited to a rotary servo motor. For example, it can also be a linear servo motor that can move in a straight line.

[0084] In the above embodiments, such as Figure 5 As shown, the first frequency characteristic and the second frequency characteristic are superimposed and displayed on the display unit 42. Alternatively, the first frequency characteristic and the second frequency characteristic can be displayed side by side vertically on a single screen of the display unit 42 without superimposing them.

[0085] (Way)

[0086] The following methods are disclosed in this specification.

[0087] The adjustment assistance method for the motor control device (1) involved in the first method is an adjustment assistance method for a motor control device (1) having a control unit (12), a first calculation unit (13), and a second calculation unit (14). The control unit (12) generates a torque command (C2) based on a first setpoint and outputs it to the motor (2) so that the action quantity (AM1) detected by the detection unit (3) that detects the action quantity (AM1) of the motor (2) tracks the action command (C1) of the motor (2). The first setpoint is the setpoint of a first control parameter input by the user. The first calculation unit (13) calculates a first frequency characteristic based on a second setpoint. The second setpoint is the setpoint of a second control parameter input by the user. The first frequency characteristic is the frequency characteristic of one or more filters (123) included in the control unit (12). The second calculation unit (14) calculates a second frequency characteristic. The second frequency characteristic is the frequency characteristic of the action quantity (AM1) in the closed loop including the control unit (12) in response to the action command (C1). The adjustment assistance method for the motor control device (1) has an input step and a display step. In the input step, the user inputs a first setting value and a second setting value. In the display step, the first frequency characteristic, which is the result of the calculation of the first calculation unit (13), and the second frequency characteristic, which is the result of the calculation of the second calculation unit (14), are superimposed and displayed on the display unit (42).

[0088] According to this method, in the display step, the first frequency characteristic, which is the frequency characteristic of the filter (123), and the second frequency characteristic, which is the closed-loop frequency characteristic including the control unit (12), are superimposed and displayed on the display unit (42). Based on the display result of the display unit (42), it can be visually confirmed to what extent the first frequency characteristic should be adjusted. Therefore, compared with the case where the display unit only displays the second frequency characteristic, the operability when adjusting the control parameters can be improved.

[0089] In the adjustment assistance method of the motor control device (1) involved in the second method, in the first method, in the display step, the display unit (42) displays at least one of the second frequency characteristic based on the second setting value before the user changes it and the second frequency characteristic based on the second setting value after the user changes it, as the second frequency characteristic mentioned above.

[0090] According to this method, the display unit (42) can display the second frequency characteristic based on the second setting value before and after the change by the user.

[0091] The adjustment assistance method for the motor control device (1) involved in the third method, in the first or second method, also includes a change step. In the change step, if the user changes the second setting value, the first setting value is changed so that the first control parameter and the second control parameter become equal.

[0092] According to this method, the first setting value can be changed simply by changing the second setting value.

[0093] In the adjustment assistance method of the motor control device (1) involved in the fourth method, in the third method, if the user changes the second setting value, the first calculation unit (13) recalculates the first frequency characteristic based on the changed second setting value. In the display step, the display unit (42) displays the recalculated first frequency characteristic.

[0094] According to this method, the display unit (42) can display the first frequency characteristic corresponding to the changed second setting value.

[0095] In the adjustment assistance method of the motor control device (1) involved in the fifth method, in any one of the first to fourth methods, one or more filters (123) include at least one of a notch filter, a first-order low-pass filter, a second-order low-pass filter, a first-order phase lead compensation filter, a second-order phase lead compensation filter, a first-order phase delay compensation filter, and a second-order phase delay compensation filter.

[0096] According to this method, the display unit (42) can display a first frequency characteristic corresponding to the type of filter (123).

[0097] The adjustment assistance program for the motor control device (1) involved in the sixth method is a program used to enable one or more processors to execute the adjustment assistance method of the motor control device (1) in any of the first to fifth methods.

[0098] According to this method, in the display step, the first frequency characteristic, which is the frequency characteristic of the filter (123), and the second frequency characteristic, which is the closed-loop frequency characteristic including the control unit (12), are superimposed and displayed on the display unit (42). Based on the display result of the display unit (42), it can be visually confirmed to what extent the first frequency characteristic should be adjusted. Therefore, compared with the case where the display unit only displays the second frequency characteristic, the operability when adjusting the control parameters can be improved.

[0099] The adjustment auxiliary system (4) of the motor control device (1) involved in the seventh method is an adjustment auxiliary system (4) of the motor control device (1) having a control unit (12), a first calculation unit (13), and a second calculation unit (14). The control unit (12) generates a torque command (C2) based on a first set value and outputs it to the motor (2) so that the action quantity (AM1) detected by the detection unit (3) that detects the action quantity (AM1) of the motor (2) tracks the action command (C1) of the motor (2). The first set value is the set value of the first control parameter input by the user. The first calculation unit (13) calculates the first frequency characteristic based on the second set value. The second set value is the set value of the second control parameter input by the user. The first frequency characteristic is the frequency characteristic of one or more filters (123) included in the control unit (12). The second calculation unit (14) calculates the second frequency characteristic. The second frequency characteristic is the frequency characteristic of the action quantity (AM1) in the closed loop including the control unit (12) in response to the action command (C1). The adjustment auxiliary system (4) of the motor control device (1) includes an input unit (41) and a display control unit (432). The input unit (41) accepts the input of a first setting value and a second setting value from the user. The display control unit (432) superimposes the first frequency characteristic, which is the result of the calculation by the first calculation unit (13), and the second frequency characteristic, which is the result of the calculation by the second calculation unit (14), and displays it on the display unit (42).

[0100] According to this method, the first frequency characteristic, which is the frequency characteristic of the filter (123), and the second frequency characteristic, which is the frequency characteristic of the closed loop including the control unit (12), are superimposed and displayed on the display unit (42). Based on the display result of the display unit (42), it can be visually confirmed to what extent the first frequency characteristic should be adjusted. Therefore, compared with the case where the display unit only displays the second frequency characteristic, the operability of adjusting the control parameters can be improved.

[0101] The structures involved in the second to fifth methods are not necessary for the adjustment auxiliary method of the motor control device (1) and can be appropriately omitted.

[0102] [Potential for industrial applications]

[0103] The adjustment assistance method, adjustment assistance program, and adjustment assistance system for the motor control device disclosed herein improve the operability when adjusting control parameters. Therefore, the adjustment assistance method, adjustment assistance program, and adjustment assistance system for the motor control device disclosed herein are useful in industry.

[0104] [Explanation of reference numerals in the attached figures]

[0105] 1. Motor control device

[0106] 2 motors

[0107] 3. Testing Department

[0108] 4. Adjust the auxiliary system

[0109] Control Units 12, 43, 121, 122

[0110] 13 First Arithmetic Division

[0111] 14 Second Arithmetic Division

[0112] 41 Input Section

[0113] 42 Display Section

[0114] 123 Filter

[0115] 432 Display Control Unit

[0116] AM1 Motion

[0117] C1 Action Command

[0118] C2 Torque command.

Claims

1. An adjustment assistance method for a motor control device, comprising a control unit, a first arithmetic unit, and a second arithmetic unit. The control unit generates a torque command based on the set value of the first control parameter input by the user, i.e., the first set value, and outputs it to the motor, so that the motion quantity detected by the detection unit that detects the motion quantity of the motor tracks the motion command of the motor. The first calculation unit calculates a first frequency characteristic based on a second set value, which is a second control parameter input by the user. The first frequency characteristic is the frequency characteristic of one or more filters included in the control unit. The second arithmetic unit calculates the frequency characteristic, i.e., the second frequency characteristic, of the action quantity in the closed loop of the control unit in response to the action command. The adjustment assistance method of the motor control device has the following features: The input step accepts the user's input of the first setting value and the second setting value; and The display step involves superimposing the first frequency characteristic, which is the result of the calculation by the first arithmetic unit, and the second frequency characteristic, which is the result of the calculation by the second arithmetic unit, and displaying them on the display unit.

2. The adjustment auxiliary method for the motor control device according to claim 1, wherein, In the display step, the display unit displays at least one of the second frequency characteristic based on the second setting value before the user changes it and the second frequency characteristic based on the second setting value after the user changes it, as the second frequency characteristic.

3. The adjustment auxiliary method for the motor control device according to claim 1 or 2, wherein, The adjustment assistance method for the motor control device further includes a change step: if the user changes the second setting value, then the first setting value is changed so that the first control parameter and the second control parameter become equal.

4. The adjustment auxiliary method for the motor control device according to claim 3, If the user changes the second setting value, the first calculation unit recalculates the first frequency characteristic based on the changed second setting value. In the display step, the display unit displays the recalculated first frequency characteristic.

5. The adjustment auxiliary method for the motor control device according to claim 1 or 2, wherein, The one or more filters include at least one of a notch filter, a first-order low-pass filter, a second-order low-pass filter, a first-order phase lead compensation filter, a second-order phase lead compensation filter, a first-order phase delay compensation filter, and a second-order phase delay compensation filter.

6. An adjustment auxiliary program for a motor control device, An adjustment assistance method for causing one or more processors to execute the motor control device as described in claim 1 or 2.

7. An adjustment auxiliary system for a motor control device, comprising a control unit, a first arithmetic unit, and a second arithmetic unit. The control unit generates a torque command based on the set value of the first control parameter input by the user, i.e., the first set value, and outputs it to the motor, so that the motion quantity detected by the detection unit that detects the motion quantity of the motor tracks the motion command of the motor. The first calculation unit calculates a first frequency characteristic based on a second set value, which is a second control parameter input by the user. The first frequency characteristic is the frequency characteristic of one or more filters included in the control unit. The second arithmetic unit calculates the frequency characteristic, i.e., the second frequency characteristic, of the action quantity in the closed loop of the control unit in response to the action command. The adjustment auxiliary system of the motor control device includes: The input unit accepts input from the user of the first setting value and the second setting value; and The display control unit superimposes the first frequency characteristic, which is the result of the calculation by the first arithmetic unit, and the second frequency characteristic, which is the result of the calculation by the second arithmetic unit, and displays them on the display unit.

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