JP2022139150A - Information processing device, method, and program - Google Patents

Abstract

To obtain both a control program for a control target and a model of a driving apparatus for the control target.SOLUTION: An information processing device 10 creates a control program 15 by setting a control parameter to one or more program elements 138 for controlling a driving apparatus that drives a control target specified by a user operation. The control parameter is based on a control manner 19c for the driving apparatus, the control manner being specified by the user operation. In addition, the information processing device manages the created control program so as to associate the created control program with a model 16 for calculating a behavior of the driving apparatus corresponding to the control target specified by the user operation.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to technology for providing an environment for developing a program for controlling FA (Factory Automation) equipment.

In various production sites, FA systems for automating production processes are widespread. The FA system includes equipment to be controlled in the production process and a control device such as a PLC (Programmable Logic Controller) that executes a control program.

Simulators are usually available to designers for developing control programs. The simulator executes a control program for a controlled object and executes a model for calculating the behavior of the controlled object using the execution results. Regarding technology for supporting simulation, Japanese Patent Application Laid-Open No. 2016-42378 (Patent Document 1) discloses a simulation device capable of realizing an integrated simulation including a visual sensor.

JP 2016-42378 A

The diversity of production sites tends to increase, and in order to keep up with the diversity, there is a demand to easily acquire the control program of the controlled object and the model of the device that drives the controlled object. Patent Literature 1 does not propose a mechanism for acquiring a control program and a corresponding model.

An object of the present disclosure is to provide a configuration that enables easy acquisition of a control program for a controlled object and a model of a drive device for the controlled object.

An information processing apparatus according to the present disclosure includes operation accepting means for accepting a user operation on the information processing apparatus, and one or more program elements for controlling a drive device that drives each of a plurality of controlled objects. and one or more program elements corresponding to the controlled object designated by the user's operation are searched from the storage means, and the one or more program elements retrieved by the user's operation are stored with the drive device designated by the user's operation. a program creating means for creating a control program by setting control parameters based on the control method of (1); and a management means for managing by linking to the model.

According to the above disclosure, a control program is created based on the controlled object and the control method specified by the user, and the created control program is linked to the model and managed. As a result, the user can easily acquire the control program of the controlled object and the model of the driving equipment of the controlled object by specifying the controlled object and the method of control.

In the above disclosure, the information processing apparatus further includes model creation means for setting model parameters based on the mechanical or physical characteristics of the driving device set by the user's operation.

According to the above disclosure, the information processing apparatus can create a model having model parameters based on user settings by accepting user settings, and can reduce the time required for creation.

In the above disclosure, the information processing device further includes a simulator that executes a simulation for calculating the behavior of the driving equipment and the controller that controls the driving equipment, and the simulation executes the control program to control the driving equipment. and a process of executing a model with the command value as an input and calculating a behavior value that indicates the behavior of the drive equipment, and the simulator controls with the behavior value calculated by the model as an input. Collecting means for executing a program and collecting behavior values while a simulation is being executed; and means for outputting the behavior values collected by the collecting means and the target behavior values in association with the behavior values; Prepare.

According to the above disclosure, the information processing device can present to the user the behavior of the driving device calculated by simulation in association with the behavior of the target.

In the above disclosure, the information processing device includes adjusting means for outputting guide information for adjusting the control parameter or model parameter based on the magnitude of the difference between the collected behavior value and the target behavior value, Prepare more.

According to the above disclosure, the information processing device can present the user with guide information for adjusting parameters.

In the above disclosure, the guide information includes an identifier of a parameter to be adjusted and an adjustment amount of the parameter that reduces the difference.

According to the above disclosure, the information processing apparatus can present the adjustment target parameter and the amount of adjustment to the user using the guide information, and can provide a guideline for adjustment.

In the above disclosure, the information processing device adjusts the control parameter set in the control program or the model parameter set in the model based on the parameter to be adjusted and the adjustment amount of the parameter specified by the user operation. adjustment processing to be performed.

According to the above disclosure, the information processing device can reset the adjusted parameters to the control program or model.

In the above disclosure, the simulator executes the simulation each time the adjustment process is performed until the difference converges to a predetermined value.

According to the above disclosure, the information processing device repeats the simulation with the adjusted parameters until the difference converges. Therefore, when the difference converges, parameter adjustment and simulation are automatically stopped, shortening the time required for adjustment.

According to another aspect of the present disclosure, a method includes: receiving a user operation; a step of creating a control program by setting control parameters based on the method of controlling the driving equipment that has been generated; and a step of managing by linking to a model for calculating behavior.

According to the above disclosure, when the method is implemented, a control program is created based on the controlled object and the control method specified by the user, and the created control program is linked to the model and managed. As a result, the user can easily acquire the control program of the controlled object and the model of the driving equipment of the controlled object by specifying the controlled object and the method of control.

According to still another aspect of the present disclosure, there is provided a program for causing a processor to perform the method described above.

In the disclosure above, when the processor executes the program, a control program is created based on the controlled object and the control method specified by the user, and the created control program is managed in association with the model. As a result, the user can easily acquire the control program of the controlled object and the model of the driving equipment of the controlled object by specifying the controlled object and the method of control.

Advantageous Effects of Invention According to the present disclosure, it is possible to easily acquire a control program for a controlled object and a model of a drive device to be controlled.

It is a figure showing typically composition of information processing system 1 concerning this embodiment. 1 is a diagram schematically showing an example of a development environment according to an embodiment; FIG. 1 is a diagram schematically showing the configuration of an FA system 50 having controlled objects according to the present embodiment; FIG. 4 is a diagram schematically showing an example of a control program 15 according to this embodiment; FIG. FIG. 10 is a diagram schematically showing an example of a UI for assisting creation of parameters according to the present embodiment; FIG. FIG. 7 is a diagram showing an example of an arithmetic expression 741 of model 16 according to the present embodiment; FIG. 4 is a diagram showing an example of a UI for designating a control target according to the embodiment; FIG. FIG. 4 is a diagram showing an example of a UI for designating model parameters according to the embodiment; FIG. 5 is a diagram showing an example of the configuration of adjustment based on the output of the actual machine according to the present embodiment; FIG. 7 is a diagram showing an example of a UI for adjustment processing according to the embodiment; 1 is a schematic diagram showing an example of the configuration of an information processing apparatus 10 according to this embodiment; FIG. 6 is a flow chart of creation processing according to the present embodiment. 6 is a flowchart of adjustment processing based on the output of the actual machine according to the present embodiment; 6 is a flowchart of adjustment processing based on the output of the actual machine according to the present embodiment;

Embodiments according to the present invention will be described below with reference to the drawings. In the following description, identical parts and components are given identical reference numerals. Their names and functions are also the same. Therefore, detailed description of these will not be repeated.

<A. Application example>
An application example of the present invention will be described. The information processing apparatus 10 according to the present embodiment provides an environment for developing a control program 15 for a drive device (hereinafter also referred to as an actual machine) for driving a machine to be controlled provided in a production process and a model 16 of the drive device. I will provide a.

FIG. 2 is a diagram schematically showing an example of a development environment according to this embodiment. The information processing apparatus 10 includes a development support tool 20 for developing a control program 15 and a model 16 based on user settings 19 using a simulator 21, and a builder 18 for converting the created control program 15 into an executable format. , and a storage unit for storing information on development. A designer can operate the development support tool 20 and the builder 18 by operating the UI tool provided by the information processing apparatus 10 .

The information processing apparatus 10 transfers the control program 15 converted by the builder 18 to the controller 51 that controls the actual machine. The controller 51 controls the actual machine by executing the transferred control program 15 . The controller 51 typically includes a PLC, but is not limited to the name PLC, and the concept of the controller generally refers to control devices that control actual machines.

The control program 15 is an example of a user program and is written in a cyclic execution type program language (for example, ladder language or ST (Structured Text) language). More specifically, the control program 15 is a ladder program having FUs (Functions), FBs (Function Blocks), etc. as program elements, which are basic components called POUs (Program Organization Units) that constitute the user program. including. The control program 15 is not limited to a program written in a cyclic execution type programming language such as a ladder program, and may include, for example, a program written in a sequential execution type language. In the present embodiment, the FB will be mainly described as a program element that configures the control program 15, but the present embodiment can be similarly applied to the FU as well.

The user setting 19 includes a controlled object 19a including an identifier for identifying a controlled object (machine) specified by the user, a setting 19b relating to the parameters of the model 16, and a control method 19c indicating the control method of the actual machine.

For each of a plurality of machines that can be controlled, the storage unit stores an FB (Function Block) set 138 having an object ID 1381 for identifying the machine and a CAD (Computer-Aided Design) set having an object ID 1391 for identifying the machine. 139 and a pair 17 which will be described later. FB set 138 includes one or more FBs that implement control arithmetic processing for controlling the corresponding machine. The CAD set 139 includes a basic model 16B of the drive of the controlled object (machine) along with data of one or more images representing the three-dimensional shape of the corresponding machine. The basic model 16B indicates a model in which specific model parameters have not yet been set, for example, a model in which initial model parameters have been set.

Based on the identifier of the controlled object 19a in the user setting 19, the control program creation tool 22 searches the storage unit for the FB set 138 of the object ID 1381 that matches the identifier. The control parameter setting unit 23 sets control parameters for control based on the control method 19 c of the user setting 19 to the FBs of the retrieved FB set 138 . In this embodiment, the control method 19c includes specification values for control indicated by the specification data of the controlled machine or driving device. The control parameter setting unit 23 converts the specification value indicated by the control method 19c into a control parameter value using a predetermined conversion formula, and sets the converted control parameter in FB. In the present embodiment, "parameter" corresponds to a variable representing a parameter, and "setting a parameter" means setting the type of variable representing the parameter or setting a value for the variable. . Further, "adjusting the parameter", "adjusting the control program 15" or "adjusting the model 16" means adjusting (changing) the value of the parameter in this embodiment.

The control parameters include parameters of control arithmetic processing implemented by the FB. For example, if the actual device to be controlled includes a servomotor, the control arithmetic processing may include PID (Proportional-Integral-Differential Controller) arithmetic. PID parameters include, for example, gains, target values, time constants, and the like. The types of control parameters differ depending on the method of control, and are not limited to these. For example, control parameters may include triggers that indicate the timing of operations. The control parameter setting unit 23 sets the control parameters to each FB of the FB set 138, thereby creating the control program 15 based on the specifications.

Based on the identifier of the controlled object 19a of the user setting 19, the model creation tool 24 searches the storage unit for the CAD set 139 and the basic model 16B of the object ID 1391 that matches the identifier. The model parameter setting unit 25 creates the model 16 by setting model parameters based on the model specifications based on the setting 19b of the user setting 19 to the searched basic model 16B. Note that the base model 16B may be provided by a setting 19b of the user settings 19. FIG.

More specifically, the model is represented by various arithmetic expressions including physical arithmetic expressions for calculating the behavior of the drive equipment (actual machine) to be controlled, and the model parameters are the parameters to be set in the arithmetic expressions of the model. show. The model parameters include parameters of mechanical properties and physical properties of the actual machine. Setting 19b indicates mechanical and physical properties. Parameters based on mechanical properties (hereinafter also referred to as mechanical parameters) include parameters based on size, position, etc. Parameters of physical properties (hereinafter also referred to as physical parameters) include coefficients of friction, mass (weight), etc. Contains parameters based on The physical parameter may include, for example, the coefficient of friction of the motor bearings if the driving device comprises a servomotor. Note that the types of mechanical parameters and physical parameters are not limited to these.

The development support tool 20 acquires the control program 15 with the adjusted control parameters by executing the control program 15 with the control parameters set and the model 16 with the model parameters set using the simulator 21, and performs the adjustment. The subsequent control program 15 is transferred to the controller 51 .

More specifically, the simulator 21 executes the control program 15 based on the behavior value as input, executes the calculation of the model 16 with the control command value as the input as the execution result, and calculates the behavior of the actual machine as the calculated value. is output as an input to the control program 15. The simulator 21 repeatedly executes this series of processes at each time step ti (i=1, 2, 3, . . . ) described later. Thereby, the simulator 21 can estimate the behavior of the real machine when the real machine is controlled by the control program 15 by executing the control program 15 and the model 16 . In the present embodiment, "calculating behavior" indicates a concept that can include "estimating behavior" or "simulating behavior".

When executing the simulation, the information processing apparatus 10 uses the visualizer 27, which will be described later, to generate an image that visualizes the movement of the controlled object following the behavior calculated by the model 16 using CAD data (images) of the CAD set 139, Display the generated image on the display. Thereby, it is possible to visually present the estimated behavior of the actual machine to the designer.

In this embodiment, the drive device includes an actuator such as a servomotor, and the command value includes the angular velocity of the drive device. The behavior value calculated by the model 16 includes the number of revolutions of the servomotor or the like. In addition, the "command value" is not limited to the angular velocity, and for example, a command to a drive device including an actuator such as a servo motor, such as position, speed, acceleration, jerk (jerk), angle, angular acceleration, angular jerk or the like may be expressed as a command.

When the designer operates the development support tool 20 to develop the control program 15, the designer operates the control program creation tool 22 to adjust the control parameters so that behavior values that satisfy the specifications can be derived. Create 15. Also, the designer creates the model 16 by operating the development support tool 20 and adjusting the model parameters.

More specifically, the simulator 21 executes the control program 15 and the model 16 at each periodic time step ti. At the start of the simulation, the model 16 is set with model parameters indicated by the setting 19b, and the control program 15 is set with control parameters based on the control method 19c. At time step ti, the control program 15 is executed with the behavior values from the model 16 as inputs, and the model 16 is executed with the command values from the control program 15 as inputs to calculate the behavior values. At the next time step t(i+1), the control program 15 is executed with the behavior values calculated at the previous time step ti as input. In this manner, the simulator 21 derives a time-series behavior value for each time step ti.

When the time-series behavior values derived from the simulator 21 deviate from the target behavior values indicated in the specifications, the development support tool 20 adjusts the control parameters based on the degree of deviation based on the designer's user operation. The above simulation is performed using the control program 15 in which the adjusted control parameters are set. The development support tool 20 repeatedly executes the simulation while adjusting the control parameters until it is detected that the time-series behavior values derived from the simulator 21 match the target behavior values. At this time, the development support tool 20 may adjust the model parameters based on the user's operation and execute the simulation using the adjusted model 16 .

The tying unit 26 is an embodiment of management means that manages the control program 15 by tying it to the model 16 and storing it as a pair 17 . More specifically, when the development support tool 20 detects that the time-series behavior values derived from the simulator 21 match the target behavior values, the linking unit 26 sets the adjusted control parameters. The control program 15 obtained is linked to the model 16 (or the model 16 in which the adjusted model parameters are set), and the pair 17 is generated and stored.

By inputting user settings 19 (controlled object 19a, setting 19b, and control method 19c) into the information processing device 10 and operating the development support tool 20, the designer controls the actual machine so as to satisfy the specifications. It is possible to obtain the control program 15 and transfer it to the controller 51 in an online environment such as a factory production site.

In this way, the control program 15 is mostly adjusted in the off-line environment provided by the development support tool 20, so it is possible to reduce the adjustment time using the actual machine in the on-line environment.

Also, managing the control program 15 and the model 16 as a pair 17 is useful in situations where the control program 15 under the online environment and the mechanical or physical characteristics of the actual machine are to be matched.

More specifically, due to changes in the online environment, the control parameters of the control program 15 executed by the controller 51 are adjusted, or the mechanical or physical characteristics of the actual machine are changed. The designer again adjusts the parameters of the control program 15 and the model 16 under the offline environment so that changes in the online environment are reflected in the control program 15 and the model 16 under the offline environment. In such a scene, the designer can easily specify the adjustment target by managing the two as a pair 17 . As a result, even when a plurality of control programs 15 are developed under the same offline environment, or when managing an adjusted version of the control program 15, management of the pairs 17 facilitates adjustment targets. can be identified.

A configuration for reflecting changes in the online environment described above to the control program 15 and the model 16 under the offline environment will be described.

In this configuration, in an online environment, the controller is caused to execute a control program 15 that outputs a command value for controlling the drive device, and the drive device is controlled according to the command value. In the off-line environment, the information processing apparatus 10 executes controller emulation that calculates the behavior of the controller by executing the control program 15, and receives command values output when the control program 15 is executed by the controller emulation as input. , the model 16 is executed to perform actuator emulation for calculating the behavior values of the driving equipment. The information processing device 10 collects online environment behavior values indicating the behavior of the driving equipment when the control program 15 is executed by the controller. Further, the information processing apparatus 10 collects behavior values in the offline environment calculated by the actuator emulation when the control program 15 is executed in the controller emulation in the offline environment. The information processing device 10 calculates the difference on the same time axis between the time-series behavior values collected under the online environment and the time-series behavior values collected under the offline environment, for example, at the same time or at the same time Based on the difference, the model parameters set in the model 16 linked to the control program 15 are adjusted. As a result, the information processing apparatus 10 can maintain the model 16 linked to the control program 15 in a state in which changes in the actual machine under the online environment are reflected.

The above-mentioned "same time" is, for example, the elapsed time after the information processing apparatus 10 started executing the control program 15 in the offline environment, that is, the actuator emulation was started, and the control program 15 in the online environment. 15 is executed, and the elapsed time from the start of controlling the drive device according to the command value is shown. Also, the above "same time" indicates a common time in both of these elapsed times.

A more specific application example of the present embodiment will be described below.

<B. Overall module configuration of the system>
FIG. 1 is a diagram schematically showing the configuration of an information processing system 1 according to this embodiment. In the following description, the controlled object is a packaging machine 400, which will be described later, and the driving device is a servomotor that drives a rotary knife of the packaging machine 400. FIG. The object to be controlled is not limited to the packaging machine 400, and may be a workpiece moving table, a conveyor for conveying the workpiece, or the like.

Referring to FIG. 1 , information processing system 1 includes FA system 50 , information processing device 10 , and display 109 . The FA system 50 includes a controller 51 , a drive device 55 and a first collection section 60 . The information processing device 10 includes a development support tool 20 , a simulator 21 , a visualizer 27 and a second collection unit 130 . The development support tool 20 has an adjustment tool 123 for adjusting the control program 15 in which the control parameters 20B are set or the model 16 in which the model parameters 16A are set.

The controller 51 is network-connected to the driving equipment 55 via an industrial field network, and controls various driving equipment 55 .

The controller 51 controls the drive device 55 by executing the control program 15 using the control parameters 20A. The drive device 55 is a device that directly or indirectly acts on the work in the production process, and operates according to command values from the controller 51 to rotationally drive the rotary knife. More specifically, the drive device 55 includes a servomotor driven by PWM (Pulse Width Modulation) according to a command value. A measuring device such as a sensor associated with the drive device 55 measures the behavior of the servo motor that operates according to the command value and outputs the behavior value. The controller 51 performs IO (Input Output) refresh including a process of acquiring a behavior value indicating a behavior according to the command value as input data, and a process of calculating a command value based on the input data and outputting the command value to the drive device 55 every control cycle. run to Note that the period for executing IO refresh may be a predetermined period, and is not limited to the control period.

The first collecting unit 60 collects the behavior value D1 indicating the behavior of the drive device 55 in synchronization with the control cycle. The first collection unit 60 may be various sensors including an encoder for detecting the behavior value D1 of the drive device 55, or may be a collection program for data collection. The behavior value D1 includes, for example, the position, speed, number of revolutions, acceleration, angular velocity, angular acceleration, etc. of each portion of the drive device 55 .

Simulator 21 includes controller emulator 120 , actuator emulator 124 and virtual time generator 122 . The virtual time generator 122 outputs a virtual time for synchronously operating the controller emulator 120 and the actuator emulator 124 . The controller emulator 120 and the actuator emulator 124 operate synchronously with a period based on the time step ti according to virtual time. The controller emulator 120 is a program for calculating behavior of the controller 51 . The actuator emulator 124 is a program for calculating the behavior of the driving equipment 55 .

More specifically, at each time step ti, the actuator emulator 124 calculates a behavior value according to the arithmetic expression of the model 16 based on the command value from the controller emulator 120, and the controller emulator 120 calculates the behavior value from the actuator emulator 124. , the control program 15 of the control parameter 20B is executed to output the command value to the actuator emulator 124 . In this manner, the controller emulator 120 and the actuator emulator 124 exchange command values and behavior values while synchronizing with each other. By this exchange, the IO refresh of the FA system 50 is simulated in the simulator 21 . In this embodiment, the period in which the controller emulator 120 and the actuator emulator 124 are synchronized is based on the control period, but is not limited to this.

The second collection unit 130 is a collection program for data collection. The second collection unit 130 collects the behavior values D2 output by the actuator emulator 124 at each time step ti when executing the simulation. The behavior value D2 is, for example, the simulated position, number of rotations, speed, acceleration, angular velocity, angular acceleration, etc. of each portion of the drive device 55 .

Although the control parameters 20A and 20B are described separately in FIG. 1, both may indicate common parameters.

(b1. Structure of visualization)
The visualizer 27 constitutes a visualization module that visualizes the movement of the controlled object in a three-dimensional virtual space and generates 3D (3-dimensions) drawing data to be drawn on the display 109 .

More specifically, the visualizer 27 renders on the display 109 the emulated movement of the rotary knife based on the trajectory data of the rotary knife of the packaging machine 400 and the image data representing the packaging machine 400 with the rotary knife. Generate drawing data for The image data representing the packaging machine 400 with rotary knives includes the CAD data of the CAD set 139 specified by the control object 19a.

The visualizer 27 calculates three-dimensional coordinates P (x, y, z) by performing calculations using a predetermined function on command values (angular velocity representing the amount of rotation, etc.) from the controller emulator 120, and obtains trajectory data. do. Thus, the trajectory data includes information indicating the movement of the packaging machine 400 in the three-dimensional virtual space estimated by simulation of the controlled object. The visualizer 27 generates drawing data for three-dimensionally drawing the movement of the packaging machine 400 in a three-dimensional virtual space according to the calculated trajectory data and the image data of the packaging machine 400, and displays it on the display 109 based on the drawing data. display an image. The designer can confirm the simulation results from the rotational behavior of the rotary knife of the packaging machine 400 drawn on the display 109 . Note that the visualizer 27 may calculate the above trajectory data using a function predetermined for the behavior value from the model 16 .

<C. Configuration of FA System 50>
The configuration of the FA system 50 and the configuration of the packaging machine 400 to be controlled will be described with reference to FIG. FIG. 3 is a diagram schematically showing the configuration of FA system 50 having controlled objects according to the present embodiment. Referring to FIG. 3 , information processing system 1 includes FA system 50 and information processing apparatus 10 . The FA system 50 includes, for example, a controller 51 including a PLC, a packaging machine 400, and servo drivers 500A and 500B. Servo drivers 500A and 500B drive servo motors 410 and 56 of packaging machine 400 according to command values from controller 51, respectively. In FIG. 3, the drive device of the controlled object (packaging machine 400) includes servo drivers 500A and 500B and servo motors 410 and .

The information processing device 10 has a configuration corresponding to a computer such as a PC (Personal Computer), a tablet terminal, or a smart phone, for example. Controller 51 and information processing device 10 are connected to field network NW1. EtherNET (registered trademark), for example, is adopted for the field network NW1. However, the field network NW1 is not limited to EtherNET, and any communication means can be adopted. For example, controller 51 and information processing device 10 may be directly connected via a signal line such as a USB (Universal Serial Bus).

Controller 51 and servo drivers 500A and 500B are connected to field network NW2 in a daisy chain. As the field network NW2, it is preferable to adopt a network that performs fixed-cycle communication, in which data arrival time is guaranteed. EtherCAT (registered trademark), (registered trademark), DeviceNet (registered trademark), CompoNet (registered trademark), etc. are known as networks that perform such periodic communication.

Referring to FIG. 3, packaging machine 400 includes a plurality of mechanisms that operate in conjunction with each other. Specifically, the packaging machine 400 includes a transport mechanism including a servo motor 56 associated with a transport path that transports the packaging material 412 in the direction of an arrow 413, a sensor 408 provided midway along the transport path, and a packaging material on the transport path. and a cutting mechanism 406 that cuts the material 412 to produce individual packages 418 .

A roll-shaped packaging base material is sequentially delivered to the conveying path from a supply mechanism (not shown), and in the conveying path, the work 414 supplied from a line (not shown) is covered with the packaging base material, so that the work 414 is enclosed. The wrapped packaging material 412 is continuously supplied to the conveying path. Sensor 408 includes, for example, a proximity switch. A sensor 408 is provided so as to be able to detect that the workpiece 414 has passed a predetermined position on the transport path. Sensor 408 outputs trigger 402 when it detects passage of workpiece 414 .

Cutting mechanism 406 comprises servo motors 410 , 416 and encoder 411 . In the cutting mechanism 406 , the servo motor 410 drives the rotary knife 416 according to the trigger 402 from the sensor 408 , so that the rotary knife 416 cuts and seals the packaging material 412 to sequentially produce individual packages 418 . The encoder 411 measures the amount of rotation (direction of rotation, angle, number of rotations, etc.) of the servomotor 410 and outputs a measured value 401 . In this embodiment, the measured value 401 indicates, for example, the number of revolutions per unit time. In the FA system 50 of FIG. 3, the measured value 401 can be acquired as a response to the command value output by the controller 51 by executing the control program 15 .

<D. Control program and creation>
FIG. 4 is a diagram schematically showing an example of the control program 15 according to this embodiment. Part of the control program 15 of the packaging machine 400 will be described with reference to FIG. The control program 15 of FIG. 4 is a ladder program including a conveying machine FB60 for executing control arithmetic processing of the conveying mechanism of the packaging machine 400 and a cutting machine FB61 for executing control arithmetic processing of the cutting mechanism 406 of the packaging machine 400. written in language. Processing for creating the control program 15 by the information processing device 10 as the control program creation tool 22 will be described.

The information processing apparatus 10 searches for the FB set 138 identified by the target ID 1381 of the packaging machine 400 based on the control target 19 a of the user setting 19 . The retrieved FB set 138 includes the transport machine FB60 and the cutting machine FB61. The conveying machine FB60 and the cutting machine FB61 each have a PID calculation 62 algorithm and a PID calculation 63 algorithm. The transfer machine FB60 is configured to receive a behavior value 64 (rotational speed) of the drive device 55 as an input and output a command value 66 (angular velocity) as a calculation result. The cutting machine FB61 is configured to receive the behavior value 67 (rotational speed) of the driving device 55 and the output of the block Trigger as inputs, and output a command value 69 (angular velocity) as a calculation result. The information processing apparatus 10, as the control parameter setting unit 23, sets PID parameters 65 and PID parameters 68 for the conveying machine FB60 and the cutting machine FB61, respectively, based on the control method 19c of the user setting 19. FIG. Further, based on the control method 19c of the user setting 19, a trigger 402 is set in addition to the PID parameter 68 for the cutting machine FB61.

The controller 51 executes the control program 15 of FIG. More specifically, when the transport machine FB60 is executed, the controller 51 executes the PID calculation 62 so that the rotation speed converges to the target value based on the behavior value 64 indicating the rotation speed and the PID parameter 65, and the execution result is , a command value 66 indicating the angular velocity is output.

When the trigger 402 is output from the sensor 408, the block Trigger changes from off to on. The cutting machine FB61 receives the output of the block Trigger as an input parameter and is activated when the output changes from off to on. The controller 51 executes the cutting machine FB61 when it is activated. More specifically, the controller 51 executes the PID calculation 63 so as to converge the rotation speed to the target value based on the behavior value 67 indicating the rotation speed and the PID parameter 68, and as the execution result, the command value 69 indicating the angular velocity. to output

The controller 51 outputs a command value 66 for the transfer machine FB60 to the servo driver 500B, and outputs a command value 69 for the cutting machine FB61 to the servo driver 500A. The servo drivers 500A and 500B each have a PWM (Pulse Width Modulation) circuit (not shown). The servo driver 500</b>A generates a PWM signal, which is an electrical signal having a pulse width based on the angular velocity indicated by the command value 66 , using the PWM circuit, and outputs the PWM signal to the servo motor 56 . The servo driver 500B uses a PWM circuit to generate a PWM signal, which is an electrical signal having a pulse width based on the angular velocity indicated by the command value 69, and outputs the PWM signal to the servo motor 410. FIG. By periodically and repeatedly executing the control program 15 in this manner, the controller 51 can maintain the rotational speed of the drive device 55 at the target value.

Normally, a control program is described using variable names for parameters and input/output values used by the program. and description of input/output values. In addition, the FB normally outputs the variable values of the state of the FB (execution completion state, execution state, execution interrupted state, error state, etc. when the command value is output), and inputs the variable value of the start command. However, in FIG. 4, illustration of these variable values is omitted for the sake of explanation.

<E. Configuration for creating a control program or model>
FIG. 5 is a diagram schematically showing an example of a UI for assisting creation of parameters according to this embodiment. When the designer operates the development support tool 20 to create the control program 15 or the model 16, the development support tool 20 provides guide information for parameter adjustment including information on the execution result of the simulator 21 as shown in FIG. Output to the UI screen 125 .

5, UI screen 125 displayed on display 109 displays, as guide information, a graph representing time-series behavior values D2 output by model 16 in area 91, and control parameter 20B in area 92. The set code of the control program 15 is displayed, and a 3D image representing the movement of the controlled object drawn by the visualizer 27 is displayed in the area 93 . The UI screen 125 also includes, as guide information, a button 94 that is operated to instruct the execution of a simulation, a button 95 that is operated to adjust (change) parameters and create the control program 15 or the model 16. , and buttons 96 that are operated to adjust parameters.

The adjustment tool 123 provides an environment for performing "adjustment amount estimation" when creating a control program or model. When the adjustment tool 123 completes the adjustment of the parameters, the control program 15 is almost complete, and the creation of the corresponding model 16 is also completed. "Estimated amount of adjustment" provides the designer with information about the amount of adjustment.

More specifically, graph G4 in area 91 of FIG. 9 indicates the target, and graph G5 indicates the simulation value. A graph G4 shows an ideal behavior that satisfies the specifications, that is, an ideal chronological change in the number of rotations of the servomotor 410 . In contrast, graph G5 shows time series changes in behavior values output by model 16 when control program 15 and model 16 are executed by simulator 21 . Graph G4 and graph G5 are output in association with each other on the same time axis. During execution of the simulation, behavior values from the actuator emulator 124 are collected in time series by the second collection unit 130 . Graph G5 is based on collected time-series behavior values. The same time axis as described above is, for example, the elapsed time from when the information processing apparatus 10 started executing the control program 15 in an offline environment and the time after starting to ideally control the drive device according to the specifications. Show progress.

Focusing on the rise time until the behavior value (rotational speed) converges to the target TR, the target graph G4 requires time t0 to t5 for the rise. In contrast, graph G5 requires time t0 to t7 to rise, and the rise is delayed.

The information processing apparatus 10, as the adjustment tool 123, needs to adjust the parameter based on the data of the graph in the region 91 and the pattern represented by the change tendency of the difference between the graph G4 and the graph G5 in the "adjustment amount estimation". In addition to determining whether there is an adjustment amount, information on a guideline for the amount of adjustment is provided.

More specifically, the information processing apparatus 10 detects the change tendency of the difference by collating the data of the graph G4 and the graph G5. The information processing apparatus 10 compares the detected change tendency with a plurality of predetermined change patterns to determine which change pattern is matched. For example, it is determined that it matches the rising delay pattern.

The information processing apparatus 10 extracts the rise delay time, compares the rise delay time with a threshold value, and determines from the result of the comparison whether it is necessary to adjust the parameters related to the rise time. For example, when it is determined that the delay time exceeds the threshold, the information processing apparatus 10 selects a parameter to be adjusted and an adjustment method for reducing the delay time indicated by the difference from a LUT (Look Up Table). Search for. It should be noted that the method of specifying the parameter to be adjusted and the adjustment method is not limited to the LUT method, and may be a specification method using learning data by machine learning.

The information processing apparatus 10 retrieves I (integral value) of the PID parameters 68 for the control parameter, which is a parameter related to the rise time, as a parameter to be adjusted, and for the model parameter, , search for “coefficient of friction”. Further, as the adjustment amount, both the I (integral value) parameter and the "friction coefficient" are searched for "reduced" from the current values.

As the adjustment tool 123 , the information processing apparatus 10 displays adjustment amount guide information on the button 96 of the UI screen 125 . For example, the button 96 includes the current value of the parameter to be adjusted as the coefficient of friction, and an arrow icon that guides the adjustment amount of the coefficient of friction, that is, making it smaller or larger than the current value. The information processing apparatus 10 blinks the icon of the downward arrow indicating "make smaller" among the arrow icons of the button 96 .

The designer can operate buttons 96 to increase or decrease the value of the coefficient of friction. When the button 95 for creation after adjustment is operated, the friction coefficient after adjustment of the button 96 is set to the model parameter 16A of the model 16, and when the button 94 is operated, the simulation by the simulator 21 is started. The simulator 21 performs a simulation using the model 16 having the adjusted coefficient of friction. The adjustment tool 123 updates the graph G5 of the area 91 according to the simulation results. The adjustment tool 123 performs the above-described "adjustment amount estimation" process based on the comparison between the updated graph G5 and the target graph G4.

As a result, the designer repeats parameter adjustment (change) and simulation using the control program 15 or model 16 in which the adjusted parameters are set until the difference in rise delay converges to a predetermined value. , terminate the adjustment when converged. Based on the information on the parameter to be adjusted and the amount of adjustment of the button 96 provided by the adjustment tool 123, the designer promptly matches the rise time of the graph G5 after the update of the area 91 with the rise time of the target graph G4. Adjustable. In FIG. 5, the coefficient of friction is shown as a parameter to be adjusted, but the parameter is not limited to this, and may be a parameter of I (integral value), which is a control parameter.

Without using the adjustment tool 123, the designer can search the parameter to be adjusted and the amount of adjustment by trial and error from the graph of the area 91 so that the difference (delay) in the rise time becomes small. good.

<F. Calculation and Visualization of Behavior Using Model>
FIG. 6 is a diagram showing an example of the computational expression 741 of the model 16 according to this embodiment. When the simulator 21 is executed, the actuator emulator 124 synchronizes with the controller emulator 120 at each time step ti based on the cycle according to the virtual time output by the virtual time generator 122, and based on the command value from the controller emulator 120, A behavior value Y is calculated according to the arithmetic expression 741 in FIG. When the simulator 21 is executed, the actuator emulator 124 calculates behavior values based on the command values from the controller emulator 120 and according to the arithmetic expressions of the model 16 .

The arithmetic expression 741 is configured using, for example, equations of a physical simulation model in order to calculate the behavior value of the servomotor 410 of the driving device of the packaging machine 400, which is the object to be controlled.

Referring to FIG. 6, an arithmetic expression 741 indicates that the behavior value Y at time step ti is calculated by function F(X, A, B). As shown in the description 742, the parameter X of the function F indicates the command value 69 (angular velocity) from the cutting machine FB61 of the control program 15, the parameter A indicates the physical parameter of the servomotor 410, and the parameter B indicates the servomotor 410 shows the mechanical parameters of Also, as indicated by the initial value 743, the initial value X0 of the parameter X of the function F is calculated by the function FB(C, D). A parameter C indicates an input parameter for the cutting machine FB61, and a parameter D indicates a calculation start command for the cutting machine FB61. In this embodiment, parameter C indicates initial values for PID parameter 68 and behavior value 67 and parameter D indicates trigger 402 .

When the simulator 21 is executed, the actuator emulator 124 calculates the behavior value Y according to the arithmetic expression 741 of the model 16. FIG. Thereby, the behavior value Y of the servomotor 410, that is, the behavior value 67 (rotational speed) can be calculated for each time step ti.

The visualizer 27 is a device including time-series three-dimensional coordinates P (x, y, z) of an object in the three-dimensional virtual space based on time-series command values 66 and 69 according to the time step ti output from the controller emulator 120 . Compute behavioral data. More specifically, the visualizer 27 generates equipment behavior data representing the operation of the transport mechanism (packaging material 412, work 414, individual package 418) of the packaging machine 400 based on the command value 66 at each time step ti. At the same time, based on the command value 69 at each time step ti, the device behavior data representing the operation of the cutting mechanism (rotary knife 416) is generated.

The visualizer 27 generates image data for visualizing the operation of the packaging machine 400 to be controlled in the three-dimensional virtual space based on the equipment behavior data and the images of the CAD set 139 . The image data is output to display 109 . As a result, an image showing the operation of the controlled object (packaging machine 400) based on the behavior value calculated by the simulator 21 is displayed on the display 109 as shown in the area 93 of FIG.

In this embodiment, the visualizer 27 updates and displays the image of the device behavior data at each time step ti. The designer can set the image update cycle for the visualizer 27 via the UI. For example, the designer can visually confirm the movement of the controlled object at a desired speed by setting slow playback, fast forward, rewind, and the like.

<G. Example of UI>
An example of the UI tool provided by the information processing apparatus 10 is shown in FIGS. 7 and 8. FIG. FIG. 7 is a diagram showing an example of a UI for designating a control target according to this embodiment. FIG. 8 is a diagram showing an example of a UI for designating model parameters according to this embodiment. Referring to FIG. 7, the designer inputs an identifier 151 such as the name of the controlled object to the information processing apparatus 10 in order to specify the controlled object 19a, and also controls the motion of the drive device as the control method 19c. Specify parameter 152 . More specifically, the information processing apparatus 10 searches the storage unit for the FB set 138 of the target ID 1381 that matches the identifier 151, and displays the parameter candidates to be set in each FB of the searched FB set 138. FIG. A designer can specify a desired parameter as a control parameter 152 from among the candidate parameters. Candidate parameters to be set in each FB are stored in association with each FB set 138 .

Referring to FIG. 8, the designer inputs mechanical parameters 81 and physical parameters 82 of the drive device (servo motor 410) to be controlled to information processing apparatus 10 in order to specify setting 19b. More specifically, the size, direction of movement, initial position, etc. are input to the mechanical parameters 81, and the bearing friction coefficient, mass, density, etc. are input to the description 821 of the physical parameters 82. FIG.

<H. Adjustment based on actual machine output>
In the present embodiment, by adjusting the control parameter 20A or the model parameter 16A in the offline environment based on the behavior values acquired in the online environment, the control program 15 and the model 16 in the offline environment are changed to the online environment. can be maintained so as to reflect changes in the control program 15 or the actual machine.

Here, as a change in the control program 15 or the actual machine under the online environment, for example, a case where the bearing or shaft of the servomotor 410 wears out due to long-term use and, as a result, the bearing friction coefficient changes will be described. Note that the change is not limited to physical properties, and may be mechanical properties. Moreover, it is not limited to changes in the characteristics of the actual machine, and may be changes in the control parameters 20A.

FIG. 9 is a diagram showing an example of the configuration of adjustment based on the output of the actual machine according to this embodiment. Referring to FIG. 9, information processing system 1 includes FA system 50, information processing apparatus 10, and storage device 113 as main components for adjustment based on the output of the actual machine. The FA system 50 includes a controller 51 , a drive device 55 and a first collection section 60 . The information processing apparatus 10 includes a controller emulator 120, an actuator emulator 124, a visualizer 27, a second collection unit 130, a calculation unit 131 that calculates a difference D3 between behavior values D1 and D2, and an adjustment tool 123. . The adjustment tool 123 has an adjustment amount determination unit 141 for determining an adjustment amount, an adjustment execution unit 142 for performing adjustment with the determined adjustment amount, and an output unit 143 for outputting information regarding adjustment. Note that the calculator 131 may be provided within the adjustment tool 123 . Configurations other than calculation unit 131 and adjustment tool 123 are as described with reference to FIG. 1, and detailed description thereof will not be repeated.

The calculation unit 131 compares the time-series behavior value D1 collected by the first collection unit 60 and the time-series behavior value D2 collected by the second collection unit 130 on the same time axis, and calculates a value based on the comparison result. A difference D3 between the behavior values D1 and D2 is calculated and output to the adjustment tool 123 .

(h1. Model adjustment process)
The information processing apparatus 10 , as the adjustment tool 123 , executes adjustment processing for matching the behavior value D<b>2 from the model 16 with the behavior value D<b>1 from the FA system 50 . FIG. 10 is a diagram showing an example of a UI for adjustment processing according to this embodiment. FIG. 10 shows user support information for adjustment, including graphs and guide information 103 for adjustment amounts. The guide information 103 is for adjusting the model parameter 16A based on the difference between the behavior value D2 calculated and collected by the model 16 and the behavior value D1 collected from the actual machine at the same time or at the same time. output guide information. Note that the adjustment target may include the control parameter 20B.

The information processing apparatus 10 is configured such that the difference D3 in FIG. 9 calculated by the calculation unit 131 is small, that is, the behavior value D2 calculated by the actuator emulator 124 is matched with the behavior value D1 measured by the actual machine. Then, the above-described "estimation of adjustment amount" is performed to determine the parameter to be adjusted and the adjustment amount.

More specifically, as shown in FIG. 10, the information processing apparatus 10, as the adjustment amount determination unit 141, collects the behavior values D1 in time series by the first collection unit 60 and the behavior values D1 collected by the second collection unit . Behavior values D2 collected in chronological order are associated with each other and output. More specifically, as shown in FIG. 10, the associations are collected in chronological order by the first collection unit 60 on a two-dimensional graph with the behavior value as the vertical axis and the time axis as the horizontal axis. and plotting the behavior value D1 collected in time series and the behavior value D2 collected in time series by the second collection unit 130 based on the collection time or time. As a result, the information processing apparatus 10 plots the time-series behavior value D1 for each control cycle and the time-series behavior value D2 for each time step ti based on the collected time or time, and calculates the behavior values D1 and D2. The graph of FIG. 10 representing changes in is calculated. From the graph, the information processing apparatus 10 determines the rise time (time t0 to t4) required for the behavior value D1 of the actual device to converge to the target TR and the rise time required for the behavior value D2 calculated by the model 16 to converge to the target TR. The time (time t0 to t8) is calculated, and the rise delay is calculated as the difference D3 between the two times. From the graph, it can be seen that the rise of the behavior value D1 of the actual machine is earlier than the rise of the behavior value D2 by the difference D3, that is, the friction coefficient of the servomotor 410 of the actual machine is smaller than the friction coefficient of the model parameter 16A. guessed.

The information processing apparatus 10 creates guide information 103 having a parameter 1341 to be adjusted and an adjustment amount 1342 based on the “estimation of adjustment amount” and outputs it to the display 109 . More specifically, when the difference D3, which is the rise time delay, exceeds a predetermined threshold value, the information processing apparatus 10 determines that the parameter 1341 to be adjusted is the "friction coefficient". Further, the adjustment amount 1342 is determined to "decrease" the friction coefficient based on the occurrence of the difference D3 indicating the delay. Conversely, when the difference D3 does not occur and the start-up of the actual machine is slower, the adjustment amount determination unit 141 determines to "increase" the friction coefficient. In the case of the graph, based on the occurrence of the difference D3 indicating the delay, the adjustment amount 1342 blinks to indicate that the friction coefficient is "decreased".

As the adjustment executing unit 142, the information processing apparatus 10 adjusts the model parameters 16A based on the user's operation via the UI. For example, the designer inputs the adjustment amount to the information processing apparatus 10 based on the difference D3 indicated by the graph or the guide information 103 .

The information processing apparatus 10 sets the model parameters 16</b>A adjusted by the designer in the model 16 and activates the simulator 21 . When the simulator 21 is activated, the adjusted model 16 and the control program 15 linked to the model 16 are executed by the controller emulator 120 and the actuator emulator 124, respectively, and the second collection is performed as the execution result of the simulator 21. Unit 130 collects behavior values D2.

The information processing apparatus 10 , as the adjustment tool 123 , executes processing based on “adjustment amount estimation” for matching the behavior value D<b>2 from the model 16 after adjustment with the behavior value D<b>1 acquired from the FA system 50 .

When the information processing apparatus 10 detects that the difference D3 (starting delay time) satisfies a predetermined convergence condition, it ends the model adjustment process. The convergence condition is satisfied, for example, when the difference D3 between the behavior values D1 and D2 becomes smaller than a predetermined threshold. Alternatively, the convergence condition may be satisfied when the number of adjustments exceeds a predetermined number.

As a parameter related to the rise time delay, instead of or together with the friction coefficient of the model parameter 16A, for example, the I (integral value) parameter of the PID parameter 68 of the control parameter 20B may be adjusted. .

The information processing device 10 sets the adjusted model parameter 16A when the convergence condition is satisfied to the model 16 as a final setting value, or sets the adjusted control parameter 20B to the control associated with the model 16. Set to program 15. After the adjustment, the information processing apparatus 10 causes the simulator 21 to execute the control program 15 and the model 16, thereby calculating the behavior of the actual servomotor 410 more accurately. Instead of using the adjustment tool 123, the designer may search the parameter to be adjusted and the amount of adjustment by trial and error from the graph of FIG. 10 via the UI tool.

<I. Configuration of Information Processing Device 10>
FIG. 11 is a schematic diagram showing an example of the configuration of the information processing device 10 according to this embodiment. A configuration for providing a development environment according to this embodiment will be described with reference to FIG.

The main components of the information processing apparatus 10 are an operating system (OS), a processor 102 for executing various programs described later, and a processor 102 for storing data necessary for program execution. A main memory 104 that provides an area, an operation unit 106 that accepts user operations on the information processing apparatus 10 such as a keyboard and mouse, an output unit 108 that outputs processing results such as a display 109, various indicators, and a printer, and a network NW1. a network interface 110 connected to various networks including; an optical drive 112; a local communication interface 116 for communicating with external devices; These components are connected for data communication via an internal bus 118 or the like.

The information processing apparatus 10 has an optical drive 112, which is a computer-readable recording medium including an optical recording medium (for example, a DVD (Digital Versatile Disc), etc.) for non-transitory storage of a computer-readable program. Various programs are read from 114 and installed in the storage 111 or the like.

Various programs to be executed by the information processing apparatus 10 may be installed via the computer-readable recording medium 114, but are installed by being downloaded from a server device (not shown) on the network via the network interface 110. You may do so.

The storage 111 is configured by, for example, an HDD (Hard Disk Drive) or SSD (Flash Solid State Drive), and stores programs executed by the processor 102 . Specifically, the storage 111 includes a virtual time generation program 119 that implements the virtual time generator 122, a development support program 121 that implements the development support tool 20, a model parameter 16A, and a simulation program 126 that implements the simulator 21. , a control parameter 20B, a UI program 129 that implements a UI tool when executed, an adjustment program 132 that implements an adjustment tool 123, and a management program 134 that links the control program 15 and the model 16 and manages them as a pair 17. , a visualizer program 135 for drawing the behavior of a controlled object using drawing data 136, a pair 17, an FB set 138 for each controlled object, a CAD set 139 for each controlled object, and a basic model 16B.

The visualizer program 135 implements the visualizer 27 when executed. The visualizer 27 generates drawing data 136 for drawing the movement of the controlled object on the display 109 based on the virtual space information 105 in the main memory 104 . The virtual space information 105 is the angular velocity indicated by the time-series command value 66 and the command value 69 at each time step ti acquired when the simulator 21 is executed, and the time-series three-dimensional coordinates P ( x, y, z). The visualizer 27 generates drawing data 136 for stereoscopically drawing an object image based on the CAD set 139 to be controlled in the three-dimensional virtual space based on the virtual space information 105 and outputs the drawing data 136 to the display 109 . As a result, the object is displayed on the display 109 according to the behavior value calculated by the simulation, and the movement of the machine to be controlled can be reproduced.

FIG. 11 shows an example in which the single information processing apparatus 10 implements the development environment, but the development environment may be implemented by linking a plurality of information processing apparatuses. In this case, the information processing apparatus 10 may be caused to perform part of the processing necessary for realizing the development environment, and the remaining processing may be performed by a cloud-based server or an on-premises server.

FIG. 11 shows an example in which a development environment is realized by the processor 102 executing one or more programs. Specific Integrated Circuit) or a circuit such as FPGA (Field-Programmable Gate Array) may be used for implementation.

<J. Flowchart of Creation Processing>
FIG. 12 is a flow chart of creation processing according to the present embodiment. A process of creating the control program 15 or the model 16 by the processor 102 executing the development support tool 20 will be described with reference to FIG. 12 .

First, processor 102 receives user settings 19 including control target 19a, setting 19b, and control method 19c from a user operation via a UI tool (step S1).

Processor 102, as control program creation tool 22 and model creation tool 24, searches storage 111 for FB set 138 and CAD set 139 corresponding to object ID 1381 and object ID 1391 indicating control object 19a (step S3). Thereby, the processor 102 determines the FB set 138 and the CAD set 139 corresponding to the controlled object 19a.

The processor 102, as the control parameter setting unit 23, sets the control parameter 20B based on the control method 19c to each FB of the determined FB set 138 (step S5), and sets the model parameter 16A based on the setting 19b as a model. 16 is set (step S7).

The processor 102, as the simulator 21, executes the control program 15 set with the control parameters 20B and the model 16 set with the model parameters 16A to simulate the behavior of the controlled object (step S10).

When executing the simulation, the processor 102, as the visualizer 27, executes visualization processing for generating drawing data 136 based on command values calculated by the simulation (step S11). The display 109 is driven based on the drawing data 136, and the display 109 draws the movement of the controlled object.

In the simulation, the processor 102, as the adjustment tool 123, repeats the simulation while changing (adjusting) the control parameter 20B or the model parameter 16A by the above-described "adjustment amount estimation" (step S12).

Processor 102 obtains control parameters 20B and model parameters 16A through simulation. The processor 102, as the linking unit 26, creates and stores a pair 17 linking the control program 15 and the model 16 in which the acquired parameters are set (step S13).

The processor 102 builds the control program 15 as the builder 18, and the processor 102 transfers the built control program 15 to the controller 51 (step S15). As a result, the processor 102 can transfer the control program 15 to the controller 51 as a program having the control parameters 20B roughly adjusted so that the actual machine can be controlled according to the specifications. Once transferred, the controller 51 treats the control parameter 20B as the control parameter 20A. In this way, under the online environment, the user can mostly adjust the adjusted control program 15, thus reducing the burden of adjustment work.

<K. Flowchart of adjustment processing based on output of actual machine>
13 and 14 are flow charts of adjustment processing based on the output of the actual machine according to the present embodiment. The processor 102 of the information processing apparatus 10 performs adjustment processing based on the output of the actual machine as the adjustment tool 123 . Here, for ease of explanation, the coefficient of friction of parameter A of model 16 is adjusted, but the same applies even if control parameter 20B is . The processing of FIGS. 13 and 14 will be described with reference to FIG. 9 as appropriate.

First, the processor 102 compares the difference D3 from the calculator 131 with a threshold, and determines whether the model parameter 16A needs to be adjusted based on the comparison result (step S20). For example, the delay time of the difference D3 is compared with a threshold, and when it is detected that the difference D3 exceeds the threshold based on the result of the comparison, it is determined that the model parameter 16A needs to be adjusted (YES in step S20), and the process proceeds to step S21. Transition. When processor 102 detects that difference D3 does not exceed the threshold (NO in step S20), processor 102 repeats step S20 or ends the adjustment process.

In step S21, processor 102 receives behavior value D1 of servomotor 410 of FA system 50 and stores 1 to N control cycles (step S21). Thereby, the processor 102 stores the time-series behavior values D1. The processor 102 compares the project when the actual machine is in operation with the project in the offline environment, and determines whether the result of the comparison shows a match (step S23). More specifically, the processor 102 compares the control parameter 20A acquired from the controller 51 with the control parameter 20B under the offline environment, and determines whether the values of both parameters match based on the result of the comparison. When the processor 102 determines that the values of both control parameters match (YES in step S23), it proceeds to step S27. When it determines that they do not match (NO in step S23), the processor 102 matches the offline environment project with the actual machine project (step S25). More specifically, the processor 102 adjusts/changes the control parameters 20B under the offline environment so as to match (match) the control parameters 20A acquired from the online environment.

At step S27, the processor 102 determines whether or not a design change has been made to the actual machine at the site of the production process (step S27). More specifically, the processor 102 makes the determination based on the user's operation received from the designer. Here, the design change of the actual machine includes change or adjustment of mechanical properties such as the size and position of the servomotor 410 .

When the processor 102 determines that the design has been changed based on the user's operation (NO in step S27), the processor 102 sets mechanical parameters corresponding to the changed mechanical characteristics of the actual machine to the model parameters 16A based on the user's operation. (Step S29). More specifically, the processor 102 changes the parameter B of the formula 741 of the model 16 so as to indicate the size and position mechanical parameters indicating the input mechanical properties.

The processor 102, as the adjustment tool 123, executes an adjustment process based on "adjustment amount estimation" for matching the behavior value D2 from the model 16 after adjustment with the behavior value D1 acquired from the FA system 50 (steps S31, S33, S35) are performed. More specifically, processor 102 estimates (calculates) parameter A such as the coefficient of friction in equation 741 of model 16 (step S31). Details of the processing in step S31 will be described later with reference to FIG.

Processor 102 outputs guidance information including the result of the adjustment process (step S33). For example, as a result of the adjustment process, the value of the friction coefficient after adjustment is displayed on the display 109 .

Processor 102 accepts the designer's user operation, and determines whether or not the accepted user operation indicates "OK" (step S35). When the processor 102 determines that the user operation does not indicate "OK" (NO in step S35), the process proceeds to step S31 and continues the parameter adjustment process.

On the other hand, when the processor 102 determines that the user operation indicates "OK" (YES in step S35), the processor 102 rewrites the friction coefficient of the model parameter 16A to the adjusted friction coefficient, thereby changing the model parameter 16A to Update (step S37). For example, when the designer determines from the graph of FIG. input.

The parameter adjustment process (step S31) using the temporary parameter set will be described with reference to FIG. The temporary parameter set includes parameter B including the coefficient of friction and parameter A input in step S29. Here, the temporary parameter set is updated by changing the friction coefficient to be adjusted, and a new temporary parameter set is generated each time it is updated.

First, the processor 102 generates a temporary parameter set of the model parameters 16A in parameter adjustment processing (step S311). At the start of the parameter adjustment process, a temporary parameter set is generated by setting an initial value for the coefficient of friction.

The processor 102, as the simulator 21, repeatedly executes the control program 15 and the model 16 in which the temporary parameter set generated in step S311 is set as a model parameter at each time step ti, and generates a simulation result (step S313). ). The generated simulation results show the time-series behavior values D2 according to the time step ti.

The processor 102 determines whether the difference D3 between the time-series behavior value D2, which is the simulation result, and the time-series behavior value D1 of the actual machine stored in step S21 is sufficiently small (step S315). More specifically, for example, the difference D3 is compared with a threshold, and it is determined whether the difference D3 is sufficiently small based on the comparison result.

If it is determined that the difference D3 is not sufficiently small (NO in step S315), the process returns to step S311. At step S311, the processor 102 generates a new temporary parameter set by changing the friction coefficient of the current temporary parameter set. Processor 102 executes a simulation using the generated new temporary parameter set (step S313). The processor 102 determines whether the difference D3 between the time-series behavior value D2 as the simulation result and the time-series behavior value D1 of the actual machine stored in step S29 is sufficiently small (step S315). Thus, the processor 102 repeats the simulation and the generation of the formal parameter set based on the simulation results until the difference D3 becomes sufficiently small, that is, until the optimum formal parameter set is obtained.

When the processor 102 determines that the difference D3 is sufficiently small (YES in step S315), the processor 102 adopts the most recently generated temporary parameter set as the model parameters 16A (step S317). More specifically, processor 102 rewrites model parameters 16A with the most recently generated set of formal parameters. As a result, the model parameters 16A under the offline environment can be matched with the mechanical characteristics or physical characteristics of the actual machine under the online environment.

According to the adjustment process of FIGS. 13 and 14, in the offline environment, the information processing device 10 changes the control parameter 20B and the model parameter 16A to the changes in the control parameter 20A in the online environment and the mechanical and physical characteristics of the actual machine. can be changed (adjusted) in accordance with changes in

Various algorithms can be applied to the algorithm for searching for the optimal temporary parameter set in FIG. Also, in step S315, the difference D3 is used as the condition for terminating the processing of the algorithm, but the termination determination condition is not limited to the condition using the difference D3. For example, the number of times the processes of steps S311 to S315 have been repeated may be used as the end determination condition. In that case, the processor 102 stores the best temporary parameter set obtained in the process of repeating the process, and adopts the best temporary parameter set as the optimum temporary parameter set.

<L. Program>
The processor 102 of the information processing device 10 executes the program in the storage 111 to provide the user with a development environment for the control program 15 or the model 16 in an offline environment.

Programs and data for implementing the development environment may be downloaded to storage 111 via network interface 110 or local communication interface 116 and a communication line. Alternatively, it may be downloaded to the storage 111 via the recording medium 114 . The recording medium 114 stores information such as programs by electrical, magnetic, optical, mechanical or chemical action so that computers, other devices, machines, etc. can read the information such as programs. It is a medium to The information processing apparatus 10 may acquire programs or data for realizing the development environment from the recording medium 114 .

The program can be executed by one or more processors such as processor 102, or by a combination of processors and circuits such as ASICs (Application Specific Integrated Circuits) and FPGAs (Field-Programmable Gate Arrays).

<M. Note>
The present embodiment as described above includes the following technical ideas.
[Configuration 1]
An information processing device (10),
an operation accepting means (106) for accepting a user operation on the information processing apparatus;
Storage means (111) for storing one or more program elements (FB) for controlling a drive device (55) for driving the controlled object, for each of the plurality of controlled objects;
The one or more program elements corresponding to the controlled object (19a) designated by the user operation are retrieved from the storage means, and the one or more program elements retrieved are stored in the drive designated by the user operation. a program creation means (22) for creating a control program (15) by setting control parameters (20B) based on the method of controlling the device (19c);
a management means (26) for managing the control program created by the program creation means by associating it with a model (16) for calculating the behavior of the drive device to be controlled designated by the user operation. , information processing equipment.
[Configuration 2]
The information processing apparatus according to configuration 1, further comprising model creation means (24) for setting, in the model, model parameters (16A) based on the mechanical characteristics or physical characteristics of the driving device set by the user operation. .
[Configuration 3]
further comprising a simulator (21) that executes a simulation for calculating the behavior of the drive device and a controller (51) that controls the drive device,
The simulation is
a process (120) of executing the control program and outputting a command value for controlling the drive device;
and a process (124) for executing the model with the command value as input and calculating a behavior value indicating the behavior of the drive device, wherein the simulator receives the behavior value calculated by the model as input and performs the control run the program and
collecting means (130) for collecting said behavior values when said simulation is running;
The information processing apparatus according to configuration 2, further comprising means for outputting the behavior value (G5) collected by the collecting means and the target behavior value (G4) in association with the behavior value.
[Configuration 4]
adjusting means (123) for outputting guide information (96) for adjusting the control parameter or the model parameter based on the magnitude of the difference between the collected behavior value and the target behavior value; The information processing apparatus according to configuration 3, further comprising:
[Configuration 5]
The information processing apparatus according to configuration 4, wherein the guide information includes an identifier of a parameter to be adjusted and an adjustment amount of the parameter that reduces the difference.
[Configuration 6]
Adjustment processing for adjusting the control parameter set in the control program or the model parameter set in the model based on the parameter to be adjusted and the adjustment amount of the parameter designated by the user operation (S12) The information processing apparatus according to configuration 5, which implements
[Configuration 7]
The information processing apparatus according to configuration 6, wherein the simulator executes the simulation each time the adjustment process is performed until the difference converges to a predetermined value.
[Configuration 8]
a step (S1) of receiving a user operation;
A control program in which control parameters based on a method of controlling the driving device specified by the user operation are set in one or more program elements for controlling the driving device that drives the controlled object specified by the user operation. a step (S3, S5, S10) of creating
a step (S13) of managing the control program created in the creating step by associating it with a model for calculating the behavior of the drive device corresponding to the controlled object designated by the user operation (S13); ,Method.
[Configuration 9]
A program for causing a processor (102) to perform the method according to configuration 8.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

1 information processing system, 10 information processing device, 15 control program, 16 model, 16A model parameter, 16B basic model, 17 pair, 18 builder, 19 user setting, 19a controlled object, 19b setting, 19c control method, 20 development support Tool, 20A, 20B, 152 control parameter, 21 simulator, 22 control program creation tool, 23 control parameter setting unit, 24 model creation tool, 25 model parameter setting unit, 26 linking unit, 27 visualizer, 402 trigger, 50 FA system , 51 controller, 55 drive device, 56, 410 servo motor, 60 first collection unit, 62, 63 PID calculation, 64, 67, D1, D2, Y behavior value, 66, 69 command value, 81 mechanical parameter, 82 physics Parameter, 91, 92, 93 area, 94, 95, 96 button, 102 processor, 103 guide information, 104 main memory, 105 virtual space information, 106 operation unit, 108 output unit, 109 display, 111 storage, 114 recording medium, 119 virtual time generation program, 120 controller emulator, 121 development support program, 122 virtual time generator, 123 adjustment tool, 124 actuator emulator, 125 screen, 126 simulation program, 130 second collection unit, 131 calculation unit, 132 adjustment program, 134 Management program, 135 visualizer program, 136 drawing data, 138 FB set, 139 CAD set, 141 adjustment amount determination unit, 142 adjustment execution unit, 143 output unit, 400 packaging machine, 401 measurement value, 406 cutting mechanism, 408 sensor, 411 Encoder, 412 packaging material, 414 work, 416 rotary knife, 418 individual package, 500A, 500B servo driver, 741 arithmetic formula, 1342 adjustment amount, D3 difference, G4, G5 graph, 1381, 1391 target ID, TR target.

Claims (9)

An information processing device,
an operation reception unit that receives a user operation on the information processing device;
storage means for storing, for each of a plurality of controlled objects, one or more program elements for controlling driving devices that drive the controlled objects;
retrieving the one or more program elements corresponding to the control target designated by the user operation from the storage means, and controlling the drive device designated by the user operation in the retrieved one or more program elements; A program creation means for creating a control program by setting control parameters based on the method of
and a management unit that manages the control program created by the program creation unit by associating it with a model for calculating the behavior of the drive device to be controlled designated by the user operation. 2. The information processing apparatus according to claim 1, further comprising model creation means for setting, in said model, model parameters based on the mechanical characteristics or physical characteristics of said driving device set by said user operation. further comprising a simulator that executes a simulation for calculating the behavior of the drive device and the controller that controls the drive device,
The simulation is
a process of executing the control program and outputting a command value for controlling the drive equipment;
a process of executing the model with the command value as an input and calculating a behavior value indicating the behavior of the drive device, wherein the simulator executes the control program with the behavior value calculated by the model as an input. death,
collecting means for collecting the behavior values when the simulation is running;
3. The information processing apparatus according to claim 2, further comprising means for outputting the behavior value collected by said collection means and a target behavior value in association with said behavior value. 4. Further comprising adjusting means for outputting guide information for adjusting the control parameter or the model parameter based on the magnitude of the difference between the collected behavior value and the target behavior value. The information processing device according to . 5. The information processing apparatus according to claim 4, wherein said guide information includes an identifier of a parameter to be adjusted and an adjustment amount of said parameter that reduces said difference. performing adjustment processing for adjusting the control parameter set in the control program or the model parameter set in the model based on the parameter to be adjusted and the adjustment amount of the parameter specified by the user operation 6. The information processing apparatus according to claim 5. 7. The information processing apparatus according to claim 6, wherein said simulator executes said simulation each time said adjustment process is performed until said difference converges to a predetermined value. receiving a user operation;
A control program in which control parameters based on a method of controlling the driving device specified by the user operation are set in one or more program elements for controlling the driving device that drives the controlled object specified by the user operation. creating a
and managing the control program created in the creating step by associating it with a model for calculating the behavior of the drive device corresponding to the controlled object designated by the user operation. A program for causing a processor to execute the method according to claim 8.

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