Mechanical characteristic information generation device, simulation device, and control device

Abstract

The present invention automatically generates highly accurate mechanical characteristic information when generating mechanical characteristic information.　This mechanical characteristic information generation device for generating mechanical characteristic information regarding a control target of feedback control comprises: a measured value extraction unit that analyzes time-series data including at least a position or a first or higher differential value of the position, and a thrust, torque, or electric current from at least one of a command value and a feedback value collected during operation of the control target, and extracts a measured value necessary for generating the mechanical characteristic information; a mechanical characteristic information generation unit that generates mechanical characteristic information on the basis of the measured value and control parameters including a servo gain for controlling the control target and at least one of the specifications of the control target; and an output unit that outputs the mechanical characteristic information.

Description

Mechanical property information generating device, simulation device, and control device

[0001] The present disclosure relates to a machine characteristic information generating device, a simulation device, and a control device, and more particularly to a machine characteristic information generating device, a simulation device, and a control device that generate machine characteristic information for a control target of feedback control.

[0002] Simulations using models are used to predict the results of machining by machine tools. Simulations require information on machine characteristics, which are parameters of the model described by the equation of motion.

[0003] Patent Document 1 describes a machine control system that generates an appropriate command signal for operating a machine. Specifically, Patent Document 1 describes that the machine control system includes a waveform storage unit that stores a second waveform generated by raising a first waveform representing a command for operating the machine by a real number k other than 0 or 1, and a machine control unit that operates the machine based on the second waveform. Patent Document 1 also describes that the machine control system further includes a system identification unit that identifies a machine characteristic value that indicates a characteristic of the machine based on a response value that indicates the operation of the machine.

[0004] Patent Document 2 describes a motor selection device that selects an appropriate motor when selecting a motor. Specifically, Patent Document 2 describes that the motor selection device drives an industrial machine whose machine specifications are at least partially similar to those of the industrial machine for which a motor is to be selected, acquires motor waveform data, and calculates the mechanical characteristics of the industrial machine based on the acquired waveform data. Patent Document 2 also describes that the motor selection device performs a simulation of the industrial machine for which a motor is to be selected based on the machine specifications and operation pattern of the industrial machine for which a motor is to be selected and the calculated mechanical characteristics, and selects an appropriate motor.

[0005] JP 2021-189581 A JP 2022-064173 A

[0006] To obtain highly accurate mechanical characteristic information, a measurement engineer must occupy the actual machine to collect waveform data. Therefore, when generating mechanical characteristic information, a mechanical characteristic information generation device, a simulation device, and a control device that can automatically generate highly accurate mechanical characteristic information are desired.

[0007] A first representative aspect of the present disclosure is a mechanical characteristic information generation device that generates mechanical characteristic information for a control object of feedback control, comprising: a measurement value extraction unit that analyzes time series data including at least a position or a first or higher order derivative of the position, and thrust, torque, or current from at least one of a command value and a feedback value collected during operation of the control object, and extracts measurement values ​​necessary for generating the mechanical characteristic information; a mechanical characteristic information generation unit that generates the mechanical characteristic information based on the measurement values, a servo gain that controls the control object, and control parameters including at least one of specifications of the control object; and an output unit that outputs the mechanical characteristic information.

[0008] A representative second aspect of the present disclosure is a simulation device including the machine characteristic information generation device of the first aspect described above, and a simulation execution unit that simulates and reproduces the behavior of a controlled object based on the machine characteristic information.

[0009] A representative third aspect of the present disclosure is a control device that includes the simulation device of the second aspect and is capable of simulating and reproducing the behavior of a controlled object.

[0010] FIG. 1 is a block diagram showing an example configuration of a machine characteristic information generating device according to a first embodiment of the present disclosure. FIG. 2 is a characteristic diagram showing measured values ​​of position, torque, and acceleration from the start of movement. FIG. 3 is a characteristic diagram showing measured values ​​of a speed command and speed feedback. FIG. 4 is a block diagram showing a speed control loop of a control unit. FIG. 5 is a diagram showing a rigid body model of an example of a machine model unit. FIG. 6 is a flowchart showing an example operation of a machine characteristic information generating device. FIG. 7 is a block diagram showing an example configuration of a machine characteristic information generating device according to a second embodiment of the present disclosure. FIG. 8 is a block diagram showing an example configuration of a machine characteristic information generating device according to a third embodiment of the present disclosure. FIG. 9 is a characteristic diagram and a table showing the relationship between a measured value x(t) and time t. FIG. 10 is a characteristic diagram showing measured values ​​of speed and torque. FIG. 11 is a characteristic diagram showing the relationship between speed and torque. FIG. 12 is a block diagram showing an example configuration of a machine characteristic information generating device according to a fourth embodiment of the present disclosure. FIG. 13 is a block diagram showing an example configuration of a control device including the machine characteristic information generating device of the present disclosure.

[0011]

[0023] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. (First Embodiment) Fig. 1 is a block diagram showing an example of the configuration of a mechanical property information generation device according to a first embodiment of the present disclosure. As shown in Fig. 1, the mechanical property information generation device 100 includes a measurement value extraction unit 110, a mechanical property information generation unit 120, and an output unit 130.

[0012] The measurement value extractor 110 analyzes time-series data including at least a position or a first or higher derivative of a position, and thrust, torque, or current from at least one of a command value and a feedback value of a control unit that controls the controlled object, and extracts measurement values ​​necessary for generating machine characteristic information. At least one of the command value and the feedback value of the control unit is collected while the controlled object is operating. At least one of the command value and the feedback value is collected at the time of shipment of the controlled object, such as a machine tool, but may also be collected after shipment. As for the first or higher derivative of a position, for example, a first-order derivative of a position is velocity, and a second-order derivative of a position is acceleration.

[0013] The controlled object is a machine tool, a robot, etc. The control unit performs feedback control of the controlled object. The control unit is, for example, a servo control device that performs feedback control of a motor included in the controlled object. The configuration of the servo control device is already known and is described, for example, in JP 2020-004080 A. In the servo control device described in JP 2020-004080 A, a position command value, a speed command value, and a torque command value are shown as command values, and a position feedback value and a speed feedback value are shown as feedback values. The speed command value is a first-order derivative of the position.

[0014] Thrust and torque refer to the action of accelerating the controlled object, and the action of accelerating the controlled object is torque in the case of a rotating system such as a motor, and thrust in the case of a linear motion system such as a table driven by a ball screw or a linear motor. An example of the use of torque is when a table is connected to a motor by gears, the motor rotates, and the table also rotates due to the motor. An example of the use of thrust is when a table is moved linearly by a linear motor. When the motor rotates and the table is moved linearly by a ball screw, the thrust of the table is converted to motor torque or motor torque is converted to table thrust as necessary.

[0015] The machine characteristic information generating unit 120 generates machine characteristic information based on the measurement values ​​output from the measurement value extracting unit 110 and the control parameters including the specifications of the controlled object, and outputs the generated information to the output unit 130. Here, the "control parameters including the specifications of the controlled object" also includes the case where the control parameters include a controlled object ID such as a motor ID for characterizing the specifications of the controlled object, instead of the specifications of the controlled object.

[0016] The measurement value extraction unit 110 or the mechanical property information generation unit 120 may detect an abnormality in the measurement values, and if an abnormality is detected, the mechanical property information may not be generated. An abnormality in the measurement values ​​may be, for example, a small number of measurement values, a measurement value outside a specified range, or an excessively small covariance of the measurement values. If the measurement value extraction unit 110 detects an abnormality in the measurement values, the measurement value extraction unit 110 does not output the measurement values ​​to the mechanical property information generation unit 120. If the mechanical property information generation unit 120 detects an abnormality in the measurement values, the mechanical property information generation unit 120 does not generate mechanical property information.

[0017] The output unit 130 outputs the mechanical property information generated by the mechanical property information generation unit 120. The output unit 130 is, for example, a display unit such as a liquid crystal display device, a printer, or a communication unit that transmits information to an external device.

[0018] Two specific examples will be described below in which the machine characteristic information generating unit 120 generates an inertia ratio, which serves as machine characteristic information, based on the measurement values ​​and control parameters.

[0019] (First Example) As described below, the inertia ratio can be generated based on torque and acceleration measurements during acceleration and the motor moment of inertia (also called rotor moment of inertia), which serves as a control parameter. The motor moment of inertia is a characteristic of the controlled object. The machine characteristic information generator 120 acquires, as measured values, torque and acceleration measurements during acceleration of the controlled object from the measured value extractor 110. Figure 2 is a characteristic diagram showing measured values ​​of position, torque, and acceleration from the start of movement.

[0020] The machine characteristic information generating unit 120 acquires the moment of inertia of the motor of the controlled object as a control parameter. The machine characteristic information generating unit 120 inputs the speed measurement value of the controlled object into a friction model to calculate friction torque. A friction model that inputs the speed measurement value to calculate friction torque is already known, and is described in, for example, Japanese Patent No. 7343735. The speed measurement value can be calculated by integrating the acceleration measurement value. Alternatively, the speed measurement value can be calculated by differentiating the position measurement value.

[0021] The machine characteristic information generating unit 120 calculates the sum of the moments of inertia Jall calculated by Equation 1 (hereinafter, Equation 1) and the acquired motor moment of inertia J Ｍ Using these, the inertia ratio R, which is the mechanical characteristic information, is calculated as shown in Equation 1.

[0022] An example of generating an inertia ratio will be explained below, showing specific numerical values. When the friction model is known, the acceleration and torque of the axis at the start of movement are measured. The measured acceleration is 5250 rad / sec. ２The measured torque value is 16.2 Nm. The measured value is a peak value. The friction torque calculated using the friction model is 4.1 Nm. The friction torque is calculated by inputting the speed at which the peak value is reached into the friction model. The total moment of inertia Jall shown in Equation 1 is 0.00230 kgm ２ The moment of inertia of the motor is J Ｍ But 0.00117 kgm ２ In this case, the inertia ratio R shown in Equation 1 is 0.97.

[0023] (Second Example) As will be described below, the inertia ratio can be generated based on the speed command and speed feedback, which are measurement values, and the servo gain and motor moment of inertia, which are control parameters. The machine characteristic information generator 120 acquires the speed command and speed feedback as measurement values ​​from the measurement value extractor 110. Figure 3 is a characteristic diagram showing the measurement values ​​of the speed command and speed feedback. The machine characteristic information generator 120 acquires the servo gain of the control unit and the moment of inertia of the motor to be controlled, as control parameters.

[0024] When the control unit forms a speed control loop, the speed control loop is shown in the block diagram of Figure 4. The speed control loop can be represented by a speed control unit 111 and a machine model unit 112 consisting of a driving unit and a driven unit. The control unit corresponds to the speed control unit 111. In Figure 4, r indicates a speed command, u indicates a manipulated variable, and w indicates a speed result. The manipulated variable u is, for example, a torque command, but in a servo motor, it is expressed by a torque constant K Ｔ Through this, torque = K Ｔ × current holds, the manipulated variable u may be a current.

[0025] Control characteristic C of speed control unit 111 Ｖ In the case of speed PI control, K is expressed by Equation 2 (hereinafter, Equation 2). Ｖ is the speed loop gain, K １ is the speed control integral gain, K ２ is the speed control proportional gain. The servo gain is the speed loop gain K Ｖ , speed control integral gain K １ and speed control proportional gain K２ This becomes:

[0026] Control characteristic C of speed control unit 111 Ｖ is expressed by Equation 2, and when the machine model unit 112 is expressed by a rigid body model as shown in FIG. 5, the amplitude ratio G between the speed command and the speed feedback is ＶＣ is shown in Equation 3 (Equation 3 below). The speed command and speed feedback are measured values, and the speed loop gain K Ｖ , speed control integral gain K １ and speed control proportional gain K ２ is set, so (1+R)J Ｍ can be calculated using Equation 3. The total moment of inertia Jall is Jall = (1 + R) J Ｍ Therefore, the machine characteristic information generating unit 120 calculates the sum of the calculated inertia moments Jall and the acquired motor inertia moment J Ｍ Using the above, the inertia ratio R, which is the mechanical characteristic information, can be calculated using Equation 1.

[0027] An example of generating an inertia ratio will be explained below, showing specific numerical values. In circular interpolation, the speed command for each axis is a sine wave, and the speed feedback is also a sine wave with the same angular frequency. The angular frequency ω is (feed rate / arc radius). If the feed rate is 100 mm / sec and the arc radius is 1 mm, the angular frequency ω is 100 rad / sec.

[0028] Speed ​​loop gain K, which becomes the servo gain Ｖ , speed control integral gain K １ and speed control proportional gain K ２ are K Ｖ = 2, K １ = 41.57, K ２ = 0.4411. The amplitude ratio of the speed command to the speed feedback (= speed feedback / speed command) G ＶＣ is 1152 / 1024. The unknown (1+R)J in Equation 3 Ｍ This gives us 0.00213 kgm ２ This becomes:

[0029] The unknown quantity (1 + R)J Ｍ is the total moment of inertia Jall, so the total moment of inertia Jall is 0.00213 kgm ２ The moment of inertia of the motor is J Ｍ But 0.00117 kgm ２ In this case, the inertia ratio R shown in Equation 1 is 0.82.

[0030] Next, a description will be given of the operation of the mechanical characteristic information generating device 100 using a flowchart. Fig. 6 is a flowchart showing an example of the operation of the mechanical characteristic information generating device.

[0031] In step S11, the measurement value extraction unit 110 analyzes time series data including at least the position or a first or higher order derivative of the position, and thrust, torque, or current from at least one of the command value and feedback value of the control unit collected during operation of the controlled object, and extracts the measurement values ​​necessary for generating mechanical characteristic information.

[0032] In step S12, the machine characteristic information generator 120 acquires control parameters including specifications of the controlled object. Step S12 may be executed before step S11 or in parallel with step S11.

[0033] In step S13, the machine characteristic information generating unit 120 generates machine characteristic information based on the measurement values ​​output from the measurement value extracting unit 110 and the control parameters including the specifications of the controlled object.

[0034] In step S14 , the output unit 130 outputs the mechanical property information generated by the mechanical property information generating unit 120 .

[0035] After step S11, a step may be added in which the measurement value extracting unit 110 determines whether or not there is an abnormality in the measurement value. In this case, if the measurement value extracting unit 110 determines that there is no abnormality in the measurement value, it proceeds to step S12, and if it determines that there is an abnormality in the measurement value, it ends the operation without performing the processes from step S12 onwards.

[0036] A step in which the mechanical property information generating unit 120 determines whether or not there is an abnormality in the measurement value may be added before step S12 or S 13. In this case, if the mechanical property information generating unit 120 determines that there is no abnormality in the measurement value, it proceeds to step S12 or S13, and if it determines that there is an abnormality in the measurement value, it terminates the operation without performing the processing from step S12 or S13 onwards.

[0037] As described above, the mechanical characteristic information generating device 100 of this embodiment can automatically generate highly accurate mechanical characteristic information when generating mechanical characteristic information. This eliminates the need for a measurement engineer to occupy the actual machine and collect waveform data in order to obtain highly accurate mechanical characteristic information.

[0038] Second Embodiment FIG. 7 is a block diagram showing an example configuration of a machine characteristic information generating device according to a second embodiment of the present disclosure. As shown in FIG. 7 , a machine characteristic information generating unit 120A of the machine characteristic information generating device 100 includes a motor characteristic information generating unit 121 that generates machine characteristic information of a motor to be controlled from control parameters. The machine characteristic information generating unit 120A has the same configuration and operation as the machine characteristic information generating unit 120 of the first embodiment, except for the inclusion of the motor characteristic information generating unit 121. The motor characteristic information generating unit 121 generates machine characteristic information of the motor, such as a motor moment of inertia and / or a torque constant, from control parameters such as a motor ID of a control unit. Based on the motor ID, the motor mechanical characteristic information, such as a motor moment of inertia and / or a torque constant, is acquired from a data sheet of a controlled object, such as a machine tool, and output to the output unit 130 together with the inertia ratio R. If the motor moment of inertia and / or a torque constant can be acquired as a control parameter, the motor moment of inertia and / or a torque constant are acquired and output to the output unit 130 as machine characteristic information of the motor.

[0039] (Third embodiment) Fig. 8 is a block diagram showing an example configuration of a mechanical characteristic information generating device according to a third embodiment of the present disclosure. As shown in Fig. 8, the mechanical characteristic information generating unit 120B of the mechanical characteristic information generating device 100 includes a resonance characteristic information generating unit 122 and a friction characteristic information generating unit 123 in addition to the motor characteristic information generating unit 121 of the mechanical characteristic information generating unit 120A described using Fig. 7. The operations of the resonance characteristic information generating unit 122 and the friction characteristic information generating unit 123 will be described below. The motor characteristic information generating unit 121 has already been described, so its description will be omitted.

[0040] (Resonance characteristic information generation unit 122) The resonance characteristic information generation unit 122 calculates parameters of a resonance model from the measurement values ​​including the frequency response or damped vibration extracted by the measurement value extraction unit 110, and outputs the parameters as mechanical characteristic information to the output unit 130. A method for calculating parameters of a resonance model from a frequency response is already known and is described in, for example, JP 2021-36372 A.

[0041] Hereinafter, the resonance characteristic information generating unit 122 calculates the resonance characteristic of the object to be controlled (resonance frequency ω r and the resonance damping ratio ζ r An example of calculating the resonant frequency ω will be described. r and the resonance damping ratio ζ r are the parameters of the resonance model.

[0042] The resonance characteristic information generator 122 acquires the waveform of any one of the position, velocity, and acceleration after acceleration or deceleration as a measured value x(t). The measured value x(t) is used to calculate the resonance characteristic of the controlled object (resonance frequency ω ｒ and the resonance damping ratio ζ ｒ The measured value x(t) is expressed by Equation 4 (the following Equation 4). The natural frequency ω and the damping rate γ are ｒ and the resonance damping ratio ζ ｒ is expressed by Equation 5 (hereinafter Equation 5) using Transforming Equation 5, the resonant frequency ω r and the resonance damping ratio ζ r It is possible to obtain the following equation 6 (the following equation 6): For simplicity, if the point at which the amplitude of the measured value x(t) peaks is taken as time t=0 and the amplitude at this time is normalized by 1, then Equation 4 can be expressed as Equation 7 (Equation 7 below).

[0043] 9 is a characteristic diagram and a table showing the relationship between the measured value x(t) and the time t shown in Equation 7. ｎ (n is a natural number) at time t ｎ The measured value x ｎ If so, then any two peaks A ｋ , A ｌ From (k<l), the natural frequency ω and the damping factor γ can be obtained using Equation 8 (Equation 8 below). From the obtained natural frequency ω and damping rate γ, the resonant frequency ω is calculated using Equation 6. r and the resonance damping ratio ζ r It can be calculated as follows.

[0044] Resonance frequency ω as mechanical characteristic information ｒ and the resonance damping ratio ζ ｒ To obtain the above, it is preferable to use two points, A2, the first peak after the start of measurement and A4 one cycle later, as shown in FIG. 9. However, the resonant frequency ω calculated from two adjacent points {A0, A1}, {A1, A2}, ... ｒ and the resonance damping ratio ζ ｒ The average value of these values ​​may be used as the mechanical property information. An example of calculation from A2 and A4 in the table of FIG. 9 is shown below. γ = 1 / (0.140 - 0.070) x ln(0.166758 / 0.411658) = 129.09 ω = (4 - 2)π / (0.140 - 0.070) = 897.60 ω ｒ =√(897.60 ２ +129.09 ２ ) = 906.83 ζ ｒ = 0.142

[0045] (Frictional characteristic information generation unit 123) The frictional characteristic information generation unit 123 calculates friction parameters from the measured values ​​of speed and torque extracted by the measurement value extraction unit 110, and outputs them to the output unit 130 as machine characteristic information. FIG. 10 is a characteristic diagram showing the measured values ​​of speed and torque. The frictional characteristic information generation unit 123 extracts the speed and torque in sections where the measured values ​​of speed and torque are constant, shown by the shaded area in FIG. 10, and creates a characteristic diagram showing the relationship between speed and torque, shown in FIG. 11. From this relationship between speed and torque, the frictional characteristic information generation unit 123 calculates the values ​​of the viscous friction coefficient A, static friction B, and gravity C of T(v) = Av + ​​B sgn(v) + C, and sets them as friction parameters.

[0046] In the example described above, the mechanical characteristic information generating unit 120B is described as including the motor characteristic information generating unit 121, the resonance characteristic information generating unit 122, and the frictional characteristic information generating unit 123. The mechanical characteristic information generating unit 120B may combine the motor characteristic information generating unit 121 with either the resonance characteristic information generating unit 122 or the frictional characteristic information generating unit 123, or may exclude the motor characteristic information generating unit 121 and include one or both of the resonance characteristic information generating unit 122 and the frictional characteristic information generating unit 123.

[0047] (Fourth embodiment) Fig. 12 is a block diagram showing an example configuration of a mechanical characteristic information generation device according to a fourth embodiment of the present disclosure. The configuration of the mechanical characteristic information generation device 100 shown in Fig. 12 is the same as the configuration of the mechanical characteristic information generation device 100 shown in Fig. 1, except that the output unit 130 is replaced with an output unit 130A. This embodiment may be applied to the second embodiment or the mechanical characteristic information generation device 100 of the second embodiment. As shown in Fig. 12, the output unit 130A of the mechanical characteristic information generation device 100 includes a storage unit 131 and a comparison unit 132 that compares mechanical characteristic information (first mechanical characteristic information) generated by the mechanical characteristic information generation unit 120 with mechanical characteristic information (second mechanical characteristic information) already stored in the storage unit 131, and, if the difference between the two satisfies a predetermined requirement, updates part or all of the stored second mechanical characteristic information with the first mechanical characteristic information or adds the first mechanical characteristic information as new stored second mechanical characteristic information.

[0048] Three examples of the operation of the comparison unit 132 will be described below with reference to Table 1. In Table 1, the rate of change of the mechanical characteristic information is calculated by (newly generated information) / (stored information)-1.

[0049] Example 1 When the total change rate of the mechanical property information exceeds the threshold value, or when the change rate of some of the mechanical property information exceeds the threshold value, the comparison unit 132 overwrites all of the stored information in the storage unit 131 with the newly generated information. For example, in Table 1, when the total change rate of the mechanical property information, 100.6, exceeds the predetermined threshold value, or when the change rate of the inertia ratio, 8.3, exceeds the predetermined threshold value, the comparison unit 132 overwrites all of the stored information in the storage unit 131 with the newly generated information.

[0050] (Example 2) The comparison unit 132 overwrites stored information with newly generated information only for properties where the rate of change in mechanical property information exceeds a threshold. For example, the comparison unit 132 performs overwriting in the following cases: (1) The comparison unit 132 overwrites only the viscous friction coefficient and static friction with the threshold set to 20%. (2) The comparison unit 132 overwrites only the viscous friction coefficient, static friction coefficient, and gravity, which are "mechanical property information of the friction element category," because the viscous friction coefficient and static friction have changed with the threshold set to 20%.

[0051] Example 3: If the total rate of change or the rate of change of some of the characteristic information exceeds a threshold, the comparison unit 132 adds newly generated information to the stored information. In the example of Table 1, the comparison unit 132 determines that the viscous friction coefficient and static friction coefficient have changed over time. The comparison unit 132 accumulates such information, for example, on a yearly basis, and when performing a simulation on an individual other than the measurement target, if the other individual has been in use for three years, the comparison unit 132 uses the mechanical characteristic information stored as information for the third year. As another example different from Table 1, the comparison unit 132 determines that a change in the inertia ratio is due to a difference in workpiece weight. The comparison unit 132 accumulates such information, for example, for each workpiece size, and when performing a simulation, uses the mechanical characteristic information corresponding to each set workpiece size.

[0052] According to the mechanical characteristic information generating device 100 of this embodiment described above, it is no longer necessary to collect waveform data that occupies an actual machine every time the mechanical characteristics change due to aging or changes in the environment.

[0053] Fifth Embodiment Fig. 13 is a block diagram showing an example configuration of a control device including a machine characteristic information generation device according to the present disclosure. As shown in Fig. 13, a control system CS includes a control device 10 and a control target 20 controlled by the control device 10. The control target 20 is a machine tool, a robot, or the like. The control device 10 includes a control unit 11, a storage unit 12, and a simulation device 13 including a machine characteristic information generation device 100. The simulation device 13 may be provided outside the control device 10. However, by including the simulation device 13 in the control device 10, it is possible to confirm the results of a simulation before starting control of the control target. The control target 20 is a machine tool, a robot, or the like.

[0054] The control unit 11 performs feedback control of the control object 20 and outputs a command value and a feedback value during operation of the control object 20 to the simulation device 13. As already described, the control unit 11 is, for example, a servo control device that performs feedback control of a motor included in the control object 20. The configuration of the servo control device is described in, for example, JP 2020-004080 A.

[0055] The storage unit 12 stores control parameters to be input to the machine characteristic information generating device 100 of the simulation device 13. The control parameters are, for example, servo gains for controlling the controlled object, specifications of the controlled object, etc. The specifications of the controlled object are, for example, the moment of inertia of the motor.

[0056] The simulation device 13 includes a mechanical characteristic information generating device 100 and a simulation execution unit 200. The mechanical characteristic information generating device 100 may be provided outside the simulation device 13.

[0057] The mechanical characteristic information generating device 100 collects at least one of the command values ​​and feedback values ​​during operation output from the control unit 11, extracts measurement values ​​necessary for generating mechanical characteristic information from the collected at least one of the command values ​​and feedback values, and generates mechanical characteristic information based on these measurement values ​​and control parameters read out from the memory unit 12.

[0058] The simulation execution unit 200 simulates and reproduces the behavior of the controlled object 20 based on the machine characteristic information output from the machine characteristic information generation device 100. For example, the simulation execution unit 200 calculates a transfer function using the machine characteristic information, and uses the calculated transfer function to simulate the control of the control unit 11 based on the machining program, the behavior of the motor serving as the driving unit and the driven unit, and the feedback control of the control unit 11 based on position information of the driving unit and the driven unit, and outputs position information of each axis as a simulation result. The simulation execution unit 200 calculates a transfer function using the machine characteristic information generated by the machine characteristic information generation device 100, and performs a simulation using the calculated transfer function.

[0059] An example of a method in which the simulation execution unit 200 calculates the transfer function will be described below. In the following description, it is assumed that the machine characteristic information generating device 100 outputs the inertia ratio R as the machine characteristic information, as described in the first embodiment. If a machine model of the motor that serves as the driving unit of the machine tool and the driven unit is represented by a rigid body model shown in FIG. 5, the motor characteristic M １ is the motor moment of inertia J Ｍ , is expressed by the transfer function of Equation 9 (hereinafter Equation 9) using the inertia ratio R output from the machine characteristic information generating device 100, where s is a variable of the Laplace transform.

[0060] Closed loop transfer function G Ｃ is the open loop transfer function G Ｏ Using Ｃ = G Ｏ / (1+G Ｏ The closed loop transfer function G of the speed control loop of the control unit 11 is ＶＣ (s) is the open loop transfer function G ＶＯSince (s) is expressed by Equation 10 (hereinafter Equation 10), it is expressed by Equation 11 (hereinafter Equation 11). In Equations 10 and 11, M represents the motor characteristics, and when the mechanical model is expressed as a rigid body model, M=M １ This becomes:

[0061] The simulation device or control device described above can automatically generate highly accurate mechanical characteristic information, eliminating the need for a measurement engineer to occupy the actual machine and collect waveform data in order to obtain highly accurate mechanical characteristic information.

[0062] In order to realize the functional blocks included in the mechanical characteristic information generation device in each embodiment described above, the mechanical characteristic information generation device can be realized by hardware, software, or a combination of these. Here, being realized by software means being realized by a computer reading and executing a program.

[0063] In order to realize the components included in the mechanical characteristic information generation device by software or a combination thereof, the mechanical characteristic information generation device includes a processing unit such as a CPU (Central Processing Unit). The processing unit functions as an execution unit. The mechanical characteristic information generation device also includes an auxiliary storage device such as an HDD (Hard Disk Drive) that stores various control programs such as application software or an OS (Operating System), and a main storage device such as a RAM (Random Access Memory) that stores data temporarily required for the processing unit to execute the programs.

[0064] The mechanical characteristic information generating device has an arithmetic processing unit that reads application software or an OS from the auxiliary storage device, and then loads the loaded application software or OS into the main storage device while performing arithmetic processing based on the application software or OS. Furthermore, based on the results of this arithmetic processing, the device controls various hardware components included in the mechanical characteristic information generating device. This realizes the functional blocks of this embodiment.

[0065] The components included in the mechanical characteristic information generation device can be realized by hardware including electronic circuits, etc. When the mechanical characteristic information generation device is configured by hardware, some or all of the functions of the components included in the mechanical characteristic information generation device can be configured by an integrated circuit (IC), such as an ASIC (Application Specific Integrated Circuit), a gate array, an FPGA (Field Programmable Gate Array), or a CPLD (Complex Programmable Logic Device). Although examples in which the mechanical characteristic information generation device is realized by hardware, software, or a combination thereof have been described above, the same applies to simulation devices and control devices.

[0066] The program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be supplied to the computer by various types of transient computer readable media.

[0067] According to the mechanical property information generating device, simulation device, and control device of the present disclosure, including the embodiments described above, when generating mechanical property information, highly accurate mechanical property information can be automatically generated.

[0068] Although the above-described embodiments are preferred embodiments of the present invention, the scope of the present invention is not limited to the above-described embodiments, and the present invention can be implemented in various modified forms within the scope that does not deviate from the gist of the present invention.

[0069] The following supplementary note is further disclosed regarding the above embodiment: (Supplementary Note 1) A machine characteristic information generation device (100) for generating machine characteristic information for a control object of feedback control, comprising: a measurement value extraction unit (110) that analyzes time-series data including at least a position or a first-order or higher derivative of the position, and thrust, torque, or current from at least one of a command value and a feedback value collected during operation of the control object, and extracts measurement values ​​required for generating the machine characteristic information, a machine characteristic information generation unit (120, 120A, 120B) that generates the machine characteristic information based on the measurement values ​​and control parameters including a servo gain for controlling the control object and at least one of specifications of the control object, and an output unit (130, 130A) that outputs the machine characteristic information.

[0070] (Supplementary Note 2) The mechanical characteristic information generating device according to Supplementary Note 1, wherein the mechanical characteristic information generating unit (120A) includes a motor characteristic information generating unit (121) that generates mechanical characteristic information of the motor to be controlled from the control parameters.

[0071] (Supplementary Note 3) The mechanical characteristic information generating device according to Supplementary Note 1 or 2, wherein the mechanical characteristic information generating unit (120B) includes at least one of: a friction characteristic information generating unit (123) that calculates parameters of a friction model from measured values ​​including the speed extracted by the measurement value extracting unit and the thrust or the torque; and a resonance characteristic information generating unit (122) that calculates parameters of a resonance model from measured values ​​including the frequency response or damped vibration extracted by the measurement value extracting unit.

[0072] (Supplementary Note 4) The mechanical property information generating device according to any one of Supplementary Notes 1 to 3, wherein the output unit (130A) comprises: a memory unit (131); and a comparison unit (132) that compares the mechanical property information generated by the mechanical property information generating unit with mechanical property information already stored in the memory unit, and, if a difference between the two pieces of mechanical property information satisfies a predetermined requirement, updates part or all of the mechanical property information already stored in the memory unit with the mechanical property information generated by the mechanical property information generating unit, or adds the mechanical property information generated by the mechanical property information generating unit as the mechanical property information already stored in the memory unit.

[0073] (Supplementary Note 5) A simulation device (13) comprising: a machine characteristic information generation device (100) according to any one of Supplementary Notes 1 to 4; and a simulation execution unit (200) that simulates and reproduces the behavior of a controlled object based on the machine characteristic information.

[0074] (Supplementary Note 6) A control device (10) comprising the simulation device (13) of Supplementary Note 5, capable of simulating and reproducing the behavior of a controlled object (20).

[0075] REFERENCE SIGNS LIST 10 control device 11 control unit 12 storage unit 13 simulation device 20 controlled object 100 mechanical characteristic information generating device 110 measurement value extracting unit 120, 120A, 120B mechanical characteristic information generating unit 121 motor characteristic information generating unit 122 resonance characteristic information generating unit 123 friction characteristic information generating unit 130, 130A output unit 131 storage unit 132 comparison unit

Claims

1. A mechanical characteristic information generation device that generates mechanical characteristic information for a control target of feedback control, a measurement value extraction unit that analyzes time series data including at least one of a command value and a feedback value collected during operation of the control target to extract measurement values necessary for generating the mechanical characteristic information, the time series data including at least a position or a differential value of the position of one or more orders, and thrust, torque, or current; a mechanical characteristic information generation unit that generates the mechanical characteristic information based on the measurement values, a servo gain for controlling the control target, and at least one of control parameters including specifications of the control target; an output unit that outputs the mechanical characteristic information; A mechanical characteristic information generation device comprising:

2. The mechanical characteristic information generation device according to claim 1, wherein the mechanical characteristic information generation unit includes a motor characteristic information generation unit that generates mechanical characteristic information of a motor of the control target from the control parameters.

3. The mechanical characteristic information generation device according to claim 1 or 2, wherein the mechanical characteristic information generation unit includes at least one of: a friction characteristic information generation unit that calculates parameters of a friction model from measurement values including the speed extracted by the measurement value extraction unit and the thrust or the torque; a resonance characteristic information generation unit that calculates parameters of a resonance model from measurement values including a frequency response or damped vibration extracted by the measurement value extraction unit.

4. The output unit includes: a storage unit; a comparison unit that compares the mechanical characteristic information generated by the mechanical characteristic information generation unit with the mechanical characteristic information stored in the storage unit, and when the difference between the two pieces of mechanical characteristic information satisfies a predetermined requirement, updates part or all of the mechanical characteristic information stored in the storage unit with the mechanical characteristic information generated by the mechanical characteristic information generation unit, or adds the mechanical characteristic information generated by the mechanical characteristic information generation unit as the mechanical characteristic information stored in the storage unit; The mechanical characteristic information generation device according to any one of claims 1 to 3, comprising:

5. A simulation device comprising: the mechanical characteristic information generation device according to any one of claims 1 to 4; a simulation execution unit that simulates and reproduces the behavior of a control target based on the mechanical characteristic information.

6. A control device comprising the simulation device according to claim 5 and capable of simulating and reproducing the behavior of a control target.

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