JP2005310023A - Control parameter regulating device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control parameter regulating device capable of performing automatic regulation of a control parameter even in environment where another power source to a CPU which performs regulation processing can not be prepared. <P>SOLUTION: The control parameter regulating device has structure which can be connected/separated with/from a controller and the power source to the CPU which executes a regulating function is supplied from the controller. Thus, the automatic regulation of the control parameter is surely made possible without depending on power source environment. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a device that automatically adjusts control parameters of a servo motor control device, and more particularly to a control parameter adjustment device that can reliably perform control parameter adjustment regardless of the power supply environment.

In order to achieve sufficient control performance of a servo motor used for a feed shaft of an industrial machine, it is necessary to adjust the control parameter of the control device to an appropriate value. There are many control parameters, such as gain and total inertia. To automatically adjust these control parameters, for example, an adjustment program for causing the servo motor to perform a predetermined operation is sent to the control device and sent. There is a technique of analyzing servo information of a servo motor driven by an adjustment program, obtaining a control parameter of the control device based on the analysis result, and sending the obtained parameter to the control device (see, for example, Patent Document 1). This control parameter adjustment operation is controlled by a CPU in the control parameter adjustment device.
JP-A-8-221132

  However, the conventional technology performs many processes such as reading out an adjustment program, sending it to the control device, analyzing servo information when driven by the sent adjustment program, and calculating control parameters of the control device based on the analysis result. Although it has a CPU, power supply to the CPU is not considered. The control parameter adjustment work is also performed when the machine configuration including the control device is changed, and depending on the environment, it may not be possible to prepare a separate power source for the control parameter adjustment device such as an outlet. In this case, the control parameter cannot be adjusted. A means for operating the CPU by providing the battery in the control parameter adjusting device is also conceivable. However, there is a problem that the battery may run out.

  In order to solve the above-described problems, the control parameter adjustment device of the present invention can be connected to / separated from the control device, and has a structure for supplying the power of the CPU that executes the control parameter adjustment function from the control device.

  According to the control parameter adjusting device of the present invention, it is possible to connect / disconnect to / from the control device, and to supply power from the control device to the CPU that executes the control parameter adjusting function. Regardless of this, the control parameters can be adjusted reliably. Moreover, since parts for supplying power such as a power cord and a battery are not necessary, it can be miniaturized and easily carried.

  In addition, since it has a function of measuring the frequency characteristic of the object controlled by the control device, a function of calculating a control parameter based on the measured frequency characteristic, and a function of setting the calculated control parameter in the control device Automatic control parameter adjustment is possible.

  A function of changing a control parameter; a function of acquiring an operation state of the control device; a function of calculating a control parameter based on the operation state; and a function of setting the calculated control parameter in the control device. Thus, automatic control parameter adjustment is possible.

In addition, since it has a function indicating the operation state of the control parameter adjustment function, it is possible to easily check the current operation state during standby, calculation of control parameters, and the like.

  In addition, since the adjustment result display function is provided, the calculated control parameter can be easily confirmed.

  Further, since it has a non-volatile memory capable of storing data during adjustment work or has a structure to which a non-volatile memory can be attached, data during adjustment work can be saved, and data can be referred to after adjustment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In FIG. 1, the control target 3 includes a servo motor 1 and a load 2 connected to the servo motor 1, and the control device 4 controls the control target 3 by driving the servo motor 1. The control parameter adjusting device 5a has a structure that can be connected / disconnected between the control device 4 and the connecting portion 7 via the connection cable 6, and is connected when adjusting the control parameters. FIG. 1 shows a connected state.

  The control parameter adjustment device 5a includes a status display unit 8 and an adjustment function execution button 9.

  FIG. 2 is a diagram showing details of the control parameter adjusting device 5a and the connection cable 6 in FIG. The CPU 51a is disposed inside the control parameter adjustment device 5a, and performs arithmetic processing, data transmission / reception, and the like. The power for operating the CPU 51 a is configured to be supplied from the control device 4 via the power line 61 in the connection cable 6. The connection cable 6 has an external data transmission / reception line 62 and is used for transmission / reception of information data to / from the control device 4. The CPU 51a is connected to the status display unit 8 and the adjustment function execution button 9 via an internal data transmission / reception line 52a.

  Next, the operation of the control parameter adjustment device 5a will be described. When the connection cable 6 is connected to the control device 4 and the power is supplied to the CPU 51a of the control parameter control device 5a, the status display unit 8 displays an energization state. For example, the status display unit 8 is lit red using an LED. Since the control device has a power source for driving the servo motor, power can be supplied to the control parameter adjusting device.

  When adjusting the control parameter, the adjustment function execution button 9 is pressed. Then, the CPU 51a is notified that the button has been pressed via the internal data transmission / reception line 52a, and the CPU 51a executes the control parameter adjustment function. Details of the control parameter adjustment function will be described below.

  FIG. 3 is a control block diagram including the control device 4 and shows an example of a speed feedback control system. When a speed command is given, a speed deviation from the detected motor speed of the servo motor 1 is calculated. Next, the speed deviation and a value obtained by multiplying the speed deviation by a speed integration gain are added. Then, this added value is multiplied by a speed proportional gain, a value obtained by passing the multiplied value through a filter is calculated as a torque command, and the servo motor 1 is driven in accordance with this torque command. The control parameters in this case are a speed proportional gain, a speed integral gain, and a filter set value.

FIG. 4 is a flowchart for explaining the processing of the control parameter adjustment function. When the control parameter adjustment function is started, step 1 measures the frequency characteristics of the controlled object including the control device. A command to drive the servo motor 1 is given to the control device 4 with a torque command of white noise. Subsequently, the control parameter adjusting device 5a samples the torque command and motor speed information during driving. Then, the frequency characteristics of the control object, that is, the frequency characteristics from the torque command to the motor speed in FIG. 4 are calculated by frequency analysis of the sampling data by FFT or the like.

  In step 2, a feature quantity to be controlled is calculated from the calculated frequency characteristic. The feature amount includes a resonance frequency, an anti-resonance frequency, total inertia, and the like. The resonance frequency and anti-resonance frequency can be calculated from the inflection point of the gain characteristic of the calculated frequency characteristic, and the total inertia can be calculated from the gain in the low frequency region of the gain characteristic of the calculated frequency characteristic.

  FIG. 5 is an example of the gain characteristic of the calculated frequency characteristic. By examining the frequency at point A, which is the gain inflection point, the resonance frequency is obtained by examining the frequency at point B, which is the gain inflection point, and the anti-resonance frequency is obtained by extending the low frequency region extension line and 0 dB line. The total inertia can be obtained from the reciprocal of the frequency of the intersection C.

  In step 3, the maximum speed proportional gain is calculated. When the resonance frequency is calculated from the resonance frequency in the frequency characteristic to be controlled, there are cases where control stability can be achieved by setting a notch filter that is a filter that suppresses a predetermined frequency component. Therefore, in step 3, the speed proportional gain in each condition is calculated and the maximum speed proportional gain is calculated while changing the additional condition of the notch filter using the calculated resonance frequency as the suppression frequency.

  The calculation of the speed proportional gain will be described with reference to FIG. FIG. 6 shows an example of frequency characteristics from the speed deviation output point to the motor speed in FIG. FIG. 6 shows the frequency characteristics when the speed integral gain and the filter are not set.

  In FIG. 6, when the speed proportional gain is increased, the gain characteristic of the frequency characteristic is improved as a whole. Conversely, when the speed proportional gain is reduced, the gain characteristic of the frequency characteristic is lowered as a whole. According to the Nyquist stability theorem, stability is guaranteed if the gain is 0 [dB] or less in the frequency region where the phase is −180 [deg] or less. Therefore, in the frequency characteristic of FIG. A speed proportional gain at which the gain becomes 0 [dB] is calculated. When a notch filter is added, the same speed proportional gain is calculated using the frequency characteristic obtained by adding the frequency characteristic of the notch filter to be added.

  Then, the maximum value among the speed proportional gains calculated for each additional condition of the notch filter is obtained, and the additional condition of the speed proportional gain and the notch filter is set as the final calculated value in step 3.

  In step 4, a speed integral gain is calculated. The speed integral gain is calculated using an arithmetic expression based on the final speed proportional gain calculated value calculated in step 3 and the total inertia value obtained in step 2 in advance.

  When step 4 is completed, the speed proportional gain, speed integral gain, and filter set value are complete, and control parameter calculation is completed.

  The calculated control parameter is set in the control device 4 via the external data transmission / reception line 61.

During the period from when the adjustment function execution button 9 is pressed until the adjustment result of the control parameter is calculated, the status display unit 8 displays that the adjustment function is being executed. For example, an LED is used for the status display unit 8 to blink in red. When the finally calculated control parameter is set in the control device 4 and the adjustment operation is completed, the status display unit 8 displays that the control parameter adjustment is completed. For example, the status display unit 8 is lit in red using an LED.

  After the control parameter adjustment work is completed, the connection cable 6 and the control device 4 can be separated.

  As described above, the control parameter adjusting device of the present invention can be connected / disconnected to / from the control device, and the power of the CPU that executes the adjustment function is supplied from the control device, so that it is reliable regardless of the power supply environment. The control parameters can be adjusted.

  In the present embodiment, the control parameter adjusting device can be connected to the control device at the connection portion via the connection cable, but may be configured to be directly connectable without the connection cable.

  In this embodiment, a switch may be added in the middle of the power line in the connection cable so that the adjustment work can be started at an arbitrary time.

  In the present embodiment, the power supply line and the external data transmission / reception line are arranged in the connection cable. However, they may be arranged separately if they have the same function.

  In the present embodiment, the control parameter adjustment device has the adjustment function execution button. However, the control parameter adjustment apparatus may be configured by a switch, a touch panel, or the like as long as it has a function for causing the CPU 51a to execute the control parameter adjustment function.

  In the present embodiment, an example of the speed control system is shown as a method for adjusting the control parameter, but a position control system may be used.

  Further, in the speed proportional gain calculation step of the control parameter adjustment function of the present embodiment, the phase margin α [deg] which is a value of 0 or more is used, and the gain at the frequency of −180 + α [deg] becomes 0 [dB]. A speed proportional gain may be calculated.

In this embodiment, the control parameter adjustment device is adjusted by measuring the frequency characteristics of the controlled object and calculating and adjusting the control parameters based on the frequency characteristics. However, the servo motor is driven to change the control parameters. However, the operating state of the servo motor such as the rotational position may be measured, and the control parameter may be adjusted based on the measured operating state. As such an adjustment technique, for example, there is a method described in Patent Document 2.
In this embodiment, a state display unit is provided to indicate the operation state of the control parameter adjusting device. However, if the operation state can be provided to the user, a speaker or the like is provided to provide audio information. The operating state may be indicated by.

  FIG. 7 is a diagram for explaining a second embodiment of the present invention. The same reference numerals are given to the same components as those in FIG. In FIG. 7, a control parameter display unit 10 is newly added.

FIG. 8 is a diagram showing details of the control parameter adjusting device 5b and the connection cable 6 in FIG. The same reference numerals are given to the same components as those in FIG. The CPU 51b is arranged inside the control parameter 5b and performs arithmetic processing, data transmission / reception, and the like. The power for operating the CPU 51 b is supplied from the control device 4 via the power line 61 in the connection cable 6. The connection cable 6 has an external data transmission / reception line 62 and is used for transmission / reception of information data to / from the control device 4. The CPU 51b receives the internal data transmission / reception line 5
The state display unit 8, the adjustment function execution button 9, and the control parameter display unit 10 are connected via 2b.

  The control parameter display unit 10 has a function of displaying the control parameters calculated by the CPU 51b. The display data is transmitted from the CPU 51b to the control parameter display unit 10 via the internal data transmission / reception line 52b.

  Thereby, the calculated control parameter can be easily confirmed.

  In the present embodiment, the control parameter adjustment device has the state display unit 8. However, if the operation state of the control parameter adjustment device is known, the state may be displayed in the control parameter display unit 10.

  FIG. 9 is a diagram for explaining a third embodiment of the present invention. The same components as those in FIG. 7 shown in the second embodiment are denoted by the same reference numerals and description thereof is omitted. In FIG. 9, a new adjustment result writing button 11 is added.

  FIG. 10 is a diagram showing details of the control parameter adjusting device 5c and the connection cable 6 in FIG. The same components as those in FIG. 8 shown in the second embodiment are denoted by the same reference numerals and description thereof is omitted. The CPU 51c is arranged inside the control parameter adjusting device 5c, and performs arithmetic processing, data transmission / reception, and the like. Power for operating the CPU 51 c is supplied from the control device 4 via the power line 61 in the connection cable 6. The connection cable 6 has an external data transmission / reception line 62 and is used for transmission / reception of information data to / from the control device 4. The CPU 51c is connected to the status display unit 8, the adjustment function execution button 9, the control parameter display unit 10, and the adjustment result write button 11 through an internal data transmission / reception line 52c.

  Next, the operation of the control parameter adjustment device 5c will be described. When the connection cable 6 is connected to the control device 4 and the power is supplied to the CPU 51c of the control parameter control device 5a, the state display unit 8 displays an indication of the energized state. For example, the status display unit 8 is lit red using an LED.

  When adjusting the control parameter, the adjustment function execution button 9 is pressed. Then, it is transmitted to the CPU 51c via the internal data transmission / reception line 52c that the CPU 51c executes the control parameter adjustment function. As a specific control parameter adjustment method, there is the method described in the first embodiment. The finally calculated control parameter is displayed on the control parameter display unit 10.

  During the period from when the adjustment function execution button 9 is pressed until the adjustment result of the control parameter is calculated, the status display unit 8 displays that the adjustment function is being executed. For example, an LED is used for the status display unit 8 to blink in red. When the control parameter is calculated, the status display unit 8 displays that the control parameter calculation is complete. For example, an LED is used for the status display unit 8 to light green.

  Subsequently, the adjustment result writing button 11 is pressed. Then, the CPU 51c is notified that the button has been pressed via the internal data transmission / reception line 52c, and the CPU 51c transmits and sets the calculated control parameter to the control device 4 via the external data transmission / reception line 62.

  When it is transmitted to the control device 4 and the adjustment work is completed, the status display unit 8 displays a message indicating completion of control parameter adjustment. For example, the status display unit 8 is lit in red using an LED.

  After the control parameter adjustment work is completed, the connection cable 6 and the control device 4 can be separated.

  As a result, the controller can check the calculated control parameter and reflect it on the control device.

  In the present embodiment, the control parameter adjustment device has the state display unit 8. However, if the operation state of the control parameter adjustment device is known, the state may be displayed in the control parameter display unit 10.

  In the present embodiment, the control parameter adjustment device has an adjustment function execution button and an adjustment result write button. However, as long as it has the same function, it may be a switch or a touch panel button.

  FIG. 11 is a diagram for explaining a fourth embodiment of the present invention. The same components as those in FIG. 9 shown in the third embodiment are denoted by the same reference numerals and description thereof is omitted. In FIG. 11, a calculation data storage button 12 and a nonvolatile memory insertion unit 13 are newly added. A nonvolatile memory can be attached to the nonvolatile memory insertion portion 13.

  FIG. 12 is a diagram showing details of the control parameter adjusting device 5d and the connection cable 6 in FIG. The same components as those in FIG. 10 shown in the third embodiment are denoted by the same reference numerals and description thereof is omitted. The CPU 51d is disposed inside the control parameter adjustment device 5d, and performs arithmetic processing, data transmission / reception, and the like. The power for operating the CPU 51 d is supplied from the control device 4 via the power line 61 in the connection cable 6. The connection cable 6 has an external data transmission / reception line 62 and is used for transmission / reception of information data to / from the control device 4. The CPU 51d is connected to the status display unit 8, the adjustment function execution button 9, the control parameter display unit 10, the adjustment result write button 11, the calculation data storage button 12, and the nonvolatile memory insertion unit 13 through the internal data transmission / reception line 52d. .

  When the calculation data storage button 12 is pressed after the adjustment function is executed and the control parameter is calculated, the data used for the calculation during execution of the adjustment function is stored in the nonvolatile memory attached to the nonvolatile memory insertion unit 13. can do. The data used for the calculation is, for example, calculated control parameters, torque commands received from the control device 4, motor speed information, and the like.

  As a result, the control parameter adjustment result and the data used for calculating the control parameter can be stored, so that post-verification of the adjustment result can be performed.

  In the present embodiment, the control parameter adjustment device has the state display unit. However, if the operation state of the control parameter adjustment device is known, the state may be displayed in the control parameter display unit or the like.

  In this embodiment, the control parameter adjustment device has an adjustment function execution button, an adjustment result write button, and a calculation data storage button. However, if the control parameter adjustment device has a similar function, it may be configured by a switch, a touch panel, or the like. .

  In addition, the control parameter adjustment device of the present embodiment has a nonvolatile memory insertion unit, and can store data used for computation during the installation and adjustment function of the nonvolatile memory. It is good also as a structure incorporated in the parameter adjustment apparatus.

  The control parameter adjustment device of the present invention is most suitable for control parameter adjustment in an environment where a separate power supply to the CPU of the control parameter adjustment device cannot be prepared.

1 is a system diagram including a control parameter adjusting device according to a first embodiment of the present invention. Detailed view of control parameter adjusting device and connection cable in Embodiment 1 of the present invention Control block diagram including control device 4 Flowchart for explaining processing of control parameter adjustment function Gain characteristics diagram of frequency characteristics measured with control parameter adjustment function Frequency characteristic diagram from speed deviation output point to motor speed in Fig. 4 System diagram including a control parameter adjustment device in Embodiment 2 of the present invention Detailed view of control parameter adjusting device and connection cable in Embodiment 2 of the present invention System diagram including a control parameter adjusting device in Embodiment 3 of the present invention Detailed view of control parameter adjusting device and connection cable in Embodiment 3 of the present invention System diagram including a control parameter adjusting device in Embodiment 4 of the present invention Detailed view of control parameter adjusting device and connection cable in Embodiment 4 of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Servo motor 2 Load 3 Control object 4 Control apparatus 5a, 5b, 5c, 5d Control parameter adjustment apparatus 6 Connection cable 7 Connection part 8 Status display part 9 Adjustment function execution button 10 Control parameter display part 11 Adjustment result write button 12 Calculation data Save button 13 Non-volatile memory insertion section 51a, 51b, 51c, 51d Internal data transmission / reception line 61 Power supply line 62 External data transmission / reception line

Claims (6)

A control parameter adjusting device for a servo motor control device, having a structure in which power to a CPU for executing a control parameter adjusting function is supplied from the control device, and a structure that can be connected to and disconnected from the control device The control parameter adjustment function includes a function for measuring a frequency characteristic of a target controlled by the control device, a function for calculating a control parameter based on the measured frequency characteristic, and a calculated control parameter. A control parameter adjusting device having a function of setting in the control device. A control parameter adjusting device for a servo motor control device, having a structure in which power to a CPU for executing a control parameter adjusting function is supplied from the control device, and a structure that can be connected to and disconnected from the control device The control parameter adjustment function includes a function for changing a control parameter, a function for obtaining an operation state of the control device, a function for calculating a control parameter based on the operation state, and a calculated control parameter And a control parameter adjustment device characterized by having a function of setting the control device in the control device. The control parameter adjustment apparatus according to claim 1, further comprising a function that indicates an execution status of the control parameter adjustment function. The control parameter adjustment apparatus according to claim 1, further comprising a function of displaying the calculated control parameter. 3. A mechanism for attaching / detaching a nonvolatile memory, and a function for storing data obtained by executing a control parameter adjustment function in a nonvolatile memory attached to the mechanism. The control parameter adjusting device according to any one of the above. The control parameter adjusting apparatus according to claim 1, further comprising a nonvolatile memory that stores data obtained by executing the control parameter adjusting function.