Control parameter adjustment device and control parameter adjustment method

Abstract

This invention comprises: an actual step operation information acquisition unit (50) for acquiring actual step operation information indicating operation of equipment (100) in a workflow of actual steps; an adjusting operation command generation unit (20) for generating an adjusting operation command for a control parameter whereby operation of a servomotor (110) is defined on the basis of the actual step operation information; a control unit (30) for controlling the servomotor (110) on the basis of the adjusting operation command and the control parameter; a state information acquisition unit (60) for acquiring state information related to a state of the equipment (100) caused by the operation of the servomotor (110) controlled by the control unit (30); and a control parameter adjustment unit (40) for adjusting the control parameter on the basis of the state information.

Description

Control parameter adjustment device and control parameter adjustment method

[0001] The present invention relates to a control parameter adjusting device for adjusting control parameters of a servo motor.

[0002] Patent Document 1 describes a control parameter adjustment device that adjusts control parameters of a servo motor provided in equipment.

[0003] Japanese Patent Application Laid-Open No. 2020-35159

[0004] However, Patent Document 1 does not disclose a specific method for generating an operation command for adjusting a control parameter.

[0005] For example, it is possible to use the operation commands of a servo motor used by equipment in the workflow of an actual process as operation commands for adjusting control parameters, but if the servo motor performs relatively complex operations in the workflow of the actual process, adjusting the control parameters may take too much time and may not be completed within a practical time frame.

[0006] Therefore, when a servo motor performs a relatively complicated operation in the workflow of an actual process, it is necessary to prepare an appropriate operation command for adjusting the control parameter in order to adjust the control parameter.

[0007] However, in general, when a servo motor performs relatively complex operations in an actual process workflow, it is difficult for a person who does not have accumulated know-how in control parameter adjustment to prepare appropriate operation commands for adjusting the control parameters.

[0008] Therefore, an object of the present disclosure is to provide a control parameter adjustment device and a control parameter adjustment method that can adjust control parameters without preparing an operation command for adjusting the control parameters.

[0009] A control parameter adjustment device according to one aspect of the present disclosure is a control parameter adjustment device that adjusts each control parameter of a servo motor provided in equipment, and includes: an actual process operation information acquisition unit that acquires actual process operation information indicating operation in a workflow of an actual process of the equipment; an adjustment operation command generation unit that generates an adjustment operation command for the control parameter that defines operation of the servo motor based on the actual process operation information; a control unit that controls the servo motor based on the adjustment operation command and the control parameter; a status information acquisition unit that acquires status information related to the status of the equipment resulting from operation of the servo motor controlled by the control unit; and a control parameter adjustment unit that adjusts the control parameter based on the status information.

[0010] A control parameter adjustment method according to one aspect of the present disclosure is a control parameter adjustment method for adjusting control parameters of servo motors provided in equipment, and includes an actual process operation information acquisition step for acquiring actual process operation information indicating operation of the equipment in a workflow of an actual process; an adjustment operation command generation step for generating adjustment operation commands for the control parameters based on the actual process operation information; a control step for controlling the servo motors based on the adjustment operation commands and the control parameters; a status information acquisition step for acquiring status information related to the status of the equipment resulting from operation of the servo motors controlled by the control step; and a control parameter adjustment step for adjusting the control parameters based on the adjustment operation commands and the status information.

[0011] According to a control parameter adjustment device and a control parameter adjustment method according to an aspect of the present disclosure, it is possible to appropriately adjust control parameters without preparing an operation command for adjusting the control parameters.

[0012] FIG. 1 is a schematic diagram illustrating an overview of a control parameter adjustment system according to an embodiment. FIG. 2 is a perspective view of equipment according to an embodiment. FIG. 3 is a schematic diagram illustrating an example of a trajectory of a driven object in a workflow of an actual process of the equipment according to an embodiment. FIG. 4 is a schematic diagram illustrating an example of a plurality of unit operations divided by a first motion command generation unit 21 according to an embodiment. FIG. 5 is an example of a plurality of unit operation frequency characteristics calculated by a feature quantity calculation unit according to an embodiment. FIG. 6 is a schematic diagram illustrating an example of a manner in which a second motion command generation unit according to an embodiment identifies one or more specific unit frequency characteristics. FIG. 7 is a schematic diagram illustrating an example of a manner in which a second motion command generation unit according to an embodiment checks whether a difference between a natural frequency indicated by a first unit frequency characteristic and a natural frequency indicated by a second unit frequency characteristic is smaller than a predetermined second threshold. FIG. 8 is a schematic diagram for explaining settling time. FIG. 9 is a flowchart of a control parameter adjustment process.

[0013] (How One Aspect of the Present Disclosure Was Achieved) The inventors have been developing a control parameter adjustment device that adjusts each of the control parameters of servo motors provided in equipment.

[0014] As described above, in cases where a servo motor performs relatively complex operations in an actual process workflow, in order to appropriately adjust the control parameters, it is necessary to prepare appropriate operation commands for adjusting the control parameters. However, in such cases, it is difficult for a person who does not have accumulated know-how about adjusting control parameters to prepare appropriate operation commands for adjusting the control parameters.

[0015] Therefore, the inventors have conducted extensive experiments and studies to develop a control parameter adjusting device that can adjust control parameters without preparing an operation command for adjusting the control parameters.

[0016] As a result, the inventors have come up with the control parameter adjustment device and control parameter adjustment method according to the present disclosure described below.

[0017] A control parameter adjustment device according to one aspect of the present disclosure is a control parameter adjustment device that adjusts each control parameter of a servo motor provided in equipment, and includes: an actual process operation information acquisition unit that acquires actual process operation information indicating operation in a workflow of an actual process of the equipment; an adjustment operation command generation unit that generates an adjustment operation command for the control parameter that defines operation of the servo motor based on the actual process operation information; a control unit that controls the servo motor based on the adjustment operation command and the control parameter; a status information acquisition unit that acquires status information related to the status of the equipment resulting from operation of the servo motor controlled by the control unit; and a control parameter adjustment unit that adjusts the control parameter based on the status information.

[0018] In the control parameter adjustment device having the above configuration, the adjusting operation command generator generates adjusting operation commands for the control parameters based on actual process operation information indicating operations in the workflow of the actual process. Then, the control parameter adjustment unit adjusts the control parameters based on the generated adjusting operation commands.

[0019] Therefore, according to the control parameter adjustment device having the above configuration, it is possible to adjust the control parameters without preparing an operation command for adjusting the control parameters.

[0020] Furthermore, when the state information is acquired by the state information acquisition unit, the adjustment operation command generation unit may further generate the adjustment operation command based on the state information.

[0021] This allows the contents of the state information to be reflected in the adjustment operation command.

[0022] The adjustment operation command generation unit may further include a first operation command generation unit that divides the operation of the equipment indicated by the actual process operation information into a plurality of unit operations, generates a plurality of unit operation commands that specify the operation of the servo motor to cause the equipment to perform each of the plurality of unit operations, and generates a first adjustment operation command consisting of the plurality of unit operation commands; a feature quantity calculation unit that, when first state information related to the state of the equipment resulting from the operation of the servo motor controlled by the control unit based on the first adjustment operation command is acquired by the state information acquisition unit, calculates an equipment feature quantity related to a feature of the equipment based on the first state information; and a second operation command generation unit that selects one or more unit operation commands from the plurality of unit operation commands based on the equipment feature quantity and generates a second adjustment operation command consisting of the one or more unit operation commands, and the control parameter adjustment unit may adjust the control parameter based on the second adjustment operation command as the adjustment operation command.

[0023] This allows the control parameters to be adjusted based on the unit operation command.

[0024] The status information may be displacement information indicating a time series of displacements related to the equipment, and the feature calculation unit may calculate, based on the displacement information, a frequency characteristic of the equipment related to shaking of the equipment as the equipment feature.

[0025] This allows the control parameters to be adjusted based on the frequency characteristics of the equipment.

[0026] Further, the displacement information may consist of a plurality of unit displacement information in one-to-one correspondence with the plurality of unit operation commands, each of the plurality of unit displacement information being information indicating a time series of displacement of the equipment caused by operation of the servo motor controlled by the control unit based on the corresponding unit operation command, the feature calculation unit may calculate, as the frequency characteristic, a plurality of unit frequency characteristics in one-to-one correspondence with the plurality of unit operation commands based on the plurality of unit displacement information, each of the plurality of unit frequency characteristics being information indicating a frequency characteristic related to vibration of the equipment caused by operation of the servo motor controlled by the control unit based on the corresponding unit operation command, and the second operation command generation unit may identify one or more specific unit frequency characteristics from the plurality of unit frequency characteristics that satisfy a predetermined condition, and select one or more specific unit operation commands in one-to-one correspondence with the one or more specific unit frequency characteristics as the one or more unit operation commands.

[0027] This allows the control parameters to be adjusted based on unit operation commands that cause fluctuations in frequency characteristics that satisfy predetermined conditions in the equipment.

[0028] In addition, the second operation command generation unit may identify the one or more specific unit frequency characteristics using the specified condition that the amplitude related to the shaking of the equipment indicated by the unit frequency characteristic is greater than a specified first threshold value.

[0029] This allows the control parameters to be adjusted based on a unit operation command that causes fluctuations in the equipment with amplitudes greater than the first threshold.

[0030] Furthermore, when a first unit frequency characteristic and a second unit frequency characteristic that satisfy the predetermined condition exist, and a difference between a natural frequency associated with the shaking of the equipment indicated by the first unit frequency characteristic and the natural frequency indicated by the second unit frequency characteristic is smaller than a predetermined second threshold value, the second operation command generation unit may exclude a unit frequency characteristic that indicates a smaller amplitude from the first unit frequency characteristic and the second unit frequency characteristic, and identify the one or more specific unit frequency characteristics.

[0031] This makes it possible to reduce the number of unit operation commands included in the second adjusting operation command, thereby reducing the time required to adjust the control parameters.

[0032] A control parameter adjustment method according to one aspect of the present disclosure is a control parameter adjustment method for adjusting control parameters of servo motors provided in equipment, and includes an actual process operation information acquisition step for acquiring actual process operation information indicating operation of the equipment in a workflow of an actual process; an adjustment operation command generation step for generating adjustment operation commands for the control parameters based on the actual process operation information; a control step for controlling the servo motors based on the adjustment operation commands and the control parameters; a status information acquisition step for acquiring status information related to the status of the equipment resulting from operation of the servo motors controlled by the control step; and a control parameter adjustment step for adjusting the control parameters based on the adjustment operation commands and the status information.

[0033] According to the control parameter adjustment method, the adjusting operation command generating step generates an adjusting operation command for a control parameter based on actual process operation information indicating an operation in a workflow of an actual process, and the control parameter adjusting step adjusts the control parameter based on the generated adjusting operation command.

[0034] Therefore, according to the above control parameter adjustment method, the control parameters can be adjusted without preparing an operation command for adjusting the control parameters.

[0035] Furthermore, in the adjustment operation command generating step, if the state information is acquired in the state information acquiring step, the adjustment operation command may further be generated based on the state information.

[0036] This allows the contents of the state information to be reflected in the adjustment operation command.

[0037] A specific example of a control parameter adjustment system according to one aspect of the present disclosure will be described below with reference to the drawings. Each embodiment shown here illustrates one specific example of the present disclosure. Therefore, the numerical values, shapes, components, the arrangement and connection of the components, steps (processes), and the order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, each figure is a schematic diagram and is not necessarily an exact illustration. In each figure, the same reference numerals are used for substantially the same components, and redundant explanations are omitted or simplified.

[0038] (Embodiment) <Configuration> FIG. 1 is a block diagram showing the configuration of a control parameter adjustment system 1 according to an embodiment.

[0039] As shown in FIG. 1 , the control parameter adjustment system 1 includes a control parameter adjustment device 10 and a facility 100 .

[0040] The facility 100 is, for example, a device used to produce devices, and processes, mounts, transports, etc. The facility 100 is installed, for example, on a production line in a factory. Specific examples of the facility 100 include an LED bonder, a mounter, a processing machine, and a removal robot.

[0041] The equipment 100 includes one or more servo motors 110 and a sensor 120 .

[0042] The servo motor 110 drives an object to be driven, with its operation controlled by a control unit 30 (described later) included in the control parameter adjustment device 10. The servo motor 110 receives, for example, a torque command that defines the operation of the servo motor 110 from the control unit 30, and drives the object to be driven in accordance with the received torque command. The object to be driven is, for example, an object to be processed, an object to be mounted, an object to be transported, etc. in the facility 100.

[0043] The servo motor 110 may be, for example, a rotary motor or a linear motor.

[0044] The sensor 120 detects the state of the equipment 100 and outputs state information related to the state of the equipment 100. Therefore, when the servo motor 110 is controlled by the control unit 30, the sensor 120 outputs state information related to the state of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30.

[0045] For example, the sensor 120 is a displacement detector that sequentially detects displacements related to the equipment 100 (for example, displacements of specific parts of the equipment 100). In this case, the sensor 120 outputs, as status information, displacement information that indicates a time series of displacements related to the equipment 100.

[0046] Furthermore, for example, the sensor 120 may be a speed detector that sequentially detects the speed of the equipment 100 (for example, the speed of a specific part of the equipment 100). In this case, the sensor 120 outputs speed information indicating a time series of the speed of the equipment 100 as the status information.

[0047] Furthermore, for example, the sensor 120 may be an acceleration detector that sequentially detects acceleration related to the equipment 100 (for example, acceleration of a specific part of the equipment 100). In this case, the sensor 120 outputs acceleration information indicating a time series of acceleration related to the equipment 100 as the status information.

[0048] Furthermore, for example, the sensor 120 may be a sound detector that detects sound generated by the facility 100. In this case, the sensor 120 converts the detected sound into an electrical signal and outputs the converted sound information as the status information.

[0049] Furthermore, for example, the sensor 120 may be an encoder that detects the position of the servo motor 110. In this case, the sensor 120 outputs, as the status information, encoded information that indicates a time series of encoded values ​​that indicate the position of the servo motor 110.

[0050] In the following description, the sensor 120 is a displacement detector that sequentially detects displacements related to the facility 100, and the status information is displacement information that indicates a time series of displacements related to the facility 100.

[0051] FIG. 2 is a perspective view of an example of equipment 100 having two servo motors 110 and a nozzle attached to a head as a driven object.

[0052] As shown in FIG. 2, the equipment 100 is, for example, a mounting device that mounts components on a substrate 220 placed on a base 210 .

[0053] As an example, equipment 100 includes a nozzle 241 that picks up a component that is an object to be driven, a head 240 equipped with nozzle 241, a servo motor 110A that functions as a power source for moving head 240 in the X-axis direction in a plan view of base 210, and a servo motor 110B that functions as a power source for moving head 240 in the Y-axis direction. Here, head 240 is connected to servo motor 110A via arm 230 and servo motor 110B.

[0054] Returning to FIG. 1 again, the description of the control parameter adjustment system 1 will continue.

[0055] The control parameter adjustment device 10 is a device that adjusts each of the control parameters of the servo motors 110 included in the equipment 100 .

[0056] As shown in FIG. 1 , the control parameter adjustment device 10 includes an adjustment operation command generation unit 20, a control unit 30, a control parameter adjustment unit 40, an actual process operation information acquisition unit 50, a state information acquisition unit 60, and an evaluation value calculation unit 70.

[0057] The control parameter adjustment device 10 is realized, for example, by a computer device including a processor, a memory, and various interfaces, in which the processor executes a program stored in the memory.

[0058] The actual process operation information acquisition unit 50 acquires actual process operation information indicating the operation of the equipment 100 in the workflow of the actual process.

[0059] For example, the actual process operation information acquisition unit 50 acquires, via a graphical interface, from a user of the control parameter adjustment device 10, the trajectory, speed, acceleration, moving distance, etc. of the driven object in the workflow of the actual process of the equipment 100 as actual process operation information.

[0060] Furthermore, for example, the actual process operation information acquisition unit 50 may acquire, from a user using the control parameter adjustment device 10 through a graphical interface, the operation command itself that specifies the operation of the servo motor 110 used by the equipment 100 in the workflow of the actual process, as actual process operation information.

[0061] In this specification, the operation command may be, for example, a position command, a velocity command, or an acceleration command.

[0062] The control unit 30 stores the control parameters of the servo motor 110. In the initial state, the control unit 30 stores the initial values ​​of the control parameters, and the stored control parameters are updated by a control parameter adjustment unit 40, which will be described later.

[0063] The control parameters include a plurality of parameters, such as a parameter that defines a gain, a parameter that defines a cutoff frequency, and a parameter that defines a filter type.

[0064] When the control unit 30 receives an adjustment operation command of a control parameter (described later) that defines the operation of the servo motor 110 from the adjustment operation command generation unit 20 (described later), the control unit 30 drives the servo motor 110 so as to cause the servo motor 110 to perform the operation defined by the received adjustment operation command, based on the received adjustment operation command and the stored control parameters. Here, the control unit 30 drives the servo motor 110 by outputting a torque command that defines the operation of the servo motor 110 to the servo motor 110.

[0065] The adjustment operation command received by the control unit 30 is the first adjustment operation command described below generated by the first operation command generating unit 21 described below, or the second adjustment operation command described below generated by the second operation command generating unit 22 described below.

[0066] The status information acquisition unit 60 acquires status information output from the sensor 120 , which is status information relating to the status of the equipment 100 resulting from the operation of the servo motor 110 controlled by the control unit 30 .

[0067] The adjustment operation command generating unit 20 generates an adjustment operation command for a control parameter that defines the operation of the servo motor 110, based on the actual process operation information acquired by the actual process operation information acquiring unit 50. When state information is acquired by the state information acquiring unit 60, the adjustment operation command generating unit 20 further generates an adjustment operation command based on the acquired state information.

[0068] As shown in FIG. 1, the adjustment action command generator 20 includes a first action command generator 21, a second action command generator 22, and a feature amount calculator 23.

[0069] The first operation command generation unit 21 (1) divides the operation of the equipment 100 indicated by the actual process operation information into a plurality of unit operations, (2) generates a plurality of unit operation commands that specify the operation of the servo motor 110 to cause the equipment 100 to execute each of the plurality of unit operations, and (3) generates a first adjustment operation command consisting of the generated plurality of unit operation commands.

[0070] The unit motion is a relatively simple motion, such as a linear motion, etc. Here, the unit motion will be described as a linear motion.

[0071] An example of division of the operation of the equipment 100 indicated by the actual process operation information, performed by the first operation command generating unit 21, will be described below with reference to the drawings.

[0072] Figure 3 is a schematic diagram showing an example of the trajectory of an object to be driven in the workflow of an actual process of the equipment 100, and an example of the operation of the equipment 100 in the workflow of the actual process, indicated by the actual process operation information acquired by the actual process operation information acquisition unit 50.

[0073] FIG. 4 is a schematic diagram showing an example of a plurality of unit movements divided by the first movement command generating unit 21. As shown in FIG.

[0074] As shown in FIGS. 3 and 4 , the first operation command generation unit 21 divides, for example, the operation of the equipment 100 indicated by the actual process operation information into a plurality of unit operations 300 (here, corresponding to unit operation 300A, unit operation 300B, unit operation 300C, unit operation 300N, etc.) consisting of linear operations.

[0075] Returning to FIG. 1 again, the description of the control parameter adjustment system 1 will continue.

[0076] When first status information relating to the status of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30 based on the first adjustment operation command is acquired by the status information acquisition unit 60, the feature calculation unit 23 calculates an equipment feature relating to the characteristics of the equipment 100 based on the first status information.

[0077] As described above, the state information here is displacement information. Therefore, in the following description, the feature calculation unit 23 calculates, as the equipment feature, the frequency characteristic of the equipment 100 related to the shaking of the equipment 100, based on the first displacement information, which is the first state information.

[0078] In contrast, for example, if the status information is sound information indicating a sound emitted by the equipment 100, the feature calculation unit 23 may calculate the frequency characteristics of the sound emitted by the equipment 100 as an equipment feature based on the first sound information, which is the first status information.

[0079] Here, when the control unit 30 drives the servo motor 110 based on the first adjustment operation command generated by the first operation command generating unit 21, the status information consists of a plurality of unit displacement information that correspond one-to-one to the plurality of unit operation commands, and each of the plurality of unit displacement information is information that indicates the time series of displacement of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30 based on the corresponding unit operation command.

[0080] Therefore, the feature calculation unit 23 calculates, as frequency characteristics, a plurality of unit frequency characteristics that correspond one-to-one to the plurality of unit operation commands, based on the plurality of unit displacement information. Therefore, each of the plurality of unit frequency characteristics becomes information indicating a frequency characteristic related to the vibration of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30 based on the corresponding unit operation command.

[0081] FIG. 5 shows an example of a plurality of unit operation frequency characteristics calculated by the feature amount calculation unit 23.

[0082] In Fig. 5, the horizontal axis represents frequency and the vertical axis represents amplitude. In Fig. 5, a plurality of unit operating frequency characteristics 400 (here, corresponding to unit operating frequency characteristics 400A, 400B, 400C, 400N, etc.) correspond one-to-one to each of the plurality of unit operations 300 in Fig. 4.

[0083] As shown in Figure 5, the feature calculation unit 23 calculates a plurality of unit frequency characteristics that indicate the vibrations of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30 based on each of the plurality of unit operation commands generated by the first operation command generation unit 21, and that correspond one-to-one to the plurality of unit operation commands.

[0084] Returning to FIG. 1 again, the description of the control parameter adjustment system 1 will continue.

[0085] The second operation command generation unit 22 selects one or more unit operation commands from the plurality of unit operation commands generated by the first operation command generation unit 21 based on the equipment feature amount, and generates a second adjustment operation command consisting of one or more unit operation commands.

[0086] More specifically, the second operation command generation unit 22 identifies one or more specific unit frequency characteristics that satisfy predetermined conditions from among the multiple unit frequency characteristics calculated by the feature calculation unit 23, and selects one or more specific unit operation commands that correspond one-to-one to the one or more specific unit frequency characteristics as one or more unit operation commands.

[0087] Here, for example, the predetermined condition is that the amplitude of the vibration of the facility 100 indicated by the unit frequency characteristic is greater than a predetermined first threshold value.

[0088] Hereinafter, an example of specifying one or more specific unit frequency characteristics performed by the second motion command generating unit 22 will be described with reference to the drawings.

[0089] FIG. 6 is a schematic diagram showing an example of how the second motion command generating unit 22 identifies one or more specific unit frequency characteristics.

[0090] In FIG. 6, the horizontal axis represents frequency and the vertical axis represents amplitude.

[0091] 6, the second motion command generation unit 22 identifies, as specific unit frequency characteristics, unit frequency characteristics that exhibit amplitudes greater than a pre-stored first predetermined threshold value α. That is, in the example shown in FIG. 6, the second motion command generation unit 22 identifies, as specific unit motion commands, unit motion frequency characteristics 400A, 400B, and 400N.

[0092] Here, it is desirable that the first predetermined threshold value α is set to a value of amplitude that may cause inconvenience to the operation of the equipment 100. This allows the second operation command generating unit 22 to select, as the specific unit operation command, a unit operation command that may cause fluctuations in amplitude in the equipment 100 that may cause inconvenience to the operation of the equipment 100.

[0093] In this case, when there are first unit frequency characteristics and second unit frequency characteristics that satisfy a predetermined condition (here, the condition that the amplitude related to the shaking of the equipment 100 indicated by the unit frequency characteristics is greater than a predetermined first threshold value), and the difference between the natural frequency related to the shaking of the equipment 100 indicated by the first unit frequency characteristic and the natural frequency related to the shaking of the equipment 100 indicated by the second unit frequency characteristic is smaller than the predetermined second threshold value, the second operation command generating unit 22 excludes the unit frequency characteristic that indicates a smaller amplitude from the first unit frequency characteristic and the second unit frequency characteristic and identifies one or more specific unit frequency characteristics.

[0094] FIG. 7 is a schematic diagram showing an example of how the second motion command generating unit 22 checks whether the difference between the natural frequency indicated by the first unit frequency characteristic and the natural frequency indicated by the second unit frequency characteristic is smaller than a predetermined second threshold value.

[0095] In FIG. 7, the horizontal axis represents frequency and the vertical axis represents amplitude.

[0096] 7, the second motion command generation unit 22 calculates a natural frequency f for each unit frequency characteristic exhibiting an amplitude greater than a first predetermined threshold value α, and checks whether or not another natural frequency is included in a range of frequencies greater than f-β (obtained by subtracting a predetermined second threshold value β stored in advance) and less than f+β (obtained by adding a predetermined second threshold value β) for each calculated natural frequency f. If another natural frequency is included in a range of frequencies greater than f-β and less than 1+β, the second motion command generation unit 22 excludes unit frequency characteristics exhibiting smaller amplitudes and identifies a specific unit frequency characteristic.

[0097] Here, the predetermined second threshold value β is desirably set to a value that allows the vibrations exhibiting the first unit frequency characteristic and the vibrations exhibiting the second unit frequency characteristic to be considered to be vibrations caused by the same or similar factors. As a result, when there are unit operation commands that cause vibrations caused by the same or similar factors, the second operation command generation unit 22 can select the unit operation command that causes vibrations with a larger amplitude as one specific unit operation command that represents these unit operation commands, and can exclude the unit operation command that causes vibrations with a smaller amplitude from the specific unit operation command. This can reduce the number of unit operation commands included in the second adjustment operation command.

[0098] Returning to FIG. 1 again, the description of the control parameter adjustment system 1 will continue.

[0099] When second status information relating to the status of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30 based on the second adjustment operation command is acquired by the status information acquisition unit 60, the evaluation value calculation unit 70 calculates an evaluation value of the control parameter stored by the control unit 30 based on the second status information.

[0100] Here, as an example, the state information is displacement information indicating the displacement of the object to be driven relative to the target position, and the evaluation value calculation unit 70 is explained as calculating the settling time for each of one or more unit operation commands included in the second adjustment operation command as an evaluation value based on the second displacement information, which is the second state information.

[0101] FIG. 8 is a schematic diagram for explaining the settling time.

[0102] In FIG. 8, the horizontal axis indicates the time that has elapsed since the unit operation command was initiated, and the vertical axis indicates the displacement of the object to be driven relative to the target position, detected by the sensor 120.

[0103] As shown in FIG. 8, the settling time here refers to the time from the time when a unit operation command is initiated to the time when the position of the object to be driven falls within the required accuracy based on the target position.

[0104] Returning to FIG. 1 again, the description of the control parameter adjustment system 1 will continue.

[0105] The control parameter adjusting unit 40 adjusts the control parameters based on the state information. More specifically, the control parameter adjusting unit 40 adjusts the control parameters based on the settling time calculated by the evaluation value calculating unit 70.

[0106] The control parameter adjustment unit 40 may adjust the control parameters by, for example, repeatedly updating the control parameters stored in the control unit 30 until all of the settling times calculated by the evaluation value calculation unit 70 satisfy a predetermined condition (for example, until they fall below a predetermined time), and then causing the control unit 30 to drive the servo motor 110 based on the second adjustment operation command and the updated control parameters. In this case, the control parameter adjustment unit 40 may be configured to include, for example, a machine learning model that is pre-trained to update the control parameters stored in the control unit 30 so as to shorten the settling times when the settling times are input.

[0107] <Operation> The operation performed by the control parameter adjustment system 1 having the above configuration will be described below.

[0108] The control parameter adjustment system 1 executes a control parameter adjustment process for adjusting each of the control parameters of the servo motor 110 stored in the control unit 30. The control parameter adjustment process is started, for example, when a user of the control parameter adjustment system 1 performs an operation on the control parameter adjustment device 10 to start the control parameter adjustment process.

[0109] FIG. 9 is a flowchart of the control parameter adjustment process.

[0110] As shown in FIG. 9, when the control parameter adjustment process is started, the actual process operation information acquisition unit 50 acquires actual process operation information indicating the operation of the equipment 100 in the workflow of the actual process (step S5).

[0111] When the actual process operation information is acquired, the first operation command generator 21 divides the operation of the equipment 100 indicated by the actual process operation information into a plurality of unit operations (step S10).

[0112] Then, the first operation command generating unit 21 generates a plurality of unit operation commands that specify the operation of the servo motor 110, causing the equipment 100 to perform each of the plurality of unit operations, and generates a first adjustment operation command consisting of the generated plurality of unit operation commands (step S15).

[0113] When the first adjustment operation command is generated, the control unit 30 controls the servo motor 110 based on the generated first adjustment operation command and the stored control parameters (step S20). The control parameters stored by the control unit 30 at this point are values ​​before being adjusted by the control parameter adjustment process, such as initial values ​​of the control parameters.

[0114] When the control unit 30 controls the servo motor 110 based on the first adjustment operation command, the sensor 120 detects the state of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30. The sensor 120 then outputs state information related to the detected state of the equipment 100. The state information acquisition unit 60 then acquires first state information related to the state of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30 based on the first adjustment operation command (step S25).

[0115] When the first state information is acquired, the feature amount calculation unit 23 calculates an equipment feature amount related to the feature of the equipment 100 based on the first state information (step S30).

[0116] When the equipment feature amount is calculated, the second operation command generating unit 22 selects one or more unit operation commands from the plurality of unit operation commands generated by the first operation command generating unit 21 based on the equipment feature amount, and generates a second adjustment operation command consisting of one or more unit operation commands (step S35). Note that the second adjustment operation command may use the first adjustment operation command as it is.

[0117] When the second adjustment operation command is generated, the control unit 30 controls the servo motor 110 based on the generated second adjustment operation command and the stored control parameters (step S40).

[0118] When the control unit 30 controls the servo motor 110 based on the second adjustment operation command, the sensor 120 detects the state of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30. The sensor 120 then outputs state information related to the detected state of the equipment 100. The state information acquisition unit 60 then acquires second state information related to the state of the equipment 100 caused by the operation of the servo motor 110 controlled by the control unit 30 based on the second adjustment operation command (step S45).

[0119] When the second state information is acquired, the evaluation value calculation unit 70 calculates the evaluation values ​​of the control parameters stored in the control unit 30 based on the second state information (step S50).

[0120] After the evaluation value is calculated, the control parameter adjusting unit 40 determines whether the calculated evaluation value satisfies a predetermined condition (step S55).

[0121] If it is determined in the processing of step S55 that the evaluation value does not satisfy the specified condition (step S55: No), the control parameter adjustment unit 40 updates the control parameters stored in the control unit 30 based on the evaluation value (step S60).

[0122] When the process of step S60 is completed, the process proceeds to step S40.

[0123] If it is determined in the process of step S55 that the evaluation value satisfies the predetermined condition (step S55: Yes), the control parameter adjustment device 10 ends the control parameter adjustment process.

[0124] <Considerations> As described above, in the control parameter adjustment device 10 configured as described above, the adjustment operation command generator 20 generates adjustment operation commands for control parameters based on actual process operation information indicating operations in the workflow of an actual process. Then, the control parameter adjustment unit 40 adjusts the control parameters based on the generated adjustment operation commands.

[0125] Therefore, the control parameter adjustment device 10 having the above configuration can adjust the control parameters without preparing an operation command for adjusting the control parameters.

[0126] Furthermore, as described above, according to the control parameter adjustment device 10 having the above configuration, the operation command for adjusting the control parameters is based on the operation in the workflow of the actual process.

[0127] Therefore, the control parameter adjustment device 10 having the above configuration reduces the risk that the desired performance will not be achieved in the workflow operation of the actual process of the equipment 100, which is performed using the adjusted control parameters.

[0128] (Supplementary Note) As described above, the present disclosure has been described based on the embodiments as examples of the technology disclosed in the present application. However, the present disclosure is not limited to these embodiments. As long as they do not deviate from the spirit of the present disclosure, various modifications conceivable by those skilled in the art to the present embodiments, and forms constructed by combining components of different embodiments or modifications, may also be included within the scope of one or more aspects of the present disclosure.

[0129] (1) In the embodiment, the adjustment operation command generation unit 20 has been described as including a first operation command generation unit 21 that generates a first adjustment operation command, a second operation command generation unit 22 that generates a second adjustment operation command, and a feature amount calculation unit 23 that calculates a feature amount. However, the adjustment operation command generation unit 20 is not necessarily limited to the above configuration as long as it can generate an adjustment operation command based on actual process operation information and, when status information is acquired by the status information acquisition unit, can further generate an adjustment operation command based on the status information.

[0130] As another example of the configuration, for example, the adjustment operation command generation unit 20 may be configured to generate a first adjustment operation command based on actual process operation information, and when status information is acquired by the status information acquisition unit, the adjustment operation command generation unit 20 may be configured to include a machine learning model that has been trained in advance to generate a second adjustment operation command based on the status information as well.

[0131] (2) A comprehensive or specific aspect of the present disclosure may be realized as a system, an apparatus, a method, an integrated circuit, a program, or a non-transitory recording medium such as a computer-readable CD-ROM. It may also be realized as any combination of a system, an apparatus, a method, an integrated circuit, a program, and a non-transitory recording medium. For example, the present disclosure may be realized as a program that causes a computer device to execute the processing performed by a control parameter adjustment device.

[0132] The present disclosure is widely applicable to devices that adjust control parameters, etc.

[0133] REFERENCE SIGNS LIST 1 control parameter adjustment system 10 control parameter adjustment device 20 adjustment operation command generation unit 21 first operation command generation unit 22 second operation command generation unit 23 feature amount calculation unit 30 control unit 40 control parameter adjustment unit 50 actual process operation information acquisition unit 60 status information acquisition unit 70 evaluation value calculation unit 100 equipment 110, 110A, 110B servo motor 120 sensor 210 base 220 substrate 230 arm 240 head 241 nozzle 300, 300A, 300B, 300C, 300N unit operation 400, 400A, 400B, 400C, 400N unit operation frequency characteristics

Claims

1. A control parameter adjustment device for adjusting control parameters of servo motors included in equipment, an actual process operation information acquisition unit that acquires actual process operation information indicating an operation in a workflow of an actual process of the equipment; an adjustment operation command generating unit that generates an adjustment operation command for the control parameter that specifies the operation of the servo motor based on the actual process operation information; a control unit that controls the servo motor based on the adjustment operation command and the control parameters; a status information acquisition unit that acquires status information related to a status of the equipment caused by an operation of the servo motor controlled by the control unit; a control parameter adjustment unit that adjusts the control parameters based on the state information. Control parameter adjustment device.

2. When the state information is acquired by the state information acquisition unit, the adjustment operation command generation unit further generates the adjustment operation command based on the state information. The control parameter adjustment device according to claim 1 .

3. The adjustment operation command generation unit is a first operation command generating unit that divides the operation of the equipment indicated by the actual process operation information into a plurality of unit operations, generates a plurality of unit operation commands that specify the operation of the servo motor to cause the equipment to perform each of the plurality of unit operations, and generates a first adjustment operation command consisting of the plurality of unit operation commands; a feature amount calculation unit that calculates an equipment feature amount related to a feature of the equipment based on the first status information when first status information related to a status of the equipment caused by an operation of the servo motor controlled by the control unit based on the first adjustment operation command is acquired by the status information acquisition unit; a second operation command generating unit that selects one or more unit operation commands from the plurality of unit operation commands based on the equipment feature amount, and generates a second adjustment operation command consisting of the one or more unit operation commands; The control parameter adjustment unit adjusts the control parameter based on the second adjustment operation command as the adjustment operation command. The control parameter adjustment device according to claim 2 .

4. The state information is displacement information indicating a time series of displacements related to the facility, The feature calculation unit calculates a frequency characteristic of the equipment related to shaking of the equipment as the equipment feature based on the displacement information. The control parameter adjustment device according to claim 3.

5. the displacement information is made up of a plurality of unit displacement information that correspond one-to-one to the plurality of unit operation commands, Each of the plurality of unit displacement information is information indicating a time series of displacements related to the equipment caused by an operation of the servo motor controlled by the control unit based on a corresponding unit operation command, the feature amount calculation unit calculates, as the frequency characteristic, a plurality of unit frequency characteristics that correspond one-to-one to the plurality of unit operation commands based on the plurality of unit displacement information; Each of the plurality of unit frequency characteristics is information indicating a frequency characteristic related to a vibration of the equipment caused by an operation of the servo motor controlled by the control unit based on a corresponding unit operation command, The second operation command generation unit identifies one or more specific unit frequency characteristics that satisfy a predetermined condition from among the plurality of unit frequency characteristics, and selects one or more specific unit operation commands that correspond one-to-one to the one or more specific unit frequency characteristics as the one or more unit operation commands. The control parameter adjustment device according to claim 4.

6. The second operation command generation unit specifies the one or more specific unit frequency characteristics based on a condition that an amplitude related to the vibration of the equipment indicated by the unit frequency characteristic is greater than a predetermined first threshold value as the predetermined condition. The control parameter adjustment device according to claim 5 .

7. When a first unit frequency characteristic and a second unit frequency characteristic that satisfy the predetermined condition exist, and a difference between a natural frequency related to swaying of the equipment indicated by the first unit frequency characteristic and the natural frequency indicated by the second unit frequency characteristic is smaller than a predetermined second threshold value, the second operation command generation unit excludes a unit frequency characteristic that indicates a smaller amplitude from among the first unit frequency characteristic and the second unit frequency characteristic, and identifies the one or more specific unit frequency characteristics. The control parameter adjustment device according to claim 6.

8. A control parameter adjustment method for adjusting control parameters of servo motors included in equipment, comprising: an actual process operation information acquisition step of acquiring actual process operation information indicating an operation of the equipment in a workflow of an actual process; an adjustment operation command generating step of generating an adjustment operation command for the control parameter based on the actual process operation information; a control step of controlling the servo motor based on the adjustment operation command and the control parameter; a status information acquisition step of acquiring status information relating to a status of the equipment caused by the operation of the servo motor controlled by the control step; and a control parameter adjustment step of adjusting the control parameter based on the adjustment operation command and the state information. Control parameter tuning method.

9. In the adjustment operation command generating step, when the state information is acquired in the state information acquiring step, the adjustment operation command is further generated based on the state information. The control parameter adjustment method according to claim 8.

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