Method and apparatus for processing

Abstract

To make it possible to calculate a frequency characteristic of an object of control itself and thereby simulate the frequency characteristic of the object of control, even where a transfer function of a compensator is unknown.SOLUTION: A method for processing relating to a frequency characteristic of an object of control includes: acquiring connection information about a route in a control structure including one or a plurality of compensators for feedback-controlling an object of control and a feedback system; identifying, in the control structure, a hierarchical structure of one or a plurality of feedback routes included in the feedback system and a connection position of one or a plurality of compensators in the hierarchical structure, based on connection information acquired; acquiring a predetermined loop-frequency characteristic of the object of control, based on a response result of the object of control obtained by inputting a predetermined input signal to the object of control through the control structure; and calculating a frequency characteristic of the object of control itself, based on the predetermined loop-frequency characteristic of the object of control and the hierarchical structure and the connection position of the one or plurality of compensators in the control structure.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a processing method and a processing apparatus for calculating the frequency characteristics of a control target of feedback control.

Background Art

[0002] In order to construct a servo system for servo-controlling a load, the frequency response of the servo system may be measured. Generally, in consideration of the measured frequency response, gain adjustment of control loops such as the speed loop and the position loop of the servo system is performed. For example, in the technique disclosed in Patent Document 1, by changing the gain of the control loop or the like and performing control to actually test-operate the servo driver, or performing control to test-operate by simulation using a virtual model, the performance index of the control by the servo driver is calculated according to these operation results, and the gain of the control loop is determined with reference to it.

[0003] Patent Document 2 discloses a technique in which an impulse response is calculated from the frequency response of a control target of feedback control, and a response simulation of the control target by a plurality of control parameters is performed using the impulse response, and the result is used for gain adjustment of the control loop. Patent Document 3 also discloses a technique related to a response simulation of a control target that can be used for gain adjustment of a control loop.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a driver having a control structure configured to perform feedback control on a control target, in order to suitably implement the feedback control of the control target, it is necessary to determine control parameters such as a gain suitable for the control. And, in order to determine the control parameters, simulation results regarding changes in the frequency characteristics of the control target obtained by changing the control parameters can be used. In order to perform such a simulation, it is necessary to specify the frequency characteristics of the control target itself.

[0006] The frequency characteristics of the control target used for the simulation of the frequency characteristics can be obtained, for example, by removing the frequency characteristics of the compensator from the closed-loop characteristics including the control target and the compensator. However, for this purpose, it is necessary to know the transfer function of the compensator. The desirable frequency characteristics of the compensator are set according to the control target. In particular, when performing high-precision feedback control of the control target, the user may customize the transfer function (control algorithm) of the compensator. In such a case, it is difficult to grasp the specific content of the transfer function of the compensator for the simulation of the frequency characteristics, and thus there is a possibility that the determination of suitable control parameters may be hindered.

[0007] The present disclosure has been made in view of such problems, and an object thereof is to provide a technique that can calculate the frequency characteristics of the control target itself even when the transfer function of the compensator is not known, thereby enabling simulation of the frequency characteristics of the control target.

Means for Solving the Problems

[0008] In the present disclosure, in order to solve the above problems, based on a predetermined loop frequency characteristic of the control target obtained by inputting a predetermined input signal to the control target via a control structure, and the hierarchical structure in the control structure and the connection position of the compensator, a configuration for calculating the frequency characteristics of the control target itself is adopted. Thereby, even when the transfer function of the compensator cannot be directly grasped, it becomes possible to calculate the frequency characteristics of the control target itself.

[0009] Specifically, the present disclosure relates to a processing method related to the frequency characteristics of a control target, and includes: a first step of obtaining connection information regarding a path in a control structure including one or more compensators and a feedback system for performing feedback control on the control target; a second step of specifying, based on the obtained connection information, a hierarchical structure of one or more feedback paths included in the feedback system and connection positions of the one or more compensators in the hierarchical structure in the control structure; a third step of obtaining a predetermined loop frequency characteristic of the control target based on a response result of the control target obtained by inputting a predetermined input signal to the control target through the control structure; and a fourth step of calculating a frequency characteristic of the control target itself based on the predetermined loop frequency characteristic of the control target, the hierarchical structure in the control structure, and the connection positions of the one or more compensators.

[0010] In the feedback control of a control target, it is important to understand how the control structure that controls the feedback control is configured, that is, how paths such as the forward path and the feedback path in the control structure are formed. Therefore, in the first step, connection information regarding the path in the control structure is obtained. Generally, in a control structure related to feedback control, according to the purpose of the feedback control of the control target, the feedback paths included in the feedback system are hierarchically constructed. Moreover, compensators required on each hierarchical feedback path are arranged. Therefore, in the second step, from the connection information, the hierarchical structure of the feedback path and the connection positions of the compensators in each hierarchical structure are specified. By specifying these, it becomes possible to understand the function (action) of the compensators in the control structure. That is, information regarding the hierarchical structure of the feedback path and the connection positions of the compensators in each hierarchical structure is useful information in the feedback control of the control target.

[0011] Then, in the third step, actually, a predetermined input signal is input to the controlled object via the control structure, and a predetermined loop frequency characteristic of the controlled object is obtained. The predetermined loop frequency characteristic may be a closed-loop frequency characteristic or an open-loop frequency characteristic. Examples of the predetermined input signal include a so-called Swept-sine signal that at least includes the frequency range in the feedback control by the control structure. Considering that the predetermined loop frequency characteristic obtained in the third step reflects the transfer function by the control structure, in the fourth step, the frequency characteristic of the controlled object itself is calculated in consideration of the predetermined loop frequency characteristic, the hierarchical structure of the feedback path obtained in the third step, and the information regarding the connection position of the compensator in each hierarchical structure.

[0012] Thus, according to the processing method of the present application, by focusing on the hierarchical structure of the feedback path and the information regarding the connection position of the compensator in each hierarchical structure, it becomes possible to calculate the frequency characteristic of the controlled object itself even when the transfer function of the compensator itself is not grasped. This enables the simulation of the frequency characteristic of the controlled object corresponding to various control conditions and is extremely useful for those skilled in the art.

[0013] Here, in the above processing method, in the fourth step, based on the connection position of the one or more compensators in each of the feedback paths included in the hierarchical structure, a predetermined process for calculating the open-loop frequency characteristic related to the feedback path is performed on the feed By repeating in order from the outermost feedback path to the innermost feedback path included in the feedback system, the frequency characteristics of the control target itself included in the innermost feedback path may be calculated. That is, considering that the control structure has a hierarchical structure including each feedback path, a predetermined process of calculating the open-loop frequency characteristics related to the feedback path is performed from the outside to the inside of the hierarchical structure. As a result, finally, the open-loop frequency characteristics related to the innermost feedback path are calculated, and thus the frequency characteristics of the control target itself included therein can be calculated.

[0014] Here, in the processing method up to the above, when a feedforward system for feedforward control of the control target is connected to the control structure, in the first step, further, connection information regarding the feedforward system is acquired, and in the second step, further, based on the connection information regarding the feedforward system, a preprocessing block obtained by equivalently converting the feedforward system to a predetermined pre-position in the control structure is specified in place of the feedforward system, and in the third step, based on the response result of the control target obtained by inputting the predetermined input signal to the control target via the control structure and the feedforward system, the predetermined loop frequency characteristics of the control target are acquired, and in the fourth step, based on the hierarchical structure in the control structure, the connection positions of the one or more compensators and the preprocessing block, the frequency characteristics of the control target itself may be calculated.

[0015] When the control structure includes a feed-forward system in this way, in the second step, a pre-processing block that is an equivalent conversion of the feed-forward system is identified. The pre-processing block is a block arranged at a predetermined position that is immediately upstream of the control structure where a command is first input to the control structure excluding the feed-forward system. Then, when comparing the case where a command is input to the control structure excluding the feed-forward system through the pre-processing block and the case where the feed-forward system is left as it is originally, the pre-processing block is identified to be control-equivalent. Then, by performing the processing of the third step and the fourth step above, even when the control structure includes a feed-forward system and the transfer function of the compensator itself is not grasped, it becomes possible to calculate the frequency characteristics of the control object itself.

[0016] And, in the above processing method, in the second step, the feed-forward system may be decomposed into one or more feed-forward sub-models equivalently at each of one or more connection points where the feed-forward system is connected to the control structure, and the pre-processing block may be identified based on the one or more feed-forward sub-models and the hierarchical structure and the connection positions of the one or more compensators in the control structure. That is, within the range where the equivalence of the feed-forward system can be maintained, the identification of the pre-processing block becomes easy by means of the decomposition into feed-forward sub-models.

[0017] More specifically, in the above processing method, when the feedforward system is configured to provide a signal corresponding to a position command, a signal corresponding to a speed command, and a signal corresponding to a torque command at each of a first connection point, a second connection point, and a third connection point included in the plurality of connection points, the one or more feedforward sub-models may include a position model of the controlled object corresponding to the first connection point, a speed model derived from the position model corresponding to the second connection point, and a torque model derived from the position model corresponding to the third connection point. Note that how to decompose into feedforward sub-models can be appropriately selected according to the specific purpose of feedback control by the control structure, etc.

[0018] Here, the processing method up to the above includes control related to the frequency characteristics of the one or more compensators a fifth step of changing control parameters related to the frequency characteristics of the one or more compensators, and based on the frequency characteristics of the controlled object itself calculated in the fourth step, the one or more compensators whose frequency characteristics are changed in the fifth step, and the control structure including the feedback system, a sixth step of obtaining the closed-loop frequency characteristics of the new controlled object may be further included. With this configuration, by using the frequency characteristics of the controlled object itself calculated in the fourth step, it becomes possible to grasp what characteristics can be obtained in the feedback control of the controlled object under new control conditions (control parameters of a new compensator) in the control structure, that is, the closed-loop frequency characteristics of the new controlled object. This is useful for exploring more preferable control conditions for the controlled object.

[0019] Further, in the above processing method, in the fifth step, the control parameter may be changed multiple times, and in the sixth step, corresponding to each of the control parameters changed in the fifth step, the closed-loop frequency characteristics of the new control target may be obtained multiple times. Furthermore, the processing method may further include a seventh step of associating and displaying the multiple control parameters with predetermined information included in the multiple closed-loop frequency characteristics of the new control target. With this configuration, in the seventh step, it becomes easy to compare multiple control conditions with the corresponding predetermined information, and it becomes easier to search for more preferable control conditions for the control target. Note that the predetermined information can be appropriately selected as long as it is information for determining the right or wrong of the feedback control result of the control target, and examples thereof include peak gain, gain margin, phase margin, etc. on the Bode diagram.

[0020] Further, in the above processing method, in the fifth step, the control parameter may be changed multiple times, and in the sixth step, corresponding to each of the control parameters changed in the fifth step, the closed-loop frequency characteristics of the new control target may be obtained multiple times. Furthermore, the processing method may further include an eighth step of determining the control parameter to be set in the one or more compensators based on information associating the multiple control parameters with predetermined information included in the multiple closed-loop frequency characteristics of the new control target. With this configuration, in the eighth step, it becomes easier to search for more preferable control conditions for the control target based on multiple control conditions and the corresponding predetermined information. The predetermined information is as described above.

[0021] Here, the processing method up to the above may further include a ninth step of changing a control parameter related to the frequency characteristics of the one or more compensators, and the frequency characteristics of the control target calculated in the fourth step, and the one or more compensators whose frequency characteristics are changed in the ninth step, the control structure including the feedback system, and the feedforward system. And a tenth step of obtaining a new closed-loop frequency characteristic of the control target. That is, even when the control structure includes a feedback system, the frequency characteristics of the control target itself calculated in the fourth step are used in the same manner as when it does not include a feedback system. Under the new control conditions (control parameters of the new compensator) in the control structure including the feedforward system, it is possible to grasp what characteristics can be obtained in the feedback control of the control target, that is, the new closed-loop frequency characteristic of the control target. This is useful for searching for more preferable control conditions of the control target.

[0022] Further, in the ninth step of the above processing method, the control parameter may be changed multiple times, and in the tenth step, corresponding to each of the control parameters changed in the ninth step, the new closed-loop frequency characteristic of the control target may be obtained multiple times. Furthermore, the processing method may further include an eleventh step of associating and displaying the plurality of control parameters and predetermined information included in the plurality of new closed-loop frequency characteristics of the control target. With this configuration, in the eleventh step, it becomes easy to compare a plurality of control conditions with the corresponding predetermined information, and it becomes easier to search for more preferable control conditions of the control target. Note that the predetermined information is as described above.

[0023] Further, in the above processing method, in the ninth step, the control parameter may be changed multiple times, and in the tenth step, corresponding to each of the control parameters changed in the ninth step, the closed-loop frequency characteristics of the new control target may be obtained multiple times. Then, the processing method may further include a twelfth step of determining the control parameter to be set in the one or more compensators based on information associating the multiple control parameters with predetermined information included in the multiple closed-loop frequency characteristics of the new control target. With this configuration, in the twelfth step, it becomes easier to search for more preferable control conditions of the control target based on the multiple control conditions and the corresponding predetermined information. The predetermined information is as described above.

[0024] Here, it is also possible to capture the present application disclosure from the aspect of a processing device that performs processing related to the frequency characteristics of a control target. That is, the processing device includes a first acquisition unit that acquires connection information regarding a path in a control structure including one or more compensators for feedback control of the control target and a feedback system, a specifying unit that specifies a hierarchical structure of one or more feedback paths included in the feedback system in the control structure and connection positions of the one or more compensators in the hierarchical structure based on the acquired connection information, a second acquisition unit that acquires predetermined loop frequency characteristics of the control target based on a response result of the control target obtained by inputting a predetermined input signal to the control target through the control structure, and a calculation unit that calculates frequency characteristics of the control target itself based on the predetermined loop frequency characteristics of the control target and the hierarchical structure and connection positions of the one or more compensators in the control structure. And the technical idea disclosed for the above processing method can also be applied to the above processing device as long as there is no technical conflict.

[0025] For example, the processing device may further include a changing unit that changes a control parameter related to the frequency characteristics of the one or more compensators, a frequency characteristic of the control target itself calculated by the calculating unit, and based on the one or more compensators whose frequency characteristics have been changed by the changing unit and the control structure including the feedback system, a third acquisition unit that acquires a closed-loop frequency characteristic of the new control target.

[0026] Further, in the processing device, the changing unit may change the control parameter a plurality of times, and the third acquisition unit may acquire the closed-loop frequency characteristic of the new control target a plurality of times corresponding to each of the control parameters changed by the changing unit. In that case, the processing device may further include a determining unit that determines the control parameter to be set for the one or more compensators based on information associating the plurality of control parameters with predetermined information included in the plurality of closed-loop frequency characteristics of the new control target.

Effects of the Invention

[0027] Even when the transfer function of the compensator is not known, the frequency characteristic of the control target itself can be calculated, whereby simulation of the frequency characteristic of the control target becomes possible.

Brief Description of the Drawings

[0028]

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MODE FOR CARRYING OUT THE INVENTION

[0029] <First Embodiment> An application example of the processing method and processing device of the present application will be described below with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a system including a processing device in which processing related to the frequency characteristics of a control target 6 is performed. The system includes a network 1, a motor 2, a load device 3, a servo driver 4, and a PLC (Programmable Logic Controller) 5 which is a host device of the servo driver 4. The system drives and controls the load device 3 together with the motor 2 It is a system for [purpose]. The motor 2 and the load device 3 are control targets 6 controlled by the system. Here, as the load device 3, various mechanical devices (for example, the arm of an industrial robot or a conveying device) can be exemplified, and the motor 2 is incorporated into the load device 3 as an actuator that drives the load device 3. For example, the motor 2 is an AC servo motor. An encoder (not shown) is attached to the motor 2, and a signal regarding the operation of the motor 2 is fed back and transmitted to the control unit 40 of the servo driver 4 by the encoder. The parameter signal transmitted by this feedback includes, for example, position information about the rotational position (angle) of the rotating shaft of the motor 2, information about the rotational speed of the rotating shaft, and the like.

[0030] The control unit 40 of the servo driver 4 receives an operation command signal regarding the operation (motion) of the motor 2 from the PLC 5 via the network 1, and also receives a feedback signal output from the encoder connected to the motor 2. Based on the operation command signal from the PLC 5 and the feedback signal from the encoder, the control unit 40 performs servo control regarding the drive of the motor 2, that is, calculates a command value regarding the operation of the motor 2. In the servo driver 4, based on the command value generated by the control unit 40, a drive current is supplied to the motor 2 so that the operation of the motor 2 follows the command value. Note that the supply current uses the AC power sent from the AC power supply 7 to the servo driver 4. In this embodiment, the servo driver 4 is of a type that receives three-phase alternating current, but it may also be of a type that receives single-phase alternating current.

[0031] Here, as shown in FIG. 2, the control unit 40 has a control structure related to the feedback control of the control target 6. In this control structure, a servo system in which feedback control using various compensators is performed is formed. Specifically, the control unit 40 includes a position compensator 41, a speed compensator 42, and a filter 43. The position compensator 41 performs, for example, proportional-integral control (PI control). Specifically, the integral component of the position deviation, which is the deviation between the position command notified from the PLC 5 and the detected position based on the encoder of the motor 2, is multiplied by the position integral gain Kpi, and the resulting calculation result and the sum of the position deviation are multiplied by the position proportional gain Kpp to calculate the speed command. Regarding the position compensator 41, depending on the physical characteristics (such as inertia) of the control target 6, the control purpose, etc. The user can appropriately change the position integral gain Kpi and the position proportional gain Kpp. Furthermore, the user can also appropriately design the transfer function of the position compensator 41 (including the above gains and represented by userCp). Specifically, userCp is a function that takes at least the position proportional gain Kpp and the position integral gain Kpi as arguments, and the user can arbitrarily design this function. Also, the position compensator 41 may perform P control instead of PI control. In this case, the transfer function userCp of the position compensator 41 is a function that takes at least the position proportional gain Kpp as an argument.

[0032] Next, the speed compensator 42 performs, for example, proportional-integral control (PI control). Specifically, the torque command is calculated by multiplying the integral component of the speed deviation, which is the deviation between the speed command calculated by the position compensator 41 and the detected speed, by the speed integral gain Kvi, and then multiplying the sum of the calculated result and the speed deviation by the speed proportional gain Kvp. Similar to the position compensator 41, the user can change the speed proportional gain Kvp and the speed integral gain Kvi for the speed compensator 42. Furthermore, its transfer function (including the above gains and represented by userCv) is also configured to be changeable as appropriate. Specifically, userCv is a function that takes at least the speed proportional gain Kvp and the speed integral gain Kvi as arguments, and the user can arbitrarily design this function. Also, the speed compensator 42 may perform P control instead of PI control. In this case, the transfer function userCv of the position compensator 41 is a function that takes at least the speed proportional gain Kvp as an argument.

[0033] Next, the filter 43 performs a predetermined filtering process on the torque command calculated by the speed compensator 42 and outputs a current command. A drive current for driving the motor 2 is generated according to the current command. The filter 43 includes a filter for the torque command (a first-order low-pass filter) and one or more notch filters. The control parameters thereof, such as the cut-off frequency and the center frequency related to the performance of the filter, can be adjusted by the user. In this way, for the filter 43, the transfer function NF is designed so that a predetermined filtering function is exerted by setting the control parameters (cut-off frequency and center frequency) by the user. That is, the transfer function NF of the filter 43 is a function that takes the cut-off frequency and the center frequency as arguments.

[0034] The control structure of the control unit 40 includes a speed feedback system with a speed compensator 42 and a filter 43 as forward elements. This speed feedback system includes a speed feedback path 48 for feeding back the detected speed of the motor 2 (the speed information of the motor detected by the encoder), and a compensator 44 that defines the transfer function for the speed feedback signal is set on the speed feedback path 48. In this embodiment, the transfer function (userHv) of the compensator 44 is set to 1, for example. Furthermore, the control structure of the control unit 40 includes a position feedback system with the speed feedback system and a position compensator 41 as forward elements. This position feedback system includes a position feedback path 49 for feeding back the detected position of the motor 2 (the position information of the motor detected by the encoder). With such a configured control structure, the servo driver 4 can servo-control the motor 2 to follow the position command supplied from the PLC 5.

[0035] Here, returning to FIG. 1, a processing device 10 is electrically connected to the servo driver 4. This electrical connection may be a wired connection or a wireless connection. Through this electrical connection, the processing device 10 and the servo driver 4 are configured to be able to communicate with each other. The processing device 10 is equipped with software (program) for executing an adjustment process for adjusting the above control parameters of the servo driver 4. Specifically, the processing device 10 is a computer having an arithmetic unit, a memory, etc., and software that can be executed therein is installed. And in the processing device 10, when the software is executed, the functions of the first acquisition unit 11, the second acquisition unit 12, the third acquisition unit 13, the specification unit 14, the calculation unit 15, the change unit 16, the determination unit 17, and the comparison display unit 18 are formed, and the adjustment process is executed by the cooperation of these functional units. The details of each functional unit will be described later.

[0036] Here, based on FIG. 3, the adjustment process by the processing device 10 will be described. FIG. 3 is a flowchart showing the flow (processing method) of the process by the adjustment process. The adjustment process is a process for adjusting the control parameter in the control unit 40 as described above. Basically, the adjustment of the control parameter should be performed so that the movement of the control target 6 becomes as desired by the user. However, as described above, the transfer function of each compensator (position compensator 41, speed compensator 42) possessed by the control unit 40 can be arbitrarily designed by the user. Therefore, it becomes difficult to grasp the specific content of the transfer function from the processing device 10. In such a case, even if the frequency characteristics (hereinafter referred to as the "predetermined loop frequency characteristics" of the control target) in the state where the control target 6 is connected to the control structure can be grasped by a measurement technique such as the frequency response of the servo system according to the prior art, since the specific content of each compensator becomes unclear, it becomes difficult to grasp the frequency characteristics of the control target 6 itself, in other words, the frequency characteristics of only the control target 6. As a result, it becomes difficult to suitably simulate the predetermined loop frequency characteristics of the control target 6 when the control parameters (gains in each compensator) are appropriately changed.

[0037] Therefore, FIG. 3 shows the flow of a processing method that enables the processing device 10 to grasp the frequency characteristics of the control target 6 itself even when the transfer function of each compensator possessed by the control unit 40 cannot be grasped, and further enables the new predetermined loop frequency characteristics of the control target 6 to be suitably simulated using the result. First, in S101, the processing device 10 acquires connection information regarding the path in the control structure possessed by the control unit 40 of the servo driver 4. The acquisition process of the connection information is executed by the first acquisition unit 11. Here, the connection information is all of the path information of the control structure shown in FIG. 2. Specifically, it is information indicating that the control structure of the control unit 40 consists of a speed feedback system including the speed compensator 42 and the filter 43 as forward elements and including the speed feedback path 48, and a position feedback system including the position compensator 41 as a forward element and including the position feedback path 49. The specific data structure of the connection information is not limited to a specific structure.

[0038] Next, in S102, based on the connection information acquired in S101, the processing device 10 identifies the hierarchical structure of the feedback path in the control structure of the control unit 40 and the connection positions of the respective compensators in each hierarchical structure. This identification process is executed by the identification unit 14. Here, the hierarchical structure is a layer structure based on the feedback path in the control structure. For example, in this embodiment, since the control structure has a position feedback system on the outside and a speed feedback system on the inside, it can be said that it has two hierarchical structures based on the feedback path. And the connection positions of the respective compensators in the hierarchical structure of each feedback path specify the positional relationship in which other compensators and feedback systems are relatively connected to each compensator. For example, in the hierarchical structure corresponding to the position feedback system, the position information indicating that the position compensator 41 is located in front of the speed feedback system becomes the information for identifying the connection position of the position compensator 41. Also, in the hierarchical structure corresponding to the speed feedback system, the information indicating that the speed compensator 42 and the filter 43 are forward elements and the compensator 44 is set on the speed feedback path 48 becomes the information for identifying the connection positions of the respective compensators.

[0039] Next, in S103, the processing device 10 acquires the speed loop frequency characteristics (corresponding to the above-mentioned predetermined loop frequency characteristics) in the state where the control target 6 is connected to the control structure, for example, the speed closed-loop frequency characteristics of the control target 6. This acquisition process is executed by the second acquisition unit 12. Specifically, a so-called Swepts line signal including at least the frequency range in the feedback control by the control structure is applied from the processing device 10 to the motor 2 through the servo driver 4, and FFT processing or the like is performed on the behavior of the control target 6 at that time, whereby the speed closed-loop frequency characteristics of the control target 6 are acquired. Also, in S103, the second acquisition unit 12 may acquire the speed open-loop frequency characteristics of the control target 6. ine signal is applied, and FFT processing or the like is performed on the behavior of the control target 6 at that time so that the speed closed-loop frequency characteristics of the control target 6 are acquired. Also, in S103, the second acquisition unit 12 may acquire the speed open-loop frequency characteristics of the control target 6.

[0040] Next, in S104, the processing device 10 calculates the frequency characteristics of the control target 6 itself. This calculation process is executed by the calculation unit 15. A specific example of the calculation process by the calculation unit 15 will be described based on this embodiment. Here, let the speed closed-loop frequency characteristic of the control target 6 acquired in S103 be Gv. Also, regarding the connection position of the speed compensator 42 in the hierarchical structure corresponding to the speed feedback system specified in S102, it is a forward element in the speed feedback system and is located in front of the filter 43 as other forward elements. As described above, for the filter 43, since the control parameters (cutoff frequency, center frequency, etc.) are set by the user so that a predetermined filtering function is exhibited, the processing device 10 can grasp the transfer function NF by the filter 43 by grasping these control parameters. On the other hand, regarding the speed compensator 42, although the processing device 10 can grasp the gain set by the user, if the user designs the transfer function userCv of the speed compensator 42 itself, the specific content of the transfer function userCv cannot be grasped.

[0041] However, as described above, since userCv is a function that takes the speed proportional gain Kvp and the speed integral gain Kvi as arguments, even if the transfer function cannot be specifically grasped, by calling the function and considering the connection position of the speed compensator 42 in the hierarchical structure corresponding to the speed feedback system, the frequency characteristic P of the control target 6 itself can be calculated. That is, based on the speed closed-loop frequency characteristic Gv of the control target 6, the speed open-loop frequency characteristic Lv of the control target 6 is expressed by the following formula 1. Lv = Gv / (1 - Gv · userHv) ···(Formula 1) Next, based on the relative positional relationship of the speed compensator 42, the filter 43, and the control target 6 in the hierarchical structure corresponding to the speed feedback system, the frequency characteristic P of the control target 6 itself is expressed by the following formula 2. P = Lv / userCv / NF ···(Formula 2)

[0042] Thus, in S104, even if the transfer function userCv of the speed compensator 42 is unknown, the frequency characteristics P of the control target 6 itself can be calculated. As a result, simulation of the new predetermined loop frequency characteristics of the control target 6 when different control parameters (gains of each compensator) are set in the control structure becomes possible. Therefore, in the subsequent S105, the processing device 10 changes various gains set for each compensator in the control structure with respect to the connection information in the control structure acquired in S101. For example, the speed integral gain Kvi and the speed proportional gain Kvp set for the speed compensator 42 are changed. The process of S105 changes the information regarding the control structure held by the processing device 10 and is executed by the change unit 16.

[0043] Then, in S106, the processing device 10 performs a simulation regarding the control target 6 using the changed control parameters, and acquires frequency characteristics such as the speed closed-loop frequency characteristics and the speed open-loop frequency characteristics of the new control target 6. The acquisition process is executed by the third acquisition unit 13. It can be understood that the simulation is realizable based on the above formulas 1 and 2. That is, for the transfer function of the speed compensator 42 with the newly changed control parameters, the changed transfer function userCv' can be called with the new control parameters as arguments. Therefore, the speed open-loop frequency characteristics Lv' of the new control target 6 are represented by the following formula 3, and the speed closed-loop frequency characteristics Gv' of the new control target 6 are represented by the following formula 4. Lv’=P·userCv’·NF ···(Formula 3) Gv’=Lv’ / (1+Lv’·userHv) ···(Formula 4)

[0044] <Modification Example 1 in Embodiment 1> Next, a modified example of the adjustment process by the processing device 10 will be described with reference to FIG. 4. The adjustment process shown in FIG. 4 is different from the adjustment process shown in FIG. 3 in that the processes of S107 and S108 are added, and the processes of S101 to S106 are common. Therefore, the detailed description of the common points between the two will be omitted, and the different points will be mentioned. In S107 after the process of S106, it is determined whether the processes of S105 to S106 have been executed a predetermined number of times. This predetermined number is a preset value. This means that the process does not proceed to S108 until the processes of S105 to S106 have been executed a predetermined number of times. If the determination in S107 is affirmative, the process proceeds to S108, and if the determination is negative, the processes after S105 are repeated again.

[0045] Then, in S108, the processing device 10 associates and compares and displays the control parameter obtained by the processes of S105 to S106 performed a predetermined number of times with predetermined information included in the speed closed-loop frequency characteristics or the like of the new control object 6 corresponding to the control parameter. The comparison and display process is executed by the comparison display unit 18. Here, as the predetermined information, peak gain, gain margin, phase margin, etc. derived from the speed closed-loop frequency characteristics or the like can be exemplified. Also, the comparison and display by the comparison display unit 18 can adopt various forms. For example, as shown in FIG. 5, the peak gain or the like, which is the predetermined information corresponding to the control parameter for a predetermined number of times, may be arranged and displayed in the form of a map. In the map, with the horizontal axis being the speed proportional gain and the vertical axis being the value of the speed integral gain, the height or low of the peak gain or the like in each combination of gains is represented by colors or symbols on the map. By expressing in the form of a map in this way, it becomes easier for the user to visually judge the situation. As another method, the predetermined information corresponding to the control parameter for a predetermined number of times may be expressed in a table format.

[0046] <Modified Example 2 in Embodiment 1> Next, a modified example of the adjustment process by the processing device 10 will be described with reference to FIG. 6. The adjustment process shown in FIG. 6 is different from the adjustment process shown in FIG. 3 in that the processes of S107 and S110 are added, and the processes of S101 to S106 are common. Therefore, detailed descriptions of the common points between the two will be omitted, and the different points will be mentioned. In S107 after the process of S106, it is determined whether the processes of S105 to S106 have been executed a predetermined number of times. This predetermined number is a preset value. This means that the process does not proceed to S110 until the processes of S105 to S106 have been executed a predetermined number of times. If an affirmative determination is made in S107, the process proceeds to S110, and if a negative determination is made, the processes after S105 are repeated again.

[0047] Then, in S110, the processing device 10 determines the optimal control parameter to be set for the compensator in which the control parameter was changed in S105 based on the information associating the control parameter obtained in the processes of S105 to S106 performed a predetermined number of times with the predetermined information included in the speed closed-loop frequency characteristics of the new control target 6 corresponding to the control parameter. This determination process is executed by the determination unit 17. As the determination process by the determination unit 17, it may be determined based on a preset performance index. For example, when the purpose of the feedback control by the control structure shown in FIG. 2 is trajectory tracking performance, there is a substantially positive correlation between the magnitudes of the speed proportional gain and the speed integral gain. Therefore, among the combinations of the speed proportional gain and the speed integral gain in which the peak gain does not exceed the specified value, the largest speed integral gain among the largest speed proportional gains may be determined as the optimal value of the combination of the two gains. As another method, a predetermined evaluation function with the two gains as arguments may be preset in advance, and the combination of the speed proportional gain and the speed integral gain at which the value of the evaluation function becomes the maximum value may be determined as the optimal value.

[0048] Then, as shown in FIG. 7, the optimum values of the combination of the speed proportional gain and the speed integral gain determined by the determination unit 17 may be displayed superimposed on the map shown in the first modification. By displaying in this way, it is possible to give the user a sense of acceptance regarding the combination of the determined speed proportional gain and speed integral gain.

[0049] <Second Embodiment> As shown in FIG. 8, the control unit 40 of the present embodiment has a control structure related to the feedback control of the control target 6, and in this control structure, a servo system in which feedback control using various compensators is performed is formed. The control structure shown in FIG. 8 is different from the control structure shown in FIG. 2 in that it has a two-degree-of-freedom control feedforward model (hereinafter simply referred to as the "feedforward model") 80, and in other configurations, it is basically the same as the control structure shown in FIG. 2. Therefore, for the configurations that are substantially the same as those shown in FIG. 2 in the control structure shown in FIG. 8, the same reference numerals are given and the detailed description thereof is omitted. Hereinafter, the description will focus on the above differences.

[0050] In the control structure shown in FIG. 8, the output related to the position (hereinafter referred to as the "position output") among the outputs of the feedforward model 80 is sent to the input side of the position compensator 41. As a result, the deviation between the position output of the feedforward model 80 and the detected position based on the encoder of the motor 2 is input to the position compensator 41. Further, the output related to the speed (hereinafter referred to as the "speed output") among the outputs of the feedforward model 80 is sent to the input side of the speed compensator 42. As a result, the deviation, which is the sum of the speed output of the feedforward model 80 and the speed command calculated by the position compensator 41 and the detected speed, is input to the speed compensator 42. Further, the output related to the torque (hereinafter referred to as the "torque output") among the outputs of the feedforward model 80 is sent to the input side of the filter 43. As a result, the sum of the torque output of the feedforward model 80 and the torque command calculated by the speed compensator 42 is input to the filter 43.

[0051] With the control structure configured in this way, the servo driver 4 can servo-control the motor 2 to follow the position command supplied from the PLC 5. And even in such a case, the adjustment process by the processing device 10 is realized. Hereinafter, the adjustment process in the present embodiment will be described with reference to FIG. 9.

[0052] First, in S201, in the same manner as in S101, the first acquisition unit 11 acquires connection information regarding the path in the control structure of the control unit 40 of the servo driver 4. The connection information in this embodiment is all the path information of the control structure shown in FIG. 8. Specifically, it indicates that the control structure of the control unit 40 consists of a speed feedback system with a speed compensator 42 and a filter 43 as forward elements and including a speed feedback path 48, and a position feedback system with the speed feedback system and a position compensator 41 as forward elements and including a position feedback path 49. Further, it is shown that a feedforward model 80 is arranged and its position output, speed output, and torque output are respectively fed into the input sides of the position compensator 41, the speed compensator 42, and the filter 43. The specific data structure of the connection information is not limited to a specific structure.

[0053] Next, in S202, in the same manner as in S102, the specifying unit 14 specifies the hierarchical structure of the feedback path in the control structure of the control unit 40 and the connection positions of the respective compensators in each hierarchical structure based on the connection information acquired in S201. When the control structure has a feedforward model 80 as in the present embodiment, it is difficult to specify the hierarchical structure based on the feedback path as it is. Therefore, the specifying unit 14 specifies a preprocessing block 500 obtained by equivalently converting the feedforward model 80 to a predetermined front position in the control structure. The specification of this preprocessing block 500 will be described with reference to FIGS. 10 and 11. will be described below.

[0054] First, as shown in FIG. 10, the specific part 14 decomposes the feedforward model 80 into three equivalent feedforward submodels, namely, the first submodel 51, the second submodel 52, and the third submodel 53, at three connection points where the feedforward model 80 is connected to the control structure, that is, the connection point on the input side of the position compensator 41, the connection point on the input side of the speed compensator 42, and the connection point on the input side of the filter 43, respectively.

[0055] The transfer functions of the first submodel 51, the second submodel 52, and the third submodel 53 are represented by Gmdlpos, Gmdlvel, and Gmdltrq, respectively. Considering the purpose of feedback control by the control structure with the feedforward model 80 and based on the fact that the setting of the transfer function of each submodel is basically set by the user, the specific part 14 may execute by querying the user and accepting the answer. As another method, when the feedforward model 80 is given as the position response model userModel by the user, the transfer functions Gmdlpos, Gmdlvel, and Gmdltrq of the first submodel 51, the second submodel 52, and the third submodel 53 may be set as follows. Gmdlpos = userModel Gmdlvel = Gmdlpos·s Gmdltrq = Gmdlpos·s·s·J (s is the Laplace operator. J is the inertia of the controlled object 6.)

[0056] Furthermore, as shown in FIG. 11, the specifying unit 14 specifies a preprocessing block 500 based on the three first small models 51, second small models 52, and third small models 53 shown in FIG. 10. The preprocessing block 500 is arranged immediately upstream of the position compensator 41 and is an equivalent conversion of the first small model 51, second small model 52, and third small model 53. The preprocessing block 500 includes a first conversion small model 510 corresponding to the first small model 51, a second conversion small model 520 corresponding to the second small model 52, and a third conversion small model 530 corresponding to the third small model 53. The outputs of the first conversion small model 510, second conversion small model 520, and third conversion small model 530 are added together to become the output of the preprocessing block 500 and are sent to the input side of the position compensator 41.

[0057] Based on the configuration and arrangement of such a preprocessing block 500, the transfer functions FFp, FFv, and FFt of the first conversion small model 510, second conversion small model 520, and third conversion small model 530 are as follows. FFp = Gmdlpos FFv = Gmdlvel / userCp FFt = Gmdltrq / userCp / userCv And the transfer function userFF of the preprocessing block 500 is as follows. userFF = FFp + FFv + FFt In this way, the specifying unit 14 can specify a preprocessing block 500 that is equivalent in control from the feedforward model 80 shown in FIG. 8.

[0058] Furthermore, in the hierarchical structure corresponding to the position feedback system, the specifying unit 14 specifies that the position compensator 41 is located in front of the speed feedback system. Also, in the hierarchical structure corresponding to the speed feedback system, the specifying unit 14 specifies that the speed compensator 42 and filter 43 are forward elements, and that the compensator 44 is set on the speed feedback path 48.

[0059] Next, in S203, in the same manner as in S103, the second acquisition unit 12 acquires the position loop frequency characteristics (corresponding to the predetermined loop frequency characteristics) in the state where the control target 6 is connected to the control structure, that is, the position closed-loop frequency characteristics of the control target 6.

[0060] Next, in S204, in the same manner as in S104, the calculation unit 15 calculates the frequency characteristics of the control target 6 itself based on the connection position in the control structure specified by the specifying unit 14. Specifically, assuming that the position closed-loop frequency characteristics of the control target 6 acquired in S203 are Gpos, first, taking into account the positional relationship between the preprocessing block 500 and the position feedback system in the control structure, the input of the position compensator 41 (that is, the position closed-loop frequency characteristics of the position feedback system) Gp from which the influence of the preprocessing block 500 is excluded is represented by the following Equation 5. Gp = Gpos / userFF ··· (Equation 5) Furthermore, taking into account the connection position in the above-described position feedback system, the position open-loop frequency characteristics Lp of the position feedback system are represented by the following Equation 6. Lp = Gp / (1 - Gp) ··· (Equation 6)

[0061] Furthermore, taking into account the connection position in the above-described speed feedback system, the speed closed-loop frequency characteristics Gv and the speed open-loop frequency characteristics Lv of the speed feedback system are represented by the following Equations 7 and 8. Gv = Lp·s / userCp ··· (Equation 7) Lv = Gv / (1 - Gv·userHv) ··· (Equation 8) And finally, the specifying unit 14 specifies the frequency characteristics P of the control target 6 itself represented by the following Equation 9. P = Lv / userCv / NF ··· (Equation 9)

[0062] Thus, in S204, even if the transfer functions userCp and userCv of the position compensator 41 and the speed compensator 42 are unknown, the frequency characteristics P of the control object 6 itself can be calculated. As a result, simulation of the new predetermined loop frequency characteristics of the control object 6 when different control parameters (gains of each compensator) are set in the control structure becomes possible. Therefore, in the subsequent S205, the change unit 16 changes various gains set for each compensator in the control structure with respect to the connection information in the control structure acquired in S201. For example, the position integral gain Kpi and the position proportional gain Kpp set for the position compensator 41 are changed. The process of S205 changes the information regarding the control structure held by the processing device 10.

[0063] Then, in S206, the third acquisition unit 13 performs simulation regarding the control object 6 using the changed control parameters, and acquires the speed closed-loop frequency characteristics of the new control object 6. Further, in S207, the third acquisition unit 13 acquires the position closed-loop frequency characteristics of the new control object 6. It can be understood that the simulation can be realized based on the above equations 5 to 9.

[0064] <Modification of the Second Embodiment> Also in the second embodiment, the process by the comparison display unit 18 shown in FIGS. 4 and 5 may be performed. Further, the process by the determination unit 17 shown in FIGS. 6 and 7 may be performed. Also, as the configuration of the feedforward model 80, it is not necessarily required to include position output, speed output, and torque output, and necessary outputs among position output, speed output, and torque output may be selected according to the purpose of feedback control. In that case, the configuration of the small model shown in FIG. 10 and the converted small model shown in FIG. 11 may be appropriately adjusted according to the result of the selection.

[0065] <Third Embodiment> In the first embodiment and the second embodiment, it is separate from the servo driver 4 and is The adjustment process shown in FIG. 3 and the like is executed by the communication-capable processing device 10. Instead of this form, the servo driver 4 itself may be configured to execute the adjustment process. In that case, the servo driver 4 will substantially include the functional units (such as the first acquisition unit 11) that the processing device 10 has.

[0066] <Appendix 1> A processing method related to the frequency characteristics of a control target (6), a first step of acquiring connection information regarding a path in a control structure including one or more compensators (41, 42) for feedback control of the control target (6) and a feedback system; a second step of specifying, based on the acquired connection information, the hierarchical structure of one or more feedback paths (48, 49) included in the feedback system in the control structure and the connection positions (41, 42) of the one or more compensators in the hierarchical structure; a third step of acquiring a predetermined loop frequency characteristic of the control target (6) based on a response result of the control target obtained by inputting a predetermined input signal to the control target (6) via the control structure; a fourth step of calculating the frequency characteristic of the control target itself based on the predetermined loop frequency characteristic of the control target (6), the hierarchical structure in the control structure, and the connection positions of the one or more compensators (41, 42); A processing method including the above. <Appendix 2> In the fourth step, an adjustment process of calculating the open-loop frequency characteristic related to the feedback path (48, 49) based on the connection positions of the one or more compensators (41, 42) in each of the feedback paths (48, 49) included in the hierarchical structure is repeated in order from the outermost feedback path (49) included in the feedback system to the innermost feedback path (48) to calculate the frequency characteristic of the control target (6) itself included in the innermost feedback path (48). The processing method according to Appendix 1. <Appendix 3> A feedforward system (80) for feedforward control of the controlled object (6) is connected to the control structure, In the first step, further, connection information regarding the feedforward system (80) is acquired, In the second step, further, based on the connection information regarding the feedforward system (80), a preprocessing block (500) obtained by equivalently converting the feedforward system to a predetermined preposition in the control structure is specified in place of the feedforward system (80), In the third step, based on the response result of the controlled object obtained by inputting the predetermined input signal to the controlled object (6) via the control structure and the feedforward system (80), the predetermined loop frequency characteristics of the controlled object (6) are acquired, In the fourth step, based on the hierarchical structure in the control structure and the connection positions of the one or more compensators (41, 42) and the preprocessing block (500), the frequency characteristics of the controlled object (6) itself are calculated, The processing method according to Appendix 1 or Appendix 2. <Appendix 4> In the second step, the feedforward system (80) is equivalently decomposed into one or more feedforward sub-models (51, 52, 53) at each of the one or more connection points where the feedforward system (80) is connected to the control structure, and based on the one or more feedforward sub-models (51, 52, 53) and the connection positions of the hierarchical structure and the one or more compensators (41, 42) in the control structure, the preprocessing block (500) is specified, The processing method according to Appendix 3. <Appendix 5> The feedforward system (80) is configured to provide a signal corresponding to a position command, a signal corresponding to a speed command, and a signal corresponding to a torque command at each of a first connection point, a second connection point, and a third connection point included in the plurality of connection points, The one or more feedforward sub-models (51, 52, 53) include a position model (51) of the controlled object corresponding to the first connection point, a speed model (52) derived from the position model (51) corresponding to the second connection point, and a torque model (53) derived from the position model (51) corresponding to the third connection point. The processing method according to Supplementary Note 4. <Supplementary Note 6> A fifth step of changing control parameters related to the frequency characteristics of the one or more compensators (41, 42); A sixth step of obtaining new closed-loop frequency characteristics of the controlled object based on the frequency characteristics of the controlled object (6) itself calculated in the fourth step, the one or more compensators whose frequency characteristics are changed in the fifth step, and the control structure including the feedback system; The processing method according to Supplementary Note 1 or Supplementary Note 2, further including the above. <Supplementary Note 7> In the fifth step, the control parameters are changed a plurality of times. In the sixth step, corresponding to each of the control parameters changed in the fifth step, the closed-loop frequency characteristics of the new controlled object (6) are obtained a plurality of times. The processing method further includes a seventh step of associating and displaying the plurality of control parameters and predetermined information included in the plurality of closed-loop frequency characteristics of the new controlled object. The processing method according to Supplementary Note 6. <Supplementary Note 8> In the fifth step, the control parameters are changed a plurality of times. In the sixth step, corresponding to each of the control parameters changed in the fifth step, the closed-loop frequency characteristics of the new controlled object (6) are obtained a plurality of times. The processing method Based on the information associating the plurality of control parameters with the predetermined information included in the closed-loop frequency characteristics of the new control object for the plurality of times, a further eighth step of determining the control parameters to be set in the one or more compensators (41, 42) is included. The processing method according to Supplementary Note 6. <Supplementary Note 9> A ninth step of changing the control parameters related to the frequency characteristics of the one or more compensators (41, 42); A tenth step of obtaining the closed-loop frequency characteristics of the new control object based on the frequency characteristics of the control object (6) calculated in the fourth step, the one or more compensators (41, 42) whose frequency characteristics are changed in the ninth step, the control structure including the feedback system, and the feedforward system (80); The processing method according to Supplementary Note 3, which further includes the above steps. <Supplementary Note 10> In the ninth step, the control parameters are changed a plurality of times. In the tenth step, the closed-loop frequency characteristics of the new control object (6) are obtained a plurality of times corresponding to each of the control parameters changed in the ninth step. The processing method further includes an eleventh step of associating and displaying the plurality of control parameters with the predetermined information included in the closed-loop frequency characteristics of the new control object (6) for the plurality of times. Furthermore, The processing method according to Supplementary Note 9. <Supplementary Note 11> In the ninth step, the control parameters are changed a plurality of times. In the tenth step, the closed-loop frequency characteristics of the new control object (6) are obtained a plurality of times corresponding to each of the control parameters changed in the ninth step. The processing method A twelfth step of determining control parameters to be set in the one or more compensators (41, 42) based on information associating the plurality of control parameters with predetermined information included in the closed-loop frequency characteristics of the new control target (6) for the plurality of times is further included. The processing method according to Supplementary Note 9. <Supplementary Note 12> A processing device (10) that performs processing related to the frequency characteristics of a control target (6), A first acquisition unit (11) that acquires connection information regarding a path in a control structure including one or more compensators (41, 42) for feedback control of the control target (6) and a feedback system; Based on the acquired connection information, a specifying unit (14) that specifies the hierarchical structure of one or more feedback paths (48, 49) included in the feedback system and the connection positions of the one or more compensators (41, 42) in the hierarchical structure in the control structure; A second acquisition unit (12) that acquires predetermined loop frequency characteristics of the control target (6) based on a response result of the control target (6) obtained by inputting a predetermined input signal to the control target (6) via the control structure; A calculation unit (15) that calculates the frequency characteristics of the control target (6) itself based on the predetermined loop frequency characteristics of the control target (6), the hierarchical structure in the control structure, and the connection positions of the one or more compensators (41, 42); A processing device including the above. <Supplementary Note 13> A changing unit (16) that changes control parameters related to the frequency characteristics of the one or more compensators (41, 42); Based on the frequency characteristics of the control target (6) itself calculated by the calculation unit (15), the one or more compensators (41, 42) whose frequency characteristics have been changed by the changing unit (16), and the control structure including the feedback system, a third acquisition unit (13) that acquires the closed-loop frequency characteristics of the new control target (6); The processing device according to Supplementary Note 12, further including the above. <Supplementary Note 14> The changing unit (16) changes the control parameter a plurality of times, The third acquisition unit (13) acquires the closed-loop frequency characteristics of the new control target (6) a plurality of times corresponding to each of the control parameters changed by the changing unit (116), The processing device (10) The processing device further includes a determination unit (17) that determines the control parameter to be set in the one or more compensators (41, 42) based on information associating the plurality of control parameters with predetermined information included in the closed-loop frequency characteristics of the plurality of new control targets (6). The processing device according to appended note 13.

Explanation of reference numerals

[0067] 1: Network 2: Motor 3: Loading device 4: Servo driver 5: PLC 11: First acquisition unit 12: Second acquisition unit 13: Third acquisition unit 14: Specifying unit 15: Calculation unit 16: Changing unit 17: Determination unit 18: Comparison display unit 41: Position compensator 42: Speed compensator 43: Filter 80: Feedforward model 500: Preprocessing block

Claims

1. A processing method related to the frequency characteristics of a control object, a first step of obtaining connection information regarding a path in a control structure including one or more compensators and a feedback system for feedback - controlling the control object; a second step of specifying, based on the obtained connection information, a hierarchical structure of one or more feedback paths included in the feedback system and connection positions of the one or more compensators in the hierarchical structure in the control structure; a third step of obtaining a predetermined loop frequency characteristic of the control object based on a response result of the control object obtained by inputting a predetermined input signal to the control object via the control structure; a fourth step of calculating the frequency characteristic of the control object itself based on the predetermined loop frequency characteristic of the control object and the hierarchical structure and connection positions of the one or more compensators in the control structure; A processing method comprising the above steps.

2. In the fourth step, by repeatedly performing, in order from the outermost feedback path to the innermost feedback path included in the feedback system, an adjustment process of calculating an open - loop frequency characteristic related to the feedback path based on the connection positions of the one or more compensators in each of the feedback paths included in the hierarchical structure, the frequency characteristic of the control object itself included in the innermost feedback path is calculated. The processing method according to Claim 1.

3. A feed - forward system for feed - forward controlling the control object is connected to the control structure, in the first step, further obtaining connection information regarding the feed - forward system, in the second step, further specifying, based on the connection information regarding the feed - forward system, a pre - processing block obtained by equivalently converting the feed - forward system to a predetermined pre - position in the control structure in place of the feed - forward system, in the third step, obtaining the predetermined loop frequency characteristic of the control object based on a response result of the control object obtained by inputting the predetermined input signal to the control object via the control structure and the feed - forward system, In the fourth step, based on the hierarchical structure in the control structure, the one or more compensators, and the connection position of the preprocessing block, calculate the frequency characteristics of the control object itself. The processing method according to claim 1 or claim 2.

4. In the second step, decompose the feedforward system into one or more equivalent feedforward sub-models at each of one or more connection points where the feedforward system is connected to the control structure, and identify the preprocessing block based on the one or more feedforward sub-models, the hierarchical structure in the control structure, and the connection position of the one or more compensators. The processing method according to claim 3.

5. The feedforward system is configured to provide a signal corresponding to a position command, a signal corresponding to a speed command, and a signal corresponding to a torque command at each of a first connection point, a second connection point, and a third connection point included in the plurality of connection points. The one or more feedforward sub-models include a position model of the control object corresponding to the first connection point, a speed model derived from the position model corresponding to the second connection point, and a torque model derived from the position model corresponding to the third connection point. The processing method according to claim 4.

6. A fifth step of changing control parameters related to the frequency characteristics of the one or more compensators; A sixth step of obtaining the closed-loop frequency characteristics of the new control object based on the frequency characteristics of the control object itself calculated in the fourth step, the one or more compensators whose frequency characteristics are changed in the fifth step, and the control structure including the feedback system. The processing method according to claim 1 or claim 2, further including the above.

7. In the fifth step, change the control parameters multiple times. In the sixth step, for each of the control parameters changed in the fifth step, obtain the closed-loop frequency characteristics of the new control object multiple times. The processing method is as follows: The processing method further includes a seventh step of associating and displaying the multiple control parameters and predetermined information included in the multiple closed-loop frequency characteristics of the new control object. The processing method according to claim 6.

8. In the fifth step, change the control parameters multiple times. In the sixth step, for each of the control parameters changed in the fifth step, obtain the closed-loop frequency characteristics of the new control target multiple times. The processing method is as follows: The method further includes an eighth step of determining the control parameters to be set for the one or more compensators based on information associating the multiple control parameters with predetermined information included in the multiple closed-loop frequency characteristics of the new control target. The processing method according to claim 6.

9. A ninth step of changing control parameters related to the frequency characteristics of the one or more compensators; A tenth step of obtaining the closed-loop frequency characteristics of the new control target based on the frequency characteristics of the control target calculated in the fourth step, the one or more compensators whose frequency characteristics are changed in the ninth step, the control structure including the feedback system, and the feedforward system. The processing method according to claim 3, further including the above steps.

10. In the ninth step, change the control parameters multiple times. In the tenth step, for each of the control parameters changed in the ninth step, obtain the closed-loop frequency characteristics of the new control target multiple times. The processing method is as follows: The method further includes an eleventh step of associating and displaying the multiple control parameters with predetermined information included in the multiple closed-loop frequency characteristics of the new control target. The processing method according to claim 9.

11. In the ninth step, change the control parameters multiple times. In the tenth step, for each of the control parameters changed in the ninth step, obtain the closed-loop frequency characteristics of the new control target multiple times. The processing method is as follows: The method further includes a twelfth step of determining the control parameters to be set for the one or more compensators based on information associating the multiple control parameters with predetermined information included in the multiple closed-loop frequency characteristics of the new control target. The processing method according to claim 9.

12. A processing device for performing processing related to the frequency characteristics of a control target, comprising: a first acquisition unit that acquires connection information regarding a path in a control structure including one or more compensators for feedback control of the control target and a feedback system. Based on the obtained connection information, a specifying unit in the control structure that specifies a hierarchical structure of one or more feedback paths included in the feedback system and connection positions of the one or more compensators in the hierarchical structure; A second acquisition unit that acquires predetermined loop frequency characteristics of the control object based on a response result of the control object obtained by inputting a predetermined input signal to the control object via the control structure; A calculation unit that calculates frequency characteristics of the control object itself based on the predetermined loop frequency characteristics of the control object, the hierarchical structure in the control structure, and the connection positions of the one or more compensators; A processing device including the above.

13. A changing unit that changes control parameters related to frequency characteristics of the one or more compensators; A third acquisition unit that acquires new closed-loop frequency characteristics of the control object based on the frequency characteristics of the control object itself calculated by the calculation unit, the one or more compensators whose frequency characteristics are changed by the changing unit, and the control structure including the feedback system; The processing device according to claim 12, further including the above.

14. The changing unit changes the control parameters a plurality of times, The third acquisition unit acquires the new closed-loop frequency characteristics of the control object a plurality of times corresponding to each of the control parameters changed by the changing unit, The processing device further includes a determination unit that determines the control parameters to be set for the one or more compensators based on information associating the plurality of control parameters with predetermined information included in the plurality of new closed-loop frequency characteristics of the control object; The processing device according to claim 13.

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