Tuning device and tuning method

Abstract

To provide a tuning device that facilitates tuning of a motor amplifier.SOLUTION: A tuning unit 100 performs tuning by operating a target object on the basis of control parameters 200. An improvement ascertaining unit 110 ascertains a control parameter 200 that should be improved from characteristics of the target object tuned by the tuning unit 100. An improvement presentation unit 120 presents a user with a countermeasure proposal for the control parameter 200 that should be improved ascertained by the improvement ascertaining unit 110. The improvement presentation unit 120 may further present either or both of an advantage and a disadvantage associated with the countermeasure to the user. If an instruction based on the presentation by the improvement presentation unit 120 is acquired, an improvement execution unit 130 makes the tuning unit 100 perform tuning again with the control parameter 200 for which the countermeasure has been effected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] In particular, the present invention relates to a tuning device for tuning control parameters of a motor amplifier that feedback controls the rotation of a motor. [Background technology]

[0002] Conventionally, there have been motor amplifiers that perform feedback control of the rotation of a motor that moves an object to be moved. These motor amplifiers require tuning to adjust their operation. For example, Patent Document 1 describes a method for automatically adjusting control parameters of an electric motor control device (motor amplifier), in which after automatic adjustment, the electric motor is repeatedly operated using the control parameters, and a motor operation confirmation operation is performed to determine whether the operating characteristic data is within an allowable value range.If the allowable value range is exceeded, a first readjustment is performed in which control parameters that are less likely to exceed the allowable value range even if the mechanical characteristics change are searched for and reset from previously saved operating characteristic data, or a second readjustment is performed in which adjustment conditions are changed so that the allowable value range is less likely to be exceeded even if the mechanical characteristics change, and automatic adjustment is performed again. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-19304 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional automatic tuning method as described in Patent Document 1, the actual tuned state may not be desirable for the user. In such a case, there is a problem that tuning is difficult for users with little experience in servo tuning.

[0005] The present invention has been made in view of the above circumstances, and aims to solve the above-mentioned problems by enabling even users with little experience in servo tuning to perform optimal tuning. [Means for solving the problem]

[0006] A tuning device according to one aspect of the present invention is a tuning device that tunes control parameters of a motor amplifier that feedback-controls the rotation of a motor that operates an operating object, the tuning device comprising: a tuning unit that operates the operating object based on the control parameters to perform tuning; an improvement grasping unit that grasps the control parameters to be improved from the characteristics of the operating object tuned by the tuning unit; and a countermeasure proposal for the control parameters to be improved grasped by the improvement grasping unit to a user, and presents merits and demerits of the countermeasure to a user. Both Show the user how to do The system is characterized by comprising an improvement presentation unit and an improvement execution unit that, when receiving an instruction based on the presentation by the improvement presentation unit, causes the tuning unit to perform re-tuning using the corrected control parameters. With this configuration, even a user with little experience in servo tuning can perform optimal tuning.

[0007] A tuning device according to one embodiment of the present invention is characterized in that the tuning unit performs tuning using the basic control parameters during the first tuning, and performs tuning using the control parameters that have been modified during the second tuning. With this configuration, even a user who does not have tuning know-how and has little experience in servo tuning can perform optimal tuning.

[0008] In a tuning device according to one aspect of the present invention, the improvement grasping unit grasps that the control parameters that do not satisfy a settling condition for the rotation of the motor should be improved. With this configuration, even a user with little experience in servo tuning can easily adjust the control parameters.

[0009] In a tuning device according to one aspect of the present invention, the settling conditions are set for a settling time, a rebound, a vibration level, and an overshoot. With this configuration, even a user with little experience in servo tuning can properly adjust the control parameters that need to be adjusted during tuning.

[0010] A tuning device according to one aspect of the present invention is characterized in that the basic control parameters are set to different values ​​depending on whether the object to be moved is a belt mechanism or a ball screw mechanism. With this configuration, even a user with little experience in servo tuning can perform the first tuning under more appropriate conditions.

[0011] In a tuning device according to one aspect of the present invention, the improvement suggestion unit suggests enabling the use of a position smoothing filter when suppressing position error vibration, suggests shortening the target settling time parameter when improving responsiveness, suggests not allowing the overshoot tolerance parameter when eliminating overshoot, suggests reducing the positioning completion range parameter when stabilizing the settling state, and suggests lengthening the target settling time when stabilizing operation. With this configuration, even a user with little experience in servo tuning can tune the control parameters that he or she specifically wants to adjust.

[0012] A tuning method according to one aspect of the present invention is a tuning method executed by a tuning device that tunes control parameters of a motor amplifier that feedback-controls the rotation of a motor that operates an operating object, the tuning method comprising: operating the operating object using the control parameters to perform tuning; determining the control parameters to be improved from the characteristics of the tuned operating object; presenting a user with measures to improve the determined control parameters; and presenting advantages and disadvantages of the measures. Both Show the user how to death, When an instruction based on the presentation is acquired, tuning is performed again using the control parameters that have been adjusted. With this configuration, even a user with little experience in servo tuning can perform optimal tuning. [Effects of the Invention]

[0013] According to the present invention, a tuning device can be provided that can optimally tune even a user with little experience in servo tuning by identifying parameters that need to be improved from the characteristics of a tuned operating object, presenting countermeasures and the advantages and disadvantages of the countermeasures to the user, and allowing the user to perform tuning again using the countermeasured parameters when instructions based on the presentation are obtained. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a system configuration diagram of a control system X according to an embodiment of the present invention. [Figure 2] 10 is a flowchart of a tuning process according to an embodiment of the present invention. [Figure 3] 3 is an example of a screen showing improvements in the tuning process shown in FIG. 2. DETAILED DESCRIPTION OF THE INVENTION

[0015] <Embodiment> [Configuration of Control System X] The configuration of a control system X according to an embodiment of the present invention will be described with reference to Fig. 1. The control system X includes a tuning device 1, a motor amplifier 2, an encoder 3, and a motor 4.

[0016] The tuning device 1 is a device that tunes the control parameters 200 of the motor amplifier 2. The tuning device 1 is, for example, a personal computer (PC) such as a notebook used by a user such as a serviceman, manager, or factory employee who configures the control system X, a "2-in-1" or tablet-type information device, a smartphone, a mobile phone, or any other dedicated terminal. The tuning device 1 may be configured to perform this tuning by installing application software for tuning (hereinafter simply referred to as an "app") in the storage unit 11 and executing it by the control unit 10. In this embodiment, the tuning device 1 performs a test operation of the motor amplifier 2 instead of the higher-level device used when the motor amplifier 2 is actually operated in an actual work process. The results of this test operation are obtained, and the control parameters 200 are tuned.

[0017] The motor amplifier 2 is connected to the encoder 3 and is a control device such as a servo amplifier for a servo motor that performs feedback control of the rotation of the motor 4. The motor amplifier 2 and tuning device 1 are connected via a field network such as USB (Universal Serial Bus), serial communication (RS-232C), Bluetooth (registered trademark), an IP network, or EtherCAT. On the other hand, the motor amplifier 2 and encoder 3 are connected via a dedicated line or serial communication line, for example, and power for servo-driving the motor 4 is also supplied. This power is supplied to the motor 4 via the encoder 3 or directly.

[0018] In this embodiment, the motor amplifier 2 can also use the current feedback value of the motor control of the motor 4 to calculate a torque value that indicates the torque of the shaft that drives the object to be operated. In addition, the motor amplifier 2 can also acquire status information such as temperature from the encoder 3 or the motor 4, etc. Furthermore, the motor amplifier 2 may be capable of responding to data requests from other higher-level devices.

[0019] The encoder 3 is a device that acquires the rotational position of the motor. In this embodiment, the encoder 3 detects position data of the rotational position of a shaft related to the rotation axis of the motor 4 and transmits it to the motor amplifier 2 as angle information.

[0020] The motor 4 is a servo motor or the like for operating an object to be operated. The motor 4 rotates a shaft, which is a rotary output shaft, in response to a control signal from the motor amplifier 2. The motor 4 includes a rotor, bearings, a stator, a bracket, and the like. In this embodiment, the objects to be operated by the motor 4 include a ball screw mechanism such as a robot arm and a belt mechanism such as a belt conveyor. The behavior of these objects when braked varies depending on the type of object, the surrounding environment, etc., so tuning of the control parameters 200 is required.

[0021] Next, the control configuration of the control system X will be described. The tuning device 1 includes a control unit 10, a storage unit 11, an input unit 12, and a display unit 13. The motor amplifier 2 includes a position command filter 21, an FF control unit 22, an FB control unit 23, a torque adjustment unit 24, and a current control unit 25.

[0022] The control unit 10 is a control and calculation unit that controls each unit of the tuning device 1. The control unit 10 is, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit, microcontroller), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or the like. In this embodiment, the control unit 10 can acquire angle information, information from various other sensors, torque values, and the like from the motor amplifier 2 and perform tuning.

[0023] The storage unit 11 is a non-transitory recording medium such as a RAM (Random Access Memory) that holds temporary data, a ROM (Read Only Memory) that stores a control program, etc. The storage unit 11 stores the control program including the tuning application according to this embodiment, and various data.

[0024] The input unit 12 is a keyboard, a pointing device such as a mouse or a touchpad, or a touch panel that receives user instructions. The input unit 12 receives input values ​​for the control parameters 200, instructions to execute tuning, and the like, on a GUI (Graphical User Interface) of the application.

[0025] The display unit 13 is a liquid crystal display, an organic EL (Electro-Luminescence) display, an LED (Light Emitting Diode), etc. The display unit 13 is capable of displaying the GUI of the application. The input unit 12 and the display unit 13 may be integrally configured as a touch panel display.

[0026] The position command filter 21 is a filter circuit for command signals (commands, hereinafter simply referred to as "commands") from the tuning device 1 or a higher-level device during actual operation. In this embodiment, when the angle of a target position or the like is acquired as a position command (position command), the position command filter 21 includes a position smoothing filter that smooths the braking up to that position and smooths the signal that drives the motor 4. The position command filter 21 outputs the output of this position smoothing filter as an internal position command. In addition, the position command filter 21 may include a filter that averages the position command or prevents the motor 4 from being driven at the maximum angular velocity.

[0027] The FF control unit 22 is a circuit that performs feed forward (hereinafter also referred to as "FF") control. The FF control unit 22 is a circuit that performs feed forward processing such as adding or decreasing an angle in accordance with the current axis angle so that the actuator is driven at a higher speed up to the angle of the position command. At this time, the FF control unit 22 may change the control amount in conjunction with the position command filter 21.

[0028] The FB control unit 23 is a circuit that performs feedback (hereinafter also referred to as "FB") control. The FB control unit 23 is a circuit that obtains angle information obtained from the encoder 3 and a current feedback value of the motor 4 as feedback signals, performs control based on these, and improves responsiveness. The FB control unit 23 outputs an FB command that performs FB control.

[0029] The torque adjustment unit 24 is a circuit that performs torque control. In this embodiment, the torque adjustment unit 24 performs torque control based on a position deviation calculated from the FB signal and an internal position command, an FF command, and a torque command calculated from the FB signal. Specifically, the torque adjustment unit 24 includes a notch filter for suppressing vibrations due to resonance. The torque adjustment unit 24 outputs an adjustment command for adjusting the torque based on the output of this notch filter.

[0030] The current control unit 25 is a circuit that controls the current applied to the motor 4 according to an adjustment command from the torque adjustment unit 24 . The current control unit 25 may adjust the current to be loaded in multiple stages.

[0031] The control unit 10 and storage unit 11 of the tuning device 1 may be integrally configured as a CPU with a built-in GPU or a chip-on-package. Furthermore, some or any combination of the FF control section 22, FB control section 23, torque adjustment section 24, and current control section 25 of the motor amplifier 2 may be configured by software. Furthermore, the motor amplifier 2 may have a built-in vibration sensor or other sensors.

[0032] Next, the functional configuration of the control system X will be described. The control unit 10 of the tuning device 1 includes a tuning unit 100, an improvement grasping unit 110, an improvement presenting unit 120, and an improvement implementing unit . The storage unit 11 stores control parameters 200, parameter settings 210, and improvement messages 230.

[0033] The tuning unit 100 controls the motor 4 based on the control parameters 200 to move the object to be moved, and performs tuning by acquiring angle information, torque value, state information, etc. from the encoder 3. In this embodiment, the tuning unit 100 performs tuning using the basic control parameters 200 in the initial (first) tuning. On the other hand, in subsequent (second and subsequent) tunings, the tuning unit 100 performs tuning using the countermeasured control parameters 200. The countermeasured control parameters 200 may be presented by the improvement presenting unit 120, set by a user's instruction, and a parameter group stored in the parameter setting 210. In this embodiment, the basic control parameters 200 may be set to different values ​​depending on whether the object to be operated is a belt mechanism or a ball screw mechanism.

[0034] The improvement grasping unit 110 grasps the control parameters 200 to be improved from the characteristics of the object of operation tuned by the tuning unit 100. In this embodiment, the improvement grasping unit 110 can grasp that the control parameters 200 that do not satisfy the settling conditions for the rotation of the motor 4 should be improved. Specifically, the settling conditions may be set for the settling time, rebound, vibration level, and overshoot.

[0035] The improvement presenting unit 120 presents to the user the proposed measures for the control parameters 200 to be improved, which have been grasped by the improvement grasping unit 110. In addition, the improvement presenting unit 120 may present to the user either or both of the advantages and disadvantages of the measures. In this embodiment, the improvement presenting unit 120 presents, as a countermeasure proposal, enabling the use of a position smoothing filter when suppressing position error vibration. Alternatively, the improvement presenting unit 120 presents shortening the target settling time parameter when improving responsiveness. Alternatively, the improvement presenting unit 120 presents not allowing the overshoot tolerance parameter when eliminating overshoot. Alternatively, the improvement presenting unit 120 presents narrowing the positioning completion range parameter when stabilizing the settling state. Alternatively, the improvement presenting unit 120 presents extending the target settling time when stabilizing operation. The improvement presenting unit 120 may present these suggestions on the display unit 13 using the GUI of the application.

[0036] When the improvement execution unit 130 acquires an instruction based on the presentation by the improvement presentation unit 120, it causes the tuning unit 100 to perform tuning again using the control parameters 200 for which the measures have been taken.

[0037] The control parameters 200 are parameters for controlling each part of the motor amplifier 2 that needs to be tuned. The control parameters 200 for the position command filter 21 can set the on / off of the position smoothing filter, the adjustment value of the degree of smoothing, etc. By adjusting this position smoothing filter, it becomes possible to suppress position error vibration. The control parameters 200 for the FF control unit 22 can set the value of the feedforward (FF) component for downstream control. By adjusting the value of this FF component, it is possible to set an overshoot tolerance parameter that suppresses overshoot, which is when the axis is moved too far. The value of the FF component also serves as a parameter for the positioning completion range. The control parameters 200 for the FB control unit 23 can set values ​​of a control gain set for adjusting the feedback (FB) component of the control system. This control gain set can collectively set a first control gain indicating a rough feedback value based on the FB signal, a second control gain for adjusting the first control gain, and an integral gain related to the speed and acceleration (integral element) of the FB signal. This control gain set becomes a parameter for the positioning completion range and a target settling time parameter. The control parameters 200 for the torque adjusting unit 24 can set the on / off and adjustment values ​​of at least two torque notch filters. The control parameter 200 for the current control section 25 may be a value of the amplification degree of the current value or the like.

[0038] The parameter settings 210 are various settings related to the selection and change of the control parameters 200. The parameter settings 210 include a set of basic control parameters 200 for performing tuning the first time, a set of control parameters 200 adjusted for performing tuning the second time or later, a set of control parameters 200 for which setting has been completed, and the like. Of these, the set of basic control parameters 200 may be set to different values ​​depending on whether the object to be operated is a belt mechanism or a ball screw mechanism.

[0039] Additionally, the parameter setting 210 includes settings for settling conditions through tuning. These settling conditions include range values ​​for settling time, rebound, vibration level, and overshoot. A positioning completion range through tuning is also set. Based on this, rebound and overshoot may be determined. Furthermore, for the vibration level, an allowable range of vibration values ​​for each frequency may be set using FFT (Fast Fourier transform) or the like. Furthermore, the parameter setting 210 may include a setting for the number of repeated trials, such as how many times tuning is performed until the settling condition is satisfied, or how many times tuning is performed within a set range.

[0040] The improvement message 230 is presented by the improvement presenting unit 120 and is text data, image data, or the like relating to a proposed measure for a parameter to be improved and the advantages and disadvantages of the measure.

[0041] [Tuning process] Next, the tuning process performed by the control system X according to the embodiment of the present invention will be described with reference to FIGS. In the tuning process according to this embodiment, tuning is basically performed two or more times. In the first tuning, a set of basic control parameters 200 is set, and tuning is performed by operating the operating object. In this case, the control parameters 200 to be improved are identified from the characteristics of the tuned operating object. Then, countermeasures for the identified control parameters 200 to be improved are presented. In this embodiment, the advantages and disadvantages of the countermeasures are also presented to the user. If it is determined that improvement is necessary, instructions based on the presentation are obtained. As a result, tuning is performed again using the set of control parameters 200 for which the countermeasures have been taken. When this second tuning is completed, the results of a comparison with the first tuning, along with the respective advantages and disadvantages, are presented to the user. The user can select from these tuning results to set the parameter states to values ​​optimal for the user. In the tuning process of this embodiment, the control unit 10 mainly executes a control program stored in the storage unit 11 in cooperation with each unit, using hardware resources. The tuning process according to this embodiment will be described in detail below for each step with reference to the flowchart of FIG.

[0042] (Step S101) First, the improvement execution unit 130 performs a basic parameter setting process. The improvement execution unit 130 obtains a set of basic control parameters 200 for the first tuning from the parameter setting 210. Here, the improvement execution unit 130 prompts the user to specify via the GUI whether the control parameters are for a belt mechanism or a ball screw mechanism, and acquires a set of control parameters 200 according to the instruction. That is, the improvement execution unit 130 displays the instruction on the display unit 13 and acquires the user's instruction from the input unit 12. These sets can be, for example, as shown in Table 1 below:

[0043] [Table 1]

[0044] (Step S102) Here, the tuning section 100 performs tuning processing. The tuning unit 100 performs tuning by operating an object to be operated based on a set of control parameters 200 that have been set. In the initial (first) tuning, the tuning unit 100 executes a test operation under basic conditions using a set of basic control parameters 200. In this first tuning, minimum tuning is performed by executing tuning under these basic conditions. When tuning is performed again for the second time or later, tuning is performed using a set of control parameters 200 that have been corrected.

[0045] In this embodiment, the tuning unit 100 sets the first control gain, second control gain, and integral gain, which are feedback components of the control gain set control system, all at once for the FB control unit 23 as control parameters 200 adjusted by tuning, thereby improving responsiveness. Furthermore, the tuning unit 100 sets a feedforward component in the feedforward compensation and control for the FF control unit 22, and suppresses overshoot. Additionally, the tuning unit 100 smooths the position command input to make the signal smoother if the position smoothing filter of the position command filter 21 is used. Additionally, the tuning section 100 sets the torque notch filter if one is used, and damps vibrations. The tuning unit 100 acquires various data from the motor amplifier 2 during the test operation during tuning, such as time-series data of angle information, torque values, and status information, and stores the data in the storage unit 11.

[0046] (Step S103) Next, the improvement grasping unit 110 performs an improvement grasping process. The improvement grasping unit 110 analyzes the data obtained during the test operation. As a result, the improvement grasping unit 110 grasps the control parameters 200 to be improved from the characteristics of the tuned operating object. In other words, the improvement grasping unit 110 determines issues and the like based on the results of the first tuning, and grasps the conditions to be improved from the second tuning onwards. The same applies from the second tuning onwards. Specifically, the improvement grasping unit 110 grasps that the control parameters 200 that do not satisfy the settling conditions for the rotation of the motor 4 should be improved.

[0047] (Step S104) Next, the improvement suggestion unit 120 performs an improvement suggestion process. The improvement presentation unit 120 presents to the user, via a GUI, the proposed measures for the identified control parameters 200 to be improved, as well as the advantages and disadvantages of the measures. Here, the improvement presentation unit 120 obtains an appropriate improvement message from the improvement message 230 and displays it on the display unit 13. During the first tuning, the improvement presenting unit 120 presents to the user countermeasures, advantages, and disadvantages when tuning is performed using a set of basic control parameters 200. As countermeasures, the improvement presenting unit 120 presents improvements that will lead to improvement. At this time, if there are multiple improvements, the improvement presenting unit 120 presents all of them. When tuning for the second time or later, the improvement presentation unit 120 displays the comparison results between the first and previous tunings, along with the advantages and disadvantages of each, to the user. Furthermore, the improvement presentation unit 120 also presents further countermeasures.

[0048] More specifically, if position error vibration is present and it is desired to suppress it, the improvement suggestion unit 120 suggests enabling the use of a position smoothing filter. Alternatively, if responsiveness is low and it is desired to improve it, the improvement suggestion unit 120 suggests a measure to shorten the target settling time parameter. Alternatively, if overshoot is present and it is desired to eliminate it, the improvement suggestion unit 120 suggests a measure to not allow the overshoot tolerance parameter. Alternatively, if it is desired to stabilize the state during settling, the improvement suggestion unit 120 suggests a measure to narrow the parameter for the positioning completion range. Furthermore, if it is desired to stabilize operation, the improvement suggestion unit 120 suggests a measure to lengthen the target settling time. Furthermore, an example of specific suggestions in the improvement message 230 is shown in Table 2 below:

[0049] [Table 2]

[0050] (Step S105) Next, the improvement grasping unit 110 determines whether or not the settling conditions are satisfied. If the settling conditions are met, the improvement grasping unit 110 determines Yes.

[0051] Here, the settling conditions will be explained with reference to the example screen 300 of Fig. 3. In the example screen 300 of Fig. 3, a graph is shown at the bottom left as the "tuning judgment criterion" for the response waveform as the settling conditions, with the dark line indicating the out-of-range area. More specifically, in this embodiment, the improvement grasping unit 110 determines the settling conditions in terms of settling time, rebound, vibration level, and overshoot. Of these, the "settling time" indicates that the time from when the command value of the position command or internal position command becomes "0" until it falls within the positioning completion range is within the target settling time. "Rebound" indicates that once the position deviation has settled within the positioning completion range, it will not go outside that range. If rebound occurs, the settling time described above is calculated as the time it takes for the position deviation to settle within the positioning completion range after the rebound occurs. Specifically, as shown by the length of "T" in Figure 3, it indicates the time it takes for the position deviation to deviate from the target settling positioning range and then return. "Vibration level" indicates that the amplitude of the vibration component of the torque command value generated during operation is equal to or less than a reference value. "Overshoot" indicates that the position deviation does not become "0" or less.

[0052] The improvement assessment unit 110 determines "Yes" when the settling conditions are met. Furthermore, the improvement assessment unit 110 may also determine "Yes" when the settling conditions are not met even after tuning has been performed a specific number of times or more. The improvement assessment unit 110 also determines "Yes" when the user selects the first or second or subsequent set of control parameters 200. In other cases, the improvement grasping unit 110 determines that the settling conditions are not satisfied and judges No. Here, in the case of the first tuning, the settling conditions are usually not satisfied in many cases, so it may be always judged No. If the answer is Yes, the improvement grasping unit 110 advances the process to step S107. If the answer is No, the improvement grasping unit 110 advances the process to step S106. As a result, the improvement grasping unit 110 grasps that the control parameters 200 that do not satisfy the settling conditions for the rotation of the motor 4 should be improved.

[0053] (Step S106) If the settling conditions are not satisfied, the improvement execution unit 130 performs a countermeasure parameter setting process. For this reason, the improvement execution unit 130 acquires an instruction based on the presentation by the improvement presentation unit 120. That is, the improvement execution unit 130 displays a dialog box or the like on the display unit 13 to request an instruction using a GUI, and acquires an instruction from the input unit 12 to perform tuning using the corrected control parameters 200. When the user determines that an improvement is necessary and receives an instruction to do so, the improvement execution unit 130 acquires a set of control parameters 200 for which the improvement has been implemented from the parameter setting 210 in order to change the tuning conditions. As a result, the improvement execution unit 130 returns the process to step S102 and causes the tuning unit 100 to perform tuning again using the corrected control parameters 200. Note that this tuning may be repeated until the settling condition is satisfied or until the tuning limit is reached.

[0054] (Step S107) If the settling conditions are met, the improvement execution unit 130 performs parameter selection processing. The improvement execution unit 130 acquires a set of control parameters 200 that satisfy the settling conditions as a set of control parameters 200 for which setting has been completed. At this time, when the second or subsequent tuning is completed, the improvement execution unit 130 displays the tuning results on the GUI and allows the user to select an optimum value for the control parameter 200. This completes the tuning process according to the embodiment of the present invention.

[0055] [Major Effects of the Present Embodiment] The above configuration can provide the following effects. Conventionally, automatic tuning technology for servo motors has been able to perform tuning under simple condition settings, but the actual tuned state has often been undesirable to users. In other words, while simple tuning conditions have been able to optimize parameters under specific operating environments, they have sometimes been unable to achieve optimization under other operating environments.

[0056] For this reason, it is possible to execute all possible conditions and then ultimately set the parameter conditions to be used by the user based on the results. However, this configuration increases tuning time. Even in this case, the user must select the optimal parameter conditions from multiple tuning results. In reality, in order to set optimal parameters for a wide range of usage environments, tuning conditions become complicated, which makes it difficult for users with little servo tuning experience to select optimal parameter conditions.

[0057] In contrast, the tuning device 1 of this embodiment is a tuning device that tunes the control parameters 200 of a motor amplifier 2 that feedback controls the rotation of a motor 4 that operates an operating object, and is characterized by comprising: a tuning unit 100 that performs tuning by operating the operating object based on the control parameters 200; an improvement grasping unit 110 that grasps the control parameters 200 that should be improved from the characteristics of the operating object tuned by the tuning unit 100; an improvement presentation unit 120 that presents to the user proposed measures for the control parameters 200 that should be improved and the advantages and disadvantages of the measures grasped by the improvement grasping unit 110; and an improvement execution unit 130 that, when receiving an instruction based on the presentation by the improvement presentation unit 120, causes the tuning unit 100 to re-tune using the corrected control parameters 200.

[0058] By configuring in this way and presenting the user with proposed countermeasures and the advantages and disadvantages of each countermeasure, the user can easily set the optimum control parameters 200 in the situation required by the user. In other words, even a user with little experience in servo tuning can set the optimum control parameters 200 with just a simple instruction. This reduces the time and effort involved in tuning, and also reduces the burden on the user.

[0059] In the tuning device 1 according to this embodiment, the tuning section 100 is characterized in that in the first tuning, tuning is performed using the basic control parameters 200, and in the second tuning, tuning is performed using the control parameters 200 that have been modified. By configuring in this way and executing automatic tuning two or more times, it is possible to adjust the parameters to the optimum for the user with only simple condition settings and judgments. Even if the adjusted conditions are not necessarily optimum for the user, the user can select other conditions. Therefore, even a user with little experience in servo tuning can adjust to the optimum control parameters 200.

[0060] The tuning device 1 according to this embodiment is characterized in that the improvement grasping unit 110 grasps that the control parameters 200 that do not satisfy the settling conditions for the rotation of the motor 4 should be improved. With this configuration, it is possible to present countermeasures for the control parameters 200 according to specific criteria, and even a user with little experience in servo tuning can easily adjust the control parameters 200.

[0061] The tuning device 1 according to this embodiment is characterized in that the settling conditions are set for the settling time, rebound, vibration level, and overshoot. By configuring in this way, it is possible to appropriately adjust the control parameters 200 that need to be adjusted during tuning. Then, the results can be presented to the user, and improvements can be suggested.

[0062] The tuning device 1 according to this embodiment is characterized in that the basic control parameters 200 are set to different values ​​depending on whether the object to be operated is a belt mechanism or a ball screw mechanism. This configuration allows the initial tuning to be performed under more appropriate conditions as a tuning pattern. Therefore, even when setting basic tuning conditions, optimal control parameters 200 can be set, similar to adjustments based on know-how accumulated over many years.

[0063] In the tuning device 1 according to this embodiment, the improvement suggestion unit 120 suggests enabling the use of a position smoothing filter when suppressing position error vibration, suggests shortening the target settling time parameter when improving responsiveness, suggests not to allow the overshoot tolerance parameter when eliminating overshoot, suggests reducing the positioning completion range parameter when stabilizing the state during settling, and suggests lengthening the target settling time when stabilizing operation. With this configuration, even a user with little experience in servo tuning can tune the control parameter 200 that he or she specifically wants to adjust.

[0064] Other Embodiments In the above embodiment, an example has been described in which the tuning device 1 and the motor amplifier 2 are configured as separate devices. However, the motor amplifier 2 and the tuning device 1 may be configured as an integrated unit. In this case, for example, the HTTP server or dedicated tuning application built into the motor amplifier 2 may be accessed from another PC or the like via a network, RS-232C, or the like. This makes it possible to achieve the same functions as the tuning device 1 according to the above embodiment without preparing a special device.

[0065] In the above embodiment, tuning is performed using a GUI. However, it is also possible to use a method that does not use a GUI, such as outputting the results on a printer during tuning.

[0066] In the above embodiment, tuning is performed until the settling condition is reached. However, during the initial tuning, tuning may be performed to a degree that is close to the settling condition, and then improvements may be presented. This configuration allows tuning to be performed more quickly.

[0067] In the above embodiment, an example has been described in which a user selects a set of control parameters 200 for multiple tunings. However, the tuning device 1 may be configured to look at the results under each settling condition, suggest "this is recommended," or automatically select. By configuring in this way, it becomes possible for users with less experience in servo tuning to tune without any confusion, thereby improving usability.

[0068] In the above embodiment, an example in which tuning is performed two or more times has been described. However, if the settling conditions are met in the first tuning and the user approves, the control parameters 200 may be set in just one tuning. This configuration allows tuning to be performed according to the user's needs. Also, if the user wishes to perform basic tuning first and then perform more detailed tuning in relation to other devices, it is possible to perform tuning multiple times.

[0069] In the above embodiment, an example in which optimization is performed for tuning has been described. However, similar processing can also be performed for other processes that require automatic setting of control parameters, such as aging.

[0070] It goes without saying that the configurations and operations of the above-described embodiments are merely examples, and can be modified as appropriate within the scope of the present invention. [Explanation of symbols]

[0071] 1 Tuning device 2 Motor amplifier 3 Encoders 4 motors 10 Control Unit 11 Storage section 12 Input section 13 Display section 21 Position command filter 22 FF control section 23 FB control section 24 Torque adjustment section 25 Current control section 100 Tuning section 110 Improvement understanding department 120 Improvement presentation department 130 Improvement Execution Department 200 Control Parameters 210 Parameter Settings 230 Improvement Message 300 Screen Examples X Control System

Claims

1. A tuning device for tuning control parameters of a motor amplifier that feedback controls the rotation of a motor that operates an object to be operated, comprising: a tuning unit that performs tuning by operating the object to be operated based on the control parameters; an improvement grasping unit that grasps the control parameters to be improved from the characteristics of the object of operation tuned by the tuning unit; an improvement presentation unit that presents to a user the proposed measures for the control parameters to be improved that have been grasped by the improvement grasping unit, and presents to the user both advantages and disadvantages of the measures; an improvement execution unit that, when receiving an instruction based on the presentation by the improvement presentation unit, causes the tuning unit to perform tuning again using the control parameters that have been improved; A tuning device characterized by:

2. The tuning unit In the first tuning, tuning is performed using the basic control parameters. In the next tuning, tuning is performed using the control parameters that have been corrected.

2. The tuning device according to claim 1.

3. The improvement grasping unit The control parameters that do not satisfy the settling conditions for the motor rotation are identified as needing to be improved.

3. A tuning device according to claim 1 or 2.

4. The settling condition is Settling time, rebound, vibration level, and overshoot are configured 4. The tuning device according to claim 3.

5. The basic control parameters are: Different values ​​are set depending on whether the moving object is a belt mechanism or a ball screw mechanism.

5. A tuning device according to claim 2, wherein the tuning device is a tuner.

6. The improvement suggestion section If you want to suppress position deviation vibration, you can enable the use of the position smoothing filter. If you want to improve responsiveness, suggest shortening the target settling time parameter. If you want to eliminate overshoot, you can set the overshoot tolerance parameter to not allow it. If you want to stabilize the state during settling, suggest reducing the parameter for the positioning completion range. If you want to stabilize the operation, suggest extending the target settling time.

6. A tuning device according to claim 3, wherein the tuning device is a tuner.

7. 1. A tuning method executed by a tuning device that tunes control parameters of a motor amplifier that feedback controls rotation of a motor that operates an operating object, comprising: The object to be operated is operated using the control parameters to perform tuning; determining the control parameters to be improved from the tuned characteristics of the object of operation; presenting to the user countermeasures for the identified control parameters to be improved, and presenting to the user both advantages and disadvantages of the countermeasures; When an instruction based on the presentation is obtained, retuning is performed using the control parameters that have been corrected. A tuning method characterized by:

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