Servo Control Parameter Simulation Using Frequency Response Data

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Solution Overview

Problem

Existing methods for setting control parameters in servo drivers are time-consuming and risk device damage, and simulation methods are limited by model precision and user knowledge requirements.

Innovation Solution

A simulation device that computes frequency response functions, sets control parameters, and performs time response simulations using a mechanical system with feedback and feedforward systems, reducing the need for actual motor operation and improving precision.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If actual device operation is used to measure response and set control parameters, then measurement accuracy is improved, but time consumption increases and device damage risk occurs

Engineering Contradiction:

Improveresponse measurement accuracyVSAvoidparameter adjustment time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system performs frequency response measurement in advance to obtain the frequency response function, which is then transformed into impulse response for use in time response simulation. This preliminary action eliminates the need for repeated actual device operations during parameter adjustment, significantly reducing time consumption while maintaining measurement accuracy.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The invention creates a virtual copy of the actual device response through mathematical transformation. The frequency response function obtained from actual measurement is converted into impulse response, which serves as a digital model that can be repeatedly used for simulation without requiring actual device operation, thus avoiding time loss and device damage risks.

Inventive Principle:

Principle #26Copying

2Loss of time

If physical model simulation is used to set control parameters, then time consumption is reduced, but simulation precision deteriorates due to model-form limitations

Engineering Contradiction:

Improveparameter adjustment timeVSAvoidsimulation accuracy

Core Design Contradiction:

Loss of timeVSMeasurement precision

Solution Approach 1:

The invention replaces traditional mechanical/mathematical model-based simulation with a data-driven approach. Instead of relying on predetermined model forms that may not accurately represent the actual device, the system uses empirically obtained frequency response functions transformed into impulse responses, substituting theoretical models with actual measured characteristics.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Measurement precision

If detailed model parameters are set to match actual device characteristics, then simulation precision is improved, but user expertise requirements increase

Engineering Contradiction:

Improvemodel-characteristic consistencyVSAvoiduser knowledge requirement

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The system performs automatic frequency response measurement and mathematical transformation to generate the impulse response without requiring user intervention for complex model parameter setting. The process autonomously obtains the frequency response function, applies Fast Fourier Transform, and produces the impulse response, eliminating the need for users to possess specialized knowledge about model parameter configuration.

Inventive Principle:

Principle #25Self-service

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This approach allows for rapid and precise setting of control parameters without actual device operation, enhancing simulation accuracy and reducing the risk of device damage, while requiring less user expertise.

Implementation Method 1

an impulse response computing part, computing an impulse response by performing inverse Fourier transform on the frequency transfer function for simulation

Methodology Applied

Scientific EffectFourier transform:

Data Source

PatentUS10909277B2Simulation device, simulation method, control program and recording medium

Publication Date: 2021.02.02 OMRON CORP

AI summary

The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part (41) computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part (44) executing time response simulation of the mechanical system (7) according to a second command value and the impulse response.