Characteristic calculation device, characteristic calculation method, and program

Abstract

A characteristic calculation device (10) that comprises: a sensor information acquisition unit (20) that acquires position information that indicates the position of a motor (70) as detected by a position detector (71) and acceleration information that indicates the acceleration of a mobile part (80) that is connected to the motor (70) as detected by an acceleration sensor (81) that is installed on the mobile part (80); and a sensor characteristic calculation unit (30) that, on the basis of the position information and the acceleration information, calculates and outputs at least one of balance information that indicates the coincidence between the detection axis direction of the acceleration sensor (81) and the direction of the acceleration to be detected by the acceleration sensor (81) and detection sensitivity information that indicates the detection sensitivity of the acceleration sensor (81).

Description

[Technical Field]

[0001] The present disclosure relates to a characteristic calculation device that calculates the characteristics of an acceleration sensor attached to a movable part connected to a motor. [Background technology]

[0002] Patent Document 1 discloses a drive control device that calculates the characteristics of an acceleration sensor attached to a moving part connected to a motor.

[0003] The above-described conventional drive control device can determine abnormalities in the operation and mounting direction of the acceleration sensor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-155180 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-described conventional drive control device, abnormalities in the operation and mounting direction of the acceleration sensor are determined based on the acceleration detection value output from the acceleration sensor. Therefore, if, for example, the acceleration sensor has become detached from the movable part, it may be difficult to determine abnormalities in the operation and mounting direction of the acceleration sensor.

[0006] Therefore, the present disclosure has been made in consideration of the above problems, and aims to provide a characteristic calculation device, etc., that is capable of determining abnormalities in the operation or mounting direction of an acceleration sensor even in cases where the acceleration sensor has become detached from a movable part. [Means for solving the problem]

[0007] A characteristic calculation device according to one aspect of the present disclosure includes a sensor information acquisition unit that acquires position information indicating the position of a motor detected by a position detector and acceleration information indicating the acceleration of a movable part detected by an acceleration sensor attached to a movable part connected to the motor, and a sensor characteristic calculation unit that calculates and outputs at least one of balance information indicating the degree of agreement between the detection axis direction of the acceleration sensor and the direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating the detection sensitivity of the acceleration sensor, based on the position information and the acceleration information.

[0008] A characteristic calculation method according to one aspect of the present disclosure includes a sensor information acquisition step of acquiring position information indicating the position of a motor detected by a position detector and acceleration information indicating the acceleration of a movable part detected by an acceleration sensor attached to the movable part connected to the motor, and a sensor characteristic calculation step of calculating and outputting at least one of balance information indicating the degree of agreement between the detection axis direction of the acceleration sensor and the direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating the detection sensitivity of the acceleration sensor, based on the position information and the acceleration information.

[0009] A program according to one aspect of the present disclosure is a program for causing a characteristic calculation device to execute a characteristic calculation process, the characteristic calculation process including: a sensor information acquisition step of acquiring position information indicating the position of a motor detected by a position detector and acceleration information indicating the acceleration of a movable part detected by an acceleration sensor attached to the movable part connected to the motor; and a sensor characteristic calculation step of calculating and outputting at least one of balance information indicating the degree of agreement between the detection axis direction of the acceleration sensor and the direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating the detection sensitivity of the acceleration sensor, based on the position information and the acceleration information. [Effects of the Invention]

[0010] According to a characteristic calculation device or the like according to one aspect of the present disclosure, even if the acceleration sensor has become detached from the movable part, it is possible to determine an abnormality in the operation or attachment direction of the acceleration sensor. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of a motor control system according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating an example of how the sensor characteristic calculation unit according to the embodiment calculates balance information or detection sensitivity information. [Figure 3] FIG. 3 is a schematic diagram showing another example of how the sensor characteristics calculation unit according to the embodiment calculates balance information or detection sensitivity information. [Figure 4] FIG. 4 is a schematic diagram illustrating an example of how the sensor characteristic calculation unit according to the embodiment calculates balance information or detection sensitivity information. [Figure 5] FIG. 5 is a schematic diagram showing another example of how the sensor characteristics calculation unit according to the embodiment calculates balance information or detection sensitivity information. [Figure 6] FIG. 6 is a schematic diagram showing how ringing occurs in the acceleration of the movable part when the response time constant of the position control part according to the embodiment is relatively high. [Figure 7] FIG. 7 is a flowchart of the characteristic calculation process according to the embodiment. [Figure 8] FIG. 8 is a block diagram showing the configuration of a motor control system according to the first modification. [Figure 9] FIG. 9 is a schematic diagram showing a state in which a position sensor according to the first modification is attached to a movable part. [Figure 10] FIG. 10 is a block diagram showing the configuration of a motor control system according to the second modification. DETAILED DESCRIPTION OF THE INVENTION

[0012] (How one aspect of the present disclosure was achieved) As described above, in conventional drive control devices, if, for example, the acceleration sensor becomes detached from the moving part, it can be difficult to determine whether there is an abnormality in the operation or mounting direction of the acceleration sensor.

[0013] The inventors have found the above problem and have come up with the following characteristic calculation device and the like in order to solve the problem.

[0014] A characteristic calculation device according to one aspect of the present disclosure includes a sensor information acquisition unit that acquires position information indicating the position of a motor detected by a position detector and acceleration information indicating the acceleration of a movable part detected by an acceleration sensor attached to a movable part connected to the motor, and a sensor characteristic calculation unit that calculates and outputs at least one of balance information indicating the degree of agreement between the detection axis direction of the acceleration sensor and the direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating the detection sensitivity of the acceleration sensor, based on the position information and the acceleration information.

[0015] According to the characteristic calculation device having the above configuration, at least one of balance information and detection sensitivity information is calculated based on the acceleration of the movable part detected by the acceleration sensor as well as the position of the motor detected by the position detector.

[0016] Therefore, according to the characteristic calculation device having the above configuration, even if the acceleration sensor has become detached from the movable part, it is possible to determine whether there is an abnormality in the operation or mounting direction of the acceleration sensor.

[0017] The sensor characteristic calculation unit may calculate at least one of the above when the acceleration of the motor calculated based on the position information does not change for a predetermined period of time or more.

[0018] This makes it possible to calculate at least one of the balance information and the detection sensitivity information with higher accuracy.

[0019] Furthermore, the present invention may further include a command signal acquisition unit that acquires a command signal for moving the movable part to a target position, the command signal being generated by a command generation unit, and a position control unit that generates a drive signal for driving the motor to move the movable part to the target position based on the command signal and the position information, and outputs the generated drive signal to the motor, and the command generation unit may generate the command signal so that the acceleration of the motor indicated by the command signal does not change for more than the predetermined period.

[0020] This makes it possible to obtain a command signal in which the acceleration of the motor does not change for a predetermined period of time.

[0021] The command generating unit may further generate the command signal so that the position of the motor indicated by the command signal does not change for more than the predetermined period.

[0022] This makes it possible to obtain a command signal that keeps the motor position unchanged for a predetermined period of time.

[0023] Furthermore, the device may further include a command signal acquisition unit that acquires a command signal to move the movable part to a target position, the command signal being generated by a command generation unit, and a position control unit that generates a drive signal to drive the motor to move the movable part to the target position based on the command signal and the position information, and outputs the generated drive signal to the motor, wherein the command generation unit generates the command signal so that the acceleration of the motor indicated by the command signal does not change for a first period of time that is a first value and is greater than a response time constant of the position control unit.

[0024] This makes it possible to obtain a command signal that does not change for a period in which the acceleration of the motor is greater than the response time constant of the position control section.

[0025] Furthermore, the command generation unit may generate the command signal so that the acceleration of the motor indicated by the command signal does not change during the first period in which the acceleration is the first value and is greater than the response time constant of the position control unit during the period in which the sensor characteristic calculation unit calculates at least one of the two.

[0026] This makes it possible to calculate at least one of the balance information and the detection sensitivity information with higher accuracy.

[0027] Furthermore, the device may further include a response time constant setting unit that sets the response time constant, and the response time constant setting unit may set the response time constant so that the first period is longer than a ringing period during which ringing occurs in the acceleration of the movable part when the acceleration of the movable part converges to a second value corresponding to the first value.

[0028] This allows the first period to be longer than the ringing period.

[0029] The response time constant setting unit may set the response time constant such that the first period is longer than the ringing period during the period in which the sensor characteristic calculation unit calculates the at least one of the two.

[0030] This makes it possible to calculate at least one of the balance information and the detection sensitivity information with higher accuracy.

[0031] In addition, the sensor information acquisition unit may further acquire movable part position information indicating the position of the movable part detected by a position sensor attached to the movable part, and the sensor characteristic calculation unit may calculate at least one of the movable part position information and the acceleration information based on the movable part position information and the acceleration information instead of the position information and the acceleration information.

[0032] This makes it possible to calculate at least one of the balance information and the detection sensitivity information using the movable part position information instead of the position information.

[0033] Furthermore, the device may further include a calculated value determination unit that outputs determination information indicating that at least one of the degree of coincidence and the detection sensitivity deviates from a predetermined standard value when the degree of coincidence and the detection sensitivity deviate from a predetermined standard value.

[0034] This makes it possible to notify the user of the characteristic calculation device that there is a possibility that an abnormality has occurred in the operation or mounting direction of the acceleration sensor.

[0035] In addition, the sensor information acquisition unit may further acquire movable part position information indicating the position of the movable part detected by a position sensor attached to the movable part, and the calculated value judgment unit may output the judgment information when the position of the movable part indicated by the movable part position information satisfies a predetermined condition when at least one of the degree of coincidence and the detection sensitivity deviates from a predetermined reference value.

[0036] This makes it possible to more accurately notify the user of the characteristic calculation device that there is a possibility that an abnormality has occurred in the operation or mounting direction of the acceleration sensor.

[0037] Furthermore, the device may further include a calculated value judgment unit that outputs judgment information indicating that the change amount per unit time of at least either the degree of coincidence or the detection sensitivity deviates from a predetermined reference value when the change amount per unit time of at least either one of the degree of coincidence and the detection sensitivity deviates from a predetermined reference value.

[0038] This makes it possible to notify the user of the characteristic calculation device that there is a possibility that an abnormality has occurred in the operation or mounting direction of the acceleration sensor.

[0039] The acceleration sensor may be a three-axis acceleration sensor.

[0040] This makes it possible to calculate at least one of balance information and detection sensitivity information of the three-axis acceleration sensor.

[0041] A characteristic calculation method according to one aspect of the present disclosure includes a sensor information acquisition step of acquiring position information indicating the position of a motor detected by a position detector and acceleration information indicating the acceleration of a movable part detected by an acceleration sensor attached to the movable part connected to the motor, and a sensor characteristic calculation step of calculating and outputting at least one of balance information indicating the degree of agreement between the detection axis direction of the acceleration sensor and the direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating the detection sensitivity of the acceleration sensor, based on the position information and the acceleration information.

[0042] According to the above characteristic calculation method, at least one of balance information and detection sensitivity information is calculated based on the position of the motor detected by the position detector in addition to the acceleration of the movable part detected by the acceleration sensor.

[0043] Therefore, according to the above characteristic calculation method, even if the acceleration sensor has become detached from the movable part, it is possible to determine whether there is an abnormality in the operation or mounting direction of the acceleration sensor.

[0044] A program according to one aspect of the present disclosure is a program for causing a characteristic calculation device to execute a characteristic calculation process, the characteristic calculation process including: a sensor information acquisition step of acquiring position information indicating the position of a motor detected by a position detector and acceleration information indicating the acceleration of a movable part detected by an acceleration sensor attached to the movable part connected to the motor; and a sensor characteristic calculation step of calculating and outputting at least one of balance information indicating the degree of agreement between the detection axis direction of the acceleration sensor and the direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating the detection sensitivity of the acceleration sensor, based on the position information and the acceleration information.

[0045] According to the program, at least one of balance information and detection sensitivity information is calculated based on the position of the motor detected by the position detector in addition to the acceleration of the movable part detected by the acceleration sensor.

[0046] Therefore, according to the program, even if the acceleration sensor has become detached from the movable part, it is possible to determine whether there is an abnormality in the operation or mounting direction of the acceleration sensor.

[0047] A specific example of a characteristic calculation device according to one aspect of the present disclosure will be described below with reference to the drawings. Each embodiment shown here illustrates one specific example of the present disclosure. Therefore, the numerical values, shapes, components, the arrangement and connection of the components, steps (processes), and the order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, each figure is a schematic diagram and is not necessarily an exact illustration. In each figure, substantially identical components are assigned the same reference numerals, and redundant explanations are omitted or simplified.

[0048] (Embodiment) A motor control system according to an embodiment will now be described. This motor control system controls a motor to move a movable part connected to the motor to a target position. This motor control system may be, for example, a production device that mounts components on a circuit board.

[0049] <Configuration> FIG. 1 is a block diagram showing the configuration of a motor control system 1 according to an embodiment.

[0050] As shown in FIG. 1, the motor control system 1 includes a characteristic calculation device 10, a motor 70, a moving part 80, a command generation part 90, a position detector 71, and an acceleration sensor 81.

[0051] The motor 70 is driven by a drive signal output from the characteristic calculation device 10. Here, the motor 70 will be described as being a rotary motor. However, the motor 70 is not necessarily limited to being a rotary motor, and may be, for example, a linear motor.

[0052] The drive signal is, for example, a current for rotating the motor 70 .

[0053] The position detector 71 detects the position of the motor 70 and outputs position information indicating the detected position of the motor 70 to the characteristic calculation device 10.

[0054] The position detector 71 may or may not be attached to the motor 70 .

[0055] The position detector 71 may be, for example, an encoder. In this case, the position information output by the position detector 71 is an encoder signal.

[0056] Here, the position detector 71 will be described as an encoder attached to the motor 70.

[0057] The movable part 80 is connected to the motor 70. For example, when the motor control system 1 is a production device that mounts components on a board, the movable part 80 is a header that transports the components to a mounting position.

[0058] The acceleration sensor 81 is attached to the movable part 80, detects the acceleration of the movable part 80, and outputs acceleration information indicating the detected acceleration of the movable part 80 to the characteristic calculation device .

[0059] The command generating unit 90 generates a command signal for moving the movable part 80 to the target position, and outputs the generated command signal to the characteristic calculating device 10. The command signal may be, for example, a position command signal indicating a position command for moving the movable part 80 to the target position, a speed command signal indicating a speed command for moving the movable part 80 to the target position, an acceleration command signal indicating an acceleration command for moving the movable part 80 to the target position, or a torque command signal indicating a torque command for moving the movable part 80 to the target position.

[0060] The characteristic calculation device 10 receives a command signal, position information, and acceleration information as input, and outputs (1) at least one of balance information indicating the degree of agreement (hereinafter also referred to as "balance") between the detection axis direction of the acceleration sensor 81 and the direction of acceleration to be detected by the acceleration sensor 81 and detection sensitivity information indicating the detection sensitivity of the acceleration sensor 81, (2) judgment information indicating that at least one of the balance of the acceleration sensor 81 and the detection sensitivity of the acceleration sensor 81 deviates from a predetermined reference value, and (3) a drive signal.

[0061] The characteristic calculation device 10 may be realized, for example, by a computer device including a processor, a memory, and an input / output interface, in which the processor executes a program stored in the memory. Alternatively, the characteristic calculation device 10 may be realized, for example, by a dedicated hardware circuit. Alternatively, the characteristic calculation device 10 may be realized by a combination of a computer device in which a processor executes a program stored in memory, and the dedicated hardware circuit.

[0062] The characteristic calculation device 10 includes a sensor information acquisition unit 20, a sensor characteristic calculation unit 30, a command signal acquisition unit 40, a position control unit 50, a calculated value determination unit 60, and a response time constant setting unit 65.

[0063] The sensor information acquisition unit 20 acquires the position information output from the position detector 71 and the acceleration information output from the acceleration sensor 81 .

[0064] The command signal acquisition unit 40 acquires the command signal output from the command generation unit 90 .

[0065] The position control unit 50 generates a drive signal that drives the motor 70 to move the movable part 80 to the target position based on the command signal acquired by the command signal acquisition unit 40 and the position information acquired by the sensor information acquisition unit 20, and outputs the generated drive signal to the motor 70.

[0066] The position control unit 50 may generate a drive signal by, for example, performing feedback control in which the position information acquired by the sensor information acquisition unit 20 is fed back in response to the command signal acquired by the command signal acquisition unit 40.

[0067] The sensor characteristic calculation unit 30 calculates and outputs at least one of balance information and detection sensitivity information based on the position information and acceleration information acquired by the sensor information acquisition unit 20.

[0068] FIG. 2 is a schematic diagram showing an example of how the sensor characteristic calculation section 30 calculates balance information or detection sensitivity information based on position information and acceleration information.

[0069] In this example, the acceleration sensor 81 is a three-axis acceleration sensor that detects acceleration in the directions of three axes, namely, the X-axis, the Y-axis, and the Z-axis, which are orthogonal to each other.

[0070] 2, while acceleration sensor 81 is not accelerating, that is, while acceleration sensor 81 is moving at a constant speed in a straight line or is stationary, acceleration sensor 81 detects gravitational acceleration g. Therefore, acceleration sensor 81 outputs acceleration information indicating the X-axis component gx, the Y-axis component gy, and the Z-axis component gz of gravitational acceleration g.

[0071] Upon acquiring this acceleration information, the sensor characteristic calculation unit 30 calculates the gravitational acceleration g detected by the acceleration sensor 81 using equation (1).

[0072]

number

[0073] Then, the sensor characteristic calculation unit 30 calculates the detection sensitivity of the acceleration sensor 81 based on the ratio between the calculated gravitational acceleration g and the actual gravitational acceleration.

[0074] In addition, the sensor characteristic calculation unit 30 calculates the balance degrees α, β, and γ of the acceleration sensor 81 for the X-axis, Y-axis, and Z-axis, respectively, using equations (2), (3), and (4) for the acquired acceleration information.

[0075]

number

[0076]

number

[0077]

number

[0078] In this example, the sensor characteristics calculation unit 30 calculates the balance information or the detection sensitivity information when the acceleration of the motor 70 calculated based on the position information does not change for a predetermined period or more. In particular, it is preferable that the sensor characteristics calculation unit 30 calculates the balance information or the detection sensitivity information when the position of the motor 70 calculated based on the position information does not change for a predetermined period or more.

[0079] To achieve this, it is preferable that the command generating unit 90 generates a command signal so that the acceleration of the motor 70 does not change for more than a predetermined period of time. In particular, it is preferable that the command generating unit 90 generates a command signal so that the position of the motor 70 does not change for more than a predetermined period of time.

[0080] FIG. 3 is a schematic diagram showing another example of how the sensor characteristic calculation section 30 calculates balance information or detection sensitivity information based on position information and acceleration information.

[0081] In this example, the acceleration sensor 81 is a one-axis acceleration sensor attached to the movable part 80 with the detection axis oriented in the acceleration direction of the movable part 80.

[0082] 3, when a command signal to accelerate movable part 80 at a first acceleration value for a certain period is output from command generating unit 90, motor 70 and movable part 80 accelerate in response to the command signal with a slight delay. Then, the acceleration of motor 70 converges to the first value indicated by the command signal, and the acceleration of movable part 80 converges to a second value corresponding to the first acceleration.

[0083] The example in Figure 3 is an example in which the balance and sensitivity of the acceleration sensor 81 are ideal (the detection axis of the acceleration sensor 81 matches the acceleration direction of the movable part 80, and the sensitivity matches the specification value), and the first value to which the acceleration of the motor 70 converges is equal to the second value to which the acceleration of the movable part 80 converges.

[0084] The sensor characteristic calculation unit 30 calculates the time progression of the acceleration of the motor 70 by performing a second-order differentiation with respect to time of the position information acquired by the sensor information acquisition unit 20, and also calculates the time progression of the acceleration of the movable part 80 based on the acceleration information acquired by the sensor information acquisition unit 20.

[0085] Then, the sensor characteristic calculation unit 30 compares the calculated acceleration of the motor 70 over time during a section where the acceleration is constant (i.e., the first value to which the acceleration of the motor 70 converges) with the calculated acceleration of the movable part 80 over time during a section where the acceleration is constant (i.e., the second value to which the acceleration of the movable part 80 converges). If the balance and sensitivity of the acceleration sensor 81 deviate from the ideal, a difference will occur in the comparison result. The sensor characteristic calculation unit 30 calculates the balance or detection sensitivity of the acceleration sensor 81 based on the comparison result.

[0086] In this case, the sensor characteristic calculation unit 30 calculates the balance information or the detection sensitivity information when the acceleration of the motor 70 calculated based on the position information does not change for a predetermined period of time or more.

[0087] To achieve this, it is preferable that the command generating unit 90 generates a command signal so that the acceleration of the motor 70 does not change for more than a predetermined period of time.

[0088] Furthermore, in order for the sensor characteristic calculation unit 30 to calculate the balance information or detection sensitivity information, the acceleration of the motor 70 needs to converge to a first value and the acceleration of the movable part 80 needs to converge to a second value.

[0089] To achieve this, the command generating unit 90 generates a command signal so that the acceleration of the motor 70 indicated by the command signal does not change for a period of time that is a first value greater than the response time constant of the position control unit 50. In particular, it is preferable that the command generating unit 90 generates the command signal during a period in which the sensor characteristic calculating unit 30 calculates the balance information or the detection sensitivity information. Here, the response time constant refers to the period required from when a command signal is input to the position control unit 50 until the position control unit 50 drives the motor 70 so that the acceleration of the motor 70 is determined by the command signal.

[0090] FIG. 4 is a schematic diagram showing an example of how the sensor characteristic calculation unit 30 calculates balance information or detection sensitivity information based on position information and acceleration information when the command generation unit 90 generates a command signal such that the acceleration of the motor 70 indicated by the command signal changes at a first value only for a period shorter than the response time constant of the position control unit 50.

[0091] 4, when a command signal is output from command generating unit 90 to accelerate movable part 80 at a first acceleration value for a certain period of time that is shorter than the response time constant of position control unit 50, motor 70 and movable part 80 accelerate in response to the command signal with a slight delay. However, the acceleration of motor 70 does not sufficiently converge to the first value indicated by the command signal, and the acceleration of movable part 80 does not sufficiently converge to a second value corresponding to the first acceleration.

[0092] Therefore, the sensor characteristic calculation unit 30 cannot calculate the balance or detection sensitivity of the acceleration sensor 81 with relatively high accuracy.

[0093] FIG. 5 is a schematic diagram showing another example of how the sensor characteristic calculation section 30 calculates balance information or detection sensitivity information based on position information and acceleration information.

[0094] In this example, the acceleration sensor 81 is a one-axis acceleration sensor attached to the movable part 80 with the detection axis oriented in the acceleration direction of the movable part 80.

[0095] As shown in Figure 5, when the command generating unit 90 outputs a command signal indicating that the change in acceleration of the motor 70 and the change in acceleration of the movable part 80 will be sinusoidal, the change in acceleration of the motor 70 and the change in acceleration of the movable part 80 will be sinusoidal.

[0096] The example in Figure 5 is an example in which the balance and sensitivity of the acceleration sensor 81 are ideal (the detection axis of the acceleration sensor 81 and the acceleration direction of the movable part 80 are the same, and the sensitivity is consistent with the specification value), and the amplitude of the acceleration of the motor 70 over time is equal to the amplitude of the acceleration of the movable part 80 over time.

[0097] At this time, the sensor characteristic calculation unit 30 performs a second-order differentiation with respect to time of the position information acquired by the sensor information acquisition unit 20 to calculate the time progression of the acceleration of the motor 70, and also calculates the time progression of the acceleration of the movable part 80 based on the acceleration information acquired by the sensor information acquisition unit 20.

[0098] The sensor characteristic calculation unit 30 then compares the calculated amplitude of the acceleration of the motor 70 over time with the calculated amplitude of the acceleration of the movable part 80 over time. If the balance and sensitivity of the acceleration sensor 81 deviate from the ideal, a difference will occur in the comparison result. The sensor characteristic calculation unit 30 calculates the balance or detection sensitivity of the acceleration sensor 81 based on the comparison result.

[0099] Returning to FIG. 1 again, the description of the motor control system 1 will continue.

[0100] The calculated value determination unit 60 determines whether at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information, calculated by the sensor characteristic calculation unit 30, deviates from a predetermined standard value, and if it determines that it deviates, outputs determination information indicating that at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined standard value.

[0101] When the command generating unit 90 generates a command signal so that the acceleration of the motor 70 indicated by the command signal does not change for a first period that is a first value greater than the response time constant of the position control unit 50, the response time constant setting unit 65 sets the response time constant of the position control unit 50 so that the first period is longer than a ringing period during which ringing occurs in the acceleration of the movable unit 80 when the acceleration of the movable unit 80 converges to a second value corresponding to the first value. In particular, it is preferable that the response time constant setting unit 65 sets the response time constant during a period during which the sensor characteristic calculating unit 30 calculates balance information or detection sensitivity information.

[0102] The response time constant setting unit 65 may set the response time constant of the position control unit 50 by, for example, updating a gain parameter for determining the gain of the drive signal relative to the command signal in the position control unit 50.

[0103] Fig. 6 is a schematic diagram showing how ringing occurs in the acceleration of movable part 80 when the response time constant of position control part 50 is relatively high. In contrast, Fig. 3 is a schematic diagram showing how ringing does not occur in the acceleration of movable part 80 when the response time constant of position control part 50 is relatively low.

[0104] 6, when the response time constant of position control unit 50 is relatively high, the acceleration of movable unit 80 rises sharply. This causes ringing in the acceleration of movable unit 80. If sensor characteristics calculation unit 30 calculates the balance or detection sensitivity of acceleration sensor 81 while such ringing is occurring, the calculation accuracy of the balance or detection sensitivity of acceleration sensor 81 may be reduced.

[0105] 3, when the response time constant of position control unit 50 is relatively low, the acceleration of movable unit 80 rises gradually. As a result, ringing does not occur in the acceleration of movable unit 80. In this way, when no ringing occurs, sensor characteristics calculation unit 30 calculates the balance or detection sensitivity of acceleration sensor 81, thereby preventing a decrease in the calculation accuracy of the balance or detection sensitivity of acceleration sensor 81.

[0106] <Operation> The operation of the characteristic calculation device 10 having the above configuration will be described below.

[0107] The characteristic calculation device 10 performs a characteristic calculation process to calculate and output at least one of balance information and detection sensitivity information based on the position information and acceleration information.

[0108] The characteristic calculation process is started, for example, when the position detector 71 outputs position information and the acceleration sensor 81 outputs acceleration information.

[0109] FIG. 7 is a flowchart of the characteristic calculation process performed by the characteristic calculation device 10.

[0110] As shown in FIG. 7, when the characteristic calculation process is started, the sensor information acquisition unit 20 acquires the position information output from the position detector 71 and the acceleration information output from the acceleration sensor 81 (step S10).

[0111] When the position information and acceleration information are acquired, the sensor characteristic calculation unit 30 calculates and outputs at least one of balance information and detection sensitivity information based on the position information and acceleration information acquired by the sensor information acquisition unit 20 (step S20).

[0112] When at least one of the balance information and the detection sensitivity information is calculated, the calculated value determination unit 60 determines whether or not at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information, calculated by the sensor characteristic calculation unit 30, deviates from a predetermined reference value (step S30).

[0113] In the processing of step S30, if at least one of the balance and detection sensitivity deviates from a predetermined reference value (step S30: Yes), the calculated value determination unit 60 outputs determination information indicating that at least one of the balance and detection sensitivity deviates from a predetermined reference value (step S40).

[0114] When the processing of step S40 is completed, or when at least one of the balance and the detection sensitivity does not deviate from a predetermined reference value in the processing of step S30 (step S30: No), the characteristic calculation device 10 ends the characteristic calculation processing.

[0115] <Consideration> As described above, the characteristic calculation device 10 having the above configuration calculates at least one of the balance information and the detection sensitivity information based on the acceleration of the movable part 80 detected by the acceleration sensor 81 as well as the position of the motor 70 detected by the position detector 71.

[0116] Therefore, according to the characteristic calculation device 10 having the above configuration, even if the acceleration sensor 81 has become detached from the movable part 80, it is possible to determine whether there is an abnormality in the operation or attachment direction of the acceleration sensor 81.

[0117] Furthermore, as described above, when at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined reference value, the characteristic calculation device 10 configured as described above outputs judgment information indicating that at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined reference value.

[0118] Therefore, the characteristic calculation device 10 having the above configuration can notify the user of the characteristic calculation device 10 that there is a possibility that an abnormality has occurred in the operation or mounting direction of the acceleration sensor 81.

[0119] (Variation 1) A motor control system according to a first modification, which is configured by partially modifying the motor control system 1 according to the embodiment, will be described below.

[0120] The motor control system 1 according to the embodiment is an example of a configuration in which the position detector 71 is attached to the motor 70 and the acceleration sensor 81 is attached to the movable part 80. In contrast, the motor control system according to the first modification is an example of a configuration in which a position detection sensor that detects the position of the movable part 80 is further attached to the movable part 80.

[0121] In the following, for the motor control system according to variant 1, components that are similar to those of the motor control system 1 according to the embodiment have already been explained, so they are assigned the same symbols and detailed explanations are omitted, and the explanation focuses on the differences from motor control system 1.

[0122] FIG. 8 is a block diagram showing the configuration of a motor control system 1A according to the first modification.

[0123] 8, motor control system 1A is configured by adding a position sensor 82 to motor control system 1 according to embodiment 1 and changing characteristic calculation device 10 to characteristic calculation device 10A. Furthermore, characteristic calculation device 10A is configured by changing sensor information acquisition unit 20 from characteristic calculation device 10 to sensor information acquisition unit 20A and changing calculated value determination unit 60 from calculated value determination unit 60A.

[0124] The position sensor 82 is attached to the movable part 80, detects the position of the movable part 80, and outputs movable part position information indicating the detected position of the movable part 80 to the characteristic calculation device 10A.

[0125] FIG. 9 is a schematic diagram showing a state in which a position sensor 82 is attached to a movable part 80 connected to a motor 70 via a screw 72.

[0126] 9, the position sensor 82 may detect the position of the movable part 80 by, for example, reading the value of a scale 84 from a scale 83 on which the scale 84 indicating the position of the movable part 80 is engraved. In this case, the position sensor 82 may have, for example, an imaging device that captures an image of the scale 84 of the scale 83, and may detect the position of the movable part 80 by performing image processing on the image captured by the imaging device.

[0127] Returning to FIG. 8, the description of motor control system 1A will continue.

[0128] The sensor information acquisition unit 20A acquires the position information output from the position detector 71, the acceleration information output from the acceleration sensor 81, and the movable part position information output from the position sensor .

[0129] The calculated value determination unit 60A determines whether at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information, calculated by the sensor characteristic calculation unit 30, deviates from a predetermined standard value, and if it determines that there is a deviation, when the position of the movable part 80 indicated by the movable part position information acquired by the sensor information acquisition unit 20A satisfies a predetermined condition, it outputs determination information indicating that at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from the predetermined standard value.

[0130] <Consideration> As described above, when at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined reference value, and further when the position of the movable part 80 indicated by the movable part position information satisfies a predetermined condition, the characteristic calculation device 10A configured as described above outputs judgment information indicating that at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined reference value.

[0131] Therefore, according to the characteristic calculation device 10A having the above configuration, it is possible to more accurately notify the user of the characteristic calculation device 10A that there is a possibility that an abnormality has occurred in the operation or attachment direction of the acceleration sensor 81.

[0132] In the above description, the sensor characteristic calculation unit 30 calculates at least one of the balance information and the detection sensitivity information based on the position information and the acceleration information acquired by the sensor information acquisition unit 20. However, in Modification 1, the sensor characteristic calculation unit 30 may calculate at least one of the balance information and the detection sensitivity information based on the movable part position information and the acceleration information acquired by the sensor information acquisition unit 20, instead of the position information and the acceleration information acquired by the sensor information acquisition unit 20. Furthermore, the sensor characteristic calculation unit 30 may calculate at least one of the balance information and the detection sensitivity information based on the position information, the movable part position information, and the acceleration information acquired by the sensor information acquisition unit 20. In Modification 1, each component of the characteristic calculation device 10A may perform various processes using the position of the movable part 80 indicated by the movable part position information, instead of the position of the motor 70 indicated by the position information.

[0133] (Variation 2) A motor control system according to Modification 2, which is configured by partially modifying motor control system 1 according to the embodiment, will be described below.

[0134] The motor control system 1 according to the embodiment is an example of a configuration in which, when at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information, calculated by the sensor characteristic calculation unit 30, deviates from a predetermined reference value, the characteristic calculation device 10 outputs determination information indicating that at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined reference value. In contrast, the motor control system according to Modification 2 is an example of a configuration in which, when the amount of change per unit time of at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information, calculated by the sensor characteristic calculation unit 30, deviates from a predetermined reference value, the characteristic calculation device according to Modification 2 outputs determination information indicating that the amount of change per unit time of at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined reference value.

[0135] In the following, for the motor control system according to variant 2, components that are similar to those of the motor control system 1 according to the embodiment will be assigned the same symbols as those that have already been explained, and detailed explanations will be omitted. The explanation will focus on the differences from motor control system 1.

[0136] FIG. 10 is a block diagram showing the configuration of a motor control system 1B according to the second modification.

[0137] 10, motor control system 1B is configured by replacing characteristic calculation device 10 of motor control system 1 according to embodiment 1 with characteristic calculation device 10B. Also, characteristic calculation device 10B is configured by replacing calculated value determination unit 60 of characteristic calculation device 10 with calculated value determination unit 60B.

[0138] The calculated value determination unit 60B determines whether the change per unit time of at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information, calculated by the sensor characteristic calculation unit 30, deviates from a predetermined standard value, and if it determines that the change per unit time of at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined standard value, it outputs determination information indicating that the change per unit time of at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined standard value.

[0139] <Consideration> As described above, when the amount of change per unit time of at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined reference value, the characteristic calculation device 10B having the above configuration outputs judgment information indicating that the amount of change per unit time of at least one of the balance indicated by the balance information and the detection sensitivity indicated by the detection sensitivity information deviates from a predetermined reference value.

[0140] Therefore, according to the characteristic calculation device 10B having the above configuration, it is possible to notify the user of the characteristic calculation device 10B that an abnormality may have occurred in the operation or mounting direction of the acceleration sensor 81.

[0141] (supplement) As described above, the present disclosure has been described based on the embodiment and modified examples 1 and 2 as examples of the technology disclosed in the present application. However, the present disclosure is not limited to these embodiment and modified examples 1 and 2. As long as they do not deviate from the spirit of the present disclosure, various modifications that would occur to a person skilled in the art may be made to the present embodiment or modified examples, or forms constructed by combining components of different embodiment or modified examples may also be included within the scope of one or more aspects of the present disclosure.

[0142] An aspect of the present disclosure may be not only such a characteristic calculation device 10, but also a characteristic calculation method in which characteristic components included in the characteristic calculation device 10, etc. are included as steps. Another aspect of the present disclosure may be a computer program that causes a computer to execute each of the characteristic steps included in the characteristic calculation method. Another aspect of the present disclosure may be a computer-readable non-transitory recording medium on which such a computer program is recorded. [Industrial Applicability]

[0143] The present disclosure is widely applicable to systems that calculate the characteristics of an acceleration sensor attached to a moving part connected to a motor, etc. [Explanation of symbols]

[0144] 1, 1A, 1B Motor Control System 10, 10A, 10B characteristic calculation device 20, 20A Sensor information acquisition section 30 Sensor characteristic calculation unit 40 Command signal acquisition section 50 Position control section 60, 60A, 60B Calculation value judgment section 65 Response time constant setting section 70 Motor 71 Position detector 72 screws 80 Moving parts 81 Acceleration sensor 82 Position Sensor 83 scale 84 scales 90 Command generation section

Claims

1. a sensor information acquisition unit that acquires position information indicating a position of the motor detected by a position detector and acceleration information indicating an acceleration of the movable part detected by an acceleration sensor attached to the movable part connected to the motor; a sensor characteristic calculation unit that calculates and outputs at least one of balance information indicating a degree of agreement between a detection axis direction of the acceleration sensor and a direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating a detection sensitivity of the acceleration sensor, based on the position information and the acceleration information; The sensor characteristic calculation unit calculates at least one of the acceleration and the position information when the acceleration of the motor calculated based on the position information does not change for a predetermined period or more. Characteristics calculation device.

2. moreover, a command signal acquisition unit that acquires a command signal generated by a command generation unit, the command signal being for moving the movable unit to a target position; a position control unit that generates a drive signal for driving the motor so as to move the movable part to the target position based on the command signal and the position information, and outputs the generated drive signal to the motor; The command generating unit generates the command signal so that the acceleration of the motor indicated by the command signal does not change for more than the predetermined period. The characteristic calculation device according to claim 1 .

3. The command generating unit further generates the command signal so that the position of the motor indicated by the command signal does not change for more than the predetermined period. The characteristic calculation device according to claim 2 .

4. moreover, a command signal acquisition unit that acquires a command signal generated by a command generation unit, the command signal being for moving the movable unit to a target position; a position control unit that generates a drive signal for driving the motor so as to move the movable part to the target position based on the command signal and the position information, and outputs the generated drive signal to the motor; The command generating unit generates the command signal so that the acceleration of the motor indicated by the command signal does not change for a first period of time that is a first value and is greater than a response time constant of the position control unit. The characteristic calculation device according to claim 1 .

5. The command generating unit generates the command signal so that the acceleration of the motor indicated by the command signal does not change during the first period of time when the sensor characteristic calculating unit calculates the at least one of the first and second values ​​and the first period is greater than the response time constant of the position control unit. The characteristic calculation device according to claim 4 .

6. further comprising a response time constant setting unit that sets the response time constant, The response time constant setting unit sets the response time constant so that the first period is longer than a ringing period during which ringing occurs in the acceleration of the movable part when the acceleration of the movable part converges to a second value corresponding to the first value. The characteristic calculation device according to claim 4 or 5.

7. The response time constant setting unit sets the response time constant so that the first period is longer than the ringing period during the period in which the sensor characteristic calculation unit calculates at least one of the two. The characteristic calculation device according to claim 6 .

8. the sensor information acquisition unit further acquires movable part position information indicating a position of the movable part detected by a position sensor attached to the movable part; The sensor characteristic calculation unit calculates at least one of the position information and the acceleration information based on the movable part position information and the acceleration information, instead of the position information and the acceleration information. The characteristic calculation device according to any one of claims 1 to 7.

9. Further, a calculated value determination unit is provided which, when at least one of the degree of coincidence and the detection sensitivity deviates from a predetermined reference value, outputs determination information indicating that at least one of the degree of coincidence and the detection sensitivity deviates from the predetermined reference value. The characteristic calculation device according to any one of claims 1 to 8.

10. the sensor information acquisition unit further acquires movable part position information indicating a position of the movable part detected by a position sensor attached to the movable part; The calculated value determination unit outputs the determination information when the position of the movable part indicated by the movable part position information satisfies a predetermined condition in a case where at least one of the degree of coincidence and the detection sensitivity deviates from a predetermined reference value. The characteristic calculation device according to claim 9 .

11. moreover, a calculated value determination unit that, when a change amount per unit time of at least one of the degree of coincidence and the detection sensitivity deviates from a predetermined reference value, outputs determination information indicating that the change amount per unit time of at least one of the degree of coincidence and the detection sensitivity deviates from the predetermined reference value; The characteristic calculation device according to any one of claims 1 to 8.

12. The acceleration sensor is a three-axis acceleration sensor. The characteristic calculation device according to any one of claims 1 to 11.

13. a sensor information acquisition step of acquiring position information indicating a position of the motor detected by a position detector and acceleration information indicating an acceleration of the movable part detected by an acceleration sensor attached to the movable part connected to the motor; and a sensor characteristic calculation step of calculating and outputting at least one of balance information indicating a degree of agreement between a detection axis direction of the acceleration sensor and a direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating a detection sensitivity of the acceleration sensor, based on the position information and the acceleration information, In the sensor characteristic calculation step, when the acceleration of the motor calculated based on the position information does not change for a predetermined period or more, the at least one of the sensor characteristics is calculated. Characteristic calculation method.

14. A program for causing a characteristic calculation device to execute a characteristic calculation process, The characteristic calculation process includes: a sensor information acquisition step of acquiring position information indicating a position of the motor detected by a position detector and acceleration information indicating an acceleration of the movable part detected by an acceleration sensor attached to the movable part connected to the motor; and a sensor characteristic calculation step of calculating and outputting at least one of balance information indicating a degree of agreement between a detection axis direction of the acceleration sensor and a direction of acceleration to be detected by the acceleration sensor, and detection sensitivity information indicating a detection sensitivity of the acceleration sensor, based on the position information and the acceleration information, In the sensor characteristic calculation step, when the acceleration of the motor calculated based on the position information does not change for a predetermined period or more, the at least one of the sensor characteristics is calculated. program.

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