Vibration information calculation device, vibration information calculation method, and program

Abstract

A vibration information calculating device (10) is provided with: a sensor information acquiring unit (20) for acquiring time-series position information relating to a motor (70), detected by a position detector (71), and time-series sensor information relating to a movable portion (80) connected to the motor 70 by way of a joint portion (72), detected by a sensor (81) attached to the movable portion (80); and an information calculating unit (30) for calculating, on the basis of the position information and the sensor information, and outputting at least one of vibration presence / absence information indicating the presence or absence of vibrations of the motor (70) and the movable portion (80), vibration frequency information indicating the vibration frequency of the motor (70) and the movable portion (80), and vibration cause system information indicating the cause system of the vibrations of the motor (70) and the movable portion (80).

Description

[Technical Field]

[0001] The present disclosure relates to a vibration information calculation device that calculates information related to vibration. [Background technology]

[0002] Patent Document 1 discloses a vibration information calculation device that calculates information related to vibration.

[0003] The conventional vibration information calculation device described above calculates information relating to vibrations of the machine tool based on information detected by a sensor attached to the machine tool. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-185434 Summary of the Invention [Problem to be solved by the invention]

[0005] However, there is room for improvement in the vibration information calculation device disclosed in Patent Document 1.

[0006] Therefore, an object of the present disclosure is to provide a vibration information calculation device and the like that can be further improved. [Means for solving the problem]

[0007] A vibration information calculation device according to one aspect of the present disclosure includes a sensor information acquisition unit that acquires time-series position information of a motor detected by a position detector and time-series sensor information of a movable part detected by a sensor attached to a movable part connected to the motor via a joint, and an information calculation unit that calculates and outputs at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the movable part, vibration frequency information indicating the vibration frequency of the motor and the movable part, and vibration cause system information indicating the cause system of vibration of the motor and the movable part, based on the position information and the sensor information.

[0008] A vibration information calculation method according to one aspect of the present disclosure includes an acquisition step of acquiring time-series position information of a motor detected by a position detector and time-series sensor information of a moving part detected by a sensor attached to a moving part connected to the motor via a joint, and an information calculation step of calculating and outputting at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the moving part, vibration frequency information indicating the vibration frequency of the motor and the moving part, and vibration cause system information indicating the cause system of vibration of the motor and the moving part, based on the position information and the sensor information.

[0009] A program according to one aspect of the present disclosure is a program for causing a vibration information calculation device to execute a vibration information calculation process, the vibration information calculation process including: an acquisition step of acquiring time-series position information of a motor detected by a position detector and time-series sensor information of a moving part detected by a sensor attached to a moving part connected to the motor via a joint; and an information calculation step of calculating and outputting, based on the position information and the sensor information, at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the moving part, vibration frequency information indicating the vibration frequency of the motor and the moving part, and vibration cause system information indicating the cause system of vibration of the motor and the moving part. [Effects of the Invention]

[0010] The vibration information calculation device and the like according to one aspect of the present disclosure can be further improved. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of a motor control system according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing how the information calculation unit according to the first embodiment calculates vibration presence / absence information, vibration frequency information, and vibration cause system information. [Figure 3] FIG. 3 is a schematic diagram showing conditions under which the information calculation unit according to the first embodiment generates vibration cause system information. [Figure 4] FIG. 4 is a perspective view of a production device to which the motor control system according to the first embodiment is applied. [Figure 5] FIG. 5 is a flowchart of the first vibration information calculation process according to the first embodiment. [Figure 6] FIG. 6 is a block diagram showing the configuration of a motor control system according to the second embodiment. [Figure 7] FIG. 7 is a schematic diagram showing how the information calculation unit according to the second embodiment calculates vibration presence / absence information, vibration frequency information, and vibration cause system information. [Figure 8] FIG. 8 is a schematic diagram showing conditions under which the information calculation unit according to the second embodiment generates vibration cause system information. [Figure 9] FIG. 9 is a flowchart of the second vibration information calculation process according to the second embodiment. [Figure 10] FIG. 10 is a block diagram showing the configuration of a motor control system according to the third embodiment. [Figure 11] FIG. 11 is a schematic diagram showing how the information calculation unit according to the third embodiment calculates vibration presence / absence information, vibration frequency information, and vibration cause system information. [Figure 12] FIG. 12 is a schematic diagram showing conditions under which the information calculation unit according to the third embodiment generates vibration cause system information. [Figure 13]FIG. 13 is a flowchart of the third vibration information calculation process according to the third embodiment. [Figure 14] FIG. 14 is a block diagram showing the configuration of a motor control system according to the fourth embodiment. [Figure 15] FIG. 15 is a schematic diagram showing how the information calculation unit according to the fourth embodiment calculates vibration presence / absence information, vibration frequency information, and vibration cause system information. [Figure 16] FIG. 16 is a schematic diagram showing conditions under which the information calculation unit according to the fourth embodiment generates vibration cause system information. [Figure 17] FIG. 17 is a flowchart of the fourth vibration information calculation process according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (How one aspect of the present disclosure was achieved) In a system in which a moving part is moved to a target position by driving a motor connected to the moving part via a joint, the motor and the moving part may vibrate when the motor is driven due to deterioration of the equipment over time, etc.

[0013] The inventors have found that in order to take measures to suppress such vibrations, it is necessary to understand at least one of the following: the presence or absence of vibrations in the motor and moving parts, the vibration frequency of the motor and moving parts, and the cause of the vibrations in the motor and moving parts. Based on this finding, the inventors have conducted experiments, studies, etc., and have come up with the following vibration information calculation device, etc.

[0014] A vibration information calculation device according to one aspect of the present disclosure includes a sensor information acquisition unit that acquires time-series position information of a motor detected by a position detector and time-series sensor information of a movable part detected by a sensor attached to a movable part connected to the motor via a joint, and an information calculation unit that calculates and outputs at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the movable part, vibration frequency information indicating the vibration frequency of the motor and the movable part, and vibration cause system information indicating the cause system of vibration of the motor and the movable part, based on the position information and the sensor information.

[0015] According to the vibration information calculation device having the above configuration, a user of the vibration information calculation device can grasp at least one of the presence or absence of vibration in the motor and the moving part, the vibration frequency of the motor and the moving part, and the cause of the vibration in the motor and the moving part. Therefore, in a system in which a moving part is moved to a target position by driving a motor connected to the moving part via a joint, the user can take measures to suppress vibrations generated in the motor and the moving part when the motor is driven.

[0016] Furthermore, as described above, the conventional vibration information calculation device disclosed in Patent Document 1 calculates information relating to vibrations of the machine tool based on information detected by a sensor attached to the machine tool.

[0017] In contrast, a vibration information calculation device according to one aspect of the present disclosure calculates information related to vibrations based on not only the sensor information of the moving part detected by a sensor attached to the moving part, but also the position information of the motor detected by a position detector.

[0018] As a result, according to the vibration information calculation device according to one aspect of the present disclosure, a vibration information calculation device that can be further improved is provided.

[0019] The information calculation unit may further calculate the at least one of the information based on a predetermined threshold value.

[0020] This allows at least one of the above to be calculated using a threshold value.

[0021] 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, 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 position control unit may be configured to update a gain parameter for determining a gain of the drive signal relative to the command signal based on at least one of the above.

[0022] According to the vibration information calculation device having the above configuration, in a system in which a movable part is moved to a target position by driving a motor connected to the movable part via a joint, if vibration occurs in the motor and the movable part when the motor is driven, this vibration can be suppressed by updating the gain parameter based on at least one of the above.

[0023] Furthermore, the information calculation unit may calculate the at least one in a first time period based on the time-series position information of the motor detected by the position detector in a first time period and the time-series sensor information of the moving part detected by the sensor in the first time period, and may calculate the at least one in a second time period based on the time-series position information of the motor detected by the position detector in a second time period that is earlier than the first time period and the time-series sensor information of the moving part detected by the sensor in the second time period, and the vibration information calculation device may further include a deterioration information calculation unit that calculates and outputs deterioration information related to deterioration of an apparatus including the motor and the moving part based on the at least one in the first time period and the at least one in the second time period.

[0024] This allows a user of the vibration information calculation device configured as described above to grasp the degree of deterioration of equipment in a system that moves a movable part to a target position by driving a motor connected to the movable part via a joint.

[0025] The sensor may be an acceleration sensor that detects the acceleration of the movable part.

[0026] This allows the acceleration sensor to be used to calculate at least one of the above.

[0027] The sensor may also detect a deviation of the position of the movable part from a target position of the movable part.

[0028] This makes it possible to calculate at least one of the above based on the deviation of the position of the movable part from the target position.

[0029] The sensor may also include an imaging device.

[0030] This makes it possible to calculate at least one of the above using the imaging device.

[0031] In addition, the cause system indicated by the vibration cause system information may include at least one of a resonance cause system caused by a resonance relationship between a command signal for moving the movable part to a target position and the vibration frequency of the motor and an apparatus equipped with the movable part, and an anti-resonance cause system caused by an anti-resonance relationship between the command signal and the vibration frequency.

[0032] This allows a user of the vibration information calculation device having the above configuration to understand that the causal system is a resonance causal system or an anti-resonance causal system.

[0033] The sensor may be attached to the movable part at a position where it is displaced when the movable part vibrates.

[0034] This allows for more accurate calculation of at least one of the above.

[0035] A vibration information calculation method according to one aspect of the present disclosure includes an acquisition step of acquiring time-series position information of a motor detected by a position detector and time-series sensor information of a moving part detected by a sensor attached to a moving part connected to the motor via a joint, and an information calculation step of calculating and outputting at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the moving part, vibration frequency information indicating the vibration frequency of the motor and the moving part, and vibration cause system information indicating the cause system of vibration of the motor and the moving part, based on the position information and the sensor information.

[0036] According to the vibration information calculation method, a user who uses the vibration information calculation method can grasp at least one of the presence or absence of vibration in the motor and the moving part, the vibration frequency of the motor and the moving part, and the cause of the vibration in the motor and the moving part. Therefore, in a system in which a moving part is moved to a target position by driving a motor connected to the moving part via a joint, the user can take measures to suppress vibrations that occur in the motor and the moving part when the motor is driven.

[0037] Furthermore, as described above, the conventional vibration information calculation device disclosed in Patent Document 1 calculates information relating to vibrations of the machine tool based on information detected by a sensor attached to the machine tool.

[0038] In contrast, according to one aspect of the present disclosure, Vibration Information The calculation method calculates information related to vibration based on sensor information of the moving part detected by a sensor attached to the moving part as well as position information of the motor detected by a position detector.

[0039] As a result, according to one aspect of the present disclosure Vibration Information According to the calculation method, a vibration information calculation device that can be further improved is provided.

[0040] A program according to one aspect of the present disclosure is a program for causing a vibration information calculation device to execute a vibration information calculation process, the vibration information calculation process including: an acquisition step of acquiring time-series position information of a motor detected by a position detector and time-series sensor information of a moving part detected by a sensor attached to a moving part connected to the motor via a joint; and an information calculation step of calculating and outputting, based on the position information and the sensor information, at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the moving part, vibration frequency information indicating the vibration frequency of the motor and the moving part, and vibration cause system information indicating the cause system of vibration of the motor and the moving part.

[0041] According to the program, a user of the program can grasp at least one of the presence or absence of vibration in the motor and the moving part, the vibration frequency of the motor and the moving part, and the cause of the vibration in the motor and the moving part. Therefore, in a system in which a moving part is moved to a target position by driving a motor connected to the moving part via a joint, the user can take measures to suppress vibrations generated in the motor and the moving part when the motor is driven.

[0042] Furthermore, as described above, the conventional vibration information calculation device disclosed in Patent Document 1 calculates information relating to vibrations of the machine tool based on sensor information detected by a sensor attached to the machine tool.

[0043] In contrast, a program according to one aspect of the present disclosure calculates information related to vibrations based on not only information about the moving part detected by a sensor attached to the moving part, but also on position information about the motor detected by a position detector.

[0044] As a result, according to the program according to one aspect of the present disclosure, a vibration information calculation device that can be further improved is provided.

[0045] Hereinafter, a specific example of a vibration information calculation device according to one aspect of the present disclosure will be described with reference to the drawings. Each embodiment shown here illustrates one specific example of the present disclosure. Therefore, the numerical values, shapes, components, arrangement and connection of the components, steps (processes), and 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 will be omitted or simplified.

[0046] (Embodiment 1) The following describes a motor control system according to embodiment 1. 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 board.

[0047] <Configuration> FIG. 1 is a block diagram showing the configuration of a motor control system 1 according to the first embodiment.

[0048] As shown in FIG. 1, the motor control system 1 includes a vibration information calculation device 10, a motor 70, a joint 72, a movable part 80, a controller 90, a position detector 71, and a sensor 81.

[0049] The motor 70 is driven by a drive signal output from the vibration information calculation device 10. Here, the motor 70 will be described as being a rotary motor. However, the motor 70 is not necessarily limited to a rotary motor, and may be, for example, a linear motor.

[0050] The drive signal is, for example, a current for rotating the motor 70 .

[0051] The position detector 71 detects the position of the motor 70 and outputs time-series position information indicating the detected position of the motor 70 to the vibration information calculation device 10.

[0052] The position detector 71 may be, for example, an encoder. In this case, the time-series position information output by the position detector 71 becomes a time-series encoder signal.

[0053] The movable part 80 is connected to the motor 70 via the joint part 72. 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.

[0054] The joint 72 is a rigid portion that connects the motor 70 and the movable part 80. The joint 72 may bend due to the movement of the motor 70 and / or the movable part 80. This bending may cause the motor 70 and / or the movable part 80 to vibrate.

[0055] The controller 90 generates a command signal for moving the movable part 80 to the target position, and outputs the generated command signal to the vibration information calculation 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.

[0056] The sensor 81 is attached to the movable part 80, detects a physical quantity related to the movable part 80, and outputs time-series sensor information indicating the detected physical quantity related to the movable part 80 to the vibration information calculation device .

[0057] The sensor 81 may be, for example, an acceleration sensor that detects the acceleration of the movable part 80 as a physical quantity related to the movable part 80. The sensor 81 may also be, for example, a position sensor that detects the deviation of the movable part 80 from a target position as a physical quantity related to the movable part 80. In this case, the sensor 81 may include, for example, an imaging device. In this case, the sensor 81 may, for example, capture an image of an imaging range using the imaging device, and, if the target position is included in the imaging range, perform image processing on the captured image to calculate the deviation of the movable part 80 from the target position.

[0058] The sensor 81 is preferably attached to the movable part 80 at a position that is displaced when the movable part 80 vibrates. For example, if, when the movable part 80 vibrates, a node of the vibration occurs at a specific position on the movable part 80 and an antinode of the vibration occurs at another specific position on the movable part 80, the sensor 81 is preferably attached to the movable part 80 at the position where the antinode occurs. By attaching the sensor 81 to such a position, the physical quantity of the movable part 80 that is caused by the vibration of the movable part 80 can be detected more effectively.

[0059] In the first embodiment, the sensor 81 will be described as an acceleration sensor that detects the acceleration of the movable part 80 as a physical quantity related to the movable part 80.

[0060] The vibration information calculation device 10 receives a command signal, position information, and sensor information as input, and outputs (1) at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor 70 and the movable part 80, vibration frequency information indicating the vibration frequency of the motor 70 and the movable part 80, and vibration cause system information indicating the cause system of vibration of the motor 70 and the movable part 80, (2) deterioration information related to deterioration of the device including the motor 70 and the movable part 80, and (3) a drive signal. Here, for example, if the motor control system 1 is a production device that mounts components on a board, the deterioration information related to deterioration of the device including the motor 70 and the movable part 80 may be information indicating the degree of deterioration of the production device over time, information indicating a request to replace a specific component of the production device, or information indicating a request to inspect the production device.

[0061] The vibration information 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 vibration information calculation device 10 may be realized, for example, by a dedicated hardware circuit. Alternatively, the vibration information calculation device 10 may be realized by a combination of a computer device in which the processor executes a program stored in memory and the dedicated hardware circuit.

[0062] The vibration information calculation device 10 includes a sensor information acquisition unit 20, an information calculation unit 30, a command signal acquisition unit 40, a position control unit 50, and a deterioration information calculation unit 60.

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

[0064] The information calculation unit 30 calculates and outputs at least one of vibration presence / absence information, vibration frequency information, and vibration cause system information based on the time-series position information and time-series sensor information acquired by the sensor information acquisition unit 20.

[0065] Here, the information calculation unit 30 will be described as calculating and outputting vibration presence / absence information, vibration frequency information, and vibration cause system information.

[0066] FIG. 2 is a schematic diagram showing how the information calculation unit 30 calculates vibration presence / absence information, vibration frequency information, and vibration cause system information based on time-series position information and time-series sensor information.

[0067] 2(a) schematically shows an example of time-series location information acquired by the sensor information acquisition unit 20. Also, FIG. 2(d) schematically shows an example of time-series sensor information acquired by the sensor information acquisition unit 20.

[0068] The information calculation unit 30 applies a band-pass filter that passes specific frequency components to the time-series position information acquired by the sensor information acquisition unit 20, and calculates filtered position information.

[0069] Here, the specific frequency component is a frequency band of vibration that is the target of calculation of vibration presence / absence information, vibration frequency information, and vibration cause system information. The specific frequency band may be, for example, a frequency band of vibration that occurs in an apparatus to which motor control system 1 is applied, i.e., an apparatus that includes motor 70 and moving part 80. In this case, this frequency band may be determined based on experimental or simulation results obtained by conducting experiments or simulations in advance using this apparatus, or may be determined based on the performance required of this apparatus.

[0070] FIG. 2(b) schematically shows an example of the filtered position information calculated by the information calculation unit 30.

[0071] The information calculation section 30 checks whether the amplitude of the calculated filtered position information is equal to or greater than a first threshold value.

[0072] FIG. 2(b) shows an example in which the calculated amplitude of the filtered position information is equal to or greater than the first threshold value.

[0073] Here, the first threshold is a threshold for determining whether or not a vibration component is included in the time-series position information. The first threshold may be determined based on, for example, experimental or simulation results obtained by conducting experiments or simulations in advance using an apparatus to which motor control system 1 is applied, or may be determined based on the performance required of the apparatus.

[0074] The information calculation unit 30 performs a Fourier transform on the calculated filtered position information to calculate the position information frequency components.

[0075] FIG. 2(c) schematically shows an example of the position information frequency components calculated by the information calculation unit 30.

[0076] Furthermore, the information calculation unit 30 applies a band-pass filter that passes specific frequency components to the time-series sensor information acquired by the sensor information acquisition unit 20, and calculates filtered sensor information.

[0077] FIG. 2(e) schematically shows an example of the filtered sensor information calculated by the information calculation unit 30.

[0078] The information calculation unit 30 checks whether the amplitude of the calculated filtered sensor information is equal to or greater than a second threshold value.

[0079] FIG. 2(e) illustrates an example in which the calculated amplitude of the filtered sensor information is not equal to or greater than the second threshold.

[0080] Here, the second threshold is a threshold for determining whether or not a vibration component is included in the time-series sensor information. The second threshold may be determined based on, for example, experimental or simulation results obtained by conducting experiments or simulations in advance using an apparatus to which motor control system 1 is applied, or may be determined based on the performance required of the apparatus.

[0081] The information calculation unit 30 performs a Fourier transform on the calculated filtered sensor information to calculate the sensor information frequency components.

[0082] FIG. 2(f) schematically shows an example of the sensor information frequency components calculated by the information calculation section 30.

[0083] The information calculation unit 30 generates and outputs vibration presence / absence information indicating that the motor 70 and the movable part 80 are vibrating when the amplitude of the calculated filtered position information is equal to or greater than a first threshold value, and / or when the amplitude of the calculated filtered sensor information is equal to or greater than a second threshold value, and otherwise generates and outputs vibration presence / absence information indicating that the motor 70 and the movable part 80 are not vibrating.

[0084] The information calculation unit 30 generates and outputs vibration frequency information indicating the frequency of the peak spectrum of the calculated position information frequency component and the frequency of the peak spectrum of the calculated sensor information frequency component as the vibration frequency of the motor 70 and the movable part 80.

[0085] The information calculation unit 30 generates vibration cause system information based on the relationship between the filtered position information and the first threshold value and the relationship between the filtered sensor information and the second threshold value.

[0086] FIG. 3 is a schematic diagram showing conditions under which the information calculation unit 30 generates vibration cause system information.

[0087] As shown in FIG. 3, the information calculation unit 30 calculates the filtered position If the amplitude of the information is equal to or greater than the first threshold, vibration cause system information is generated and output indicating that the cause system of the vibration of the motor 70 and the movable part 80 is a resonance cause system resulting from a resonance relationship between the command signal and the vibration frequency of the device to which the motor control system 1 is applied.

[0088] The information calculation unit 30 calculates the filtered position If the amplitude of the information is not greater than the first threshold, and the calculated filtered Sensor If the amplitude of the information is equal to or greater than a second threshold, vibration cause system information is generated and output indicating that the cause system of the vibration of the motor 70 and the movable part 80 is an anti-resonance cause system resulting from an anti-resonance relationship between the command signal and the vibration frequency of the device to which the motor control system 1 is applied.

[0089] The information calculation unit 30 calculates the filtered position If the amplitude of the information is not greater than the first threshold, and the calculated filtered Sensor If the amplitude of the information is not equal to or greater than the second threshold, vibration cause system information indicating that no cause system for vibration of the motor 70 and the movable part 80 exists is generated and output.

[0090] Returning to FIG. 1 again, the description of the motor control system 1 will continue.

[0091] The command signal acquisition unit 40 acquires the command signal output from the controller 90 .

[0092] 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.

[0093] 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.

[0094] Furthermore, when information calculation unit 30 calculates at least one of vibration presence / absence information, vibration frequency information, and vibration cause system information, position control unit 50 updates a gain parameter for determining a gain of a drive signal relative to a command signal based on at least one of the calculated information. In this case, position control unit 50 may update the gain parameter so that vibrations occurring in motor 70 and movable unit 80 are suppressed, for example.

[0095] The deterioration information calculation unit 60 calculates and outputs deterioration information related to deterioration of a device including the motor 70 and the movable part 80. More specifically, when the information calculation unit 30 (1) calculates at least one of vibration presence / absence information, vibration frequency information, and vibration cause system information for a first time period based on time-series position information of the motor 70 detected by the position detector 71 in the first time period and time-series sensor information of the movable part 80 detected by the sensor 81 in the first time period, and (2) calculates the at least one of the above for a second time period based on time-series position information of the motor 70 detected by the position detector 71 in a second time period earlier than the first time period and time-series sensor information of the movable part 80 detected by the sensor 81 in the second time period, the deterioration information calculation unit 60 calculates and outputs the deterioration information based on the at least one of the above for the first time period and the at least one of the above for the second time period.

[0096] <Application example> An example in which the motor control system 1 having the above configuration is applied will be described below.

[0097] 4 is a perspective view of a production apparatus 100 to which the motor control system 1 is applied. The production apparatus 100 is a component mounter that mounts components 130 on a board 120 placed on a machine base 110.

[0098] 4, production apparatus 100 includes a header 80A that transports component 130 to a mounting position, a motor 70A that moves header 80A in the X-axis direction in a plan view of machine base 110, and a motor 70B that moves header 80A in the Y-axis direction. Here, header 80A is connected to motor 70A via arm 72A and motor 70B. In addition, an acceleration sensor 81A is attached to the header.

[0099] In the production apparatus 100, the motor 70A corresponds to the motor 70 in the motor control system 1, the header 80A corresponds to the movable part 80 in the motor control system 1, the arm 72A and the motor 70B correspond to the joint 72 in the motor control system 1, and the acceleration sensor 81A corresponds to the sensor 81 in the motor control system 1.

[0100] The vibration causal systems in the production equipment 100 include (1) a resonance causal system in which the command signal and the vibration frequency of the production equipment 100 (particularly, the vibration frequency of the part consisting of the motor 70A, arm 72A, motor 70B, header 80A, and acceleration sensor 81A) are in a resonance relationship, (2) an anti-resonance causal system in which the command signal and the vibration frequency of the production equipment 100 (particularly, the vibration frequency of the part consisting of the motor 70A, arm 72A, motor 70B, header 80A, and acceleration sensor 81A) are in an anti-resonance relationship, and (3) a machine stand vibration system caused by vibration of the machine stand.

[0101] In the following, in the first embodiment, the motor control system 1 will be described as being applied to a production device 100.

[0102] <Operation> The operation of the vibration information calculation device 10 having the above configuration will be described below.

[0103] The vibration information calculation device 10 performs a first vibration information calculation process to calculate and output at least one of vibration presence / absence information, vibration frequency information, and signal cause system information based on time-series position information and time-series sensor information.

[0104] Here, the first vibration information processing will be described as processing in which the information calculation section 30 calculates and outputs vibration presence / absence information, vibration frequency information, and vibration cause system information.

[0105] The first vibration information calculation process is started, for example, when the position detector 71 outputs time-series position information and the sensor 81 outputs time-series sensor information.

[0106] FIG. 5 is a flowchart of the first vibration information calculation process performed by the vibration information calculation device 10.

[0107] As shown in FIG. 5, when the first vibration information calculation process is started, the sensor information acquisition unit 20 acquires time-series position information output from the position detector 71 and time-series sensor information output from the sensor 81 (step S10).

[0108] When the time-series location information and time-series sensor information are acquired, the information calculation unit 30 applies a bandpass filter that passes specific frequency components to the time-series location information and time-series sensor information, and calculates filtered location information and filtered sensor information (step 20).

[0109] After calculating the filtered sensor information and filtered position information, the information calculation unit 30 checks whether the amplitude of the filtered position information is equal to or greater than a first threshold and whether the amplitude of the filtered sensor information is equal to or greater than a second threshold, and generates vibration presence / absence information (step S30).

[0110] After generating the vibration presence / absence information, the information calculation unit 30 performs a Fourier transform on the filtered position information and the filtered sensor information to calculate the position information frequency components and the sensor information frequency components, and generates vibration frequency information indicating the frequency of the peak spectrum of the calculated information frequency components and the frequency of the peak spectrum of the calculated sensor information frequency components (step S40).

[0111] When generating the vibration frequency information, the information calculation unit 30 generates vibration cause system information indicating that the system is a resonance cause system if the amplitude of the filtered position information is equal to or greater than a first threshold, and generates vibration cause system information indicating that the system is an anti-resonance cause system if the amplitude of the filtered position information is not equal to or greater than the first threshold and the amplitude of the filtered sensor information is equal to or greater than a second threshold. position If the amplitude of the information is not greater than or equal to the first threshold, and after filtering SensorIf the amplitude of the information is not equal to or greater than the second threshold, vibration cause system information indicating that no cause system exists is generated (step S50).

[0112] After generating the vibration presence / absence information, the vibration frequency information, and the signal cause system information, the information calculation unit 30 outputs the generated vibration presence / absence information, the vibration frequency information, and the signal cause system information (step S60).

[0113] When the process of step S60 ends, the vibration information calculation device 10 ends the first vibration information calculation process.

[0114] <Consideration> As described above, the vibration information calculation device 10 configured as described above outputs at least one of vibration presence / absence information indicating the presence or absence of vibration in the motor 70 and the moving part 80, vibration frequency information indicating the vibration frequency of the motor 70 and the moving part 80, and vibration cause system information indicating the cause system of vibration in the motor 70 and the moving part 80. This allows a user using the vibration information calculation device 10 to grasp at least one of the presence or absence of vibration in the motor 70 and the moving part 80, the vibration frequency of the motor 70 and the moving part 80, and the cause system of vibration in the motor 70 and the moving part 80. This allows the user to take measures to suppress vibrations occurring in the motor 70 and the moving part 80 when driving the motor 70 in a system that moves the moving part 80 to a target position by driving the motor 70 connected to the moving part 80 via the joint 72.

[0115] (Embodiment 2) A motor control system according to a second embodiment, which is configured by partially modifying the motor control system 1 according to the first embodiment, will be described below.

[0116] In the following, for the motor control system according to embodiment 2, components that are similar to those of the motor control system 1 according to embodiment 1 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.

[0117] FIG. 6 is a block diagram showing the configuration of a motor control system 1A according to the second embodiment.

[0118] 6, motor control system 1A is configured by replacing vibration information calculation device 10 of motor control system 1 according to embodiment 1 with vibration information calculation device 10A. Also, vibration information calculation device 10A is configured by replacing information calculation unit 30 of vibration information calculation device 10 with information calculation unit 30A.

[0119] Similar to the information calculation unit 30, the information calculation unit 30A calculates and outputs at least one of vibration presence / absence information, vibration frequency information, and vibration cause system information based on the time-series position information and time-series sensor information acquired by the sensor information acquisition unit 20. However, the information calculation unit 30A has a part of the algorithm for calculating these pieces of information that is different from the information calculation unit 30.

[0120] Here, the information calculation unit 30A will be described as calculating and outputting vibration presence / absence information, vibration frequency information, and vibration cause system information, similar to the information calculation unit 30.

[0121] FIG. 7 is a schematic diagram showing how the information calculation unit 30A calculates vibration presence / absence information, vibration frequency information, and vibration cause system information based on time-series position information and time-series sensor information.

[0122] 7(a) schematically shows an example of time-series location information acquired by the sensor information acquisition unit 20. Also, FIG. 7(d) schematically shows an example of time-series sensor information acquired by the sensor information acquisition unit 20.

[0123] Similar to the information calculation unit 30, the information calculation unit 30A applies a bandpass filter that passes specific frequency components to the time-series position information acquired by the sensor information acquisition unit 20, and calculates filtered position information.

[0124] FIG. 7(b) schematically shows an example of the filtered position information calculated by the information calculation unit 30A.

[0125] Similarly to the information calculation section 30, the information calculation section 30A performs a Fourier transform on the calculated filtered position information to calculate the position information frequency components.

[0126] FIG. 7(c) schematically shows an example of the position information frequency components calculated by the information calculation unit 30A.

[0127] The information calculation unit 30A checks whether the peak spectrum of the calculated position information frequency component is equal to or greater than a third threshold value.

[0128] FIG. 7(c) shows an example in which the calculated peak spectrum of the position information frequency component is equal to or greater than the third threshold.

[0129] Here, the third threshold is a threshold for determining whether or not a vibration component is included in the time-series position information. The third threshold may be determined based on, for example, experimental or simulation results obtained by conducting experiments or simulations in advance using an apparatus to which motor control system 1A is applied, or may be determined based on the performance required of the apparatus.

[0130] Furthermore, similar to the information calculation unit 30, the information calculation unit 30A applies a bandpass filter that passes specific frequency components to the time-series sensor information acquired by the sensor information acquisition unit 20, and calculates filtered sensor information.

[0131] FIG. 7(e) schematically shows an example of the filtered sensor information calculated by the information calculation unit 30A.

[0132] Similarly to the information calculation unit 30, the information calculation unit 30A performs a Fourier transform on the calculated filtered sensor information to calculate the sensor information frequency components.

[0133] FIG. 7(f) schematically shows an example of the sensor information frequency components calculated by the information calculation section 30A.

[0134] The information calculation unit 30A checks whether the peak spectrum of the calculated sensor information frequency component is equal to or greater than a fourth threshold value.

[0135] FIG. 7(f) illustrates an example in which the calculated peak spectrum of the sensor information frequency component is equal to or greater than the fourth threshold.

[0136] Here, the fourth threshold is the time series Sensor The fourth threshold is a threshold for determining whether the information contains a vibration component. The fourth threshold may be determined based on, for example, experimental or simulation results obtained by conducting experiments or simulations in advance using an apparatus to which motor control system 1A is applied, or may be determined based on the performance required of the apparatus.

[0137] The information calculation unit 30A generates and outputs vibration presence / absence information indicating that the motor 70 and the movable part 80 are vibrating when the peak spectrum of the calculated position information frequency component is equal to or greater than a third threshold value, and / or when the peak spectrum of the calculated sensor information frequency component is equal to or greater than a fourth threshold value, and otherwise generates and outputs vibration presence / absence information indicating that the motor 70 and the movable part 80 are not vibrating.

[0138] The information calculation unit 30A generates and outputs vibration frequency information indicating the frequency of the peak spectrum of the calculated position information frequency component and the frequency of the peak spectrum of the calculated sensor information frequency component as the vibration frequency of the motor 70 and the movable part 80.

[0139] The information calculation unit 30A generates vibration cause system information based on the relationship between the position information frequency component and the third threshold value and the relationship between the sensor information frequency component and the fourth threshold value.

[0140] FIG. 8 is a schematic diagram showing the conditions under which the information calculation unit 30A generates vibration cause system information.

[0141] As shown in FIG. 8, when the peak spectrum of the calculated position information frequency component is equal to or greater than the third threshold, the information calculation unit 30A generates and outputs vibration cause system information indicating that the cause system of vibration of the motor 70 and the movable part 80 is a resonance cause system resulting from a resonance relationship between the command signal and the vibration frequency of the device to which the motor control system 1A is applied.

[0142] When the peak spectrum of the calculated position information frequency component is not equal to or greater than the third threshold value and when the peak spectrum of the calculated sensor information frequency component is equal to or greater than the fourth threshold value, the information calculation unit 30A generates and outputs vibration cause system information indicating that the cause system of vibration of the motor 70 and the movable part 80 is an anti-resonance cause system resulting from an anti-resonance relationship between the command signal and the vibration frequency of the device to which the motor control system 1A is applied.

[0143] If the peak spectrum of the calculated position information frequency component is not equal to or greater than the third threshold value and if the peak spectrum of the calculated sensor information frequency component is not equal to or greater than the fourth threshold value, the information calculation unit 30A generates and outputs vibration cause system information indicating that there is no cause system for vibration of the motor 70 and the movable part 80.

[0144] <Operation> The operation of the vibration information calculation device 10A having the above configuration will be described below.

[0145] The vibration information calculation device 10A performs a second vibration information calculation process in which some of the processes in the first vibration information calculation process according to the first embodiment are changed.

[0146] FIG. 9 is a flowchart of the second vibration information calculation process performed by the vibration information calculation device 10A.

[0147] In the second vibration information calculation process, the process of step S110, the process of step S120, and the process of step S160 are respectively the same as the process of step S10, the process of step S20, and the process of step S60 in the first vibration information calculation process according to embodiment 1. That is, in the processes of step S10, the process of step S20, and the process of step S60 in the first vibration information calculation process, the information calculation unit 30 is replaced with the information calculation unit 30A, and the vibration information calculation device 10 is replaced with the vibration information calculation device 10A. For this reason, the process of steps S140 to S150 will be mainly described here.

[0148] When the processing of step S120 is completed, the information calculation unit 30A performs a Fourier transform on the filtered position information and the filtered sensor information to calculate the position information frequency components and the sensor information frequency components, and generates vibration frequency information indicating the frequency of the peak spectrum of the calculated information frequency components and the frequency of the peak spectrum of the calculated sensor information frequency components (step S140).

[0149] After generating the vibration frequency information, the information calculation unit 30A checks whether the peak spectrum of the calculated position information frequency component is equal to or greater than a third threshold value and whether the peak spectrum of the calculated sensor information frequency component is equal to or greater than a fourth threshold value, and generates vibration presence / absence information (step S145).

[0150] When generating the vibration frequency information, the information calculation unit 30A generates vibration cause system information indicating that it is a resonance cause system if the peak spectrum of the position information frequency component is greater than or equal to the third threshold, generates vibration cause system information indicating that it is an anti-resonance cause system if the peak spectrum of the position information frequency component is not greater than or equal to the third threshold and the peak spectrum of the sensor information frequency component is not greater than or equal to the fourth threshold, and generates vibration cause system information indicating that no cause system exists if the peak spectrum of the position information frequency component is not greater than or equal to the third threshold and the peak spectrum of the sensor information frequency component is not greater than or equal to the fourth threshold (step S150).

[0151] When the process of step S150 is completed, the process proceeds to step S160.

[0152] When the process of step S160 ends, the vibration information calculation device 10A ends the second vibration information calculation process.

[0153] <Consideration> As described above, the vibration information calculation device 10A having the above configuration, like the vibration information calculation device 10 according to embodiment 1, outputs at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor 70 and the movable part 80, vibration frequency information indicating the vibration frequency of the motor 70 and the movable part 80, and vibration cause system information indicating the cause system of vibration of the motor 70 and the movable part 80.

[0154] (Embodiment 3) A motor control system according to a third embodiment, which is configured by partially modifying the motor control system 1 according to the first embodiment, will be described below.

[0155] In the following, for the motor control system of embodiment 3, components that are similar to those of the motor control system 1 of embodiment 1 have already been explained, so they will be assigned the same symbols and their detailed explanations will be omitted, and the explanation will focus on the differences from motor control system 1.

[0156] FIG. 10 is a block diagram showing the configuration of a motor control system 1B according to the third embodiment.

[0157] 10, motor control system 1B is configured by replacing vibration information calculation device 10 of motor control system 1 according to embodiment 1 with vibration information calculation device 10B. Also, vibration information calculation device 10B is configured by replacing information calculation unit 30 of vibration information calculation device 10 with information calculation unit 30B.

[0158] Similar to the information calculation unit 30, the information calculation unit 30B calculates and outputs at least one of vibration presence / absence information, vibration frequency information, and vibration cause system information based on the time-series position information and time-series sensor information acquired by the sensor information acquisition unit 20. However, the information calculation unit 30B has a part of the algorithm for calculating these pieces of information that is different from the information calculation unit 30.

[0159] Here, the information calculation unit 30B will be described as calculating and outputting vibration presence / absence information, vibration frequency information, and vibration cause system information, similar to the information calculation unit 30.

[0160] FIG. 11 is a schematic diagram showing how the information calculation unit 30B calculates vibration presence / absence information, vibration frequency information, and vibration cause system information based on time-series position information and time-series sensor information.

[0161] 11(a) schematically shows an example of time-series location information acquired by the sensor information acquisition unit 20. Also, FIG. 11(e) schematically shows an example of time-series sensor information acquired by the sensor information acquisition unit 20.

[0162] The information calculation unit 30B matches the dimension of the position information with the dimension of the sensor information. Here, the description is given assuming that the dimension of the position information is matched with the dimension of the sensor information, but the dimension of the sensor information may be matched with the dimension of the position information, or the dimension of the position information and the dimension of the sensor information may be matched with another same dimension.

[0163] Since the dimension of the position information is the dimension of position and the dimension of the sensor information is the dimension of acceleration, the information calculation unit 30B performs second-order differentiation of the position information with respect to time to convert it into dimension-converted position information having the dimension of acceleration.

[0164] FIG. 11(b) schematically shows an example of dimension-converted position information converted into the dimension of acceleration by the information calculation unit 30B.

[0165] The information calculation unit 30B applies a band-pass filter that passes specific frequency components to the converted dimension-converted position information, and calculates filtered position information.

[0166] FIG. 11(c) schematically shows an example of the filtered position information calculated by the information calculation unit 30B.

[0167] Similarly to the information calculation unit 30, the information calculation unit 30B performs a Fourier transform on the calculated filtered position information to calculate the position information frequency components.

[0168] FIG. 11(d) schematically shows an example of the position information frequency components calculated by the information calculation unit 30B.

[0169] The information calculation unit 30B checks whether the calculated peak spectrum of the position information frequency component is equal to or greater than a fifth threshold.

[0170] FIG. 11(d) shows an example in which the calculated peak spectrum of the position information frequency component is equal to or greater than the fifth threshold.

[0171] Here, the fifth threshold is a threshold for determining whether or not a vibration component is included in the time-series position information. The fifth threshold may be determined based on, for example, experimental or simulation results obtained by conducting experiments or simulations in advance using an apparatus to which motor control system 1B is applied, or may be determined based on the performance required of the apparatus.

[0172] Furthermore, similar to the information calculation unit 30, the information calculation unit 30B applies a bandpass filter that passes specific frequency components to the time-series sensor information acquired by the sensor information acquisition unit 20, and calculates filtered sensor information.

[0173] FIG. 11(f) schematically shows an example of the filtered sensor information calculated by the information calculation unit 30B.

[0174] Similarly to the information calculation unit 30, the information calculation unit 30B performs a Fourier transform on the calculated filtered sensor information to calculate the sensor information frequency components.

[0175] FIG. 11(g) schematically shows an example of the sensor information frequency components calculated by the information calculation unit 30B.

[0176] The information calculation unit 30B checks whether the peak spectrum of the calculated sensor information frequency component is equal to or greater than a sixth threshold value.

[0177] FIG. 11(g) illustrates an example in which the calculated peak spectrum of the sensor information frequency component is equal to or greater than the sixth threshold.

[0178] Here, the sixth threshold is the time series Sensor The sixth threshold is a threshold for determining whether the information contains a vibration component. The sixth threshold may be determined based on, for example, experimental or simulation results obtained by conducting experiments or simulations in advance using an apparatus to which motor control system 1B is applied, or may be determined based on the performance required of the apparatus.

[0179] The information calculation unit 30B generates and outputs vibration presence / absence information indicating that the motor 70 and the movable part 80 are vibrating when the peak spectrum of the calculated position information frequency component is equal to or greater than a fifth threshold, and / or when the peak spectrum of the calculated sensor information frequency component is equal to or greater than a sixth threshold, and otherwise generates and outputs vibration presence / absence information indicating that the motor 70 and the movable part 80 are not vibrating.

[0180] The information calculation unit 30B generates and outputs vibration frequency information indicating the frequency of the peak spectrum of the calculated position information frequency component and the frequency of the peak spectrum of the calculated sensor information frequency component as the vibration frequency of the motor 70 and the movable part 80.

[0181] The information calculation unit 30B generates vibration cause system information based on the relationship between the position information frequency component and the fifth threshold value and the relationship between the sensor information frequency component and the sixth threshold value.

[0182] FIG. 12 is a schematic diagram showing the conditions under which the information calculation unit 30B generates vibration cause system information.

[0183] As shown in FIG. 12, when the peak spectrum of the calculated position information frequency component is equal to or greater than the fifth threshold, the information calculation unit 30B generates and outputs vibration cause system information indicating that the cause system of vibration of the motor 70 and the movable part 80 is a resonance cause system resulting from a resonance relationship between the command signal and the vibration frequency of the device to which the motor control system 1B is applied.

[0184] If the peak spectrum of the calculated position information frequency component is not equal to or greater than the fifth threshold and if the peak spectrum of the calculated sensor information frequency component is equal to or greater than the sixth threshold, the information calculation unit 30B generates and outputs vibration cause system information indicating that the cause system of vibration of the motor 70 and the movable part 80 is an anti-resonance cause system resulting from the anti-resonance relationship between the command signal and the vibration frequency of the device to which the motor control system 1B is applied.

[0185] If the peak spectrum of the calculated position information frequency component is not equal to or greater than the fifth threshold and if the peak spectrum of the calculated sensor information frequency component is not equal to or greater than the sixth threshold, the information calculation unit 30B generates and outputs vibration cause system information indicating that there is no cause system for vibration of the motor 70 and the movable part 80.

[0186] <Operation> The operation of the vibration information calculation device 10B having the above configuration will be described below.

[0187] The vibration information calculation device 10B performs a third vibration information calculation process in which some of the processes in the first vibration information calculation process according to the first embodiment are changed.

[0188] FIG. 13 is a flowchart of the third vibration information calculation process performed by the vibration information calculation device 10B.

[0189] In the third vibration information calculation process, the process of step S210 and the process of step S260 are respectively the same as the process of step S10 and the process of step S60 in the first vibration information calculation process according to embodiment 1. That is, in the process of step S10 and the process of step S60 in the first vibration information calculation process, the information calculation unit 30 is replaced with the information calculation unit 30B and the vibration information calculation device 10 is replaced with the vibration information calculation device 10B. For this reason, the process of steps S215 to S250 will be mainly described here.

[0190] When the process of step S210 is completed, the information calculation unit 30B matches the dimension of the position information with the dimension of the sensor information (step S215). Here, the information calculation unit 30B performs second-order differentiation of the position information with respect to time to convert it into dimension-converted position information having the dimension of acceleration.

[0191] After converting into dimension-converted position information, the information calculation unit 30B applies a bandpass filter that passes specific frequency components to the time-series dimension-converted position information and the time-series sensor information, and calculates filtered position information and filtered sensor information (step S220).

[0192] After calculating the filtered position information and filtered sensor information, the information calculation unit 30B performs a Fourier transform on the filtered position information and filtered sensor information to calculate position information frequency components and sensor information frequency components, and generates vibration frequency information indicating the frequency of the peak spectrum of the calculated information frequency components and the frequency of the peak spectrum of the calculated sensor information frequency components (step S240).

[0193] After generating the vibration frequency information, the information calculation unit 30B checks whether the peak spectrum of the calculated position information frequency component is equal to or greater than a fifth threshold and whether the peak spectrum of the calculated sensor information frequency component is equal to or greater than a sixth threshold, and generates vibration presence / absence information (step S245).

[0194] When generating the vibration frequency information, the information calculation unit 30B generates vibration cause system information indicating that it is a resonance cause system if the peak spectrum of the position information frequency component is greater than or equal to the fifth threshold, generates vibration cause system information indicating that it is an anti-resonance cause system if the peak spectrum of the position information frequency component is not greater than or equal to the fifth threshold and the peak spectrum of the sensor information frequency component is not greater than or equal to the sixth threshold, and generates vibration cause system information indicating that no cause system exists if the peak spectrum of the position information frequency component is not greater than or equal to the fifth threshold and the peak spectrum of the sensor information frequency component is not greater than or equal to the sixth threshold (step S250).

[0195] When the process of step S250 is completed, the process proceeds to step S260.

[0196] When the process of step S260 ends, the vibration information calculation device 10B ends the third vibration information calculation process.

[0197] <Consideration> As described above, the vibration information calculation device 10B having the above configuration, like the vibration information calculation device 10 according to embodiment 1, outputs at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor 70 and the movable part 80, vibration frequency information indicating the vibration frequency of the motor 70 and the movable part 80, and vibration cause system information indicating the cause system of vibration of the motor 70 and the movable part 80.

[0198] (Fourth embodiment) A motor control system according to a fourth embodiment, which is configured by partially modifying the motor control system 1 according to the first embodiment, will be described below.

[0199] In the following, for the motor control system of embodiment 4, components that are similar to those of motor control system 1 of embodiment 1 have already been explained, so they will be assigned the same symbols and their detailed explanations will be omitted, and the explanation will focus on the differences from motor control system 1.

[0200] FIG. 14 is a block diagram showing the configuration of a motor control system 1C according to the fourth embodiment.

[0201] 14, motor control system 1C is configured by changing vibration information calculation device 10 from motor control system 1 according to embodiment 1 to vibration information calculation device 10C and changing sensor 81 to sensor 81C. Also, vibration information calculation device 10C is configured by changing information calculation unit 30 from vibration information calculation device 10 to information calculation unit 30C.

[0202] Sensor 81C is a position sensor attached to movable part 80 that detects the position of movable part 80 as a physical quantity related to movable part 80. More specifically, sensor 81C includes an imaging device that captures an image of an imaging range, and when a target position is included in the imaging range, performs image processing on the captured image to calculate the deviation of movable part 80 from the target position.

[0203] The information calculation unit 30C calculates and outputs at least one of vibration presence / absence information, vibration frequency information, and vibration cause system information based on the time-series position information and time-series sensor information acquired by the sensor information acquisition unit 20.

[0204] Here, the information calculation unit 30C will be described as calculating and outputting vibration presence / absence information, vibration frequency information, and vibration cause system information.

[0205] FIG. 15 is a schematic diagram showing how the information calculation unit 30C calculates vibration presence / absence information, vibration frequency information, and vibration cause system information based on time-series position information and time-series sensor information.

[0206] 15(a) schematically shows an example of time-series position information acquired by the sensor information acquisition unit 20. Also, FIG. 15(d) schematically shows an example of time-series sensor information acquired by the sensor information acquisition unit 20. Similar to the information calculation unit 30, the information calculation unit 30C applies a bandpass filter that passes specific frequency components to the time-series position information acquired by the sensor information acquisition unit 20, and calculates filtered position information.

[0207] FIG. 15(b) schematically shows an example of the filtered position information calculated by the information calculation unit 30C.

[0208] The information calculation unit 30C checks whether the amplitude of the calculated filtered position information is equal to or greater than a seventh threshold.

[0209] FIG. 15(b) shows an example in which the calculated amplitude of the filtered position information is equal to or greater than the seventh threshold.

[0210] Here, the seventh threshold is a threshold for determining whether or not a vibration component is included in the time-series position information. The seventh threshold may be determined based on, for example, experimental or simulation results obtained by conducting experiments or simulations in advance using an apparatus to which the motor control system 1C is applied, or may be determined based on the performance required of the apparatus.

[0211] Similarly to the information calculation unit 30, the information calculation unit 30C performs a Fourier transform on the calculated filtered position information to calculate the position information frequency components.

[0212] FIG. 15(c) schematically shows an example of the position information frequency components calculated by the information calculation unit 30C.

[0213] Furthermore, similar to the information calculation unit 30, the information calculation unit 30C applies a bandpass filter that passes specific frequency components to the time-series sensor information acquired by the sensor information acquisition unit 20, and calculates filtered sensor information.

[0214] FIG. 15(e) schematically shows an example of the filtered sensor information calculated by the information calculation unit 30C.

[0215] The information calculation unit 30C checks whether the amplitude of the calculated filtered sensor information is equal to or greater than an eighth threshold.

[0216] FIG. 15(e) illustrates an example in which the calculated amplitude of the filtered sensor information is not equal to or greater than the eighth threshold.

[0217] Here, the eighth threshold is a threshold for determining whether or not a vibration component is included in the time-series sensor information. The eighth threshold may be determined based on, for example, experimental or simulation results obtained by conducting experiments or simulations in advance using an apparatus to which motor control system 1C is applied, or may be determined based on the performance required of the apparatus.

[0218] Similarly to the information calculation unit 30, the information calculation unit 30C performs a Fourier transform on the calculated filtered sensor information to calculate the sensor information frequency components.

[0219] FIG. 15(f) schematically shows an example of the sensor information frequency components calculated by the information calculation unit 30C.

[0220] The information calculation unit 30C generates and outputs vibration presence / absence information indicating that the motor 70 and the movable part 80 are vibrating when the amplitude of the calculated filtered position information is equal to or greater than the seventh threshold, and / or when the amplitude of the calculated filtered sensor information is equal to or greater than the eighth threshold, and otherwise generates and outputs vibration presence / absence information indicating that the motor 70 and the movable part 80 are not vibrating.

[0221] The information calculation unit 30C generates and outputs vibration frequency information indicating the frequency of the peak spectrum of the calculated position information frequency component and the frequency of the peak spectrum of the calculated sensor information frequency component as the vibration frequency of the motor 70 and the movable part 80.

[0222] The information calculation unit 30C generates vibration cause system information based on the relationship between the filtered position information and the seventh threshold value and the relationship between the filtered sensor information and the eighth threshold value.

[0223] FIG. 16 is a schematic diagram showing the conditions under which the information calculation unit 30C generates vibration cause system information.

[0224] As shown in FIG. 16, the information calculation unit 30C calculates the filtered position When the amplitude of the information is equal to or greater than the seventh threshold, the cause of the vibration of the motor 70 and the moving part 80 is determined to be the command signal and the motor control system 1. C The vibration cause system information indicating that the vibration cause system is a resonance cause system resulting from a resonance relationship with the vibration frequency of the device to which the vibration cause system is applied is generated and output.

[0225] The information calculation unit 30C calculates the filtered position If the amplitude of the information is not greater than the seventh threshold, and the calculated filtered Sensor If the amplitude of the information is equal to or greater than the eighth threshold, vibration cause system information is generated and output indicating that the cause system of vibration of the motor 70 and the movable part 80 is an anti-resonance cause system resulting from the anti-resonance relationship between the command signal and the vibration frequency of the device to which the motor control system 1C is applied.

[0226] The information calculation unit 30C calculates the filtered position If the amplitude of the information is not greater than the seventh threshold, and the calculated filtered Sensor If the amplitude of the information is not equal to or greater than the eighth threshold, vibration cause system information indicating that no cause system for vibration of the motor 70 and the movable part 80 exists is generated and output.

[0227] <Operation> The operation of the vibration information calculation device 10C having the above configuration will be described below.

[0228] The vibration information calculation device 10C performs a fourth vibration information calculation process in which some of the processes in the first vibration information calculation process according to the first embodiment are changed.

[0229] FIG. 17 is a flowchart of the fourth vibration information calculation process performed by the vibration information calculation device 10C.

[0230] In the fourth vibration information calculation process, the process from step S410 to step S420, the process from step S440, and the process from step S460 are respectively the same as the process from step S10 to step S20, the process from step S40, and the process from step S60 in the first vibration information calculation process according to embodiment 1. That is, in the processes from step S10 to step S20, the process from step S40, and the process from step S60 in the first vibration information calculation process, the information calculation unit 30 is replaced with the information calculation unit 30C, the vibration information calculation device 10 is replaced with the vibration information calculation device 10C, and the sensor 81 is replaced with the sensor 81C. For this reason, the process from step S430 and the process from step S450 will be mainly described here.

[0231] When the processing of step S420 is completed, the information calculation unit 30C checks whether the amplitude of the filtered position information is equal to or greater than the seventh threshold and whether the amplitude of the filtered sensor information is equal to or greater than the eighth threshold, and generates vibration presence / absence information (step S430).

[0232] When the process of step S430 is completed, the process proceeds to step S440.

[0233] When the processing of step S440 is completed, the information calculation unit 30C generates vibration cause system information indicating that the system is a resonance cause system when the amplitude of the filtered position information is equal to or greater than the seventh threshold, generates vibration cause system information indicating that the system is an anti-resonance cause system when the amplitude of the filtered position information is not equal to or greater than the seventh threshold and the amplitude of the filtered sensor information is equal to or greater than the eighth threshold, and position If the amplitude of the information is not greater than the seventh threshold, and after filtering Sensor If the amplitude of the information is not equal to or greater than the eighth threshold, vibration cause system information indicating that no cause system exists is generated (step S450).

[0234] When the process of step S450 is completed, the process proceeds to step S460.

[0235] When the process of step S460 ends, the vibration information calculation device 10C ends the fourth vibration information calculation process.

[0236] <Consideration> As described above, the vibration information calculation device 10C having the above configuration, like the vibration information calculation device 10 according to embodiment 1, outputs at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor 70 and the movable part 80, vibration frequency information indicating the vibration frequency of the motor 70 and the movable part 80, and vibration cause system information indicating the cause system of vibration of the motor 70 and the movable part 80.

[0237] (supplement) As described above, examples of the technology disclosed in this application have been described based on Embodiments 1 to 4. However, the present disclosure is not limited to these Embodiments 1 to 4. 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 to the present embodiments, and forms constructed by combining components of different embodiments, may also be included within the scope of one or more aspects of the present disclosure.

[0238] An aspect of the present disclosure may be not only the vibration information calculation device 10, etc., but also a vibration information calculation method in which characteristic components included in the vibration information 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 characteristic step included in the vibration information 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]

[0239] The present disclosure is widely applicable to systems that calculate information related to vibrations, etc. [Explanation of symbols]

[0240] 1, 1A, 1B, 1C Motor Control System 10, 10A, 10B, 10C Vibration information calculation device 20 Sensor information acquisition unit 30, 30A, 30B, 30C Information calculation section 40 Command signal acquisition section 50 Position control section 60 Deterioration information calculation unit 70, 70A, 70B motors 71 Position detector 72 Joint 72A Arm 80 Moving parts 80A header 81, 81C sensors 81A Acceleration Sensor 90 Controller 100 Production Equipment 110 machines 120 boards 130 parts

Claims

1. a sensor information acquiring unit that acquires time-series position information of the motor detected by a position detector and time-series sensor information of the movable part detected by a sensor attached to the movable part connected to the motor via a joint; an information calculation unit that calculates and outputs at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the movable part, vibration frequency information indicating the vibration frequency of the motor and the movable part, and vibration cause system information indicating the cause system of vibration of the motor and the movable part, based on the position information and the sensor information, The cause system indicated by the vibration cause system information includes at least one of a resonance cause system caused by a resonance relationship between a command signal for moving the movable part to a target position and a vibration frequency of a device including the motor and the movable part, and an anti-resonance cause system caused by an anti-resonance relationship between the command signal and the vibration frequency. Vibration information calculation device.

2. The information calculation unit further calculates the at least one based on a predetermined threshold value. The vibration information calculation device according to claim 1 .

3. moreover, a command signal acquisition unit that acquires a command signal 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 position control unit updates a gain parameter for determining a gain of the drive signal with respect to the command signal based on the at least one of the parameters. The vibration information calculation device according to claim 1 or 2.

4. the information calculation unit calculates the at least one in a first time period based on the time-series position information of the motor detected by the position detector in a first time period and the time-series sensor information of the moving part detected by the sensor in the first time period, and calculates the at least one in a second time period based on the time-series position information of the motor detected by the position detector in a second time period that is earlier than the first time period and the time-series sensor information of the moving part detected by the sensor in the second time period; The vibration information calculation device further includes a deterioration information calculation unit that calculates and outputs deterioration information related to deterioration of a device that includes the motor and the moving part, based on the at least one of the first time period and the at least one of the second time period. The vibration information calculation device according to any one of claims 1 to 3.

5. The sensor is an acceleration sensor that detects the acceleration of the movable part. The vibration information calculation device according to any one of claims 1 to 4.

6. The sensor detects a deviation of the position of the movable part from a target position of the movable part. The vibration information calculation device according to any one of claims 1 to 4.

7. The sensor includes an imaging device. The vibration information calculation device according to claim 6 .

8. The sensor is attached to the movable part at a position where it is displaced when the movable part vibrates. The vibration information calculation device according to any one of claims 1 to 7.

9. an acquiring step of acquiring time-series position information of the motor detected by a position detector and time-series sensor information of the movable part detected by a sensor attached to the movable part connected to the motor via a joint; an information calculation step of calculating and outputting at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the movable part, vibration frequency information indicating the vibration frequency of the motor and the movable part, and vibration cause system information indicating the cause system of vibration of the motor and the movable part, based on the position information and the sensor information, The cause system indicated by the vibration cause system information includes at least one of a resonance cause system caused by a resonance relationship between a command signal for moving the movable part to a target position and a vibration frequency of a device including the motor and the movable part, and an anti-resonance cause system caused by an anti-resonance relationship between the command signal and the vibration frequency. Vibration information calculation method.

10. A program for causing a vibration information calculation device to execute a vibration information calculation process, The vibration information calculation process includes: an acquiring step of acquiring time-series position information of the motor detected by a position detector and time-series sensor information of the movable part detected by a sensor attached to the movable part connected to the motor via a joint; an information calculation step of calculating and outputting at least one of vibration presence / absence information indicating the presence or absence of vibration of the motor and the movable part, vibration frequency information indicating the vibration frequency of the motor and the movable part, and vibration cause system information indicating the cause system of vibration of the motor and the movable part, based on the position information and the sensor information, The cause system indicated by the vibration cause system information includes at least one of a resonance cause system caused by a resonance relationship between a command signal for moving the movable part to a target position and a vibration frequency of a device including the motor and the movable part, and an anti-resonance cause system caused by an anti-resonance relationship between the command signal and the vibration frequency. program.

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