Adjustment aid device

Abstract

An adjustment aid device according to one aspect of the present disclosure is capable of performing an automatic adjustment of a parameter in a suitable manner, and is an adjustment aid device that transmits an initial setting value for an automatic adjustment to an adjustment device that automatically adjusts a parameter of a servo control device controlling a servo motor by operating the servo control device in accordance with an automatic adjustment program.The adjustment aid device comprises: an initial setting value candidate reader unit, which reads an initial setting value candidate from an external source, which is an initial setting value for automatic adjustment; an initial setting value enable unit, which determines whether the use of the initial setting value candidate is enabled; and an initial setting value transmission unit, which transmits the initial setting value candidate, enabled for use by the initial setting value enable unit, to the adjustment device.

Description

Technical field

[0001] The present invention relates to an adjustment aid device. State of the art

[0002] In a servo control device that controls a servo motor, the control characteristics change depending on various parameters, such as the control gain, filter parameters, and quadrant error compensation parameters. To achieve optimal control tailored to the servo motor's intended use, a servo control device has been proposed that automatically sets the optimal parameters by driving the servo motor with a predefined operating pattern while incrementally changing the parameters and monitoring the actual operation of the servo motor (see, for example, patent document 1). Citation list patent document

[0003] Patent document 1: PCT International Publication No. WO2010 / 119605 Disclosure of the invention Problems to be solved by the invention

[0004] Patent document 1 proposes initiating automatic adjustment by reading the initial parameter values. However, if the servo motor load changes, there is a risk that the parameters will not be adjusted correctly due to unforeseen disturbances or vibrations. Therefore, there is a need for a technology capable of automatically adjusting the parameters appropriately. Means to solve the problems

[0005] An adjustment aid device according to one aspect of the present disclosure provides an initial setting value for automatic adjustment to an adjustment device that automatically adjusts a parameter of a servo control device controlling a servo motor by operating the servo control device according to an automatic adjustment program, wherein the adjustment aid device comprises: an initial setting value candidate read unit that reads an initial setting value candidate for automatic adjustment from an external source; an initial setting value enable unit that determines whether the use of the initial setting value candidate should be enabled; and an initial setting value transmission unit that transmits the initial setting value candidate, the use of which has been enabled by the initial setting value enable unit, to the adjustment device. Effects of the invention

[0006] According to the present disclosure, the parameters can be adjusted automatically in a suitable manner. Brief description of the drawings Fig. Figure 1 is a block diagram showing the configuration of a servo system according to a first embodiment of the present disclosure. Preferred embodiment of the invention

[0007] The following describes embodiments of the present disclosure with reference to the drawings. Fig. Figure 1 is a block diagram showing the configuration of a servo system 1 according to an embodiment of the present disclosure.

[0008] The servo system 1 comprises a servo control device 10, an adjustment device 20, and an adjustment aid device 30. The servo system 1 is a system that controls one or more servo motors 40 and can be part of a machine tool, a robot system, or the like.

[0009] The servo control device 10, for example, is a CNC (Computerized Numerical Controller) and includes a memory, a processor, an input / output interface, and the like. It can be configured by one or more computer devices that execute a suitable servo control program. The servo control device 10 controls the current supplied to the servo motor so that the servo motor's rotational position, rotational speed, and other parameters change in accordance with the operating program. The servo control device 10 sets various parameters, such as the servo loop gain, filter parameters, and quadrant disturbance compensation parameters, to control the servo motor. The combination of these parameters (parameter set) enables optimal control of the servo control device 10's control characteristics with respect to the servo motor 40 and the load driven by the servo motor 40.

[0010] The adjustment device 20 receives the initial settings for automatic adjustment (initial settings of the control parameters and the automatic adjustment program, automatic adjustment settings (gain range, number of attempts, etc.)) from the adjustment aid device 30 and automatically adjusts the parameters by executing the automatic adjustment program. The adjustment device 20 includes memory, a processor, an input / output interface, and the like, and can be configured by one or more computer devices that execute a suitable adjustment control program. The adjustment device 20 can be integrated into the servo control device 10 or into the adjustment aid device 30. The adjustment device 20 can include an adjustment execution unit 21 and a machine learning unit 22.The adjustment execution unit 21 and the machine learning unit 22 classify the functions of the adjustment device 20 and do not necessarily have to be clearly distinguished in terms of physical configuration or program configuration.

[0011] The adjustment execution unit 21 sets the parameters of the servo control device 10 and sends commands to the servo control device 10 to cause the servo motor 40 to operate in accordance with the automatic adjustment program. The adjustment execution unit 21 receives feedback signals from the servo control device 10 indicating the actual operation of the servo motor 40 and adjusts the control parameters of the servo control device 10 to reduce the difference between operation according to the automatic adjustment program and the actual operation of the servo motor 40. If necessary, the adjustment execution unit 21 can also take into account signals received from external measuring instruments that detect the operation of the servo motor 40 without passing through the servo control device 10, in order to adjust the control parameters of the servo control device 10.The adjustment unit 21, for example, sets the forward gain, the gain range of the speed control loop, the phase range, and similar parameters for automatic adjustment. In particular, when using external measuring instruments to monitor the operation of the servomotor 40, the measured values ​​can be calibrated based on the gain settings of the measurement signals.

[0012] The machine learning unit 22 analyzes the feedback values ​​received from the adjustment execution unit 21 and instructs the adjustment execution unit 21 on the scope of adjustment of the parameters of the servo control device 10. More precisely, the machine learning unit 22 can be configured to repeatedly change the parameters and operate the servo motor 40 via the adjustment execution unit 21 in order to derive parameters that reduce the error in the operation of the servo motor 40 through amplification learning. As a result, the adjustment device 20 automatically adjusts the parameters through machine learning. The machine learning unit 22 switches various functions, coefficients, permissible errors, the number of trials, and similar settings on and off for machine learning.

[0013] The adjustment aid device 30 provides the adjustment execution unit 21 with initial setting values ​​for automatic adjustment so that the adjustment execution unit 21 can properly perform the automatic adjustment of the parameters. The adjustment aid device 30 itself is an embodiment of the adjustment aid device according to the present disclosure.

[0014] The adjustment aid device 30 comprises a memory, a processor, an input / output interface, and the like, and can be configured by one or more computer devices that execute a program specifying suitable initial setting values. The adjustment aid device 30 can be integrated into the adjustment device 20 or into the servo control device 10.

[0015] The adjustment aid device 30 comprises a reading unit for initial setting value candidates 31, a acquiring unit for previous initial setting values ​​32, a unit for releasing initial setting values ​​33, a unit for transferring initial setting values ​​34, a test operating unit 35, and a user correction unit 36. These configurations classify the functions of the adjustment aid device 30 and do not necessarily have to be clearly distinguished with respect to the physical configuration or the program configuration.

[0016] The initial setting value candidate reader 31 reads initial setting value candidates from an external source for automatic adjustment. The initial setting value candidates read by the initial setting value candidate reader 31 can, for example, be setting values ​​used in the automatic adjustment of other servo control devices. Therefore, the initial setting value candidate reader 31 can be connected to other servo systems, computers managing other servo systems, etc., via a network or similar to enable communication. The initial setting value candidate reader 31 can also be configured to capture the initial setting value candidates via a recording medium such as a USB storage device. Preferably, the initial setting value candidates contain header information, such as...Device IDs that identify the device that created or applied the setting values.

[0017] The previous initial setting unit 32 captures previous initial setting values; these are the initial setting values ​​used during previous automatic adjustments by the adjustment device 20. The previous initial setting unit 32 can be configured to capture and store the setting values ​​each time the adjustment device 20 performs an automatic adjustment, or to capture log information from the adjustment device 20 or from a computer managing the adjustment device 20 as needed.

[0018] The initial setting value release unit 33 determines whether the use of the initial setting value candidates read by the initial setting value candidate reader unit 31 as initial setting values ​​for automatic adjustment in the adjustment device 20 should be approved. The determination of whether the use is approved can be based on confirmation that the initial setting value candidates were created for the same model of the servo control device 10. If the initial setting value candidates were created for the same model of the servo control device 10, there is a high probability that the initial setting value candidates can be applied to the servo control device 10 without problems, so the initial setting value release unit 33 can be configured to release the initial setting value candidates.

[0019] The initial setting value release unit 33 can check whether the initial setting value candidates match the previous initial setting values ​​used in earlier automatic adjustments by the adjustment device 20. If the initial setting value candidates match the previous initial setting values, there is a high probability that the initial setting value candidates can be used as initial setting values ​​for automatic adjustment without problems, so the initial setting value release unit 33 can be configured to approve the initial setting value candidates. A match between the initial setting value candidates and the previous initial setting values ​​means that the error of each setting value is within the specified permissible error.The initial setting value release unit 33 can also check the time elapsed since previous initial setting values ​​matching the initial setting value candidates were used in the servo control device. If a considerable amount of time has passed since the last use of the same initial setting values, the load driven by the servo motor 40 may have changed; therefore, in such a case, where at least a certain amount of time has elapsed, the initial setting value release unit 33 can be configured to prevent the use of the initial setting value candidates without modification.

[0020] In the event that the Initial Setting Value Release Unit 33 cannot determine that the candidates for the initial setting values ​​are usable, the Initial Setting Value Release Unit can be configured to prompt the user for confirmation and, if the user grants approval, to allow the use of the candidates for the initial setting values. The Initial Setting Value Release Unit 33 can also be configured to release the use of the corrected initial setting value candidates that have been corrected and released by the user using the User Correction Unit 36, which is described later.In this way, if the initial setting value release unit 33 cannot determine that the candidates for the initial setting values ​​are usable, the system allows the user to intervene, thereby preventing impermissible automatic adjustments by the adjustment device 20, while at the same time facilitating the use of automatic adjustment by the adjustment device 20.

[0021] The initial setting value transmission unit 34 transmits the initial setting value candidates whose use has been released by the initial setting value release unit 33 to the adjustment device 20. As mentioned above, the initial setting value candidates transmitted by the initial setting value transmission unit 34 may include those initial setting value candidates that the initial setting value release unit 33 could not determine as usable but which were released by the user, as well as those initial setting value candidates that the user corrected and released for use with the user correction unit 36, described later. The initial setting value transmission unit 34 can be configured to store the initial setting value candidates that have been released for use and to transmit the initial setting value candidates at the request of the adjustment device 20.

[0022] In the event that the initial setting value release unit 33 has not approved the use of the candidates for the initial setting values, the test operation unit 35 causes the servo control device 10 to perform a test operation to allow the user to determine the suitability of the candidates for the initial setting values. The test operation is performed by setting the control parameters from the initial setting value candidates as parameters of the servo control device 10 and by entering commands into the servo control device 10 to cause the servo motor 40 to perform predetermined operations based on the settings of the automatic adjustment program within the initial setting value candidates.

[0023] The operation of the servomotor 40 during test operation can be the same as operation according to the automatic adjustment program. Unlike automatic adjustment, the parameters are not changed during test operation, thus reducing the likelihood of serious problems such as interference or abnormal vibrations of the driven object developing into larger issues. The user can verify the test operation through visual inspection and various data points. If they anticipate that interference, abnormal vibrations, or other serious problems will develop into larger issues if the parameters are changed from the initial candidate values ​​during automatic adjustment, the user can choose not to allow the use of these initial candidate values ​​as the initial settings for automatic adjustment.

[0024] Preferably, the test operating unit 35 provides a start button to initiate the test operation as soon as the user is ready to observe the test operation, a stop button to stop the test operation if the user detects an anomaly during the test operation, and a user interface that displays a completion message to notify the user when the test operation is complete.

[0025] If the initial setting value release unit 33 has not approved the use of the initial setting value candidates, the user correction unit 36 ​​prompts the user to correct the initial setting value candidates or the settings of the adjustment device 20 (the adjustment execution unit 21 and the machine learning unit 22). Therefore, the user correction unit 36 ​​provides a user interface that displays a screen allowing the user to edit the initial setting value candidates and the settings of the adjustment device 20.When the user has completed the correction, the user correction unit 36 ​​transmits the corrected settings to the adjustment device 20 and requests the initial setting value release unit 33 to approve the use of the corrected initial setting value candidates, or instead of the initial setting value release unit 33, approves the use of the corrected initial setting value candidates and causes the initial setting value transmission unit 34 to transmit the corrected initial setting value candidates to the adjustment device 20.

[0026] As described above, the servo system 1, for example, reads the setting values ​​used in the automatic adjustment of other servo control devices via the initial setting value candidate read unit 31, determines whether the settings read by the initial setting value release unit 33 are reusable as initial setting values ​​of the adjustment device 20, and optimizes the setting values ​​of the reusable parameter set and the automatic adjustment program as initial setting values ​​for the servo control device 10 by means of the adjustment device 20. Therefore, the servo system 1 can prevent potential problems that may arise from performing automatic adjustments with unsuitable settings and can perform the automatic parameter adjustment appropriately.

[0027] Although the embodiments of the present disclosure have been described above, the present invention is not limited to the embodiments described above. The effects described in the embodiments above are merely examples of the preferred effects of the present invention, and the effects of the present invention are not limited to those described in the embodiments above.

[0028] The servo system according to the present disclosure may not include a servo control device or a servo motor and may be configured to automatically adjust the parameters of an external servo control device. The adjustment aid device according to the present disclosure may not include some or all of the previous initial setting value acquisition unit, the test operating unit 35, and the user correction unit. Explanation of reference symbols 1 servo system 10 Servo control device 20 Adjustment device 21 Adjustment execution unit 22 Machine learning unit 30 Adjustment aid device 31 Initial setting value candidate reading unit 32 Recording unit for previous initial setting values 33 Initial setting value release unit 34 Initial setting value transfer unit 35 Test operating unit 36 User correction unit 40 servo motor QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 2010 / 119605

[0003]

Claims

[1] An adjustment aid device that provides an initial setting value for automatic adjustment for an adjustment device that automatically adjusts a parameter of a servo control device that controls a servo motor by operating the servo control device in accordance with an automatic adjustment program, the adjustment aid device comprising: an initial setting value candidate reading unit that reads an initial setting value candidate, which is the initial setting value for automatic adjustment, from an external source; an initial setting value approval unit that determines whether the use of the initial setting value candidate should be approved; and an initial setting value transmission unit that transmits the initial setting value candidate, the use of which has been approved by the initial setting value enabling unit, to the adjusting device. [2] The adjustment aid device according to claim 1, wherein the initial setting value enabling unit checks whether the initial setting value candidate is created for the same model as the servo control device. [3] The adjustment aid device according to claim 1 or 2, further comprising a past initial setting value acquiring unit that acquires a past initial setting value that is an initial setting value used during a past automatic adjustment by the adjustment device, wherein the initial setting value enabling unit checks whether the initial setting value candidate matches the past initial setting value. [4] The adjustment aid device according to claim 3, wherein the initial setting value enabling unit further checks the time elapsed since the last initial setting value matching the initial setting value candidate was used in the servo control device. [5] The adjustment aid device according to any one of claims 1 to 4 further comprising a test operation unit that causes the servo control device to perform a test operation to enable a user to determine the suitability of the initial setting value candidate when the initial setting value enabling unit has not approved the use of the initial setting value candidate. [6] The adjustment aid device according to any one of claims 1 to 5, further comprising a user correction unit that prompts the user to correct the initial setting value candidate or a setting of the adjustment device when the initial setting value enabling unit has not approved the use of the initial setting value candidate. [7] A servo system comprising: the adjustment aid device according to one of claims 1 to 6; and an adjusting device that receives the initial setting value candidate from the initial setting value transmission unit and automatically adjusts the parameter by executing an automatic adjustment program. [8] The servo system according to claim 7, wherein the adjusting device automatically adjusts the parameter by machine learning.

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