Motor drive control device, automatic control parameter adjustment system, information processing device, and motor drive control method

Abstract

To support automatic adjustment of control parameters relating to drive control of a motor while suppressing the addition of functions to a motor drive controller.SOLUTION: In a motor drive controller 3, a motor control circuit 30 generates a drive control signal Sd to drive a motor 2 based on a value and a measurement condition of a specified control parameter when an action mode is an automatic adjustment mode, switches a voltage of a trigger signal St outputted from an output terminal P from a first level to a second level when a measuring apparatus 5 is caused to start measurement of a measurement object signal, and switches the voltage of the trigger signal St from the second level to the first level when the measuring apparatus 5 is caused to stop the measurement of the measurement object signal.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a motor drive control device, a control parameter automatic adjustment system, an information processing device, and a motor drive control method, and more particularly, to a motor drive control device having a function of assisting automatic adjustment of control parameters related to driving control of a motor.

Background Art

[0002] In recent years, many program processing devices such as microcontrollers constituting a motor drive control device for controlling the drive of a motor are equipped with an externally rewritable nonvolatile memory.

[0003] Such a motor drive control device can write control parameters related to driving control of a motor, such as parameters for feedback control (e.g., PID (Proportional-Integral-Differential) control) of the rotational speed of the motor, into a nonvolatile memory. By using an information processing device such as a PC (Personal Computer) to rewrite the values of the control parameters stored in the nonvolatile memory of the motor drive control device, appropriate motor drive control according to the application to which the motor is applied can be realized.

[0004] Conventionally, in order to find appropriate values of control parameters that satisfy the required specifications for each application, while rewriting the values of the control parameters in the nonvolatile memory in the motor drive control device, it was necessary to measure the characteristics of the motor using a measuring device such as an oscilloscope and determine whether the required specifications were satisfied. Patent Document 1 discloses a method of measuring the characteristics of a motor using an oscilloscope.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] However, with the methods described above, if there are many control parameters related to a single function of the motor, the number of combinations of control parameters becomes very large, and the number of measurements also increases accordingly, making it difficult to select appropriate control parameters. For example, in the case of a motor's rotational speed feedback function, there are many parameters to be adjusted, such as PID parameters and control cycles, and there are many required specifications that must be met, such as rotational speed tracking and current overshoot suppression, making it difficult to determine appropriate control parameter values ​​manually.

[0007] One method to solve the above-mentioned problems is to integrate a program for automatically adjusting control parameters into a microcontroller used as a motor drive control device. This program may include tasks such as setting control parameters, controlling measuring devices such as oscilloscopes, acquiring measurement results from the measuring devices, determining whether the measurement results meet the required specifications, and selecting appropriate control parameters based on the determination results.

[0008] However, this method is undesirable because it not only increases the cost of the motor drive control device but also complicates the program of the motor drive control device, potentially negatively impacting its intended operation.

[0009] The present invention aims to solve the above-mentioned problems, and its objective is to provide a technology that supports the automatic adjustment of control parameters related to motor drive control while minimizing the need to add additional functions to the motor drive control device. [Means for solving the problem]

[0010] A motor drive control device according to a typical embodiment of the present invention comprises a motor control circuit that generates a drive control signal for controlling the drive of a motor, a motor drive circuit that drives the motor based on the drive control signal, a sensor device that detects a physical quantity related to the drive state of the motor, and an output terminal. The motor control circuit has two operating modes: a normal mode in which it generates the drive control signal so that the motor is in a rotation state corresponding to a drive command, and an automatic adjustment mode for adjusting the values ​​of control parameters related to the drive control of the motor. When the operating mode is the automatic adjustment mode, the motor control circuit generates the drive control signal based on the specified values ​​of the control parameters and measurement conditions to drive the motor, and when it causes a measuring device to start measuring a signal to be measured, it switches the voltage of the trigger signal output from the output terminal from a first level to a second level different from the first level, and when it causes the measuring device to stop measuring the signal to be measured, it switches the voltage of the trigger signal from the second level to the first level. [Effects of the Invention]

[0011] According to one aspect of the present invention, it is possible to support the automatic adjustment of control parameters related to motor drive control while minimizing the need to add additional functions to the motor drive control device. [Brief explanation of the drawing]

[0012] [Figure 1] This figure shows an example of the configuration of an automatic control parameter adjustment system including a motor drive control device according to this embodiment. [Figure 2] This figure shows an example of the configuration of the data processing control unit 41 in the information processing device 4 according to this embodiment. [Figure 3] This figure shows an example of correspondence information for automatic adjustment of control parameters. [Figure 4A] This is a sequence diagram showing the process of automatic adjustment of control parameters. [Figure 4B] This is a sequence diagram showing the process of automatic adjustment of control parameters. [Figure 4C] This is a sequence diagram showing the process of automatic adjustment of control parameters. [Figure 5] This figure shows an example of measurement in the automatic adjustment of control parameters. [Modes for carrying out the invention]

[0013] 1. Overview of the Embodiment First, a general overview of a typical embodiment of the invention disclosed in this application will be provided. In the following description, as an example, reference numerals on the drawings corresponding to the components of the invention are indicated in parentheses.

[0014] [1] A motor drive control device (3) according to a typical embodiment of the present invention comprises a motor control circuit (30) that generates a drive control signal (Sd) for controlling the drive of a motor (2), a motor drive circuit (31) that drives the motor based on the drive control signal, a sensor device (32) that detects a physical quantity related to the drive state of the motor, and an output terminal (P), wherein the motor control circuit has as operating modes a normal mode in which it generates the drive control signal so that the motor is in a rotation state according to a drive command, and an automatic adjustment mode for adjusting the value of a control parameter related to the drive control of the motor, wherein when the operating mode is the automatic adjustment mode, the motor control circuit generates the drive control signal based on the specified value of the control parameter and measurement conditions to drive the motor, and when it causes the measuring device to start measuring the signal to be measured, it switches the voltage of the trigger signal (St) output from the output terminal from a first level (e.g., low level) to a second level (e.g., high level) different from the first level, and when it causes the measuring device to stop measuring the signal to be measured, it switches the voltage of the trigger signal from the second level to the first level.

[0015] 〔2〕In the motor drive control device according to 〔1〕 above, in the automatic adjustment mode, after the voltage of the trigger signal is switched from the first level to the second level, when it is determined that the driving state of the motor has reached the target state based on the physical quantity detected by the sensor device, the voltage of the trigger signal may be switched from the second level to the first level.

[0016] 〔3〕In the motor drive control device according to 〔2〕 above, the physical quantity includes the rotational speed of the motor, and the motor control circuit may determine that the driving state of the motor has reached the target state when the rotational speed of the motor reaches the maximum value of the target rotational speed.

[0017] 〔4〕In the motor drive control device according to 〔2〕 above, the physical quantity includes the rotational speed of the motor, the motor control circuit changes the target rotational speed of the motor after switching the voltage of the trigger signal from the first level to the second level, and when the rotational speed of the motor reaches the changed target rotational speed, it may be determined that the driving state of the motor has reached the target state.

[0018] 〔5〕In the motor drive control device according to 〔2〕 above, the physical quantity includes the rotational speed of the motor, and the motor control circuit may determine that the driving state of the motor has reached the target state when the rotational speed of the motor reaches the maximum rotational speed within a predetermined range.

[0019] 〔6〕In the motor drive control device according to 〔1〕 above, the output terminal may be a terminal for outputting a signal having a frequency corresponding to the rotational speed of the motor when the operation mode is the normal mode.

[0020] 〔7〕In the motor drive control device according to 〔1〕 above, the motor control circuit includes a drive control signal generation unit (11) that generates the drive control signal, a communication unit (16) that communicates with an information processing device (4), an operation mode setting unit (20) that sets the operation mode to the normal mode or the automatic adjustment mode based on a command received by the communication unit from the information processing device, an output signal generation unit (24) that generates the trigger signal, a measurement data generation unit (23) that generates measurement data of the physical quantity detected by the sensor device, an operation control unit (22) that monitors the drive state of the motor based on the measurement data and controls the generation of the drive control signal based on the operation mode set by the operation mode setting unit, and a storage unit (21) having a non-volatile storage area for storing the control parameters. When the operation mode is the automatic adjustment mode, when the communication unit receives the value of the control parameter and the measurement condition from the information processing device, the operation control unit instructs the drive control signal generation unit to generate the drive control signal based on the control parameter, and instructs the output signal generation unit to change the voltage of the trigger signal from the first level to the second level. When the drive state of the motor reaches a state based on the measurement condition, the operation control unit instructs the output signal generation unit to change the voltage of the trigger signal from the second level to the first level. When the communication unit receives data instructing the writing of the control parameter from the information processing device, the operation control unit writes the control parameter associated with the data into the storage unit. When the operation mode is the normal mode, the operation control unit may set the control parameter stored in the storage unit to the drive control signal generation unit and instruct the drive control signal generation unit to generate the drive control signal based on a drive command signal (Sc) input from the outside.

[0021] [8] A typical embodiment of the present invention, an automatic control parameter adjustment system (1), includes a motor drive control device (3) described in any of [1] to [7] above, a measuring device (5) that receives the trigger signal and detects that the trigger signal has switched from the first level to the second level, starts measuring the signal to be measured, stops measuring the signal to be measured and outputs the measurement result when it detects that the trigger signal has switched from the second level to the first level, and when the operating mode is the automatic adjustment mode, specifies the value of the control parameter and the measurement condition to the motor drive control device, and the specified control parameter The motor drive control device comprises an information processing device (4) that instructs the generation of the drive control signal based on the value of the data and the measurement conditions, and acquires the measurement result of the signal to be measured output from the measuring device, wherein if the acquired measurement result does not satisfy the required specifications, the information processing device instructs the motor drive control device to change the value of the control parameter set immediately before and generate the drive control signal based on the changed value of the control parameter, and if the measurement result satisfies the required specifications, it instructs the motor drive control device to write the value of the control parameter corresponding to the measurement result to a non-volatile storage area in the motor drive control device.

[0022] [9] An information processing device (4) according to a typical embodiment of the present invention includes a user interface (40) that receives instructions from a user and outputs information to the user, a communication unit (42) that transmits and receives data with an external device, and a data processing control unit (41) that enables the transmission and reception of data between the user interface and the communication unit and performs program processing, wherein the data processing control unit includes an instruction receiving unit (44) that receives an instruction to execute automatic adjustment of control parameters related to motor drive control and a command to specify the adjustment items to be automatically adjusted, which are input via the user interface, a storage unit (45) that stores correspondence relationship information (450) that shows the correspondence relationship between a requirement specification including measurement items, specification values, and measurement conditions, the control parameters to be adjusted, and the measurement target signal which is a signal to be measured, and when the instruction receiving unit receives a command to specify the adjustment items, a control parameter adjustment unit (47) that reads the information of the requirement specification, the control parameters to be adjusted, and the measurement target signal corresponding to the adjustment items specified by the command from the correspondence relationship information stored in the storage unit. ,When the instruction receiving unit receives an instruction to perform automatic adjustment of the control parameters, the drive command output unit (46) outputs a command to the motor drive control device (3) as an external device via the communication unit to set the operating mode to automatic adjustment mode, and transmits the set of control parameters to be adjusted and the measurement conditions from the information read by the control parameter adjustment unit to the motor drive control device to instruct the execution of automatic adjustment; the measurement result acquisition unit (50) acquires the measurement result of the measurement target signal from the measurement device as an external device via the communication unit; the measurement result analysis unit (48) determines whether the measurement result satisfies the specification value included in the requirement specification; and, if the measurement result satisfies the specification value, the control parameter determination unit (49) determines the value of the control parameter corresponding to the measurement result that satisfies the specification value as the value of the control parameter to be set in the motor drive control device; and if the measurement result does not satisfy the specification value, the control parameter adjustment unit changes the value of the control parameter to be adjusted related to the adjustment item and provides it to the drive command output unit, and the drive command output unit,The motor drive control device is characterized by transmitting an instruction to re-execute the automatic adjustment, along with the modified control parameters, via the communication unit.

[0023]

[10] A typical embodiment of the present invention is a motor drive control method using a motor drive control device (3) that drives a motor (2) by generating a drive control signal (Sd) for controlling the drive of the motor, wherein the motor drive control device has as operating modes a normal mode in which it generates the drive control signal so that the motor is in a rotation state in response to a drive command, and an automatic adjustment mode for adjusting the values ​​of control parameters related to the drive control of the motor, and when the operating mode is the automatic adjustment mode, the motor drive control device generates the drive control signal based on the specified values ​​of the control parameters and measurement conditions, a first S The present invention provides a motor drive control device that generates a trigger signal (St) when the operating mode is the automatic adjustment mode, and the motor drive control device provides a second step (S11 to S14) wherein the second step includes a third step (S11) in which the motor drive control device switches the voltage of the trigger signal from a first level to a second level different from the first level when causing the measuring device (5) to start measuring the signal to be measured, and a fourth step (S14) in which the motor drive control device switches the voltage of the trigger signal from the second level to the first level when causing the measuring device to stop measuring the signal to be measured.

[0024] 2. Specific Examples of Embodiments Hereinafter, specific examples of embodiments of the present invention will be described with reference to the figures. In the following description, common components in each embodiment will be denoted by the same reference numerals, and repeated descriptions will be omitted.

[0025] <Embodiment> Figure 1 shows an example of the configuration of an automatic control parameter adjustment system including a motor drive control device according to this embodiment.

[0026] As shown in Figure 1, the automatic control parameter adjustment system 1 includes, for example, a motor drive control device 3 that controls the drive of the motor 2, an information processing device 4 as a higher-level device of the motor drive control device 3, and a measuring device 5.

[0027] The automatic control parameter adjustment system 1 is realized, for example, when manufacturing and shipping a motor unit including a motor drive control device 3 and a motor 2, by electrically connecting the motor 2, the motor drive control device 3, the information processing device 4, and the measuring device 5 to each other. In the automatic control parameter adjustment system 1, the information processing device 4 sets the values ​​of the control parameters related to motor drive control in the motor drive control device 3, the motor drive control device 3 drives the motor 2 based on the set control parameters, the measuring device 5 measures physical quantities related to the drive state of the motor 2, the information processing device 4 determines whether the measurement results from the measuring device 5 satisfy the required specifications, selects appropriate control parameters that satisfy the required specifications, and writes them to the motor drive control device 3. The following describes each component of the automatic control parameter adjustment system 1.

[0028] Motor 2 is, for example, a three-phase brushless motor. For example, an impeller (not shown) is coaxially connected to the output shaft of motor 2, and the impeller is able to rotate due to the rotational force of motor 2. For example, motor 2, together with the impeller, constitutes a single fan (fan motor). Note that the type of motor 2 is not particularly limited, and the number of phases is not limited to three.

[0029] Motor 2 and motor drive control device 3 constitute a single motor unit. As described above, if motor 2 constitutes a fan, the motor unit becomes a single fan unit. The fan unit can be used, for example, as a cooling device to cool various electronic components that make up an information processing device, such as a PC or server, by being placed in a closed space within the information processing device.

[0030] The motor drive control device 3 is a device for controlling the drive of the motor 2. The motor drive control device 3 includes a motor control circuit 30, a motor drive circuit 31, and a sensor device 32.

[0031] The motor drive control device 3 also has multiple external terminals for communicating with external devices (for example, the motor 2, the information processing device 4, and the measuring device 5). For the sake of explanation, Figure 1 shows the output terminal P as a representative example of the multiple external terminals.

[0032] Output terminal P is a terminal for outputting signals from the motor drive control device 3. As will be described in detail later, a trigger signal St, or a signal with a frequency corresponding to the rotational speed of the motor 2 (for example, an FG (Frequency Generator) signal FG), is output from output terminal P and input to the information processing device 4 and the measuring device 5.

[0033] The motor control circuit 30 is a circuit that generates a drive control signal Sd for controlling the drive of the motor 2. The drive control signal Sd is, for example, a PWM (Pulse Width Modulation) signal. The motor control circuit 30 is a program processing unit (e.g., a microcontroller) having a configuration in which a processor such as a CPU, various storage devices such as RAM and ROM, and peripheral circuits such as a counter (timer), A / D conversion circuit, D / A conversion circuit, clock generation circuit, and input / output I / F circuit are connected to each other via a bus or dedicated line.

[0034] The motor control circuit 30 has two operating modes: a normal mode in which it generates a drive control signal Sd so that the motor 2 is in a rotational state according to the drive command, and an automatic adjustment mode for adjusting the values ​​of control parameters related to the drive control of the motor 2.

[0035] The motor control circuit 30 is initially set to the "normal operation mode". In normal mode, the motor control circuit 30 generates a drive control signal Sd based on a drive command signal (speed command signal Sc, described later) input from an external source, so that the motor 2 rotates in accordance with the drive command signal. At this time, the motor control circuit 30 generates an FG signal FG having a frequency corresponding to the rotation speed of the motor 2 and outputs it from the output terminal P.

[0036] Furthermore, the motor control circuit 30 sets the operating mode to "automatic adjustment mode" when it receives a command from the information processing device 4 to set the operating mode to "automatic adjustment mode". In automatic adjustment mode, when the motor control circuit 30 receives an instruction from the information processing device 4 (described later) to perform automatic adjustment of control parameters, it drives the motor 2 by generating a drive control signal Sd based on the specified control parameters and controls the start and stop of measurement by the measuring device 5 by outputting a trigger signal St from the output terminal P.

[0037] Here, the trigger signal St is, for example, a signal having two voltage levels. For example, the voltage of the trigger signal St switches between a first level and a second level different from the first level. The first level is, for example, a low level (e.g., 0V (ground potential)), and the second level is, for example, a high level (e.g., the power supply voltage of the motor control circuit 30). In other words, it is preferable that the trigger signal St is a digital signal (binary signal).

[0038] The following explanation uses the example of Level 1 being a low level and Level 2 being a high level, but it is also possible for Level 1 to be a high level and Level 2 to be a low level.

[0039] In automatic adjustment mode, the motor control circuit 30 switches the voltage of the trigger signal St from the first level to the second level when it wants the measuring device 5 to start measuring the signal to be measured, and switches the voltage of the trigger signal St from the second level to the first level when it wants the measuring device 5 to stop measuring the signal to be measured. Here, the signal to be measured is the signal to be measured, which is, for example, the signal specified by the correspondence relationship information 450 described later. Further details about the motor control circuit 30 will be described later.

[0040] The motor drive circuit 31 is a circuit that drives the motor 2 based on the drive control signal Sd. The motor drive circuit 31 includes, for example, an inverter circuit and a pre-drive circuit (not shown).

[0041] The inverter circuit outputs a drive signal to the motor 2 based on the output signal from the pre-drive circuit, and energizes the coils of the motor 2. The inverter circuit is configured, for example, by arranging a series circuit of two switch elements, each located at the ends of a DC power supply, for each phase coil. In each pair of two switch elements, the terminals of each phase of the motor 2 are connected to the connection point between the switch elements.

[0042] The pre-drive circuit generates an output signal to drive the inverter circuit based on the drive control signal Sd and outputs it to the inverter circuit. For example, the pre-drive circuit generates and outputs a drive signal to drive each switch element of the inverter circuit based on the drive control signal Sd. This drive signal turns each switch element constituting the inverter circuit on or off, supplying power to each phase of the motor 2 and causing the rotor of the motor 2 to rotate.

[0043] In the motor drive control device 3, the motor control circuit 30 and the motor drive circuit 31 may be implemented as separate integrated circuits (ICs), or the motor control circuit 30 and the motor drive circuit 31 may be packaged together as a single integrated circuit (IC).

[0044] The sensor device 32 is a device that detects physical quantities related to the driving state of the motor 2. Here, physical quantities related to the driving state of motor 2 can be exemplified by the current of the coils constituting the stator of motor 2 (hereinafter also referred to as "coil current"), the temperature of motor 2 (for example, the temperature around motor 2), the rotational speed of motor 2, the voltage applied to the coils of motor 2, and the power supply voltage of motor drive control device 3.

[0045] The sensor device 32 includes, for example, a position detector (e.g., a Hall element) for detecting the rotational position of the motor 2, a current sensor (e.g., a shunt resistor) for detecting the current in the motor 2's coil, a voltage sensor (e.g., a resistive voltage divider circuit) for detecting the voltage in the motor 2's coil and the power supply voltage of the motor drive control device 3, and a temperature sensor (e.g., a thermistor) for detecting the temperature around the motor 2. Each sensor constituting the sensor device 32 outputs an electrical signal Sp corresponding to the physical quantity it detects.

[0046] In this embodiment, the example shows that each sensor constituting the sensor device 32 is provided inside the motor drive control device 3, but all or some of the sensors constituting the sensor device 32 may be provided outside the motor drive control device 3.

[0047] The information processing device 4 is primarily responsible for controlling the automatic adjustment of control parameters related to the drive control of the motor 2. The information processing device 4 is a program processing device capable of executing program processing on, for example, a PC, a mobile terminal (tablet terminal), a server, etc. As shown in Figure 1, the information processing device 4 has, for example, a user interface (UI) 40, a data processing control unit 41, and a communication unit 42 as hardware resources.

[0048] The user interface 40 includes, for example, an input device for inputting instructions from the user to the information processing device 4, and an output device for outputting information to the user. Examples of input devices include a keyboard, a pointing device such as a mouse, a touch panel, and an audio input device (microphone). Examples of output devices include a display device (display) and an audio output device (speaker).

[0049] The data processing control unit 41 is a device that enables the transmission and reception of data between the user interface 40 and the communication unit 42, and performs various program processing. The data processing control unit 41 is a program processing device in which a processor such as a CPU, a storage device such as ROM, RAM, or non-volatile memory, and peripheral circuits such as an A / D conversion circuit, a D / A conversion circuit, a clock generation circuit, and an input / output I / F circuit are connected to each other via a bus or dedicated line.

[0050] The communication unit 42 is a device for sending and receiving data with external equipment. The communication unit 42 is composed of known communication circuits for receiving and transmitting data via wired or wireless means with, for example, the motor drive control device 3 and the measuring device 5. The communication medium and communication method for communication between the communication unit 42 and the external equipment (motor drive control device 3 and measuring device 5) are not particularly limited.

[0051] The measuring device 5 is a device that measures physical quantities related to the driving state of the motor 2 and outputs data related to the measurement results. The measuring device 5 is, for example, an oscilloscope. For example, the external terminal or output terminal P to which the output signals (electrical signals Sp) of each sensor of the sensor device 32 are output is electrically connected to the input channel of the measuring device 5 by wiring (probe, etc.), and the output signals (electrical signals Sp) of each sensor and the trigger signal St or FG signal FG are input to the measuring device 5 as signals to be measured. The measuring device 5 generates time-series data by measuring the magnitude of the input signals to be measured at unit time intervals, and outputs the measurement results to the information processing device 4. Note that the measuring device 5 is not limited to the oscilloscope of this embodiment, but may be any other measuring device (for example, a data logger, FFT analyzer, spectrum analyzer, etc.) that is suitable for measuring physical quantities.

[0052] The measuring device 5 controls the start and stop of measurement of the signal to be measured by a trigger signal St output from the motor drive control device 3. For example, the measuring device 5 starts measuring the signal to be measured when it detects that the voltage of the trigger signal St has switched from a first level (e.g., 0V) to a second level (e.g., the power supply voltage value), and stops measuring the signal to be measured when it detects that the voltage of the trigger signal St has switched from a second level to a first level. In other words, the trigger signal St is both a control signal and the signal to be measured for the measuring device 5. After stopping the measurement of the signal to be measured, the measuring device 5 outputs the measurement result. For example, the measuring device 5 transmits the measurement result of the signal to be measured (e.g., time-series data of the signal to be measured) to the information processing device 4 in response to instructions from the information processing device 4.

[0053] Next, the configuration of the data processing control unit 41 in the information processing device 4 will be described.

[0054] Figure 2 shows an example of the configuration of the data processing control unit 41 in the information processing device 4 according to this embodiment.

[0055] The data processing control unit 41, as a functional unit for realizing the function of automatically adjusting control parameters related to the drive control of the motor 2, includes, as shown in Figure 2, an instruction receiving unit 44, a storage unit 45, a drive command output unit 46, a control parameter adjustment unit 47, a measurement result analysis unit 48, a control parameter determination unit 49, and a measurement result acquisition unit 50.

[0056] For the sake of explanation, Figure 2 shows a representative example of the functional unit that realizes the automatic adjustment function of control parameters, but the functional units that realize other functions by the data processing control unit 41 are not shown. Also, as mentioned above, the information processing device 4 receives instructions from the user via the user interface 40 and communicates with the motor drive control device 3 and the measuring device 5 via the communication unit 42, but for the sake of explanation, the user interface 40 is not shown in Figure 2.

[0057] In the data processing control unit 41, the instruction receiving unit 44, storage unit 45, drive command output unit 46, control parameter adjustment unit 47, measurement result analysis unit 48, control parameter determination unit 49, and measurement result acquisition unit 50 are realized, for example, by the processor constituting the data processing control unit 41 executing various calculations (program processing) according to a program (for example, an application for automatic adjustment of control parameters) stored in the storage device, and by the processor controlling various peripheral circuits constituting the data processing control unit 41. Note that all of these functional units may be realized by the program processing described above, or some or all of these functional units may be realized by dedicated hardware circuits.

[0058] The instruction receiving unit 44 is a functional unit that receives instructions and various data input from the user interface 40 or the communication unit 42. For example, the instruction receiving unit 44 receives a command from the user via the user interface 40 that specifies the "adjustment items" that are subject to automatic adjustment of control parameters. The instruction receiving unit 44 also receives an execution instruction for automatic adjustment of control parameters, for example, from the user via the user interface 40.

[0059] Here, the adjustment items refer to the types of control that the motor drive control device 3 uses to make the motor 2 perform the desired operation. These include, for example, control of rotational speed (hereinafter also referred to as "speed control"), control of the coil current of the motor 2 such as overcurrent protection (hereinafter also referred to as "current control"), and control of the temperature of the motor 2 such as overheat protection (hereinafter also referred to as "temperature control").

[0060] The memory unit 45 is a functional unit that stores various data for realizing the function of automatic adjustment of control parameters. For example, the memory unit 45 stores correspondence relationship information 450 that shows the correspondence between adjustment items, required specifications, the control parameters to be adjusted, and the signal to be measured.

[0061] Figure 3 shows an example of correspondence information 450 for automatic adjustment of control parameters.

[0062] As shown in Figure 3, the correspondence information 450 for automatic adjustment of control parameters is data in which information on adjustment items, information on the control parameters to be adjusted, information on the required specifications, and information on the signal to be measured are correlated with each other.

[0063] As mentioned above, the information in the adjustment items indicates the type of control. Figure 3 shows "Speed ​​Control A," "Speed ​​Control B," and "Current Control A" as examples of adjustment items.

[0064] The information on the control parameters to be adjusted indicates the control parameters to be adjusted for each adjustment item. As mentioned above, the control parameters are parameters for the drive control of the motor 2. Specifically, the control parameters are parameters used by the motor drive control device 3 for calculations such as speed control, current control, and temperature control. Examples of control parameters include the target value of the coil current (target current value), the PID (an example of feedback control) parameters of the rotational speed, and the period for updating the duty cycle of the PWM signal as the drive control signal Sd (control period).

[0065] Correspondence information 450 includes information that identifies the control parameters to be adjusted for each adjustment item. For example, as shown in Figure 3, if the adjustment item is "speed control A", the set of three control parameters to be adjusted is "target current value at motor 2 startup", "PID parameters", and "control cycle". Similarly, if the adjustment item is "speed control B", the set of three control parameters to be adjusted is "target current value at motor 2 startup", "PID parameters", and "control cycle". Similarly, if the adjustment item is "current control A", the three control parameters to be adjusted are "target current value at motor 2 startup", "PID parameters", and "control cycle".

[0066] The requirements specification information indicates the specifications that must be met for each adjustment item. The requirements specification information includes, for example, information on measurement items, information on specification values ​​(target values), and information on measurement conditions, and this information is associated with each adjustment item in the correspondence information 450.

[0067] For example, the requirements specification corresponding to “speed control A” as an adjustment item may include information such as “the time ta from the start of motor 2 until the rotational speed reaches the maximum rotational speed” as the measurement item, information that “ta < α” is the specification value, and information that the measurement condition is “to change the target rotational speed of motor 2 from a minimum value (e.g., zero) to a maximum value (hereinafter also referred to as “maximum rotational speed”).”

[0068] Furthermore, the requirements specification corresponding to “speed control B” as an adjustment item includes, for example, information that the measurement item is “the time tb until the rotational speed reaches the target rotational speed after the target rotational speed has been changed (set),” information that the specification value is “tb < β,” and information that the measurement condition is “setting the target rotational speed of motor 2 to the first value and then changing it to the second value.”

[0069] Furthermore, the requirements for "current control" as an adjustment item include, for example, information specifying "maximum value (peak value) of coil current Ipp" as the measurement item, information specifying "Ipp < γ" as the specification value, and information specifying "changing the rotational speed of motor 2 from the first value to the second value" as the measurement condition.

[0070] The information on the signal to be measured indicates the signal (measurement waveform) to be measured for each adjustment item. For example, as shown in Figure 3, if the adjustment item is "speed control A" or "speed control B", the trigger signal St (time between edges) is specified as the signal to be measured, and if the adjustment item is "current control A", the coil current and the trigger signal St are specified as the signals to be measured. The information on the signal to be measured may also include, for example, information specifying the measurement range of the signal to be measured and information specifying the input channel (hereinafter also referred to as "measurement parameters").

[0071] The information constituting the correspondence relationship information 450 may be input by the user via the user interface 40 and written to the storage unit 45 as correspondence relationship information 450, or it may be stored in the storage unit 45 in advance as correspondence relationship information 450. For example, the specification values ​​described above may be input by the user via the user interface 40 and written to the correspondence relationship information 450, or they may be included in the correspondence relationship information 450 in advance.

[0072] Furthermore, the memory unit 45 stores measurement result information 451. Details of the measurement result information 451 will be described later.

[0073] The control parameter adjustment unit 47 is a functional unit that selects the control parameters and measurement conditions to be automatically adjusted. For example, when the instruction receiving unit 44 receives a command specifying an adjustment item, or when it receives an instruction to execute automatic adjustment of control parameters, the control parameter adjustment unit 47 reads from the storage unit 45 the information necessary for the automatic adjustment of control parameters related to the specified adjustment item.

[0074] For example, when the instruction receiving unit 44 receives a command specifying "speed control A" as the adjustment item, the control parameter adjustment unit 47 refers to the correspondence information 450 stored in the storage unit 45 and reads from the correspondence information 450 the information of the set of control parameters to be adjusted (target current value (at startup), PID parameters, and control cycle) associated with "speed control A", information of the measurement conditions indicating "to change the rotation speed from zero to the maximum rotation speed", and information that the trigger signal St is the signal to be measured. The control parameter adjustment unit 47 provides the read information to the drive command output unit 46.

[0075] The drive command output unit 46 is a functional unit that outputs commands to the motor drive control device 3. For example, when the instruction receiving unit 44 receives an instruction to perform automatic adjustment of control parameters, the drive command output unit 46 outputs a command to the motor drive control device 3 via the communication unit 42 to set the operating mode to "automatic adjustment mode". Subsequently, the drive command output unit 46 transmits to the motor drive control device 3 the "set of control parameters to be adjusted" and "measurement condition information" from the information necessary for automatic adjustment of control parameters related to the specified adjustment item, which it received from the control parameter adjustment unit 47, and instructs the motor drive control device 3 to perform automatic adjustment.

[0076] Furthermore, the drive command output unit 46 transmits information about the signal to be measured, received from the control parameter adjustment unit 47, to the measuring device 5 via the communication unit 42. For example, if the adjustment item is "speed control A", the drive command output unit 46 transmits the measurement parameters related to "speed control A" (e.g., input channel and measurement range) to the measuring device 5.

[0077] The measurement result acquisition unit 50 is a functional unit that acquires measurement results from the measuring device 5. For example, the measurement result acquisition unit 50 acquires data related to the measurement results of physical quantities concerning the driving state of the motor 2 measured by the measuring device 5 via the communication unit 42, and the storage unit 45 stores the data received from the measurement result acquisition unit 50 as measurement result information 451. Specifically, the measurement result information 451 includes, for example, time-series data showing the temporal change in the current of the motor 2's coil, time-series data showing the temporal change in the temperature of the motor 2, time-series data showing the temporal change in the rotational speed of the motor 2, time-series data showing the temporal change in the voltage applied to the motor 2, and so on.

[0078] The measurement result analysis unit 48 is a functional unit that analyzes the measurement results of the target signal measured by the measuring device 5. Specifically, the measurement result analysis unit 48 reads the measurement results of the target signal related to the specified adjustment item from the measurement result information 451 stored in the storage unit 45, and reads the required specifications related to the specified adjustment item from the correspondence information 450 stored in the storage unit 45, and determines whether the measurement results satisfy the required specifications, that is, whether the measurement results of the measurement items based on the specified measurement conditions satisfy the specification values ​​in the required specifications.

[0079] If the measurement results do not satisfy the required specifications, the measurement result analysis unit 48 notifies the control parameter adjustment unit 47 that the measurement results do not satisfy the required specifications. In this case, the control parameter adjustment unit 47 changes the value of the control parameter to be adjusted related to the adjustment item and provides it to the drive command output unit 46, and the drive command output unit 46 instructs the automatic adjustment to be re-executed along with the changed control parameter. On the other hand, if the measurement results satisfy the required specifications, the measurement result analysis unit 48 notifies the control parameter determination unit 49 that the measurement results satisfy the required specifications.

[0080] The control parameter determination unit 49 is a functional unit that determines the values ​​of the control parameters that should be set (written) to the motor drive control device 3. When the control parameter determination unit 49 receives notification from the measurement result analysis unit 48 that the measurement results satisfy the required specifications, it determines the values ​​of the control parameters corresponding to the measurement results that satisfy the required specifications as the values ​​of the (adjusted) control parameters that should be set to the motor drive control device 3.

[0081] The control parameter determination unit 49 provides the adjusted control parameter values ​​to the drive command output unit 46. The drive command output unit 46, via the communication unit 42, instructs the motor drive control device 3 to write the adjusted control parameter values ​​received from the control parameter determination unit 49.

[0082] Next, the motor control circuit 30 will be explained in detail.

[0083] As shown in Figure 1, the motor control circuit 30 includes a drive control signal generation unit 11, a communication unit 16, an operation mode setting unit 20, a storage unit 21, an operation control unit 22, a measurement data generation unit 23, an output signal generation unit 24, and a rotational speed calculation unit 25. The drive control signal generation unit 11, the communication unit 16, the operation mode setting unit 20, the operation control unit 22, the measurement data generation unit 23, the output signal generation unit 24, and the rotational speed calculation unit 25 are realized, for example, in a program processing unit that constitutes the motor control circuit 30, by having the CPU execute various calculation processes according to a program stored in memory, and controlling peripheral circuits such as A / D conversion circuits and input / output interface circuits based on the processing results.

[0084] The drive control signal generation unit 11 is a functional unit for generating a drive control signal Sd for controlling the drive of the motor 2. For example, in the normal operation mode, when the drive control signal generation unit 11 receives a speed command signal Sc as a drive command from an external source, it generates a drive control signal Sd so that the rotational speed of the motor 2 matches the target rotational speed specified by the speed command signal Sc. The drive control signal Sd is, for example, a PWM signal.

[0085] As shown in Figure 1, the drive control signal generation unit 11 includes, for example, a speed command analysis unit 12, a speed control unit 13, a duty cycle determination unit 14, and a power supply control unit 15.

[0086] The speed command analysis unit 12 receives a speed command signal Sc input from an external source and analyzes the target rotational speed specified by the speed command signal Sc. For example, if the speed command signal Sc is a PWM signal having a duty cycle corresponding to the target rotational speed, the speed command analysis unit 12 analyzes the duty cycle of the speed command signal Sc and outputs the rotational speed information corresponding to that duty cycle as the target rotational speed to the speed control unit 13.

[0087] The speed control unit 13 is a functional unit that calculates a control amount so that the rotational speed of the motor 2 matches the target rotational speed. The speed control unit 13 calculates the difference between the target rotational speed given by the speed command analysis unit 12 or the operation control unit 22 (described later) and the rotational speed of the motor 2 calculated by the rotational speed calculation unit 25 (described later), and calculates a control amount for the motor 2 by PID control calculation so that the difference becomes zero. At this time, the speed control unit 13 calculates the control amount based on the PID parameters, which are control parameters for speed control, and outputs it to the duty cycle determination unit 14.

[0088] The duty cycle determination unit 14 determines the duty cycle of the PWM signal as the drive control signal Sd based on the control amount calculated by the speed control unit 13, and outputs it to the power supply control unit 15. The power supply control unit 15 generates a PWM signal having the duty cycle determined by the duty cycle determination unit 14, and outputs it to the motor drive circuit 31 as the drive control signal Sd.

[0089] The rotational speed calculation unit 25 is a functional unit that measures the rotational speed of the motor 2. For example, the rotational speed calculation unit 25 calculates the rotational speed of the motor 2 based on the detection signal (Hall signal) of the Hall element, which acts as a position detector in the sensor device 32, and outputs the measurement result to the speed control unit 13 and the measurement data generation unit 23.

[0090] The communication unit 16 is a functional unit that enables the motor control circuit 30 to communicate with external devices. Specifically, the communication unit 16 transmits and receives data with the information processing device 4, which acts as a higher-level device. Communication between the information processing device 4 and the communication unit 16 is achieved, for example, by serial communication.

[0091] The communication unit 16 includes, for example, a transmitting unit 18, a receiving unit 17, and a communication control unit 19.

[0092] The transmitting unit 18 transmits a signal to an external device (for example, an information processing device 4). The receiving unit 17 receives a signal from an external device. The transmitting unit 18 and the receiving unit 17 are a serial communication interface circuit that, for example, is controlled by a communication control unit 19 to generate a predetermined serial signal and transmit it to a communication line, and to receive a serial signal from the communication line.

[0093] The communication control unit 19 sends encoded data to the transmission unit 18 and decodes data from the reception unit 17, thereby enabling data transmission and reception with the information processing device 4. The communication control unit 19 is implemented, for example, by program processing by the processor that constitutes the motor control circuit 30 described above.

[0094] The communication control unit 19 provides the data received by the receiving unit 17 to other functional units within the motor control circuit 30, and also transmits data and other information provided by other functional units within the motor control circuit 30 from the transmitting unit 18 to the information processing device 4.

[0095] The operation mode setting unit 20 is a functional unit that sets the operation mode of the motor control circuit 30. When the communication unit 16 receives a command from the information processing device 4 to specify the normal mode, the operation mode setting unit 20 sets the operation mode to the normal mode, and when the communication unit 16 receives a command from the information processing device 4 to specify the automatic adjustment mode, it sets the operation mode to the automatic adjustment mode.

[0096] The output signal generation unit 24 is a functional unit that generates a signal to be output to the outside from the output terminal P. The output signal generation unit 24 generates a signal corresponding to the rotational speed of the motor 2 when the operating mode is "normal mode". For example, in response to instructions from the operation control unit 22 (described later), the output signal generation unit 24 generates an FG signal FG having a period (frequency) proportional to the rotational speed of the motor 2, based on the detection signal (Hall signal) output from the Hall element, which acts as a position detector in the sensor device 32, and outputs it as an output signal from the output terminal P.

[0097] Furthermore, when the operating mode is "automatic adjustment mode," the output signal generation unit 24 generates a trigger signal St in response to instructions from the operation control unit 22 and outputs it as an output signal from the output terminal P. The method for generating the trigger signal St will be described later.

[0098] The measurement data generation unit 23 is a functional unit for generating measurement data related to the operation of the motor 2. Specifically, the measurement data generation unit 23 generates measurement data based on the output signals (electrical signals Sp) output from each sensor of the sensor device 32. For example, the measurement data generation unit 23 measures the magnitude of the electrical signals Sp output from each sensor of the sensor device 32 at unit time intervals, converts the measured values ​​into digital signals, and provides them to the operation control unit 22 as measurement data. The conversion of the measured values ​​into digital signals may be performed by the measurement data generation unit 23 or by the sensor itself. The measurement data may also be stored in the storage unit 21.

[0099] For example, the measurement data generation unit 23 outputs the temperature detection result from the temperature sensor of the sensor device 32 as measurement data to the operation control unit 22 at each unit time. The measurement data generation unit 23 also outputs the rotational speed of the motor 2 per unit time, calculated by the rotational speed calculation unit 25, as measurement data to the operation control unit 22. The measurement data generation unit 23 also outputs the detected value of the coil current of the motor 2 from the current sensor of the sensor device 32 as measurement data to the operation control unit 22 at each unit time. The measurement data generation unit 23 also outputs the detected value of the drive voltage (power supply voltage) of the motor 2 from the voltage sensor of the sensor device 32 as measurement data to the operation control unit 22 at each unit time.

[0100] The acquisition of measurement data by the measurement data generation unit 23 may be performed in response to a request from the information processing device 4.

[0101] The memory unit 21 is a functional unit that stores various data and parameters related to the drive control of the motor 2. The memory unit 21 has a rewritable, non-volatile memory area, which is composed of, for example, flash memory or EEPROM (Electrically Erasable Programmable Read-Only Memory). Control parameters are stored in the memory unit 21. Specifically, the adjusted control parameters transmitted from the information processing device 4 are written to the non-volatile memory area of ​​the memory unit 21.

[0102] The motion control unit 22 is a functional unit for comprehensively controlling the operation of the motor control circuit 30. Based on the measurement data generated by the measurement data generation unit 23, the motion control unit 22 monitors the drive state of the motor 2 and controls the generation of the drive control signal Sd based on the operation mode set by the operation mode setting unit 20.

[0103] Specifically, when the operating mode is automatic adjustment mode, and the communication unit 16 receives a command from the information processing device 4 indicating the execution of automatic adjustment along with specified control parameters, the operation control unit 22 instructs the drive control signal generation unit 11 to generate a drive control signal Sd based on the control parameters specified in the command. For example, the operation control unit 22 sets the value of the control parameters received by the communication unit 16 to the speed control unit 13 and instructs it to generate a drive control signal Sd, and also changes parameters such as the target rotational speed according to the measurement conditions of the required specifications received by the communication unit 16.

[0104] For example, if the adjustment item is "speed control A", the speed control unit 13 sets the target current value (at startup), PID parameters, and control cycle values, which are the control parameters to be adjusted as specified by the information processing device 4, and sets the initial value of the target rotational speed to zero based on the measurement conditions of the required specifications specified by the information processing device 4.

[0105] Next, the motion control unit 22 instructs the drive control signal generation unit 11 (speed control unit 13, etc.) to generate a drive control signal Sd. This starts the motor 2 from being driven. While the motor 2 is being driven, the motion control unit 22 monitors the rotational speed of the motor 2 based on the measurement data generated by the measurement data generation unit 23 and changes the target rotational speed from an initial value (zero) to the maximum rotational speed.

[0106] Furthermore, when the measurement device 5 is to start measuring the signal to be measured, the operation control unit 22 instructs the output signal generation unit 24 to generate a trigger signal St. Specifically, the operation control unit 22 instructs the output signal generation unit 24 to switch the voltage of the trigger signal St from a first level (e.g., low level) to a second level (e.g., high level). When the measurement device 5 detects that the voltage of the trigger signal St has switched from the first level to the second level, it starts measuring the signal to be measured.

[0107] Subsequently, the motion control unit 22 determines whether the drive state of the motor 2 has reached the target state based on the physical quantities detected by the sensor device 32. For example, the motion control unit 22 monitors the measurement data generated by the measurement data generation unit 23 and determines whether the drive state of the motor 2 has reached the state based on the specified measurement conditions based on the measurement data, thereby determining whether the drive state of the motor 2 has reached the target state.

[0108] When the operation control unit 22 determines that the motor 2's driving state has reached the target state, it stops the motor 2 from driving, for example, by stopping the generation of the drive control signal Sd by the drive control signal generation unit 11. Furthermore, when the operation control unit 22 instructs the measuring device 5 to stop measuring the signal to be measured, it instructs the output signal generation unit 24 to change the voltage of the trigger signal St from the second level to the first level. The measuring device 5 stops the measurement when it detects that the voltage of the trigger signal St has switched from the second level to the first level.

[0109] In automatic adjustment mode, the operation control unit 22 may, after switching the voltage of the trigger signal St from the first level to the second level, instruct the output signal generation unit 24 to switch the voltage of the trigger signal St from the second level to the first level when it determines that the drive state of the motor 2 has reached the target state, thereby causing the measuring device 5 to stop measuring the signal to be measured.

[0110] For example, if the adjustment item is "speed control A", when the rotational speed of motor 2 reaches the maximum rotational speed, the operation control unit 22 determines that the drive state of motor 2 has reached the target state and instructs the output signal generation unit 24 to switch the voltage of the trigger signal St from the second level to the first level.

[0111] Furthermore, for example, if the adjustment item is "speed control B", the operation control unit 22 determines that the drive state of the motor 2 has reached the target state when the rotational speed of the motor 2 reaches the changed target rotational speed, and instructs the output signal generation unit 24 to switch the voltage of the trigger signal St from the second level to the first level.

[0112] Furthermore, for example, if the adjustment item is "current control A", the operation control unit 22 determines that the drive state of the motor 2 has reached the target state when the rotational speed of the motor 2 reaches the maximum rotational speed within a predetermined range, and instructs the output signal generation unit 24 to switch the voltage of the trigger signal St from the second level to the first level.

[0113] In this way, by setting a stop condition for motor 2 based on the rotational speed of motor 2 for each adjustment item, the timing at which the motor control circuit 30 switches the voltage of the trigger signal St (the timing at which the measuring device 5 stops measuring the signal to be measured) can be easily determined.

[0114] The operation control unit 22 may either quickly switch the voltage of the trigger signal St from the second level to the first level after determining that the motor 2 has reached the target state, or it may switch the voltage of the trigger signal St from the second level to the first level after a predetermined time has elapsed after determining that the motor 2 has reached the target state. By increasing the time from the above determination to the switching of the trigger signal St, it becomes possible to measure transient responses such as overshoot and undershoot of the signal to be measured (for example, coil current) more reliably.

[0115] When the communication unit 16 receives a command from the information processing device 4 to write control parameters, the operation control unit 22 writes the control parameters associated with the command to the storage unit 21. Also, when the operation mode is normal mode, the operation control unit 22 reads the adjusted control parameter values ​​stored in the non-volatile storage area of ​​the storage unit 21 and sets them in the drive control signal generation unit 11 (speed control unit 13), and also instructs the drive control signal generation unit 11 to generate a drive control signal Sd based on a speed command signal Sc input from an external source.

[0116] Next, the process of automatically adjusting control parameters using the control parameter automatic adjustment system 1 according to this embodiment will be described.

[0117] Figures 4A to 4C are sequence diagrams showing the flow of automatic adjustment of control parameters. In the following explanation, the initial state of the motor drive control device 3 is assumed to be that the operating mode is "normal mode" and the voltage at output terminal P is at the first level (low level).

[0118] For example, suppose a user operates the user interface 40 of the information processing device 4 to launch an application for automatic adjustment of control parameters, and the automatic adjustment application displays a list on the screen of the display device, which is the user interface 40 of the information processing device 4, in which adjustment items such as "speed control A", "speed control B", and "current control A" can be selected.

[0119] In this case, as shown in Figure 4A, first, the user specifies the adjustment item for which the control parameters will be automatically adjusted via the user interface 40 (step S1). Here, let's assume the user selects "speed control A" from the list of adjustment items displayed on the display device.

[0120] Next, the user inputs the required specifications for the adjustment item selected in step S1 into the information processing device 4 (step S2). In the example above, suppose the user inputs the time ta specification value "<α" included in the measurement items of the required specifications for "speed control A" into the information processing device 4 via the user interface 40.

[0121] Next, the user instructs the information processing device 4 to perform automatic adjustment of control parameters (step S3). For example, the user operates the user interface 40 and selects an icon indicating "Perform automatic adjustment" displayed on the display device, thereby the data processing control unit 41 (instruction receiving unit 44) receiving the instruction to perform automatic adjustment of control parameters. As a result, the data processing control unit 41 displays, for example, an acknowledgment (ACK) on the display device indicating that it has received the instruction to perform automatic adjustment of control parameters, and starts processing related to the automatic adjustment of control parameters.

[0122] When the process for automatic adjustment of control parameters is started, first the control parameter adjustment unit 47 of the data processing control unit 41 selects a set of control parameters to be adjusted and measurement conditions corresponding to the adjustment item specified in step S1 (step S4). For example, in the above example, the control parameter adjustment unit 47 reads information from the correspondence relationship information 450 stored in the storage unit 45 about the set of control parameters to be adjusted (target current value (at startup), PID parameters, and control cycle) associated with the adjustment item "speed control A", information about measurement conditions indicating "changing the rotation speed from zero to the maximum rotation speed", and information that the trigger signal St is the signal to be measured. The control parameter adjustment unit 47 provides the read information to the drive command output unit 46. At this time, the control parameter adjustment unit 47 sets the selected control parameters to predetermined values ​​(for example, initial values) and provides them to the drive command output unit 46.

[0123] Next, the drive command output unit 46 of the data processing control unit 41 outputs a command to the motor drive control device 3 via the communication unit 42 to set the operating mode to "automatic adjustment mode" (step S5). When the communication unit 16 of the motor drive control device 3 receives this command, the operating mode setting unit 20 switches the operating mode from "normal mode" to "automatic adjustment mode". Subsequently, the operating mode setting unit 20 of the motor drive control device 3 sends a response (ACK) via the communication unit 16 to the information processing device 4 indicating that the operating mode has been set to "automatic adjustment mode," that is, that the motor drive control device 3 is now in a state where it can automatically adjust the control parameters.

[0124] Next, in the information processing device 4, the drive command output unit 46 transmits the measurement parameters to the measuring device 5 (step S6). For example, the drive command output unit 46 transmits to the measuring device 5 the information of the specified input channel and the specified measurement range, which are included in the information of the signal to be measured related to “speed control A” given by the control parameter adjustment unit 47 in step S4.

[0125] The measuring device 5 updates its internal configuration information for measurement based on the received measurement parameters (step S7). Subsequently, the measuring device 5 sends an ACK to the information processing device 4 indicating that the measuring device 5 is ready to measure.

[0126] As shown in Figure 4B, after steps S3 and S5, the drive command output unit 46 of the information processing device 4, upon receiving a response (ACK) from the motor drive control device 3 and the measuring device 5, instructs the motor drive control device 3 to perform automatic adjustment of the control parameters (step S8).

[0127] At this time, the drive command output unit 46 transmits to the motor drive control device 3 the set of control parameters to be adjusted, which have predetermined values ​​(e.g., initial values) set, and the measurement conditions, which were obtained from the control parameter adjustment unit 47 acquired in step S4. The information on the set of control parameters to be adjusted and the measurement conditions may be transmitted together with the instruction to perform automatic adjustment of the control parameters, or it may be transmitted after the instruction to perform automatic adjustment of the control parameters.

[0128] The motor drive control device 3 sets the received control parameter values ​​and measurement conditions in response to an instruction to perform automatic adjustment of control parameters (step S9). For example, in the above example, the operation control unit 22 sets the "target current value (at startup)", "PID parameters", and "control period" of the control parameters to be adjusted corresponding to "speed control A" to predetermined values ​​(initial values) and provides them to the speed control unit 13. The operation control unit 22 also sets the initial value of the target rotation speed of the motor 2 to zero based on the measurement conditions (changing the rotation speed from zero to the maximum rotation speed) and sets this value to the speed control unit 13.

[0129] Next, the motor drive control device 3 starts driving the motor 2 (step S10). For example, the motion control unit 22 sets the target rotational speed to the speed control unit 13 based on the value of the control parameter to be adjusted corresponding to “speed control A” and the measurement conditions, as described above, and then instructs each functional unit constituting the motor drive control device 3 to start driving the motor 2. After the motor 2 starts driving, the motion control unit 22 changes the target rotational speed up to the maximum rotational speed while monitoring the measured value of the rotational speed of the motor 2 included in the measurement data generated by the measurement data generation unit 23, for example.

[0130] After or simultaneously with step S10, the motor drive control device 3 sends an instruction to the measuring device 5 to start measuring the signal to be measured (step S11). For example, after or simultaneously with step S10, the operation control unit 22 instructs the output signal generation unit 24 to output a trigger signal St, and the output signal generation unit 24 switches the voltage of the trigger signal St from the first level (low level) to the second level (high level) in response to the instruction from the operation control unit 22.

[0131] When the measuring device 5 detects that the voltage of the trigger signal St has switched from the first level to the second level (rising edge of the trigger signal St), it starts measuring the signal to be measured that has been input to the specified input channel (step S12). In the example above, the signal to be measured for "speed control A" is the trigger signal St, so the measuring device 5 starts measuring the trigger signal St.

[0132] After step S11, the motor drive control device 3 determines whether the measurement termination condition has been met (step S13). In the example above, the measurement condition for “speed control A” is to “change the rotational speed from zero to the maximum rotational speed”. In this case, the operation control unit 22 determines whether the measured rotational speed of the motor 2 generated by the measurement data generation unit 23 has reached the maximum rotational speed. If the measured rotational speed has not reached the maximum rotational speed, the operation control unit 22 determines that the measurement termination condition has not been met (step S13: NO) and continues to drive the motor 2 based on the control parameters and measurement conditions set in step S9.

[0133] On the other hand, when the measured rotational speed reaches the maximum rotational speed, the operation control unit 22 determines that the measurement termination condition has been met (step S13: YES) and transmits a measurement termination instruction to the measuring device 5 (step S14). For example, the operation control unit 22 instructs the output signal generation unit 24 to switch the trigger signal St, and the output signal generation unit 24 switches the voltage of the trigger signal St from the second level (high level) to the first level (low level) in response to the instruction from the operation control unit 22.

[0134] When the measuring device 5 detects that the voltage of the trigger signal St has switched from the second level to the first level (the falling edge of the trigger signal St), it stops measuring the signal to be measured input to the designated input channel (step S15). At this time, the measuring device 5 stores, for example, the time-series data of the measured signal to be measured in an internal memory device (not shown) of the measuring device 5.

[0135] If the motor drive control device 3 determines in step S13 that the measurement termination condition has been met (step S13: YES), it stops measuring the target signal and notifies the information processing device 4 that the measurement is complete (step S16). For example, in step S14 or after step S14, the operation control unit 22 notifies each functional unit in the motor drive control device 3 that the measurement of the target signal has stopped, and also sends a notification to the information processing device 4 via the communication unit 16 indicating that the measurement of the target signal is complete as a response (ACK) to the instruction to execute automatic adjustment of control parameters (step S8).

[0136] When the information processing device 4 receives notification from the motor drive control device 3 that the measurement is complete, it sends a request to the measuring device 5 to acquire the measurement result (step S17). For example, the drive command output unit 46 instructs the measuring device 5 to acquire measurement data. When the measuring device 5 receives the request to acquire the measurement result, it sends the measurement result to the information processing device 4 as a response to the acquisition request (step S18). For example, in the above example (speed control A), the measuring device 5 sends the time-series data of the trigger signal St as the measurement result to the information processing device 4. In the information processing device 4, the measurement result acquisition unit 50 receives the measurement result from the measuring device 5, and the received measurement result information 451 is stored in the storage unit 45.

[0137] In step S18, the information processing device 4 determines whether the measurement result received from the measuring device 5 satisfies the required specifications (step S19). In the example above, first, the measurement result analysis unit 48 reads the time-series data of the trigger signal St as measurement result information 451 from the storage unit 45. Based on the read time-series data, the measurement result analysis unit 48 measures the time from the rising edge time to the falling edge time of the trigger signal St, and defines the measured time as "the time ta from the start of operation until the rotational speed reaches the maximum rotational speed". Then, the measurement result analysis unit 48 determines whether the time ta satisfies the required specification value (ta < α).

[0138] If the measurement result (time ta) does not satisfy the required specifications (step S19: NO), the data processing control unit 41 returns to step S8, changes the value of the control parameter to be adjusted, transmits the changed control parameter to the motor drive control device 3, and instructs the motor drive control device 3 to perform automatic adjustment based on the changed control parameter.

[0139] In the example described above, first, the measurement result analysis unit 48 notifies the control parameter adjustment unit 47 that the measurement result does not satisfy the required specifications for "speed control A". The control parameter adjustment unit 47 changes the control parameters to be adjusted for "speed control A", namely "target current value (startup)", "PID parameters", and "control cycle", to values ​​different from their initial values. The drive command output unit 46 sends the set of control parameters to be adjusted, with the instruction to perform automatic adjustment of the control parameters, to the motor drive control device 3.

[0140] At this time, the drive command output unit 46 may also transmit information on the measurement conditions. The motor drive control device 3, in response to an instruction to perform automatic adjustment of control parameters, updates the values ​​of the control parameters set in the speed control unit 13 based on the received values ​​of the control parameters and sets the measurement conditions (step S9). For example, in the above example, the operation control unit 22 updates the "target current value (startup)", "PID parameters", and "control cycle" of the control parameters to be adjusted corresponding to "speed control A" to the changed values ​​and provides them to the speed control unit 13. The operation control unit 22 also sets the initial value of the target rotation speed of the motor 2 to zero based on the measurement conditions (changing the rotation speed from zero to the maximum rotation speed) and sets it in the speed control unit 13. After that, the processes of steps S10 to S19 described above are executed again.

[0141] On the other hand, as shown in Figure 4C, if the measurement result (time ta) satisfies the required specifications (step S19: YES), the information processing device 4 determines the control parameters to be written to the motor drive control device 3 (step S20). In the above example, if the time ta measured when the motor 2 is driven with the “target current value (startup)”, “PID parameters”, and “control period” set to predetermined values ​​satisfies the required specification value (ta < α), the measurement result analysis unit 48 notifies the control parameter determination unit 49 that the measurement result satisfies the required specifications. The control parameter determination unit 49 sets the “target current value (startup)”, “PID parameters”, and “control period” values ​​that were set when the measurement result satisfying the required specifications was obtained as the adjusted control parameters to be written to the motor drive control device 3.

[0142] Next, the information processing device 4 instructs the motor drive control device 3 to write the adjusted control parameter values ​​determined in step S20 (step S21). For example, in the information processing device 4, the control parameter determination unit 49 provides the adjusted control parameter values ​​to the drive command output unit 46 and instructs the drive command output unit 46 to write them to the motor drive control device 3. The drive command output unit 46 transmits the adjusted control parameter values ​​received from the control parameter determination unit 49 to the motor drive control device 3 via the communication unit 42 and instructs the motor drive control device 3 to write the values ​​to the storage unit 21.

[0143] When the motor drive control device 3 receives the adjusted control parameter values ​​from the communication unit 16, it writes the adjusted control parameter values ​​to the non-volatile storage area of ​​the storage unit 21 based on the instructions of the information processing device 4, and sends a notification (ACK) to the information processing device 4 indicating that the writing is complete (step S22). At this time, the operation mode setting unit 20 of the motor drive control device 3 may switch the operation mode from "automatic adjustment mode" to "normal mode".

[0144] Subsequently, in the information processing device 4, the data processing control unit 41 transmits an acknowledgment (ACK) to the user interface 40 (step S23) indicating that the automatic adjustment of the control parameters has been completed, and displays it on the display device which is the user interface 40, while also terminating the process related to the automatic adjustment of the control parameters.

[0145] Figure 5 shows an example of measurement during automatic adjustment of control parameters. Figure 5 shows the characteristics 501 of the temporal change in the rotational speed of motor 2, 502 of the temporal change in the trigger signal St, and 503 of the temporal change in the coil current, respectively.

[0146] For example, at time t1 in Figure 5, when the voltage level of the trigger signal St switches from the first level (low level) to the second level (high level), the measuring device 5 starts measuring the signal to be measured. For example, if the adjustment item is "speed control A", the measuring device 5 measures the temporal change of the trigger signal St, which is the signal to be measured, as shown in reference numeral 502. Also, if the adjustment item is "current control A", the measuring device 5 measures the temporal change of the coil current, which is the signal to be measured, as shown in reference numeral 503.

[0147] After the measurement described above has started, at time t2 in Figure 5, when the voltage level of the trigger signal St switches from the second level (high level) to the first level (low level), the measuring device 5 stops measuring the signal to be measured. For example, if the adjustment item is "speed control A", the measuring device 5 stops measuring the trigger signal St, which is the signal to be measured, and stores the time-series data of the measured trigger signal St as the measurement result in the internal memory device (not shown) of the measuring device 5.

[0148] Furthermore, if the adjustment item is "current control A," the measuring device 5 stops measuring the coil current, which is the signal to be measured, and stores the time-series data related to the measured coil current in the internal memory device (not shown) of the measuring device 5.

[0149] The measuring device 5 transmits the measurement results to the information processing device 4 in response to instructions from the information processing device 4. The information processing device 4 analyzes the received measurement results using the method described above. For example, if the adjustment item is "speed control A", the time from the rising edge to the falling edge of the trigger signal St, which is the signal to be measured, is measured based on the time-series data of the trigger signal St, and this time is defined as "time ta". The device then determines whether time ta satisfies the specified value (ta < α) of the required specification. In the example shown in Figure 5, since time ta < α, the information processing device 4 determines that the measurement result satisfies the required specification and writes the value of the control parameter from which the measurement result was obtained to the motor drive control device 3.

[0150] Furthermore, for example, if the adjustment item is "current control A", the maximum value (peak value) Ipp of the coil current, which is the signal to be measured, is detected based on the time-series data of the coil current shown in reference numeral 503, from the rising edge to the falling edge of the trigger signal St, and it is determined whether the maximum value Ipp satisfies the specification value of the required specification (Ipp < γ). In the example shown in Figure 5, since the maximum value of the coil current Ipp < γ, the information processing device 4 determines that the measurement result satisfies the required specification and writes the value of the control parameter from which the measurement result was obtained to the motor drive control device 3.

[0151] In the motor drive control device 3 that constitutes the control parameter automatic adjustment system 1 according to this embodiment, the motor control circuit 30 has a normal mode and an automatic adjustment mode as operating modes, and when the operating mode is the automatic adjustment mode, the motor control circuit 30 outputs a trigger signal St from the output terminal P. In the automatic adjustment mode, when the motor control circuit 30 causes the measuring device 5 to start measuring the signal to be measured, it switches the voltage of the trigger signal St from a first level (e.g., low level (0V)) to a second level different from the first level (e.g., high level (power supply voltage value)), and when the motor control circuit 30 causes the measuring device 5 to stop measuring the signal to be measured, it switches the voltage of the trigger signal St from the second level to the first level.

[0152] In other words, the motor control circuit 30 can, for example, instruct the measuring device 5 to start measuring the signal to be measured at the timing when measurement of the signal to be measured should begin based on the values ​​of control parameters and measurement conditions specified by the information processing device 4, which is a higher-level device, and can instruct the measuring device 5 to stop measuring at the timing when measurement of the signal to be measured should be stopped.

[0153] According to this, the motor control circuit 30 only needs to drive the motor 2 based on the values ​​of the control parameters and measurement conditions specified by the information processing device 4, and there is no need to perform processing such as changing the values ​​of the control parameters and determining whether the measurement results from the measuring device 5 satisfy the required specifications in order to automatically adjust the control parameters. In other words, there is no need to incorporate a complex program for the automatic adjustment of control parameters into the motor control circuit 30.

[0154] Furthermore, since the start and stop of measurement by the measuring device 5 can be controlled by switching the voltage level of the trigger signal St, there is no need to incorporate a complex program for controlling the measuring device 5 into the motor control circuit 30.

[0155] Thus, the motor drive control device 3 according to this embodiment makes it possible to provide a technology that supports automatic adjustment of control parameters while keeping the additional functions and costs to the motor drive control device 3 down. Furthermore, since the processing for automatic adjustment of control parameters by the motor control circuit 30 is minimized, adverse effects on the drive control of the motor 2 in normal mode can also be suppressed.

[0156] Furthermore, in the motor drive control device 3, when the operating mode is normal mode, the motor control circuit 30 may output a signal (for example, an FG signal FG) having a frequency corresponding to the rotational speed of the motor 2 from the output terminal P that outputs the trigger signal St in automatic adjustment mode. According to this, since there is no need to provide a new external terminal for outputting the trigger signal St in the motor drive control device 3, the cost increase caused by incorporating the above-mentioned automatic adjustment function for control parameters into the motor drive control device 3 can be further reduced.

[0157] Furthermore, in the automatic control parameter adjustment system 1 according to this embodiment, when the measuring device 5 detects that the input trigger signal St has switched from the first level to the second level, it starts measuring at least one of the physical quantity (coil current, etc.) related to the drive state of the motor 2, which is the signal to be measured, and the trigger signal St. When it detects that the trigger signal St has switched from the second level to the first level, it stops measuring at least one of the physical quantity and the trigger signal St, and outputs the measurement result to the information processing device 4. The information processing device 4 specifies the values ​​of the control parameters and the measurement conditions to the motor drive control device 3, and instructs it to generate a drive control signal Sd based on the specified values ​​of the control parameters and the measurement conditions, and acquires the measurement result output from the measuring device 5. If the acquired measurement result does not satisfy the required specifications, the information processing device 4 instructs the motor drive control device 3 to change the values ​​of the control parameters that were set immediately before, and to generate a drive control signal Sd based on the changed values ​​of the control parameters. If the measurement result satisfies the required specifications, it writes the values ​​of the control parameters corresponding to the measurement result to a non-volatile memory area in the motor drive control device 3.

[0158] According to this, the information processing device 4 performs processes such as determining whether the measurement results meet the required specifications, selecting appropriate control parameter values ​​based on the determination results, and writing the control parameters to the motor drive control device 3. Therefore, the complexity of the processing performed by the motor drive control device 3 and the increase in the cost of the motor drive control device 3 can be more effectively suppressed. Furthermore, since the main processing for the automatic adjustment of the control parameters described above is realized by an application (program) running on the information processing device 4, it becomes easier for the user to change measurement conditions and required specifications compared to when the above application is incorporated into the motor control circuit 30.

[0159] <<Extension of the Embodiment>> Although the present inventors have described the invention in detail based on embodiments, it goes without saying that the present invention is not limited thereto and can be modified in various ways without departing from its essence.

[0160] For example, in the above embodiment, the motor drive control device 3 is shown as outputting either a trigger signal St or a signal with a frequency corresponding to the rotational speed of the motor 2 (FG signal FG) from a single output terminal P, depending on the operating mode, but it is not limited to this. If it is permissible to provide an additional external terminal in addition to output terminal P, the motor drive control device 3 may be provided with two output terminals, with the trigger signal St output from one output terminal and the FG signal FG output from the other output terminal. In this case, in automatic adjustment mode, the measuring device 5 can measure the FG signal FG in addition to the trigger signal St.

[0161] Furthermore, the adjustment items, parameters to be adjusted, required specifications, measured signals, and their corresponding relationship information in the automatic adjustment of control parameters are not limited to the example in Figure 3. For example, the control parameters related to feedback control are not limited to PID parameters.

[0162] Furthermore, the method for detecting the rotational speed of motor 2 is not particularly limited. For example, the rotational speed may be detected by a position sensorless method that uses the back electromotive force induced in the motor coil to detect the rotational speed without using a position detector such as a Hall element.

[0163] The sequence diagram above is just one example; other processes may be inserted between each step, and the processes may be parallelized. [Explanation of Symbols]

[0164] 1...Automatic control parameter adjustment system, 2...Motor, 3...Motor drive control device, 4...Information processing device, 5...Measuring device, 11...Drive control signal generation unit, 12...Speed ​​command analysis unit, 13...Speed ​​control unit, 14...Duty ratio determination unit, 15...Energy supply control unit, 16...Communication unit, 17...Receiver unit, 18...Transmitter unit, 19...Communication control unit, 20...Operation mode setting unit, 21...Storage unit, 22...Operation control unit, 23...Measurement data generation unit, 24...Output signal generation unit, 25...Rotation speed calculation unit, 30...Motor control circuit, 31...Motor 32...Drive circuit, 40...Sensor device, 41...User interface (UI), 42...Data processing control unit, 44...Instruction reception unit, 45...Storage unit, 46...Drive command output unit, 47...Control parameter adjustment unit, 48...Measurement result analysis unit, 49...Control parameter determination unit, 50...Measurement result acquisition unit, 450...Relationship information, 451...Measurement result information, P...Output terminal, Sc...Speed ​​command signal (an example of a drive command signal), Sd...Drive control signal, St...Trigger signal, FG...FG signal, Sp...Electrical signal.

Claims

1. A control parameter automatic adjustment system comprising a motor drive control device, a measuring device, and an information processing device, The motor drive control device is A motor control circuit that generates a drive control signal to control the drive of a motor, A motor drive circuit that drives the motor based on the drive control signal, A sensor device that detects a physical quantity related to the driving state of the motor and outputs an electrical signal corresponding to the detection result, It is equipped with an output terminal, The motor control circuit has, as operating modes, a normal mode that generates the drive control signal so that the motor rotates in accordance with the drive command, and an automatic adjustment mode for adjusting the values ​​of control parameters related to the drive control of the motor. In the automatic adjustment mode, the information processing device designates the electrical signal or trigger signal output from the motor drive control device as the signal to be measured to the measuring device, instructs the measuring device to measure the signal to be measured, and determines whether the measurement result of the signal to be measured measured by the measuring device satisfies the required specifications, thereby determining the value of the control parameter to be set in the motor drive control device. When the operating mode is the automatic adjustment mode, the motor control circuit generates the drive control signal based on the values ​​of the control parameters and measurement conditions specified by the information processing device to drive the motor, and outputs the trigger signal from the output terminal. In the automatic adjustment mode, the motor control circuit switches the voltage of the trigger signal output from the output terminal from a first level to a second level different from the first level when causing the measuring device to start measuring the signal to be measured, and switches the voltage of the trigger signal from the second level to the first level when causing the measuring device to stop measuring the signal to be measured. In the automatic adjustment mode, the motor control circuit switches the voltage of the trigger signal from the first level to the second level, and then, when it determines that the motor's driving state has reached the target state based on the physical quantity detected by the sensor device, it switches the voltage of the trigger signal from the second level to the first level, thereby causing the measuring device to stop measuring the signal to be measured. Automatic adjustment system for control parameters.

2. In the automatic control parameter adjustment system according to claim 1, The aforementioned physical quantity includes the rotational speed of the motor. The motor control circuit determines that the motor's operating state has reached the target state when the motor's rotational speed reaches the maximum value of the target rotational speed. Automatic adjustment system for control parameters.

3. In the automatic control parameter adjustment system according to claim 1, The aforementioned physical quantity includes the rotational speed of the motor. The motor control circuit switches the voltage of the trigger signal from the first level to the second level, then changes the target rotational speed of the motor, and determines that the motor's drive state has reached the target state when the motor's rotational speed reaches the changed target rotational speed. Automatic adjustment system for control parameters.

4. In the automatic control parameter adjustment system according to claim 1, The aforementioned physical quantity includes the rotational speed of the motor. The motor control circuit determines that the motor's operating state has reached the target state when the motor's rotational speed reaches the maximum rotational speed within a predetermined range. Automatic adjustment system for control parameters.

5. In the automatic control parameter adjustment system according to claim 1, When the operating mode is the normal mode, the motor control circuit outputs a signal having a frequency corresponding to the rotational speed of the motor from the output terminal. Automatic adjustment system for control parameters.

6. In the automatic control parameter adjustment system according to claim 1, The motor control circuit is, A drive control signal generation unit that generates the drive control signal, A communication unit that communicates with the aforementioned information processing device, An operation mode setting unit sets the operation mode to the normal mode or the automatic adjustment mode based on a command received by the communication unit from the information processing device, The output signal generation unit generates the trigger signal, A measurement data generation unit that generates measurement data of the physical quantity detected by the sensor device, An operation control unit monitors the drive state of the motor based on the measurement data and controls the generation of the drive control signal based on the operation mode set by the operation mode setting unit, It has a storage unit having a non-volatile storage area for storing the control parameters, The operation control unit, when the operation mode is the automatic adjustment mode, When the communication unit receives the values ​​of the control parameters and the measurement conditions from the information processing device, it instructs the drive control signal generation unit to generate the drive control signal based on the control parameters, and instructs the output signal generation unit to change the voltage of the trigger signal from the first level to the second level, and when the drive state of the motor becomes the state based on the measurement conditions, it instructs the output signal generation unit to change the voltage of the trigger signal from the second level to the first level, and when the communication unit receives data from the information processing device instructing the writing of the control parameters, it writes the control parameters associated with the data to the storage unit. The operation control unit, when the operation mode is the normal mode, The control parameters stored in the memory unit are set in the drive control signal generation unit, and the drive control signal generation unit is instructed to generate the drive control signal based on a drive command signal input from an external source. Automatic adjustment system for control parameters.

7. In the control parameter automatic adjustment system according to any one of claims 1 to 6, The measuring device starts measuring the target signal when it detects that the trigger signal has been input and that the trigger signal has switched from the first level to the second level, and stops measuring the target signal and outputs the measurement result when it detects that the trigger signal has switched from the second level to the first level. When the operating mode is the automatic adjustment mode, the information processing device specifies the values ​​of the control parameters and the measurement conditions to the motor drive control device, instructs the device to generate the drive control signal based on the specified values ​​of the control parameters and the measurement conditions, and acquires the measurement result of the signal to be measured output from the measuring device. If the acquired measurement result does not satisfy the required specifications, the information processing device instructs the motor drive control device to change the value of the control parameter that was set immediately beforehand and to generate the drive control signal based on the changed value of the control parameter. If the measurement result satisfies the required specifications, the device instructs the motor drive control device to write the value of the control parameter corresponding to the measurement result to a non-volatile storage area within the motor drive control device. Automatic adjustment system for control parameters.

8. A method for automatically adjusting control parameters for a motor drive control device that detects a physical quantity relating to the drive state of a motor, outputs an electrical signal according to the detection result, and generates a drive control signal for controlling the drive of the motor, thereby automatically adjusting the values ​​of control parameters related to the drive control of the motor to be set in the motor drive control device, The motor drive control device has, as operating modes, a normal mode that generates the drive control signal so that the motor is in a rotational state according to the drive command, and an automatic adjustment mode for adjusting the values ​​of the control parameters. When the operating mode is the automatic adjustment mode, the first step is for the information processing device to specify the electrical signal or trigger signal output from the motor drive control device as the signal to be measured to the measuring device, When the operating mode is the automatic adjustment mode, the information processing device performs a second step of specifying the values ​​of the control parameters and the measurement conditions to the motor drive control device, In the case where the operating mode is the automatic adjustment mode, the motor drive control device generates the drive control signal based on the value of the control parameter specified in the second step and the measurement conditions in the third step, In the case where the operating mode is the automatic adjustment mode, the motor drive control device generates the trigger signal to control the start and stop of the measurement of the signal to be measured by the measuring device, a fourth step, When the operating mode is the automatic adjustment mode, the information processing device determines whether the required specifications are satisfied based on the measurement results of the signal to be measured measured by the measuring device, and in this case, determines the value of the control parameter to be set in the motor drive control device. The fourth step is, When the measuring device is instructed to start measuring the signal to be measured, the motor drive control device performs a sixth step in which it switches the voltage of the trigger signal from a first level to a second level different from the first level, The motor drive control device includes a seventh step in which, when the measuring device stops measuring the signal to be measured, the motor drive control device switches the voltage of the trigger signal from the second level to the first level. The seventh step includes, if the motor drive control device determines after the sixth step that the motor's drive state has reached the target state based on the detected physical quantity, switching the voltage of the trigger signal from the second level to the first level, thereby causing the measuring device to stop measuring the signal to be measured. Automatic adjustment method for control parameters.

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