Adjustment support device

Abstract

An adjustment support device according to an aspect of the present disclosure is capable of appropriately executing automatic adjustment of a parameter and is an adjustment support device that provides an initial setting value, for automatic adjustment, to an adjustment device that automatically adjusts a parameter of a servo control device, which controls a servo motor, by operating the servo control device in accordance with an automatic adjustment program. The adjustment support device comprises: an initial setting value candidate reading unit that reads, from an external source, an initial setting value candidate that is an initial setting value for the automatic adjustment; an initial setting value approval unit that determines whether use of the initial setting value candidate is to be approved; and an initial setting value transmission unit that transmits, to the adjustment device, the initial setting value candidate approved for use by the initial setting value approval unit.

Description

Technical Field

[0001] The present invention relates to an adjustment support device.

Background Art

[0002] In a servo control device that controls a servo motor, its control characteristics change depending on various parameters such as control gain, filter parameters, and quadrant protrusion correction parameters. In order to perform optimal control according to the purpose of use of the servo motor, etc., the servo motor is driven in a predetermined operation pattern while changing the parameters little by little, and the actual operation of the servo motor is confirmed, so that an optimal parameter is automatically set. A servo control device has also been proposed (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, it is proposed to read the initial value of the parameter and start automatic adjustment. However, if the load of the servo motor is different, etc., there is a possibility that the parameter cannot be adjusted appropriately due to unexpected interference, generation of vibration, etc. Therefore, a technique that can appropriately execute automatic adjustment of parameters is desired.

Means for Solving the Problems

[0005] An adjustment support device according to one aspect of the present disclosure is an adjustment support device that provides initial setting values ​​for automatic adjustment to an adjustment device that automatically adjusts the parameters of a servo control device by operating the servo control device for controlling a servo motor in accordance with an automatic adjustment program, and comprises: an initial setting value candidate reading unit that reads initial setting value candidates for automatic adjustment from an external source; an initial setting value approval unit that determines whether or not to permit the use of the initial setting value candidates; and an initial setting value transmission unit that transmits the initial setting value candidates permitted for use by the initial setting value approval unit to the adjustment device. [Effects of the Invention]

[0006] According to this disclosure, automatic parameter adjustment can be performed appropriately. [Brief explanation of the drawing]

[0007] [Figure 1] This is a block diagram showing the configuration of a servo system according to the first embodiment of this disclosure. [Modes for carrying out the invention]

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Figure 1 is a block diagram showing the configuration of a servo system 1 according to one embodiment of the present disclosure.

[0009] The servo system 1 comprises a servo control device 10, an adjustment device 20, and an adjustment support device 30. The servo system 1 is a system that controls one or more servo motors 40 and can constitute part of, for example, a machine tool, a robot system, etc.

[0010] The servo control device 10 is, for example, a CNC (Computerized Numerical Controller) and may consist of one or more computer devices equipped with memory, a processor, input / output interfaces, etc., that execute an appropriate servo control program. The servo control device 10 controls the current applied to the servo motor so that the rotational position, rotational speed, etc. of the servo motor change according to the operation program. For the control of the servo motor, the servo control device 10 sets various parameters such as the servo loop gain, filter parameters, quadrant protrusion correction parameters, etc., and the combination of these parameters (parameter set) enables optimal control of the servo control device 10 for the characteristics of the servo motor 40 and the load driven by the servo motor 40.

[0011] The adjustment device 20 receives initial settings for automatic adjustment (initial values ​​for control parameters and automatic adjustment program settings, automatic adjustment settings (gain margin, number of trials, etc.)) from the adjustment support device 30, and automatically adjusts the parameters by executing the automatic adjustment program. The adjustment device 20 may consist of one or more computer devices equipped with memory, a processor, an input / output interface, etc., which execute an appropriate adjustment control program. The adjustment device 20 may also be configured integrally with the servo control device 10 or integrally with the adjustment support device 30. The adjustment device 20 may have an adjustment execution unit 21 and a machine learning unit 22. Note that the adjustment execution unit 21 and the machine learning unit 22 are classifications of the functions of the adjustment device 20, and do not necessarily need to be clearly separated in terms of physical and program configuration.

[0012] The adjustment execution unit 21 sets the parameters of the servo control device 10 and inputs commands to the servo control device 10 to cause the servo motor 40 to operate according to the automatic adjustment program. The adjustment execution unit 21 receives a feedback signal from the servo control device 10 indicating the actual operation of the servo motor 40 and adjusts the control parameters of the servo control device 10 so that the difference between the operation of the servo motor 40 according to the automatic adjustment program and the actual operation is minimized. The adjustment execution unit 21 may, if necessary, also consider signals received from an external measuring instrument that detects the operation of the servo motor 40 without going through the servo control device 10 when adjusting the control parameters of the servo control device 10. For automatic adjustment, the adjustment execution unit 21 sets, for example, the feedforward gain, the gain margin of the speed loop, the phase margin, etc. In particular, when an external measuring instrument that detects the operation of the servo motor 40 is used, the calibration of the measured value may be performed by setting the gain value of the measured signal.

[0013] The machine learning unit 22 analyzes the feedback values ​​received by the adjustment execution unit 21 and instructs the adjustment execution unit 21 on the amount to adjust the parameters of the servo control device 10. More specifically, the machine learning unit 22 may be configured to repeatedly instruct the adjustment execution unit 21 to change the parameters and operate the servo motor 40, and to derive parameters that reduce the error in the operation of the servo motor 40 through reinforcement learning. As a result, the adjustment device 20 automatically adjusts the parameters using machine learning. For machine learning, the machine learning unit 22 is configured with settings such as on / off settings for various functions, various coefficients, various tolerances, and the number of trials.

[0014] The adjustment support device 30 provides the adjustment execution unit 21 with initial setting values ​​for automatic adjustment, thereby enabling the adjustment execution unit 21 to appropriately perform automatic parameter adjustment. The adjustment support device 30 itself is one embodiment of the adjustment support device according to this disclosure.

[0015] The adjustment support device 30 may consist of one or more computer devices equipped with memory, a processor, an input / output interface, etc., and which execute a program to set appropriate initial settings. The adjustment support device 30 may also be configured integrally with the adjustment device 20, or integrally with the servo control device 10.

[0016] The adjustment support device 30 includes an initial setting value candidate reading unit 31, a past initial setting value acquisition unit 32, an initial setting value approval unit 33, an initial setting value transmission unit 34, a test operation unit 35, and a user modification unit 36. These configurations categorize the functions of the adjustment support device 30 and do not necessarily need to be clearly distinguishable in terms of physical and program configurations.

[0017] The initial setting value candidate reading unit 31 reads initial setting value candidates for automatic adjustment from an external source. The initial setting value candidates read by the initial setting value candidate reading unit 31 are expected to be setting values ​​used during the automatic adjustment of other servo control devices. For this reason, the initial setting value candidate reading unit 31 may be connected to other servo systems, computers that manage other servo systems, etc., via a network or the like to enable communication. Furthermore, the initial setting value candidate reading unit 31 may be configured to acquire initial setting value candidates via a recording medium such as a USB memory. Preferably, the initial setting value candidates include information that identifies the device that created or applied the setting values, such as a device ID, as header information.

[0018] The past initial setting value acquisition unit 32 acquires past initial setting values, which are the initial setting values ​​used during past automatic adjustments by the adjustment device 20. The past initial setting value acquisition unit 32 may be configured to acquire and store the setting values ​​each time the adjustment device 20 performs an automatic adjustment, and may also be configured to acquire log information from the adjustment device 20 or the computer managing the adjustment device 20 as needed.

[0019] The initial setting value approval unit 33 determines whether or not to permit the use of the initial setting value candidate read by the initial setting value candidate reading unit 31 as the initial setting value for automatic adjustment in the adjustment device 20. Whether or not to permit use may be determined by checking whether or not the initial setting value candidate was created for the same model as the servo control device 10. If the initial setting value candidate was created for the same model as the servo control device 10, there is a high probability that it will not cause problems when applied to the servo control device 10, so the initial setting value approval unit 33 may be configured to permit it.

[0020] The initial setting value approval unit 33 may check whether the candidate initial setting value matches a past initial setting value, which is an initial setting value used during past automatic adjustments by the adjustment device 20. If the candidate initial setting value matches a past initial setting value, the initial setting value approval unit 33 may be configured to allow it, as there is a high probability that automatic adjustment can be performed without problems even if the candidate initial setting value is used as the initial setting value for automatic adjustment. Note that for the candidate initial setting value to match a past initial setting value means that the error of each setting value is less than or equal to the preset tolerance error. The initial setting value approval unit 33 may further check the elapsed time since the past initial setting value that matches the candidate initial setting value was used in the servo control device. If a long time has passed since the same initial setting value was used in the past, the load driven by the servo motor 40 may have changed, so if a certain amount of time has passed, the unit may be configured not to allow the use of the candidate initial setting value as is.

[0021] If the initial setting value approval unit 33 cannot determine that the use of the initial setting value candidate is possible, it may prompt the user for confirmation and permit the use of the initial setting value candidate when the user permits it. Further, the initial setting value approval unit 33 may be configured to also permit the use of the corrected initial setting value candidate that has been corrected by the user in the user correction unit 36 described later and for which use has been permitted. Thus, when the initial setting value approval unit 33 cannot determine that the initial setting value candidate can be used, by leaving it to the user to respond, it is possible to avoid the implementation of inappropriate automatic adjustment by the adjustment device 20 while making it easier to utilize the automatic adjustment by the adjustment device 20.

[0022] The initial setting value transmission unit 34 transmits the initial setting value candidate that has been permitted for use by the initial setting value approval unit 33 to the adjustment device 20. As described above, the initial setting value candidate transmitted by the initial setting value transmission unit 34 may include an initial setting value candidate that the initial setting value approval unit 33 cannot determine can be used and for which the user has permitted use, and an initial setting value candidate that has been corrected by the user in the user correction unit 36 described later and for which use has been permitted after the correction. The initial setting value transmission unit 34 may be configured to store the initial setting value candidate for which use has been permitted and transmit the initial setting value candidate in response to a request from the adjustment device 20.

[0023] When the use of the initial setting value candidate is not permitted by the initial setting value approval unit 33, the test operation unit 35 causes the servo control device 10 to execute a test operation for allowing the user to determine the suitability of the initial setting value candidate. The test operation is executed by inputting a command to the servo control device 10 so as to set the control parameter in the initial setting value candidate as the parameter of the servo control device 10 and cause the servo motor 40 to perform a predetermined operation based on the set value of the automatic adjustment program in the initial setting value candidate.

[0024] The operation of the servo motor 40 in the test run may be the same as the operation according to the automatic adjustment program. In the test run, unlike the automatic adjustment, the parameters are not changed, so the possibility of interference of the driven body, abnormal vibration, etc. developing into serious problems is small. The user can visually and check with various data in the test run. If it is expected that interference of the driven body, abnormal vibration, etc. will develop into serious problems when the parameters are changed from the initial setting value candidates for automatic adjustment, the user should be prohibited from using this initial setting value candidate as the initial setting value for automatic adjustment.

[0025] The test run unit 35 preferably provides a user interface that displays on the screen a start button for starting the test run after the user is ready to observe the test run, an interrupt button for interrupting the test run when the user confirms an abnormality during the test run, an end message for notifying the user of the end of the test run, and the like.

[0026] When the use of the initial setting value candidate is not permitted in the initial setting value approval unit 33, the user modification unit 36 prompts the user to modify the initial setting value candidate or the settings of the adjustment device 20 (the adjustment execution unit 21 and the machine learning unit 22). For this purpose, the user modification unit 36 provides a user interface including a screen that allows the user to edit the initial setting value candidate and the settings of the adjustment device 20. When the user completes the modification work, the user modification unit 36 transmits the modified settings to the adjustment device 20, and requests the initial setting value approval unit 33 to permit the use of the modified initial setting value candidate or permits the use of the modified initial setting value candidate instead of the initial setting value approval unit 33, and causes the initial setting value transmission unit 34 to transmit the modified initial setting value candidate to the adjustment device 20.

[0027] As described above, the servo system 1 reads setting values ​​used in the automatic adjustment of other servo control devices using, for example, the initial setting value candidate reading unit 31, and the initial setting value approval unit 33 determines whether the read setting can be reused as the initial setting value of the adjustment device 20. The adjustment device 20 then optimizes the servo control device 10 using the reusable parameter set and the setting value of the automatic adjustment program as the initial setting value. Therefore, the servo system 1 can prevent problems that may occur due to performing automatic adjustment using inappropriate setting values ​​and can properly perform automatic parameter adjustment.

[0028] Although embodiments of the present disclosure have been described above, the present invention is not limited to the embodiments described above. Furthermore, the effects described in the embodiments described above are merely a list of preferred effects arising from the present invention, and the effects of the present invention are not limited to those described in the embodiments described above.

[0029] The servo system relating to this disclosure may not include a servo control device and a servo motor, and may automatically adjust the parameters of an external servo control device. Furthermore, the adjustment support device relating to this disclosure may not have some or all of the past initial setting value acquisition unit, test operation unit 35, and user modification unit. [Explanation of symbols]

[0030] 1. Servo System 10 Servo control device 20 Adjustment device 21 Adjustment Execution Unit 22 Machine Learning Department 30 Adjustment support device 31 Initial setting value candidate reading unit 32. Past Initial Setting Value Acquisition Unit 33 Initial Setting Value Approval Section 34 Initial setting value transmission unit 35 Test Operation Section 36 User Modification Section 40 Servo motors

Claims

1. An adjustment support device that provides initial setting values ​​for automatic adjustment to an adjustment device that automatically adjusts the parameters of a servo control device by operating the servo control device, which controls a servo motor, according to an automatic adjustment program, A unit for reading candidate initial settings, which are the initial settings for automatic adjustment, from an external source, An initial setting value approval unit that determines whether or not to allow the use of the aforementioned initial setting value candidates, An initial setting value transmission unit transmits the initial setting value candidates approved for use in the initial setting value approval unit to the adjustment device, A past initial setting value acquisition unit acquires past initial setting values, which are the initial setting values ​​for automatic adjustment used during past automatic adjustments by the adjustment device. Equipped with, The initial setting value approval unit is an adjustment support device that checks whether the candidate initial setting value matches the past initial setting value.

2. The adjustment support device according to claim 1, wherein the initial setting value approval unit further confirms the elapsed time since the past initial setting value matching the candidate initial setting value was used in the servo control device.

3. An adjustment support device that provides initial setting values ​​for automatic adjustment to an adjustment device that automatically adjusts the parameters of a servo control device by operating the servo control device that controls a servo motor according to an automatic adjustment program, A unit for reading candidate initial settings, which are the initial settings for automatic adjustment, from an external source, An initial setting value approval unit that determines whether or not to allow the use of the aforementioned initial setting value candidates, An initial setting value transmission unit transmits the initial setting value candidates approved for use in the initial setting value approval unit to the adjustment device, If the use of the initial setting value candidate is not permitted in the initial setting value approval unit, the test operation unit causes the servo control device to perform a test operation to allow the user to determine whether the initial setting value candidate is appropriate, An adjustment support device equipped with the following features.

4. The adjustment support device according to any one of claims 1 to 3, wherein the initial setting value approval unit confirms whether the initial setting value candidate was created for the same model as the servo control device.

5. The adjustment support device according to any one of claims 1 to 3, further comprising a user modification unit that prompts the user to modify the initial setting candidate or the settings of the adjustment device if the initial setting approval unit does not permit the use of the initial setting candidate.

6. An adjustment support device according to any one of claims 1 to 3, An adjustment device that receives the initial setting value candidates from the initial setting value transmission unit and automatically adjusts the parameters by executing an automatic adjustment program, A servo system equipped with the following features.

7. The servo system according to claim 6, wherein the adjustment device automatically adjusts the parameters by machine learning.

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