JP2009122778A - Control parameter adjustment device and method for positioning control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control parameter adjustment device achieving adjustment of a parameter with the small number of frequency of trial. <P>SOLUTION: This control parameter adjustment device for a positioning control device is configured to measure settling feature quantities by successively changing a followup ability parameter to be made large for improving command followup ability with a first interval to execute positioning control, and to obtain a followup ability parameter belonging to a region in which the settling feature quantities do not exceed an allowable value and a followup ability parameter belonging to a region where the settling feature quantities exceed the allowable value, and to set a region to be determined from those two parameter as the range of precise retrieval, and to increase or decrease the followup parameters at the second interval which is smaller than the first interval, and to execute positioning control each time the followup parameters are increased or decreased, and to retrieve the proper control parameter by measuring the settling feature quantities. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a control parameter adjusting device and a control parameter adjusting method for adjusting a control parameter of a positioning control device for positioning a machine.

  With regard to positioning control for positioning the machine, there has been a problem that if the control parameters are to be adjusted manually, abundant experience and feeling are required, and if adjustment is not mastered, trial and error are repeated and adjustment cannot be performed as desired. In general, there are a plurality of types of control parameters. Setting these plural types of control parameters to various values, it is very time consuming to manually perform the positioning operation and to manually check the waveform during settling.

  On the other hand, conventionally, the following methods have been proposed as methods for automatically adjusting control parameters. That is, positioning control is performed while changing control parameters to various values, and overshoot, settling time, and vibration measured at this time are obtained. Then, the measured overshoot, the settling time, and the vibration added with weighting are calculated as evaluation function values, and the control parameter that minimizes the evaluation function value is determined to be optimal (for example, Patent Document 1). reference).

JP 2007-34781 A

  However, the control parameter adjustment by the conventional method has the following problems. First, it is difficult to determine what value the weight should be set to, and it may take time to determine the weight. Even if an appropriate weight can be determined, the evaluation function value does not correspond to a physical value because the weight is added to the overshoot or settling time having different physical quantities. For this reason, there has been a problem that it is difficult to intuitively check the control parameter determined to be optimal.

  The present invention has been made in view of the above, and relates to a control parameter adjustment of a positioning control device for positioning control of a machine, while setting a settling feature amount such as an overshoot or a residual vibration amplitude below a specified allowable value, In addition, a control parameter adjusting device and a control parameter adjusting method are provided that can realize control parameter adjustment that achieves optimum characteristics for positioning control (for example, minimizes settling time) with a small number of trials of positioning control operation. It is for the purpose.

  In order to solve the above-described problems and achieve the object, the control parameter adjustment device of the first invention has a control parameter including at least a follow-up parameter that improves the command follow-up property by increasing the external control parameter. In a control parameter adjustment device that adjusts a control parameter for a positioning control device that performs machine positioning control on the command value based on the control parameter, an allowable value input means for inputting an allowable value of a settling feature amount, A rough search means for controlling the positioning of the machine each time the follow-up parameter is increased or decreased, and measuring a settling feature at that time, and based on the measurement, Followability parameter belonging to the region where the settling feature amount does not exceed the allowable value, and belongs to the region where the settling feature amount exceeds the allowable value The range determined by the range selection means for obtaining the dependency parameter, the tracking parameter belonging to the region not exceeding the allowable value and the tracking parameter belonging to the region exceeding the allowable value is set as a range of the fine search, and the range is A fine search means for increasing or decreasing the follow-up parameter at a second interval smaller than the first interval, performing positioning control each time the increase / decrease, and measuring a settling feature amount to search for an appropriate control parameter. It is characterized by having.

  Further, the control parameter adjusting device of the second invention has a control parameter including at least a followability parameter that improves the command followability by increasing it and a disturbance suppression parameter that improves the disturbance suppression performance by increasing it. In a control parameter adjustment device that adjusts the control parameter for a positioning control device that performs machine positioning control based on the control parameter with respect to an external command value, an allowable value input for inputting an allowable value of the settling feature amount And the disturbance suppression parameter are set to a fixed value, and the tracking parameter is sequentially increased or decreased at the first interval, and the positioning control of the machine is performed each time the tracking parameter is increased or decreased. Rough search means for measuring the Range selection means for obtaining a tracking parameter and a tracking parameter belonging to a region where the settling feature amount exceeds the allowable value, a tracking parameter belonging to the region not exceeding the allowable value, and a tracking property belonging to the region exceeding the allowable value The area determined from the parameters is set as the range of the fine search, and the follow-up parameter is increased or decreased at a second interval smaller than the first interval, and the follow-up parameter and the disturbance within the predetermined range. And a refinement search means for performing positioning control each time the followability parameter or disturbance suppression parameter is increased or decreased, and measuring a settling feature amount to search for an appropriate control parameter.

  Furthermore, the control parameter adjusting method of the third invention has a control parameter including at least a follow-up parameter for improving the command follow-up property by increasing the control parameter, and based on the control parameter for an external command value, In a control parameter adjustment method for adjusting a control parameter for a positioning control device that performs positioning control, an allowable value input process for inputting an allowable value of a settling feature amount, and a follow-up parameter is sequentially increased or decreased at a first interval. At the same time, each time the follow-up parameter increases or decreases, the machine positioning control is performed and the settling feature value is measured at that time. Based on the measurement, the follow-up feature belongs to the region where the settling feature value does not exceed the allowable value. Range selection step for obtaining a tracking parameter that belongs to a region where the settling parameter and the settling feature amount exceed an allowable value; The area determined from the followability parameter belonging to the area not exceeding the allowable value and the followability parameter belonging to the area exceeding the allowable value is set as a fine search range, and the range is a second smaller than the first interval. And a fine search step of increasing or decreasing the follow-up parameter at intervals, performing positioning control each time the increase / decrease is performed, and measuring a set feature value to search for an appropriate control parameter.

  Furthermore, the control parameter adjustment method of the fourth invention has a control parameter including at least a followability parameter that improves the command followability by increasing it and a disturbance suppression parameter that improves the disturbance suppression performance by increasing it. In a control parameter adjustment method for adjusting a control parameter to a positioning control device that performs positioning control of a machine based on the control parameter with respect to an external command value, an allowable value input step of inputting an allowable value of a settling feature quantity The disturbance suppression parameter is set to a fixed value, and the follow-up parameter is sequentially increased or decreased at the first interval, and the machine positioning control is performed each time the follow-up parameter is increased or decreased, and the settling feature amount at that time is determined. Based on the rough search process to be measured and the above measurement, the settling feature value will not exceed the allowable value. Range selection step for obtaining a follow-up parameter and a follow-up parameter belonging to a region where the settling feature amount exceeds the allowable value, a follow-up parameter belonging to the region not exceeding the allowable value, and a follow-up property belonging to the region exceeding the allowable value The area determined from the parameters is set as the range of the fine search, and the follow-up parameter is increased or decreased at a second interval smaller than the first interval, and the follow-up parameter and the disturbance within the predetermined range. And a refinement search step for performing positioning control each time the followability parameter or disturbance suppression parameter is increased or decreased, and measuring a settling feature value to search for an appropriate control parameter.

  According to the control parameter adjustment device and the control parameter adjustment method of the above invention, the followability parameter that improves the command followability by increasing the value is predicted to have an optimum value in the vicinity of the allowable value. The parameter is sequentially increased or decreased at the first interval to belong to a region where the settling feature amount does not exceed the allowable value (the last) and to the region where the settling feature amount exceeds the allowable value (the first) The follow-up parameter is obtained, and the area determined by these two follow-up parameters is set as a fine search range, and then the follow-up parameter is increased or decreased at a second interval smaller than the first interval. To search carefully. In this way, by using the qualitative property relating to the change in the settling feature amount with respect to the change in the control parameter, the control parameter that achieves a desirable characteristic during positioning control such as a settling time is adjusted with a small number of trials. There is an effect that can be. Furthermore, the above range can be adjusted more effectively with a smaller number of trials by performing a detailed search in combination with a disturbance suppression parameter having a property opposite to the followability parameter.

  That is, the control parameter is efficiently adjusted by first determining the range of the followability parameter (rough search means) and then searching for the control parameter in combination with other control parameters (fine search means). Can do. In particular, the overshoot and residual vibration amplitudes are allowed by searching by combining the followability parameter and the disturbance suppression parameters whose properties have a contradictory effect on the overshoot and residual vibration amplitude. In addition, there is an effect that the high-frequency vibration amplitude can be adjusted to a control parameter whose settling time is shortened by setting the high-frequency vibration amplitude below the allowable value.

  Hereinafter, embodiments of a control parameter control device and a control parameter control method of a positioning control device according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a functional block diagram of a control parameter control device including a control parameter control device and a positioning control device for explaining the functional configuration of the control parameter control device of the present invention, and its surroundings. FIG. 2 is a flowchart for explaining the operation of the control parameter search determination unit of FIG. 3, 4 and 5 are control block diagrams showing an example of the positioning control device of FIG.

  In FIG. 1, a positioning control device 2 inputs a position command output from a command generator 1 that gives a target position command for an electric motor or machine. Then, drive energy such as current is supplied to the electric motor 3 by comparing the position command with the detected position. The electric motor 3 converts the driving energy supplied from the positioning control device 2 into torque. The load machine 4 is driven by an electric motor. The state quantity detector 5 detects state quantities such as the position and speed of the electric motor 3 or the load machine 4.

  The control parameter control apparatus 10 includes a feature amount extraction unit 6, a settling feature amount allowable value input unit 7, a control parameter search determination unit 8, and a control parameter setting unit 9. The feature amount extraction unit 6 extracts a set feature amount at the time of positioning control. Here, the settling feature amount is specifically the settling time, which is the time from when the position command reaches the target position until the detected position falls within the settling range, and the detected position excessively exceeded the target position. Overshoot, which is the amount, residual vibration amplitude, which is the amplitude value of the low frequency vibration that appears in the deviation between the position command and the detected position, deviation signal, which is the difference between the position command and the detected position, torque signal, detected position, detected speed The high-frequency vibration amplitude is a high-frequency continuous vibration superimposed on the control signal. The settling feature amount input unit 7 inputs an allowable value of the settling feature amount. The control parameter search determination unit 8 determines what control parameter to set from the settling feature amount and the settling feature amount allowable value. The control parameter setting unit 9 sets the control parameter determined by the control parameter search determination unit in the positioning control device.

  The control parameter search determining unit 8 has a characteristic configuration of the control parameter control apparatus 10 of the present embodiment. The control parameter search determination unit 8 mainly includes a program stored in a storage device (not shown) and a CPU that executes the program. And the characteristic structure of the control parameter search determination part 8 is comprised by this program. The structural features of the control parameter search determination unit 8 will be described later with reference to the flowchart of FIG. The control parameter search determination unit 8 may be configured by hardware that performs the same operation regardless of this program.

  3, 4 and 5 are control block diagrams showing an example of the positioning control device 2 of FIG. In FIGS. 3, 4 and 5, positioning control devices 2A, 2B and 2C are shown as examples of the positioning control device. In the figure, s represents a Laplace operator. In FIG. 3, Kr is a reference model position gain to be multiplied by the deviation signal between the position command and the feedforward position command, and Km is a difference signal between the product signal of the deviation signal and the reference model position gain and the feedforward speed command. The power reference model speed gain, J represents a control parameter representing the total inertia of the motor and the load machine, and Kq, Kv, and Kvi represent a position gain, a speed gain, and a speed integral gain, respectively. In FIG. 4, Kr represents a control parameter representing a low-pass filter frequency defining the frequency of the low-pass filter applied to the position command, J represents a control parameter representing the total inertia of the motor and the load machine, and Kq, Kv, and Kvi represent position gains, respectively. Represents speed gain and speed integral gain. In FIG. 5, Kp, Kv, and Kvi represent a position gain, a speed gain, and a speed integral gain, respectively. For example, the reference parameter position gain Kr shown in FIG. 3, the control parameter Kr indicating the low-pass filter frequency shown in FIG. 4, the position gain Kp shown in FIG. It is. Examples of follow-up parameters are not all of those listed here, and in other control systems other than FIGS. 3, 4, and 5, if the control parameters improve the command follow-up, It becomes.

  Returning to FIG. 2, the operation of the control parameter search determination unit 8 will be described with reference to a flowchart. In step ST1, the overshoot and the allowable value of the residual vibration amplitude, which are positioning settling feature amounts, are input to the positioning control device 2 via the settling feature amount input unit 7. At the same time, an allowable value of another settling feature amount such as a high-frequency vibration amplitude may be input. That is, step ST1 constitutes an allowable value input means (allowable value input process). In step ST2, a follow-up parameter (hereinafter, this follow-up parameter is referred to as control parameter 1 and represented by the symbol K1) that improves the follow-up to the command by increasing the above-described value to the positioning control device 2 is the minimum value. Set to.

  In step ST3, the positioning control device 2 performs a positioning operation in the set state of the control parameter 1, and the overshoot or residual vibration amplitude at this time is measured via the feature amount extraction unit 6. Next, in step ST4, it is confirmed whether or not the measured overshoot or residual vibration amplitude exceeds an allowable value. If not, in step ST5, the control parameter 1 is increased and the process proceeds to step ST3 again. As a method of increasing the control parameter 1, for example, it is increased by R times (first interval), that is, K1 = R × K1 (R> 1). Alternatively, K1 = K1 + Δ (Δ> 0) may be set using a certain constant Δ (Δ> 0).

  As described above, in steps ST3 to ST5, the control parameter 1 is increased at the first interval, the machine positioning control is performed every time the control parameter 1 is increased, and the overshoot or residual vibration amplitude or settling at that time is performed. A rough search means for measuring time is configured (rough search step).

If the measured overshoot or residual vibration amplitude exceeds the allowable value in step ST4, the process proceeds to step ST6. In step ST6, a fine search range and a fine search interval for performing a fine search of the control parameter 1 that follows the current control parameter 1 are determined. First, as a specific example of how to determine the range, K1 _min = K1 / R that is the minimum value of the range of the fine search, and K1 _max = K1 that is the maximum value may be considered. The minimum value of the fine search range is the value of control parameter 1 that satisfies the allowable value of overshoot and residual vibration amplitude, and the maximum value of the fine search range is the control parameter that does not satisfy the allowable value of overshoot and residual vibration. The value is 1.

  Further, any selection may be made as long as the minimum value of the fine search range satisfies the allowable value of overshoot and residual vibration and the maximum value of the fine search range does not satisfy the allowable value of overshoot and residual vibration. . In the present embodiment, in the rough search process in which only the control parameter 1 is searched, the maximum value of the control parameter 1 that satisfies the allowable value of overshoot and residual vibration amplitude is set to the minimum value of the fine search range, overshoot and residual vibration amplitude. The minimum control parameter value that does not satisfy the allowable value is selected as the maximum value of the fine search range, but the second largest control parameter 1 that satisfies the allowable value of overshoot and residual vibration amplitude with some margin. Or the value of the second smallest control parameter 1 that does not satisfy the allowable value of overshoot or residual vibration amplitude may be selected as the minimum value and the maximum value of the fine search range, respectively. In particular, in the rough search process, the maximum control parameter 1 value that satisfies the allowable value of overshoot or residual vibration amplitude is the minimum value of the fine search range, and the minimum control parameter that does not satisfy the allowable value of overshoot or residual vibration amplitude. By selecting this value as the maximum value of the fine search range, the range of the fine search range becomes narrower, and the search accuracy can be improved and the search time can be shortened.

Next, as specific examples of how to determine the interval, the minimum value and the maximum value can be linearly divided into N and logarithmic N. Hereinafter, the control parameter 1 divided into N is written as K1 [1] (= K1 _min ), K1 [2],..., K1 [N−1], K1 [N] (= K1 _max ). When the logarithm is divided into the minimum and maximum values,

K1 [N] / K1 [N-1] = K1 [N-1] / K1 [N-2]
= ...
= K1 [2] / K1 [1]
= R

And the constant r satisfies the relationship 1 <r <R and is smaller than the degree of change of the control parameter 1 in step ST5. In addition, when performing linear N division with respect to the minimum value and the maximum value,

K1 [N] -K1 [N-1] = K1 [N-1] -K1 [N-2]
= ...
= K1 [2] -K1 [1]
= Δ

The constant δ satisfies the relationship of 0 <δ <Δ and is smaller than the degree of change of the control parameter 1 in step ST5. Hereinafter, the control parameter 1 divided into N is written as K1 [1] (= K1 _min ), K1 [2],..., K1 [N−1], K1 [N] (= K1 _max ).

  In this way, the step ST6 determines the followability parameter in the region where the overshoot or residual vibration amplitude or settling time does not exceed the allowable value, and the first followability parameter where the overshoot or residual vibration amplitude or settling time exceeds the allowable value. The range selection means (range selection process) to be obtained is configured.

  In subsequent step ST7, the positioning feature is measured in combination with the control parameter 1 and other control parameters, and the settling feature value is measured. Examples of the control parameter to be combined include a disturbance suppression parameter that increases the disturbance suppression performance of the control system by increasing the value (hereinafter, this disturbance suppression parameter is referred to as control parameter 2 and represented by the symbol K2). As a qualitative property of the control parameter 2, the amplitude of the overshoot or the residual vibration decreases as the control parameter 2 alone is increased while the control parameter values other than the control parameter 2 are fixed. There is a property that the amplitude of vibration increases.

  Specific examples of the control parameter 2 include the speed proportional gain Kv and the speed integral gain Kvi shown in FIGS. 3, 4, and 5. Control parameter 1 and control parameter 2 divided into N are divided into M (hereinafter, control parameter 2 divided into M is written as K2 [1], K2 [2],..., K2 [M], where K2 [1] <K2 [2] <... <K2 [M]) is combined to perform positioning control, and the settling feature values (settling time, overshoot, residual vibration amplitude, high frequency of the control signal) at that time, respectively. (Vibration amplitude) is measured and stored in association with the control parameter. Here, the search is performed by combining the control parameter 1 and the control parameter 2, but the control parameter 1 may be searched by combining with other control parameters.

  Next, in step ST8, the data of the settling feature values obtained by performing the positioning control a plurality of times performed in step ST7 satisfy the various allowable values input in step ST1, and have preferable characteristics, for example, overshoot Or a combination of control parameter 1 and control parameter 2 that minimizes the settling time while satisfying the allowable value of the amplitude of residual vibration.

  That is, step ST7 and step ST8 determine the search range determined in step ST6 every time the control parameter 1 is increased while increasing the control parameter 1 by a second interval smaller than the first interval in the rough search. The fine search means (fine search process) which controls and measures an overshoot or a residual vibration amplitude and settling time is comprised. Through the above flow, the optimum control parameter can be automatically adjusted with a small number of trials.

  Next, the reason for adjusting as described above will be described. In positioning control, the settling time is as short as possible, the overshoot is small, the amplitude of the relatively low-frequency residual vibration that appears in the deviation signal is small, and the high-frequency vibration superimposed on the control signal such as the deviation signal and torque signal It is desirable to be small, and if possible, all to be nearly zero at the same time. However, it is difficult to make all of them substantially zero at the same time due to the effects of mechanical resonance, friction, and delay elements in the positioning control device. On the other hand, the allowable values for settling time, overshoot, residual vibration amplitude, settling time, and high frequency vibration amplitude are often determined by the machine operating specifications, and these allowable values are satisfied (below the allowable value). Further, it is necessary to make the settling time as short as possible, overshoot as small as possible, or adjust the control parameters.

  Further, by changing the control parameter, settling feature quantities such as overshoot, residual vibration amplitude, settling time, and high-frequency vibration amplitude do not change randomly. These settling feature quantities change with a certain tendency when the control parameter is changed. However, it is difficult to quantitatively predict the change in the feature amount with respect to the change in the control parameter due to the friction of the machine and the presence of a delay element in the positioning control device. On the other hand, the essence of the present invention is to find a qualitative property and to realize control parameter adjustment with a small number of trials using this property.

  As an example of the qualitative nature of the change in the settling feature amount with respect to the change in the control parameter in the positioning control, if only the control parameter 1 is increased while the other control parameters are fixed, the settling time is shortened. Overshoot and residual vibration increase. Further, if only the control parameter 1 is reduced while the values of the other control parameters are fixed, overshoot and residual vibration are reduced, but conversely, the settling time tends to increase. Furthermore, the control parameter 1 also tends to have a greater influence on the settling characteristics than other control parameters.

  When the feedforward compensation as shown in FIG. 3 is used, a model 1 / (Js) including a transfer characteristic from the torque of the motor to the speed and a reference model including the control parameters Kr and Km is configured and calculated from the model. Feedforward position command, feedforward speed command, and feedforward torque command are fed as feedforward commands to the actual motor, detected position, detected speed, and the feedback controller composed of its controller Kp and Kv + Kvi / s, respectively. give. The feedback controller performs control so as to follow this feedforward command. For this reason, the control parameter Kr related to the outermost loop in the reference model control loop is a control parameter for determining the command followability, and is a dominant control parameter among the control parameters. Even when positioning control is performed by applying this control system, overshoot and residual vibration occur when positioning control is settled due to mechanical resonance and friction, dead time caused by calculation delay of the positioning control device, and the like. When the control parameter Kr is small, the feedforward command that the detection position should follow is a slow response, so the settling time is extended, but overshoot and residual vibration are small. However, when the control parameter Kr is increased, the settling time is reduced. However, due to mechanical resonance, friction, dead time, and the like, the feedback control system cannot follow each feedforward command, and overshoot and residual vibration occur greatly. It will be.

  The same applies when feedforward compensation such as the control system shown in FIG. 4 is used. In FIG. 4, a signal obtained by differentiating a signal obtained by passing a low-pass filter Kr / (s + Kr) through a position command once is a feedforward speed command, and is differentiated twice to control corresponding to the total inertia or total mass of the load machine and the motor. A signal multiplied by the parameter J is input to the feedback control system as a feed forward torque command. The control parameter Kr in FIG. 4 determines the responsiveness to the feedforward command that the feedback control system should follow. Therefore, the larger the control parameter Kr is, the more the control parameter determines the followability to the command following. When the control parameter Kr is small, the feedforward command to follow the detection position has a slow response, and the feedback control system easily follows the feedforward command. For this reason, settling time is extended, but overshoot and residual vibration are small. However, if the control parameter Kr becomes large, the detected position and speed are fed to each feed due to mechanical resonance, friction and delay elements existing in the positioning control device. It is impossible to follow the forward command, and overshoot and residual vibration occur greatly.

  As shown in FIG. 5, even when a one-degree-of-freedom control system that does not use feedforward compensation is used, Kp corresponding to the control parameter 1 is the outermost control loop (position outside the speed control loop). Since the control parameter is related to the control loop), the larger the control parameter is, the more the followability to the command is improved. Further, if only Kp corresponding to the control parameter 1 is increased while other control parameters are fixed, a speed control system which is a minor loop composed of the motor, the detected speed of the motor, and the speed controller Kv + Kvi / s is obtained. On the other hand, the response is increased, and the pole of the closed loop transfer function from the position command to the detection position is increased. For this reason, the waveform at the time of settling becomes vibration, and overshoot and residual vibration increase accordingly. As shown in the example of the control system in FIGS. 3, 4, and 5, the control parameter 1 is a control parameter related to the response of the command, and is given to the settling time which is the most important settling characteristic in the positioning control. Compared to parameters, it has a greater effect on settling characteristics.

Next, if only the control parameter 1 is increased while the other control parameters are fixed by simulation, the settling time is shortened, but conversely, overshoot and residual vibration increase and other control parameters are increased. If only the control parameter 1 is reduced while the value of is fixed, the overshoot and residual vibration are reduced, but conversely, the property that the settling time is extended is correct. When the control system shown in the block diagram of FIG. 3 is used as the control system of the positioning control device in FIG. 6, and other control parameters are fixed and only Kr corresponding to the control parameter 1 is changed. The result of having simulated the behavior of the position at the time of positioning control of is shown. The simulation assumes a target position of 10 × 10 ⁻⁴ [m], and the position command starts from time 0 seconds and reaches the target position at time 0.2 seconds. Further, when the settling width is set within an error of ± 1% of the target position, that is, when the detection position converges for the first time within 9.9 × 10 ^{−4 to} 1.01 × 10 ⁻⁴ [m]. It is assumed that settling is complete. In FIG. 6, a solid line that reaches the position 10 × 10 ⁻⁴ [m] at time 0.02 seconds represents a position command, and a solid line, a chain line, and a dotted line that rise after time 0.04 seconds are respectively The behavior of the detection position when Kr = 80, 100, 120 is set is shown. The graph of FIG. 6 is an enlarged view of the vicinity of the target position. It is confirmed that the overshoot increases as the Kr corresponding to the control parameter 1 is increased. Further, as Kr is increased, the settling time, which is the time when the detected position converges within 9.9 × 10 ^{−4 to} 1.01 × 10 ⁻⁴ [m] for the first time after the position command is completed. It is confirmed that it is shortened.

  The command followability is improved as the value is increased, and the overshoot and the residual vibration are increased as the value is increased, so that the settling time is maintained while the overshoot and the residual vibration amplitude are less than the allowable values. The control parameter 1 that minimizes the overshoot and the residual vibration is realized by a control parameter in the vicinity of the allowable value. Further, the control parameter includes the value of the control parameter 1 that the overshoot and the residual vibration amplitude do not exceed the allowable value, It is expected that the overshoot and residual vibration amplitude are in the range consisting of the value of the second control parameter 1 exceeding the allowable value. Therefore, the range of this control parameter 1 is determined by the processing from step ST2 to step ST6 (rough search means, range selection means) in FIG. The settling feature amount changes most influenced by the control parameter 1, but changes slightly even if other control parameters are changed. Therefore, the control parameter can be efficiently adjusted by first determining the range of the control parameter 1 and then searching for the control parameter in combination with other control parameters (fine search means). In particular, by searching for a combination of control parameter 1 and control parameter 2 having a property that the influence on the magnitude of overshoot and residual vibration amplitude is opposite to that of control parameter 1, overshoot and residual vibration amplitude are allowed. In addition, it is possible to realize a control parameter that reduces the settling time as much as possible by setting the high-frequency vibration amplitude below the allowable value.

Embodiment 2. FIG.
FIG. 7 is a flowchart for explaining control parameter adjustment of the control parameter search / determination unit 8 of FIG. 1 in a method different from that of the first embodiment. In step ST51, a settling time allowable value TS _lim which is a settling feature amount is input (allowable value input means / allowable value input step). At the same time, an allowable value related to another settling feature amount such as a high-frequency vibration amplitude may be input. In step ST52, the minimum value of control parameter 1 is set. In step ST53, a positioning operation is performed with the control parameter 1 set, and the settling time TS at this time is measured. In step ST54, it is confirmed whether or not the measured settling time TS exceeds the allowable value TS _lim . If not, the control parameter 1 is increased in step ST55 and the process proceeds to step ST53 again (steps ST53 to ST55: rough search means / rough search step).

  In step ST53, the positioning operation is performed in the set state of the control parameter 1, and the settling time at this time is measured. In step ST54, it is confirmed whether the measured settling time exceeds an allowable value. If so, the control parameter 1 is increased in step ST55, and the process proceeds to step ST53 again. For example, as a method of increasing the control parameter 1, there is a method of increasing R times, that is, K1 = R × K1 (R> 1). Alternatively, K1 = K1 + Δ may be set using a certain constant Δ (Δ> 0).

If the measured settling time does not exceed the allowable value in step ST54, the process proceeds to step ST56. In step ST56, the range and interval of the precise search of the control parameter 1 that follows the current control parameter 1 are determined. As a specific example of how to determine this range, K1 _min = K1 / R, which is the minimum value of the range of the fine search, and K1 _max = K1, which is the maximum value, can be considered. The minimum value of the fine search range is the value of the control parameter 1 that does not satisfy the allowable value of the settling time, and the maximum value of the fine search range is the value of the control parameter 1 that satisfies the allowable value of the settling time ( Range selection means / range selection step).

  Further, any selection may be made as long as the minimum value of the fine search range does not satisfy the allowable value of the settling time and the maximum value of the fine search range satisfies the settling time. In the present embodiment, in the rough search process in which only the control parameter 1 is searched, the maximum value of the control parameter 1 that does not satisfy the allowable value of the settling time is set to the minimum value that satisfies the minimum value of the fine search range and the allowable value of the settling time. The value of the control parameter is selected as the maximum value of the fine search range, but the second largest control parameter 1 value that does not satisfy the allowable settling time or 2 that satisfies the allowable value of the settling time, with some margin. The second smallest control parameter 1 value may be selected as the minimum value and the maximum value of the fine search range, respectively. In particular, in the rough search step, the maximum control parameter 1 value that does not satisfy the settling time allowable value is the minimum value of the fine search range, and the minimum control parameter value that satisfies the settling time allowable value is the maximum value of the fine search range. By selecting as above, the range of the fine search range becomes narrower, so that the search accuracy can be improved and the search time can be shortened.

In addition, as specific examples of how to determine the interval, the minimum value and the maximum value may be linearly divided into N and logarithmic N. Thereafter, the control parameter 1 divided into N is K1 [1] (= K1 _min ), K1 [2],..., K1 [N−1], K1 [N] (= K1 _max ). When the logarithm is divided into the minimum and maximum values,

K1 [N] / K1 [N-1] = K1 [N-1] / K1 [N-2]
= ...
= K1 [2] / K1 [1]
= R

  And the constant r satisfies the relationship 1 <r <R and is smaller than the degree of change of the control parameter 1 in step ST55. In addition, when performing linear N division with respect to the minimum value and the maximum value,

K1 [N] -K1 [N-1] = K1 [N-1] -K1 [N-2]
= ...
= K1 [2] -K1 [1]
= Δ

The constant δ satisfies the relationship of δ <Δ and is smaller than the degree of change of the control parameter 1 in step ST5. Thereafter, the control parameter 1 divided into N is K1 [1] (= K1 _min ), K1 [2],..., K1 [N−1], K1 [N] (= K1 _max ).

  In step ST57, a positioning operation is performed in combination with the control parameter 1 and other control parameters, the settling feature value is measured, and the settling feature value is stored in association with the control parameter combination. In step ST58, overshoot and residual vibration are minimized while satisfying a settling time allowable value based on the data of the settling feature amount data obtained when the positioning control is performed a plurality of times in step ST57. A combination of control parameter 1 and control parameter 2 is selected. The optimal control parameters can be automatically adjusted through the above flow (step ST57, step ST58: fine search means / fine search step).

  Next, the reason for such adjustment will be described. As described above, when the control parameter 1 is increased in the positioning control, the settling time is shortened, but conversely, overshoot and residual vibration increase, and when it is decreased, overshoot and residual vibration decrease. On the contrary, the settling time tends to be longer, and the influence on the settling characteristics is larger than that of other control parameters.

  The control parameter 1 that minimizes the amplitude of overshoot and residual vibration while keeping the settling time below the allowable value is realized by a control parameter near the allowable value, and further, the control parameter 1 is an allowable value for the settling time. It is expected that the first control parameter 1 does not exceed the value and the settling time is in the range of the second control parameter 1 that exceeds the allowable value. Therefore, the range of this control parameter 1 is determined by the processing from step ST52 to step ST56 in FIG. The settling feature amount changes most influenced by the control parameter 1, but changes slightly even if other control parameters are changed. Therefore, the control parameter can be efficiently adjusted by first determining the range of the control parameter 1 and then searching for the control parameter in combination with other control parameters.

Embodiment 3 FIG.
FIG. 8 is a flowchart for explaining the operation of the control parameter adjustment operation process of the third embodiment. In step ST7 of FIG. 2 or step ST57 of FIG. 7, N control parameters 1 K1 [1] to K1 [N] and M control parameters 2 K2 [1] to K2 [M] This embodiment is a method for realizing a combination search with a smaller number of times.

The operation will be described with reference to the flowchart of FIG. In step ST100, the overshoot allowable value OS _lim or the residual vibration amplitude allowable value VA _lim input in step ST1 of FIG. 2 is read (allowable value input means / allowable value input step). In step ST101, the indexes relating to the control parameter 1 and the control parameter 2 are set as i = 1 and j = 1, respectively, and the initial control parameter 1 and the control parameter 2 are set as K1 [1] and K2 [1], respectively. In step ST102, control parameter 1 and control parameter 2 are set to K1 [i] and K2 [j], respectively, and a positioning operation is performed. At this time, the settling feature amount including the overshoot OS or the residual vibration amplitude VA is measured (search means / search step).

  In step ST103, it is determined whether or not the measured overshoot OS or residual vibration amplitude VA exceeds an allowable value. If not, the process proceeds to step ST104. If the measured overshoot or residual vibration amplitude exceeds the allowable value in step ST103, the process proceeds to step ST106 (exclusion means / exclusion process). In step ST106, indexes i and j are set to i = 1 and j = j + 1, respectively, and the process proceeds to step ST107.

  If the index i is not equal to N, which is the number of searches for the control parameter 1, in step ST104, the index i for the control parameter 1 is increased by one in step ST105, and the process proceeds to step ST102 again. If the index i is equal to N in step ST104, the process proceeds to step ST107.

  If the index j is equal to M in step ST107, the process is terminated. If not, the index i is set to i = 1, j = j + 1 in step ST108, and the process proceeds to step ST102 again.

  Next, the reason why this method can reliably search for the optimal control parameter with a small number of trials will be described. FIG. 9 is an example showing in what order the control parameter 1 and the control parameter 2 are searched according to the flowchart of FIG. Assume that a combination of control parameters is searched in the order of (1) → (2) → (3) → (4) according to the flowchart. At this time, for example, it is assumed that the overshoot or residual vibration amplitude is less than the allowable value in the combination of (1), (2), and (3), and the allowable value of the overshoot or residual vibration amplitude is exceeded in the combination of (4). In the combination (5), the value of the control parameter 2 is the same as in the combination (4), and only the control parameter 1 is larger than (4). Therefore, from the nature of the control parameter 1, if the overshoot or residual vibration amplitude exceeds the allowable value in (4), the control parameter 1 is larger than (4) and (5) is overshot than (4). And the residual vibration amplitude is expected to increase. Therefore, the combination (5) need not be tried and may be excluded. For the same reason, (6) can be excluded. Therefore, in this case, when it is determined that the trial of (4) is over and the amplitude of overshoot or residual vibration exceeds the allowable value, the trials of (5) and (6) are excluded, and in step ST106, the control parameter 2 The index (1) is increased by 1, and the control parameter 2 is changed to K2 [2], and the trial of (7) may be performed. Further, similar processing can be performed even when the control parameters K2 [2], K2 [3],. As a result, the number of searches can be reduced because the search is performed by excluding combinations where the overshoot and the residual vibration amplitude are outside the allowable values as much as possible.

Embodiment 4 FIG.
FIG. 10 is a flowchart for explaining the operation of the control parameter adjustment operation process of the fourth embodiment. In step ST7 of FIG. 2 or step ST57 of FIG. 7, N control parameters 1 K1 [1] to K1 [N] and M control parameters 2 K2 [1] to K2 [M] This embodiment is a method different from the third embodiment for realizing the combination trial with a smaller number of times.

  It is not preferable that the settling time is shortened and that high frequency vibration (sustained high frequency vibration) appears in a control signal such as a deviation signal even if the overshoot or residual vibration amplitude is small or small. The reason is that high-frequency vibration appears because there is not enough margin for the stability of the control system.

  An adjustment flow for reducing the high-frequency vibration amplitude and shortening the settling time as much as possible will be described with reference to the flowchart of FIG. First, in step ST200, an allowable value of high-frequency vibration amplitude is read (allowable value input means / allowable value input process). In step ST201, the indexes related to the control parameter 1 and the control parameter 2 are set as i = 1 and j = 1, respectively, and the initial control parameter 1 and the control parameter 2 are set as K1 [1] and K2 [1], respectively. In step ST202, control parameter 1 and control parameter 2 are set to K1 [i] and K2 [j], respectively, and a positioning operation is performed (search means / search process).

  At this time, the amount corresponding to the high-frequency vibration amplitude is measured. FIG. 11 is a block diagram for measuring the high-frequency vibration amplitude of the control signal provided in the six feature quantity extraction unit of FIG. The pass band of the high-pass filter 101 is set to a frequency near the frequency of the high-frequency vibration to be detected. By passing a control signal such as a deviation signal or a torque signal, which is a difference between the position command at the time of settling and the detected position, through the high-pass filter 101, only high-frequency vibration in the control signal is taken out. Thereafter, by passing the high-frequency vibration through the absolute value calculation block 102 and the low-pass filter 103, it is possible to detect an amplitude equivalent amount of a frequency equal to or higher than a predetermined frequency. Even if high-frequency vibration and residual vibration remain in the control signal at the same time, the residual vibration has a relatively low vibration frequency and a relatively large vibration attenuation. Therefore, it is possible to extract only the amplitude of the high-frequency vibration that is a vibration having a relatively high vibration frequency and a sustained (that is, low attenuation) vibration.

  In step ST203, it is determined whether or not the measured high frequency vibration amplitude VS exceeds an allowable value. If not, the process proceeds to step ST204. If the measured high-frequency vibration amplitude exceeds the allowable value in step ST203, the process proceeds to step ST206 (exclusion means / exclusion process). In step ST206, indexes i and j are set to i = i + 1 and j, respectively, and the process proceeds to step ST207.

  If the index j is not equal to M, which is the number of searches for the control parameter 2, in step ST204, the index j for the control parameter 2 is increased by one in step ST205, and the process proceeds to step ST202 again. If the index j is equal to M in step ST204, the process proceeds to step ST207.

  If the index i is equal to N in step ST207, the process ends. If not, the index i is set to i = 1, j = j + 1 in step ST208, and the process proceeds to step ST202 again.

  Next, the reason why such a method can search for an optimal control parameter reliably with a small number of trials will be described. As a qualitative property of the control parameter 2, as the control parameter value other than the control parameter 2 is fixed and only the control parameter 2 is increased, the amplitude of the overshoot and the residual vibration becomes smaller, but conversely, the high frequency vibration. Has the property of increasing the amplitude of.

  The reason for this will be described in the case where Kv in FIGS. By increasing Kv corresponding to the control parameter 2, the open loop gain which is a loop gain when the detection position and the detection speed are not fed back is increased. In this case, when a large error occurs between the target position typified by overshoot or the like and a detection position, a greater control force is generated and suppressed, so the overshoot and residual vibration amplitude are reduced. On the other hand, if the value is too large, the stability in the high frequency range is lost due to the phase delay element caused by the control cycle of the positioning control device in the high frequency range, and the deviation signal and torque that are the difference between the position command and the detected position. High-frequency vibration occurs in the signal, detection position, and detection speed.

  This is not only the case where Kv is used as the control parameter 2, but also a property that holds true for other feedback gains such as Kvi. Further, since the open loop gain is increased by increasing the feedback gain and, as a result, the sensitivity to disturbance suppression is improved, the control parameter 2 can be any parameter that improves the disturbance suppression effect. You may choose one.

Next, by simulation, with respect to the control parameter 2, the value of the control parameter other than the control parameter 2 is fixed, and the larger the control parameter 2 is, the smaller the amplitude of overshoot or residual vibration is. This indicates that the property that the amplitude of high-frequency vibration is large is correct. FIG. 12 shows the positioning when the control system shown in the block diagram of FIG. 3 is used as the control system of the positioning control apparatus, and other control parameters are fixed and only Kv corresponding to the control parameter 2 is changed. The result of having simulated the behavior of the position at the time of control is shown. The simulation assumes a target position of 10 × 10 ⁻⁴ [m], and the position command starts from time 0 seconds and reaches the target position at time 0.2 seconds. A solid line that reaches the position 10 × 10 ⁻⁴ [m] at time 0.02 seconds represents a position command, and a solid line, a chain line, and a dotted line that rise after time 0.04 seconds are Kv = 100, The behavior of the detection position when set to 150,500 is shown. The graph of FIG. 12 is an enlarged view of the vicinity of the target position. It is confirmed that the overshoot becomes smaller as the control parameter 2 is increased. However, when Kv corresponding to the control parameter 2 is excessively increased, for example, when Kv = 500, it is confirmed that the waveform has a high frequency vibration superimposed on the detection position. Further, FIG. 13 shows the behavior when the control parameter 2 is increased to 510 while the other control parameters are fixed. In FIG. 13, the solid line reaching the position 10 × 10 ⁻⁴ [m] at time 0.02 seconds represents the position command, and the solid line rising after time 0.05 seconds is set to Kv = 510. This shows the behavior of the detected position. Compared with Kv = 500 represented by the solid line in FIG. 12, it is confirmed that the amplitude of the high-frequency vibration is increased by increasing the control parameter 2. From the above simulation, the qualitative property of the control parameter 2 was confirmed.

  FIG. 14 is an example showing in which order the control parameter 1 and the control parameter 2 are searched according to the flowchart of FIG. Assume that a combination of control parameters is searched in the order of (1) → (2) → (3) → (4) according to the flowchart. At this time, for example, it is assumed that the high frequency vibration amplitude is less than the allowable value in the combination of (1), (2), and (3), and the high frequency vibration amplitude exceeds the allowable value in the combination of (4). In the combination (5), the value of the control parameter 1 is the same as in the combination (4), and only the control parameter 2 is larger than (4). Therefore, it is expected that when the control parameter 2 is larger than (4) (5), the high-frequency vibration amplitude is larger than (4). Therefore, the combination (5) need not be tried and may be excluded. For the same reason, (6) can be excluded. Therefore, in this case, when the trial of (4) is completed according to step ST206, the trial of (5) and (6) is excluded, and the trial of (7) is performed by changing the control parameter 1 to K1 [2]. Just do it. Further, the same processing can be performed even when the control parameters K1 “2”, K1 [3], etc. are used, thereby excluding combinations that exceed the allowable value of the high-frequency vibration amplitude as much as possible. Since the search is performed, the number of trials can be reduced.

Embodiment 5 FIG.
FIG. 15 is a flowchart for explaining the operation of the control parameter adjustment operation process of the fifth embodiment. In step ST7 of FIG. 2 or step ST57 of FIG. 7, N control parameters 1 K1 [1] to K1 [N] and M control parameters 2 K2 [1] to K2 [M] This embodiment is a method different from the third and fourth embodiments for realizing the combination trial with a smaller number of times.

  This will be described with reference to the flowchart of FIG. In step ST300, the target settling time is read (allowable value input means / allowable value input step). In step ST301, the indexes relating to the control parameter 1 and the control parameter 2 are set as i = N and j = 1, respectively, and the initial control parameter 1 and the control parameter 2 are set as K1 [N] and K2 [1], respectively. In step ST302, control parameter 1 and control parameter 2 are set to K1 [i] and K2 [j], respectively, and a positioning operation is performed. The settling time at this time is measured (search means / search step).

  In step ST303, it is determined whether or not the measured settling time exceeds an allowable value. If not, the process proceeds to step ST304. If the measured settling time exceeds the allowable value in step ST303, the process proceeds to step ST306 (exclusion means / exclusion process). In step ST306, indexes i and j are set to i = N and j = j + 1, respectively, and the process proceeds to step ST307.

  If the index i is equal to 1 in step ST304, the index i related to the control parameter 1 is decreased by 1 in step ST305, and the process proceeds to step ST302 again. If the index i is not equal to 1 in step ST304, the process proceeds to step ST307.

  If the index j is equal to M in step ST307, the process ends. If not, the index i is set to i = 1, j = j + 1 in step ST308, and the process proceeds to step ST302 again.

  Next, the reason why this method can reliably search for the optimal control parameter with a small number of trials will be described. FIG. 16 is an example showing in what order the control parameter 1 and the control parameter 2 are searched according to the flowchart of FIG. Assume that a combination of control parameters is searched in the order of (1) → (2) → (3) → (4) according to the flowchart. At this time, for example, it is assumed that the settling time is less than the allowable value in the combination of (1), (2), and (3) and exceeds the allowable value in the combination of (4). In the combination of (5), the value of the control parameter 2 is the same as in the combination of (4), and only the control parameter 1 is smaller than that of (4). Therefore, if the allowable value of the settling time is exceeded in (4) due to the nature of the control parameter 1, the control parameter 1 is smaller than (4) and (5) is less than the amplitude of overshoot or residual vibration than (4). Is expected to grow. Therefore, the combination (5) need not be searched and may be excluded. For the same reason, (6) can be excluded. Therefore, in this case, when the search in (4) is completed, the search in (7) may be performed by excluding trials (5) and (6) and changing the control parameter 2 to K2 [2]. Further, similar processing can be performed even when the control parameters K2 [2], K2 [3],. As a result, the search is performed by excluding combinations where the overshoot and residual vibration amplitudes are outside the allowable values as much as possible, so that the number of searches can be reduced.

Embodiment 6 FIG.
FIG. 17 is a diagram showing a state of a screen that displays the setting data and the control parameters in association with each other when the positioning control is performed a plurality of times according to the sixth embodiment of the control parameter control device of the positioning control device of the present invention. FIG. 18 is a diagram showing a state of a screen in which the settling data and the control parameters are displayed in association with each other when the allowable value of the settling feature value is satisfied in the entire control parameter area and the positioning control is performed a plurality of times.

  The control parameter control apparatus according to the present embodiment includes display means for displaying the control parameter 1 and the control parameter 2 in association with each other in addition to the configuration of the above embodiment. Control parameters 1 and control parameters for positioning control when searching for a control parameter that minimizes the settling time while keeping the overshoot, residual vibration amplitude, and high-frequency vibration amplitude of the control signal below the specified allowable values An example displayed in association with parameter 2 is shown in FIGS. In FIGS. 17 and 18, combinations of control parameters in which white squares satisfy the permissible values of overshoot, residual vibration amplitude, and high frequency vibration amplitude of the control signal, and shaded squares indicate control parameters that do not satisfy even one of the permissible values. This indicates a combination, and the square with a large black circle is within the allowable value and the optimum value (the settling time is the shortest).

  As a qualitative property of the control parameter 1, the larger the value is, the shorter the settling time is, but there is a tendency that the amplitude of overshoot and residual vibration also increases. For this reason, with respect to the control parameter 1, the region where the overshoot and residual vibration amplitude are close to the allowable value tends to be a combination of control parameters that have the shortest settling time when the overshoot and residual vibration amplitude are within the allowable value. Further, as a qualitative property of the control parameter 2, the larger the amplitude, the smaller the overshoot and residual vibration amplitudes. However, when the control parameter 2 is too large, the control signal tends to have a high frequency vibration amplitude. For this reason, with respect to the control parameter 2, the region where the overshoot and the residual vibration amplitude are close to the allowable value is the control parameter in which the overshoot, the residual vibration amplitude, and the high frequency vibration amplitude of the control signal are within the allowable value and the settling time is the shortest Tend to be a combination of

  Unlike FIG. 17, FIG. 18 is a display example in which the entire displayed region satisfies allowable values such as overshoot and vibration amplitude. Due to the nature of the control parameter 1, there is a tendency that the control parameter 1 is the largest, that is, the parameter of the maximum value of the displayed control parameter 1 tends to be the control parameter 1 that shortens the settling time most. In this case, it is difficult to tell at a glance whether the displayed optimum value is a true optimum value or whether there is a true optimum value in an undisplayed area. For example, when the search is performed with a larger value of the control parameter 1 with the black circles in FIG. 18 and the search is performed, the possibility of further shortening the settling time while reducing the settling feature amount to the allowable value cannot be denied. .

  On the other hand, when displaying the optimal control parameter that minimizes the settling time while satisfying the allowable value as shown in FIG. 17, the settling data such as the settling time is displayed including the area of the control parameter that does not satisfy the allowable value. Thus, when one control parameter is made larger than the optimum point, there is an effect that it is easy to visually determine that the overshoot, the residual vibration amplitude, and the high-frequency vibration amplitude of the control signal are outside the allowable values.

  In addition, it is not preferable that the control parameter is in the vicinity of the allowable value and outside the allowable value, and it may be preferable to set the control parameter with a certain margin from the allowable value. In such a case, as shown in FIG. 17, the control parameter whose immediate neighbor does not exceed the allowable value is not selected, but among the control parameters whose immediate neighbor does not exceed the allowable value, the settling time is minimized. Select. FIG. 19 shows a display example when such a control parameter is selected. A combination of control parameters with white circles represents a control parameter whose settling time is minimum among control parameters whose adjacent values do not fall outside the allowable value. Even in this example, when displaying the optimal control parameter that minimizes the settling time, one set of control parameters from the optimal point is displayed by displaying the settling data such as the settling time including the control parameter area that does not satisfy the allowable value. If it is increased, there is an effect that it is easy to visually judge that the overshoot, the residual vibration amplitude, and the high-frequency vibration amplitude of the control signal are within the allowable value and in the vicinity of the allowable value.

Embodiment 7 FIG.
FIG. 20 is a functional block diagram of a control parameter control device including a control parameter control device and a positioning control device for explaining a functional configuration of a control parameter control device according to a seventh embodiment of the present invention, and its surroundings. In the first to sixth embodiments described above, control parameters are adjusted using an actual command generation device, positioning control device, electric motor, and load machine, but this is realized by simulating on a computer. Is possible.

  In the functional configuration, the difference between the first embodiment and the present embodiment is that the position command generation device 1, the positioning control device 2, the electric motor 3, the load machine 4, and the state quantity detection means 5 of the first embodiment are respectively In the present embodiment, a pseudo command generation device 51, a pseudo positioning control device 52, a pseudo motor 53, a pseudo load machine 54, and a pseudo state quantity detection means 55, which simulate the behavior during positioning control on a computer, are replaced. is there. With the configuration of the present embodiment, the control parameter adjustment is completed within a short time by simulating the behavior during positioning control on a computer without actually operating the actual machine.

  As described above, the control parameter control device and the control parameter control method according to the present invention adjust the control parameter with respect to the positioning control device that performs the positioning control of the machine based on the control parameter with respect to the command value from the outside. A control parameter adjusting device for a positioning control device having a control parameter including at least a follow-up parameter that is useful when applied to a control parameter adjusting device and a control parameter control method, It is optimally applied to the control parameter control method.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a functional block diagram of a control parameter control device including a control parameter control device and a positioning control device for explaining a functional configuration of a control parameter control device according to a first embodiment of the present invention, and its surroundings. 2 is a flowchart of an operation of a control parameter search determination unit in FIG. 1 for explaining a control parameter adjustment operation process of the first embodiment. It is a control block diagram which shows an example of the positioning control apparatus of FIG. It is a control block diagram which shows the other example of the positioning control apparatus of FIG. FIG. 10 is a control block diagram illustrating still another example of the positioning control device of FIG. 1. It is a figure showing the simulation result by the difference in the control parameter. 6 is a flowchart of an operation of a control parameter search determination unit in FIG. 1 for explaining a control parameter adjustment operation process of the second embodiment. 10 is a flowchart illustrating an operation of a control parameter adjustment operation process according to the third embodiment. FIG. 10 is a diagram for explaining the order in which control parameters of the third embodiment are searched. 10 is a flowchart illustrating the operation of a control parameter adjustment operation process according to the fourth embodiment. It is a functional block diagram of the part which measures the high frequency vibration amplitude of a control signal. It is a figure showing the simulation result by the difference in the control parameter. It is a figure showing the other example of the simulation result by the difference in the control parameter 2. FIG. FIG. 10 is a diagram for explaining the order in which control parameters of the fourth embodiment are searched. 10 is a flowchart for explaining an operation of a control parameter adjustment operation process of the fifth embodiment. FIG. 10 is a diagram for explaining the order in which control parameters of the fifth embodiment are searched. FIG. 16 is a diagram in which settling data and control parameters are displayed in association with each other when positioning control is performed a plurality of times in the sixth embodiment. FIG. 6 is a diagram in which settling data and control parameters are displayed in association with each other when the allowable value of the settling feature value is satisfied in all control parameter areas and positioning control is performed a plurality of times. FIG. 16 is a diagram in which settling data and control parameters are displayed in association with each other when positioning control is performed a plurality of times in the sixth embodiment. It is a functional block diagram of the control parameter control apparatus containing the control parameter control apparatus and positioning control apparatus for demonstrating the function structure of the control parameter control apparatus of Embodiment 7 of this invention, and its periphery.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Position command generation apparatus 2 Positioning control apparatus 3 Electric motor 4 Load machine 5 State quantity detection part 6 Settling feature-value extraction part 7 Settling feature-value allowable value input part 8 Control parameter search determination part 9 Control parameter setting part 10 Control parameter control apparatus 51 Pseudo position command generation device 52 Pseudo positioning control device 53 Pseudo electric motor 54 Pseudo load machine 55 Pseudo state quantity detection unit 101 High pass filter unit 102 Absolute value calculation unit 103 Low pass filter unit

Claims (17)

A control parameter having a control parameter including at least a follow-up parameter that improves command follow-up performance by increasing the value, and performing positioning control of the machine based on the control parameter with respect to an external command value. In the control parameter adjusting device for adjusting
Tolerance input means for inputting the settling feature tolerance,
A rough search means for sequentially increasing or decreasing the followability parameter at the first interval and performing positioning control of the machine each time the followability parameter is increased or decreased and measuring the settling feature at that time,
Based on the measurement, a range selection means for obtaining a tracking parameter belonging to a region where the settling feature amount does not exceed the allowable value, and a tracking parameter belonging to a region where the settling feature amount exceeds the allowable value, and a region not exceeding the allowable value The area determined from the followability parameter belonging to and the followability parameter belonging to the area exceeding the allowable value is set as the range of the fine search, and the followability parameter is set at the second interval smaller than the first interval. A control parameter adjusting device for a positioning control device, comprising: fine search means for increasing or decreasing and performing positioning control for each increase / decrease and measuring a settling feature amount to search for an appropriate control parameter. The fine search means includes
Search means for searching in combination with a plurality of candidates for the followability parameter and a plurality of candidates for other control parameters while increasing the followability parameter at a predetermined interval;
If the settling feature value when the positioning operation is performed with a combination of the tracking parameter value α and the control parameter value β other than the tracking parameter is larger than the allowable value, the search for the tracking parameter exceeding the value α is terminated. And an excluding means for excluding positioning control of a combination of a follow-up parameter having a value γ satisfying a relationship of γ> α and a control parameter value β other than the follow-up parameter. Item 4. A control parameter adjustment device for a positioning control device according to Item 1. The control parameter includes at least a followability parameter that improves command followability by increasing the disturbance suppression parameter that improves disturbance suppression performance by increasing the control parameter, and is based on the control parameter for an external command value. In a control parameter adjustment device that adjusts control parameters for a positioning control device that performs machine positioning control,
Tolerance input means for inputting the settling feature tolerance,
The disturbance suppression parameter is set to a fixed value, and the follow-up parameter is increased or decreased sequentially at the first interval, and the machine positioning control is performed each time the follow-up parameter is increased or decreased, and the settling feature value at that time is measured. Rough search means,
Based on the measurement, a range selection means for obtaining a tracking parameter belonging to a region where the settling feature amount does not exceed the allowable value, and a tracking parameter belonging to a region where the settling feature amount exceeds the allowable value, and a region not exceeding the allowable value The area determined from the followability parameter belonging to and the followability parameter belonging to the area exceeding the allowable value is set as the range of the fine search, and the followability parameter is set at the second interval smaller than the first interval. In addition to increasing or decreasing, a tracking parameter is combined with a disturbance suppression parameter within a predetermined range, positioning control is performed each time the tracking parameter or disturbance suppression parameter is increased or decreased, and a set feature is measured to determine an appropriate control parameter. A control parameter adjustment device for a positioning control device, comprising: a fine search means for searching for a positioning control device. The fine search means includes
Search means for searching in combination with a plurality of candidates for the followability parameter and a plurality of candidates for the disturbance suppression parameter while increasing the followability parameter at a predetermined interval;
If the settling feature amount when the positioning operation is performed with the combination of the followability parameter value α and the disturbance suppression parameter value β is larger than the allowable value, the search for the followability parameter exceeding the value α is terminated, so that γ> α The positioning control device according to claim 3, further comprising: exclusion means for excluding positioning control of a combination of a followability parameter having a value γ that satisfies the relationship γ and a disturbance suppression parameter value β. Control parameter adjustment device. The control parameter adjusting device of the positioning control device according to any one of claims 1 to 4, wherein the settling feature amount is an overshoot, a residual vibration amplitude, or a settling time. A control parameter that includes at least a follow-up parameter that improves command follow-up by increasing the value, and controls the control parameter for a positioning control device that performs positioning control of the machine based on the control parameter from an external command value. In the control parameter adjusting device to adjust,
Tolerance input means for inputting tolerance of overshoot or residual vibration amplitude;
Search means for searching in combination with a plurality of candidates for the followability parameter and a plurality of candidates for other control parameters while increasing the followability parameter at a predetermined interval;
If the overshoot or residual vibration amplitude when the positioning operation is performed with a combination of the follow-up parameter value α and the control parameter value β other than the follow-up parameter is larger than the allowable value, the search for the follow-up parameter exceeding the value α is performed. And an excluding means for excluding positioning control of a combination of a follow-up parameter having a value γ satisfying a relationship of γ> α and a control parameter value β other than the follow-up parameter by cutting off. Control parameter adjustment device for positioning control device. A control parameter including at least a disturbance suppression parameter that improves disturbance suppression performance by increasing the value, and a control parameter for a positioning control device that performs positioning control of the machine based on the control parameter with respect to an external command value. In the control parameter adjusting device to adjust,
Tolerance input means for inputting an allowable value of the amount equivalent to the high-frequency vibration amplitude,
Search means for searching for a combination of a plurality of candidates for disturbance suppression parameters and a plurality of candidates for other control parameters while increasing the disturbance suppression parameters at a predetermined interval;
If the high-frequency vibration amplitude when the positioning operation is performed with the combination of the disturbance suppression parameter value β and the control parameter value α other than the disturbance suppression parameter is larger than the allowable value, the search for the disturbance suppression parameter exceeding the value β is terminated. Positioning control comprising: a disturbance suppression parameter having a value γ satisfying a relationship of γ> β and an exclusion means for excluding positioning control of a combination of a control parameter value α other than the disturbance suppression parameter Device control parameter adjustment device. A control parameter that includes at least a follow-up parameter that improves command follow-up by increasing the value, and controls the control parameter for a positioning control device that performs positioning control of the machine based on the control parameter from an external command value. In the control parameter adjusting device to adjust,
Tolerance input means for inputting the settling time tolerance,
Search means for searching by combining a plurality of candidates for the followability parameter and a plurality of other candidates for the control parameter while decreasing the followability parameter at a predetermined interval;
If the settling time when the positioning operation is performed with a combination of the followability parameter value α and the control parameter value β other than the followability parameter is larger than the allowable value, the decrease in the followability parameter below the value α is terminated. A positioning control device comprising: a followability parameter having a value γ satisfying a relationship of γ <α; and an excluding means for excluding positioning control of a combination of a control parameter value β other than the followability parameter. Control parameter adjustment device. Display that associates the settling characteristic data during multiple positioning control when the control parameter is changed with the control parameter, and displays the control parameter area that does not satisfy the allowable value and the control parameter area that satisfies the allowable value. The control parameter adjusting device of the positioning control device according to any one of claims 1 to 8, further comprising means.   Associate the settling characteristics data during multiple positioning control when changing the followability parameter or disturbance suppression parameter with the followability parameter or disturbance suppression parameter, and select one of overshoot, residual vibration amplitude, high frequency vibration amplitude, and settling time. And further comprising a display means for displaying the followability parameter or disturbance suppression parameter area not satisfying the allowable value and the followability parameter or disturbance suppression parameter area satisfying the allowable value. Item 9. A control parameter adjustment device for a positioning control device according to any one of Items 1 to 8. The control parameter adjustment device for a positioning control device according to any one of claims 1 to 10, wherein the followability parameter is a control parameter related to feedforward or a position gain. A means for simulating the behavior during positioning control by computer simulation is further provided. The positioning control is executed by computer simulation, and overshoot, residual vibration amplitude, high-frequency vibration amplitude equivalent amount, and settling time obtained by the computer simulation. The control parameter adjustment device for a positioning control device according to any one of claims 1 to 11, wherein the control parameter is adjusted on the basis of the control parameter. A control parameter that includes at least a follow-up parameter that improves command follow-up by increasing the value, and controls the control parameter for a positioning control device that performs positioning control of the machine based on the control parameter from an external command value. In the control parameter adjustment method to be adjusted,
A tolerance input process for entering the tolerance of the settling feature,
A rough search step of sequentially increasing or decreasing the followability parameter at a first interval, performing positioning control of the machine each time the followability parameter is increased or decreased, and measuring the settling feature at that time,
Based on the measurement, a range selection step for obtaining a followability parameter belonging to a region where the settling feature amount does not exceed the allowable value, and a followability parameter belonging to a region where the settling feature amount exceeds the allowable value, and a region not exceeding the allowable value The area determined from the followability parameter belonging to and the followability parameter belonging to the area exceeding the allowable value is set as the range of the fine search, and the followability parameter is set at the second interval smaller than the first interval. A control parameter adjustment method for a positioning control device, comprising: a fine search step of increasing or decreasing and performing positioning control for each increase / decrease and measuring a set feature value to search for an appropriate control parameter. The control parameter includes at least a followability parameter that improves command followability by increasing the disturbance suppression parameter that improves disturbance suppression performance by increasing the control parameter, and is based on the control parameter for an external command value. In a control parameter adjustment method for adjusting a control parameter for a positioning control device that performs machine positioning control,
A tolerance input process for entering the tolerance of the settling feature,
The disturbance suppression parameter is set to a fixed value, and the follow-up parameter is increased or decreased sequentially at the first interval, and the machine positioning control is performed each time the follow-up parameter is increased or decreased, and the settling feature value at that time is measured. Rough search process,
Based on the measurement, a range selection step for obtaining a followability parameter belonging to a region where the settling feature amount does not exceed the allowable value, and a followability parameter belonging to a region where the settling feature amount exceeds the allowable value, and a region not exceeding the allowable value The area determined from the followability parameter belonging to and the followability parameter belonging to the area exceeding the allowable value is set as the range of the fine search, and the followability parameter is set at the second interval smaller than the first interval. In addition to increasing or decreasing, a tracking parameter is combined with a disturbance suppression parameter within a predetermined range, positioning control is performed each time the tracking parameter or disturbance suppression parameter is increased or decreased, and a set feature is measured to determine an appropriate control parameter. A control parameter adjustment method for a positioning control device, comprising: A control parameter that includes at least a follow-up parameter that improves command follow-up by increasing the value, and controls the control parameter for a positioning control device that performs positioning control of the machine based on the control parameter from an external command value. In the control parameter adjustment method to be adjusted,
A tolerance input process for inputting a tolerance of overshoot or residual vibration amplitude;
A search step for searching in combination with a plurality of candidates for the followability parameter and a plurality of candidates for the other control parameters while increasing the followability parameter at a predetermined interval;
If the overshoot or residual vibration amplitude when the positioning operation is performed with a combination of the follow-up parameter value α and the control parameter value β other than the follow-up parameter is larger than the allowable value, the search for the follow-up parameter exceeding the value α is performed. And an excluding step of excluding positioning control of a combination of a follow-up parameter having a value γ satisfying a relation of γ> α and a control parameter value β other than the follow-up parameter by cutting off Method for adjusting control parameters of positioning control device. A control parameter including at least a disturbance suppression parameter that improves disturbance suppression performance by increasing the value, and a control parameter for a positioning control device that performs positioning control of the machine based on the control parameter with respect to an external command value. In the control parameter adjustment method to be adjusted,
An allowable value input process for inputting an allowable value of a high-frequency vibration amplitude equivalent amount;
A search step for searching in combination with a plurality of candidates for disturbance suppression parameters and a plurality of candidates for other control parameters while increasing the disturbance suppression parameters at a predetermined interval;
If the high-frequency vibration amplitude when the positioning operation is performed with the combination of the disturbance suppression parameter value β and the control parameter value α other than the disturbance suppression parameter is larger than the allowable value, the search for the disturbance suppression parameter exceeding the value β is terminated. Positioning control comprising: a disturbance suppression parameter having a value γ satisfying a relationship of γ> β, and an exclusion step for excluding positioning control of a combination of a control parameter value α other than the disturbance suppression parameter Device control parameter adjustment method. A control parameter that includes at least a follow-up parameter that improves command follow-up by increasing the value, and controls the control parameter for a positioning control device that performs positioning control of the machine based on the control parameter from an external command value. In the control parameter adjustment method to be adjusted,
Tolerance input process for entering the settling time tolerance;
A search step of searching for a combination of a plurality of candidates for the followability parameter and a plurality of candidates for other control parameters while reducing the followability parameter at a predetermined interval;
If the settling time when the positioning operation is performed with a combination of the followability parameter value α and the control parameter value β other than the followability parameter is larger than the allowable value, the decrease in the followability parameter below the value α is terminated. A positioning control device comprising: a tracking parameter having a value γ that satisfies a relationship of γ <α; and an exclusion step that excludes positioning control of a combination of a control parameter value β other than the tracking parameter Control parameter adjustment method.

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