input / output devices

Abstract

An input / output device connected to a control device that controls a rotating machine provided in an electric power steering device. The input / output device comprises a target characteristic input unit that acquires a target characteristic of feedback control performed by the control device, a control constant calculation unit that calculates a control constant of the control device on the basis of the target characteristic, an evaluation result output unit that outputs an evaluation result of a feedback control system to which the control constant is applied, a communication transmission unit that transmits the control constant to the control device, and a write instruction unit that instructs the communication transmission unit to transmit the control constant.

Description

[Technical Field]

[0001] The present disclosure relates to input / output devices. [Background technology]

[0002] Patent Document 1 discloses an input / output device connected via a communication network to a control device for controlling a rotating machine provided in an electric power steering device. This input / output device calculates control constants related to inertia compensation control and viscosity compensation control performed by the control device based on mechanical constants of the electric power steering device. In this input / output device, the control constants are calculated uniquely for the mechanical constants of the electric power steering device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6129409 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in a control device for an electric power steering device, a control is sometimes applied in which the steering torque and the speed of a rotating machine are subjected to phase compensation or multiplied by a gain, and the result is output as an assist torque. In such control, the control characteristics change depending on the settings of the phase compensator and gain, so there is a high degree of freedom in designing the control constants. For example, conventional methods for calculating control constants, such as those disclosed in Patent Document 1, have been difficult to apply to a control device with such a high degree of freedom.

[0005] Furthermore, in a control device with a high degree of freedom, there are many control constants to be set in the control device, making it difficult to accurately grasp the impact of the setting values of each control constant on the characteristics of the control device. Conventionally, it was common to set the designed control constants in the control device software, then actually operate the electric power steering device and verify whether the desired target characteristics were achieved. Therefore, if the desired target characteristics were not achieved, it was necessary to adjust the control constants again and repeat the process of verifying the results through experiments. This often increased the amount of work required to adjust the control constants.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an input / output device that can reduce the number of steps required to adjust control constants. [Means for solving the problem]

[0007] The input / output device according to the present disclosure is an input / output device connected to a control device that controls a rotating machine provided in an electric power steering device, and includes a target characteristic input unit that acquires target characteristics of the feedback control performed by the control device, a control constant calculation unit that calculates a control constant of the control device based on the target characteristics, an evaluation result output unit that outputs an evaluation result of the feedback control system to which the control constant has been applied, a communication transmission unit that transmits the control constant to the control device, and a write instruction unit that instructs the communication transmission unit to transmit the control constant. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to provide an input / output device that can reduce the number of steps required to adjust control constants. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an input / output device and an electric power steering device according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing a control device according to the first embodiment. [Figure 3]1 is a block diagram showing an input / output device according to a first embodiment. [Figure 4] 4 is a diagram showing an example of a target characteristic input to a target characteristic input unit according to the first embodiment. FIG. [Figure 5] FIG. 10 is a diagram showing another example of the target characteristic input to the target characteristic input unit according to the first embodiment. [Figure 6] FIG. 4 is a diagram showing an example of an evaluation result output by an evaluation result output unit according to the first embodiment. [Figure 7] FIG. 10 is a diagram showing another example of the evaluation result output by the evaluation result output unit according to the first embodiment. [Figure 8] FIG. 10 is a block diagram showing an input / output device according to a second embodiment. [Figure 9] FIG. 10 is a diagram illustrating a power supply unit according to a second embodiment. [Figure 10] FIG. 10 is a diagram illustrating a power supply unit according to a modification of the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Embodiment 1 FIG. 1 is a diagram showing an input / output device 3A and an electric power steering device 100 according to the first embodiment. As shown in FIG. 1, the electric power steering device 100 according to this embodiment includes a steering wheel 51, a steering shaft 53, a rack and pinion gear 54, a pair of wheels 55, a tie rod 56, a rotating machine 1, a control device 2, a torque detector 22, and a rotation detector 23. The electric power steering device 100 is mounted on a vehicle. The input / output device 3A is connected to the control device 2 via a communication network NW when transmitting control constants (details of which will be described later).

[0011] The communication network NW according to this embodiment is a network that is mounted on a vehicle and connects the on-board electrical components. The on-board electrical components transmit and receive data via the communication network NW. The communication network NW is also referred to as an on-board communication network. In this embodiment, the control device 2 and the input / output device 3A are connected using the communication network NW. For example, CAN (Controller Area Network) (registered trademark), FlexRay (registered trademark), or Ethernet (registered trademark) can be used as the communication network NW. Depending on the type of communication network NW used, a cable for the communication network NW may be wired inside the vehicle.

[0012] A steering torque is applied to the steering wheel 51 by a driver (not shown) operating the steering wheel, etc. The steering shaft 53 has an input shaft 53a connected to the steering wheel 51 and an output shaft 53b connected to a rack and pinion gear 54. The input shaft 53a and the output shaft 53b are connected to each other by a torsion bar (not shown). The torsion bar is disposed inside the torque detector 22 and passes through the torque detector 22 in the axial direction. In this specification, the steering wheel 51, the steering shaft 53, and the torsion bar may be collectively referred to as the "steering".

[0013] Steering torque applied to the steering wheel 51 is transmitted to a rack (not shown) in the rack-pinion gear 54 via a torsion bar in the torque detector 22, a steering shaft 53, and a rack-and-pinion gear 54. The rack and wheels 55 are connected via a tie rod 56 and a knuckle arm 57. Therefore, when steering torque caused by steering operation is transmitted to the rack, the tie rod 56 pushes the knuckle arm 57 of one wheel 55, and the tie rod 56 pulls the knuckle arm 57 of the other wheel 55. This imparts a steering angle to the wheels 55, causing them to turn.

[0014] A voltage is applied to the rotating machine 1 by the control device 2. The rotating machine 1 generates torque according to the applied voltage. The torque (output torque) generated by the rotating machine 1 is transmitted to the steering shaft 53. The output torque of the rotating machine 1 functions as a steering assist force, reducing the steering torque that the driver must apply when steering. The rotating machine 1 may have, for example, an AC motor such as a permanent magnet synchronous motor or an induction motor, or a DC motor.

[0015] The torque detector 22 detects the steering torque applied to the steering wheel 51 by the driver. More specifically, when a steering torque is applied, a twist approximately proportional to the steering torque occurs in the torsion bar. The torque detector 22 detects the direction and angle of twist of the torsion bar. The torque detector 22 converts the detected twist angle into a steering torque signal Ts and outputs it to the control device 2 (power supply unit 25).

[0016] The rotation detector 23 is attached to the rotating shaft of the rotating machine 1. The rotation detector 23 detects the rotation speed of the rotating shaft. The rotation detector 23 converts the detected rotation speed into a rotation speed signal ωm and outputs it to the control device 2 (power supply unit 25). In this specification, the control device 2, torque detector 22, and rotation detector 23 may be collectively referred to as a "feedback control system."

[0017] Fig. 2 is a block diagram showing the internal configuration of the control device 2 according to this embodiment. As shown in Fig. 2, the control device 2 includes a receiving unit 24 and a power supply unit 25. The receiving unit 24 receives the control constant output from the input / output device 3A (communication transmitting unit 7).

[0018] The power supply unit 25 generates a voltage to be applied to the rotating machine 1 based on the received control constant, the steering torque signal Ts output by the torque detector 22, and the rotation speed signal ωm output by the rotation detector 23. More specifically, the power supply unit 25 according to this embodiment determines a current command corresponding to the output torque to be output by the rotating machine 1 based on the control constant, the steering torque signal Ts, and the rotation speed signal ωm. The power supply unit 25 applies a voltage to the rotating machine 1 based on the current command to cause the rotating machine 1 to generate this output torque. That is, the power supply unit 25 performs feedback control based on information detected by the detectors 22 and 23. The power supply unit 25 has a controller (torque controller, speed controller, etc.) that performs the feedback control. The control constant is, for example, various coefficients included in a transfer function related to the feedback control.

[0019] Fig. 3 is a block diagram showing the internal configuration of an input / output device 3A according to this embodiment. As shown in Fig. 3, the input / output device 3A includes a target characteristic input unit 4, a control constant calculation unit 5, an evaluation result output unit 6, a communication transmission unit 7, a write instruction unit 8, and an evaluation result display unit 9. The target characteristic input unit 4, the write instruction unit 8, and the evaluation result display unit 9 function as a user interface for an operator who adjusts the control constants.

[0020] The hardware constituting the input / output device 3A may be, for example, a communication terminal such as a tablet computer or a notebook personal computer. In the case of a tablet computer, a touch panel display may function as both the input unit (target characteristic input unit 4, writing instruction unit 8) and the display unit (evaluation result display unit 9). In the case of a notebook personal computer, a keyboard and mouse may function as the input unit (target characteristic input unit 4, writing instruction unit 8), and a display may function as the display unit (evaluation result display unit 9). Note that the hardware performing the functions of the target characteristic input unit 4, writing instruction unit 8, and evaluation result display unit 9 can be changed as appropriate. The hardware performing the functions of the target characteristic input unit 4, writing instruction unit 8, and evaluation result display unit 9 may be independent of each other, or may be combined as appropriate.

[0021] The input / output device 3A performs various processes, including calculation of control constants, based on operator input acquired by the target characteristic input unit 4 and the write instruction unit 8. The input / output device 3A also outputs the calculated control constants from the evaluation result output unit 6. The input / output device 3A transmits the calculated control constants to the control device 2 (receiving unit 24) via the communication transmitting unit 7 connected to the communication network NW. In the present disclosure, an operator who adjusts the control constants sets desired target characteristics by operating the target characteristic input unit 4. The control constant calculation unit 5 calculates control constants that realize the target characteristics. The operator checks the output of the evaluation result output unit 6 and determines whether the calculated control constants are appropriate. If the operator determines that the control constants are appropriate, the operator operates the write instruction unit 8 to transmit the calculated control constants to the control device 2. Each unit of the input / output device 3A will be described in detail below.

[0022] First, the target characteristic input unit 4 will be described. The target characteristic input unit 4 acquires target characteristics that represent performance targets for the control device 2. The target characteristics are acquired, for example, by an operator operating the target characteristic input unit 4 to set desired target characteristics. That is, the operator operates the target characteristic input unit 4 to set characteristics (target characteristics) required for feedback control performed by the control device 2 (power supply unit 25). Types of characteristics (target characteristics) set in the target characteristic input unit 4 include, for example, transfer characteristics, noise or detection error contained in each detector 22, 23, performance for suppressing disturbance vibrations, and control stability. The transfer characteristics are characteristics that represent the amount of output torque (steering assist force) relative to the outputs (steering torque signal Ts, rotational speed signal ωm) of each detector 22, 23. Disturbance vibrations are vibrations that are unnecessary for steering and are transmitted from the road surface to the driver via the electric power steering device 100. More specifically, the control stability is an index that indicates the degree of control instability caused by increasing the responsiveness of the steering assist force to the driver's steering. The target characteristic input unit 4 outputs the acquired target characteristic to the control constant calculation unit 5.

[0023] FIG. 4 shows an example of settings in the target characteristic input unit 4. FIG. 4 shows an example of setting a target value (target characteristic) for the transfer characteristic of the torque controller. The torque controller is a controller that generates a steering assist force in response to the steering torque detected by the torque detector 22. In the example of FIG. 4, a target value is set in a predetermined frequency band specified by frequency range 1 to frequency range 2, but a configuration in which a target value is set only for a specific frequency may also be employed. Furthermore, as explained as an example of the target characteristic above, a configuration in which a target value related to the suppression performance or stability of disturbance vibration is set as the target value may also be employed.

[0024] 4 shows an example in which target values are set in a table format, but the settings in the target characteristic input unit 4 are not limited to this. For example, as shown in Fig. 5, a configuration may be adopted in which the target characteristic for which a target value is to be set is illustrated in the frequency domain, and the operator sets the target value by operating a point, cursor, or the like displayed on the diagram.

[0025] Next, the control constant calculation unit 5 will be described. The control constant calculation unit 5 calculates the control constants of the control device 2 based on the target characteristics output by the target characteristic input unit 4. When the power supply unit 25 provided in the control device 2 is configured with a controller with a high degree of freedom, there are many control constants to be set (calculated). Therefore, the control constant calculation unit 5 according to this embodiment calculates the control constants that realize the desired target characteristics by optimization calculation. As the optimization calculation method, a method such as the steepest descent method or a genetic algorithm can be used. In particular, when a genetic algorithm such as the PSO (Particle Swarm Optimization) method is used, a global optimal solution can be obtained. The control constant calculation unit 5 outputs the calculated control constants to the evaluation result output unit 6 and the communication transmission unit 7.

[0026] Next, the evaluation result output unit 6 and the evaluation result display unit 9 will be described. The evaluation result output unit 6 generates an evaluation result of the feedback control system to which the control constants output by the control constant calculation unit 5 are applied. The evaluation result output unit 6 outputs the generated evaluation result to the evaluation result display unit 9. The evaluation result display unit 9 displays the evaluation result output by the evaluation result output unit 6. Based on the evaluation result displayed by the evaluation result display unit 9, the operator checks whether the desired control constants have been obtained.

[0027] Fig. 6 is a diagram showing an example of an evaluation result. In Fig. 6, the evaluation result is output as numerical data in a table format, with target values (target characteristics) and design results (design values). In the table shown in Fig. 6, characteristics obtained when the control constants calculated by the control constant calculation unit 5 are applied to each target value set in the target characteristic input unit 4 are displayed as design results. In the example of Fig. 6, all of the design results satisfy the target values, and the operator can confirm that the calculated control constants are appropriate.

[0028] If the design result does not satisfy the target characteristics, for example, the following two factors are considered. The first factor is when the result calculated by the optimization calculation is a locally optimal solution (local solution). The second factor is when the set target characteristics are difficult to achieve. If the target characteristics are not satisfied due to the first factor, it may be possible to obtain control constants that satisfy the desired target characteristics by performing the optimization calculation again using the control constant calculation unit 5. On the other hand, if the target characteristics are not satisfied due to the second factor, it is recommended that the operator review the target characteristics set in the target characteristic input unit 4 and then have the control constant calculation unit 5 calculate the control constants again.

[0029] While FIG. 6 shows an example in which the design results for the target values (target characteristics) are output as evaluation results, examples of the evaluation results are not limited to this. For example, the evaluation results output by the evaluation result output unit 6 may include the control constants calculated by the control constant calculation unit 5. This configuration is particularly suitable when the control constants are set as fixed-point numbers in the software of the control device 2. Fixed-point representation has the characteristic of having a lower degree of freedom in the numerical values that can be expressed compared to floating-point representation. By adopting a configuration in which the control constants calculated by the control constant calculation unit 5 are output as evaluation results, the operator can confirm in advance whether there are any problems with implementing the calculated control constants in the software.

[0030] Although the evaluation results shown in FIG. 6 are presented as numerical data in a table format, the format of the evaluation results is not limited to this. For example, as shown in FIG. 7, the evaluation results may be output in a diagram format. More specifically, various characteristics (design results) when the control constants calculated by the control constant calculation unit 5 are applied may be displayed as a frequency domain diagram, and target characteristics (target values) may be displayed alongside this diagram. In this case, the operator can not only confirm whether the control constants calculated can achieve the target characteristics, but also understand the characteristics of frequency bands that are not set as target characteristics. Therefore, the operator can more accurately understand the validity of the control constants. Furthermore, the evaluation result output unit 6 may simultaneously output the evaluation results as numerical data in a table format and a frequency domain diagram.

[0031] Furthermore, in the above example, the evaluation results are output to the evaluation result display unit 9, but the evaluation result output unit 6 may output the evaluation results to the outside of the input / output device 3A. In this case, the input / output device 3A does not need to be equipped with the evaluation result display unit 9. However, a configuration in which the evaluation result display unit 9 equipped in the input / output device 3A displays the evaluation results is preferable because it allows the operator to efficiently grasp the evaluation results of the control constants.

[0032] Next, the communication transmission unit 7 and the write instruction unit 8 will be described. When the worker determines that there is no problem with the evaluation result output by the evaluation result output unit 6, the worker operates the write instruction unit 8 to transmit the control constants from the input / output device 3A to the control device 2. More specifically, the write instruction unit 8 instructs the communication transmission unit 7 to transmit the control constants based on the worker's operation (write instruction). When the communication transmission unit 7 receives a transmission instruction (write instruction) from the write instruction unit 8, it transmits the control constants output by the control constant calculation unit 5 to the control device 2 via the communication network NW. When the input / output device 3A is configured as a tablet computer, a button may be provided on the touch panel display, and the worker may operate the button to issue a write instruction.

[0033] The functions of the units 4 to 9 included in the input / output device 3A shown in Fig. 3 may be realized by a central processing unit (CPU) executing a program. Alternatively, the functions of the units 4 to 9 may be realized using hardware (including circuitry) such as a large-scale integration (LSI), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a graphics processing unit (GPU). Alternatively, the functions of the units 4 to 9 may be realized by a combination of software and hardware.

[0034] As described above, the input / output device 3A according to this embodiment is an input / output device 3A connected to the control device 2 that controls the rotating machine 1 provided in the electric power steering device 100, and includes a target characteristic input unit that acquires target characteristics of the feedback control performed by the control device 2, a control constant calculation unit 5 that calculates the control constant of the control device 2 based on the target characteristics, an evaluation result output unit 6 that outputs an evaluation result of the feedback control system to which the control constant is applied, a communication transmission unit 7 that transmits the control constant to the control device 2, and a write instruction unit 8 that instructs the communication transmission unit 7 to transmit the control constant.

[0035] With this configuration, the operator who adjusts the control constants can check the evaluation results based on the calculated control constants, determine whether the target characteristics can be achieved, and then transmit the control constants to the control device. Therefore, compared to, for example, setting the designed control constants in the software of the control device, actually operating the electric power steering device, and verifying whether the desired target characteristics can be achieved, the number of steps required for adjusting the control constants can be reduced.

[0036] Furthermore, the evaluation result output unit 6 outputs the evaluation results in at least one of numerical data and graphical format. This configuration allows the operator to easily understand the evaluation results of the control constants. Therefore, the number of steps required for adjusting the control constants can be further reduced.

[0037] The input / output device 3A according to this embodiment further includes an evaluation result display unit 9 that displays the evaluation results. This configuration allows the operator to efficiently understand the evaluation results of the control constants. Therefore, the number of steps required to adjust the control constants can be more effectively reduced.

[0038] Embodiment 2 In the above-described first embodiment, a configuration is adopted in which input / output device 3A transmits to control device 2 a control constant for feedback control performed by power supply unit 25. In contrast, this embodiment differs from the first embodiment in that input / output device 3B transmits to control device 2, in addition to the above-described control constant, a controller configuration parameter that indicates the configuration of control device 2.

[0039] 8 is a diagram showing an input / output device 3B and an electric power steering device 100 according to embodiment 2. The input / output device 3B according to embodiment 2 further includes a controller configuration input unit 10 in addition to the components included in the input / output device 3A according to embodiment 1.

[0040] The controller configuration input unit 10 acquires controller configuration parameters that represent the configuration of the control device 2. The controller configuration parameters are acquired, for example, by an operator operating the controller configuration input unit 10. If the hardware that configures the input / output device 3B is a tablet computer, the functions of the controller configuration input unit 10 can be performed by a touch panel display. If the hardware that configures the input / output device 3B is a notebook personal computer, the functions of the controller configuration input unit 10 can be performed by a keyboard and mouse. The controller configuration input unit 10 outputs the acquired controller configuration parameters to the control constant calculation unit 5.

[0041] In this embodiment, the control constant calculation unit 5 calculates the control constants of the control device 2 based on the target characteristics output by the target characteristic input unit 4 and the controller configuration parameters output by the controller configuration input unit 10. The control constant calculation unit 5 outputs the controller configuration parameters and the calculated control constants to the communication transmission unit 7. Based on an instruction from the write instruction unit 8, the communication transmission unit 7 transmits the control constants and the controller configuration parameters to the control device 2 (receiving unit 24).

[0042] Power supply unit 25 according to the present embodiment determines a current command corresponding to the output torque of rotating machine 1 in accordance with control constants, controller configuration parameters, steering torque signal Ts output by torque detector 22, and rotation speed signal ωm output by rotation detector 23. FIG. 9 shows an example of a controller that determines a current command in accordance with steering torque signal Ts, rotation speed signal ωm, etc. In the example shown in FIG. 9, power supply unit 25 includes torque controller 11 and speed controller 12. In the example shown in FIG. 9, steering torque signal Ts and controller configuration parameters are input to torque controller 11, and rotation speed signal ωm and controller configuration parameters are input to speed controller 12. Here, the controller configuration parameters in the example shown in FIG. 9 are the orders of controllers 11 and 12. The output (current command) of power supply unit 25 is the sum of the output of torque controller 11 and the output of speed controller 12.

[0043] For example, if each controller 11, 12 has a transfer function with a second-order denominator polynomial and a second-order numerator polynomial, there are six control constants for each controller 11, 12, and the characteristics of the transfer function are determined by the combination of these control constants. Therefore, in the example of the power supply unit 25 shown in Figure 9, a total of 12 control constants are adjusted to find a combination that achieves the desired target characteristics. Generally, the higher the order of a controller, the greater the number of adjustable control constants, allowing the controller to achieve more complex characteristics. However, the higher the order of a controller, the greater the amount of information that must be processed, which increases the computational load of the software. In other words, while a controller that achieves the desired target characteristics can be achieved by using a high-order controller, a lower order controller is preferable from the perspective of software computational load.

[0044] In view of the above, in this embodiment, the order of the controller, which is a controller configuration parameter, is used in the calculation of the control constants by the control constant calculation unit 5, and an operator can set the order of the controller in the controller configuration input unit 10. If the operator determines that the target characteristics set in the target characteristics input unit 4 cannot be realized by the control constants calculated by the control constant calculation unit 5, he or she can increase the order of the controller, which is a controller configuration parameter, and search for the control constants again. This makes it possible to determine control constants that realize the desired target characteristics while reducing the calculation load on the software.

[0045] The controller configuration parameter does not have to be the order of the controller. For example, power supply unit 25 may have multiple controllers with different control laws, and the controller configuration parameter may be a parameter for switching between the multiple controllers. Power supply unit 25 shown in the example of FIG. 10 includes first controller 13 and second controller 14 with different control laws. Power supply unit 25 also includes controller switching unit 15. Controller switching unit 15 switches the controller used by power supply unit 25 between first controller 13 and second controller 14 based on the controller configuration parameter output from input / output device 3B.

[0046] The first controller 13 is, for example, a linear controller whose output signal has linear characteristics relative to an input signal. A linear controller can be implemented with a relatively simple configuration. On the other hand, linear controllers have trade-offs, such as amplifying detector noise generated in high-frequency ranges when adjusted to suppress disturbance vibrations in the low-frequency range, limiting the characteristics they can achieve. The second controller 14 is, for example, a nonlinear controller whose output signal has nonlinear characteristics relative to an input signal. A nonlinear controller may be able to achieve superior characteristics compared to a linear controller. For example, as described above, if detector noise in the high-frequency range becomes a problem when achieving desired characteristics in the low-frequency range, applying a filter or the like with nonlinear characteristics may enable desired characteristics to be achieved across the entire frequency range. On the other hand, a nonlinear controller requires more complex processing than a linear controller, resulting in a higher computational load.

[0047] Therefore, an operator may set the controller configuration parameters so that when the desired target characteristics can be achieved with a linear controller, a linear controller with a low computational load is applied, and when the desired target characteristics cannot be achieved with a linear controller, a nonlinear controller is used instead. This allows the software to determine control constants that achieve the desired target characteristics while reducing the computational load. Note that power supply unit 25 may include three or more controllers with different control laws, and the three or more controllers may be switched between using the controller configuration parameters.

[0048] As described above, the input / output device 3B according to this embodiment further includes a controller configuration input unit 10 that acquires controller configuration parameters that indicate the configuration of the control device 2, the control constant calculation unit 5 calculates control constants based on the target characteristics and the controller configuration parameters, the communication transmission unit 7 transmits the control constants and the controller configuration parameters to the control device 2, and the write instruction unit 8 instructs the communication transmission unit 7 to transmit the control constants and the controller configuration parameters. With this configuration, by an operator appropriately setting the controller configuration parameters, it is possible to determine control constants that realize desired target characteristics while reducing the computational load on the software.

[0049] Although the first and second embodiments have been described above, the present disclosure is not limited to the above embodiments and can be freely modified without departing from the spirit of the present disclosure. Furthermore, the first and second embodiments described above can also be combined as appropriate.

[0050] Each of the components of the input / output devices 3A and 3B described above has an internal computer system. A program for implementing the functions of each of the components of the input / output devices 3A and 3B described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing in each of the components of the input / output devices 3A and 3B described above. Here, "reading a program recorded on a recording medium into a computer system and executing it" includes installing the program into a computer system. The term "computer system" here includes an OS and hardware such as peripheral devices.

[0051] Furthermore, a "computer system" may include multiple computer devices connected via a network, including the Internet or communication lines such as a WAN, LAN, or dedicated line. Furthermore, a "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into a computer system. Thus, the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM.

[0052] The recording medium also includes internal or external recording media accessible from a distribution server for distributing the program. The program may be divided into multiple parts, downloaded at different times, and then combined by the components of the input / output devices 3A and 3B. Each divided program may be distributed by a different distribution server. Furthermore, the term "computer-readable recording medium" also includes a medium that stores a program for a certain period of time, such as volatile memory (RAM) within a computer system that serves as a server or client when a program is transmitted over a network. The program may also be a medium for implementing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that can realize the above-described functions in combination with a program already stored in the computer system. [Explanation of symbols]

[0053] 1... Rotating machine 2... Control device 3A, 3B... Input / output device 4... Target characteristic input section 5... Control constant calculation section 6... Evaluation result output section 7... Communication transmission section 8... Write instruction section 9... Evaluation result display section 10... Controller configuration input section 100... Electric power steering device

Claims

1. An input / output device connected to a control device that controls a rotating machine provided in an electric power steering device, a target characteristic input unit that acquires a target characteristic that is a target value of an objective characteristic that the feedback control performed by the control device has; a control constant calculation unit that calculates a control constant of the control device based on the target characteristic; an evaluation result output unit that outputs an evaluation result of a feedback control system to which the control constants are applied; a communication transmission unit that transmits the control constant to the control device; a write instruction unit that instructs the communication transmission unit to transmit the control constant.

2. a controller configuration input unit for acquiring a controller configuration parameter representing a configuration of the control device; the control constant calculation unit calculates the control constant based on the target characteristic and the controller configuration parameters; the communication transmission unit transmits the control constants and the controller configuration parameters to the control device; The input / output device according to claim 1 , wherein the write instruction unit instructs the control device to transmit the control constants and the controller configuration parameters.

3. 3. The input / output device according to claim 1, wherein the evaluation result output unit outputs the evaluation result in at least one of numerical data and a graphic format.

4. The input / output device according to claim 1 , further comprising an evaluation result display unit that displays the evaluation result.

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