JP6419323B2 - Multi-axis mechanical device simulator, operation command device design support device, motor control device design support device, and motor capacity selection device - Google Patents

Description

  The present invention relates to a multi-axis mechanical device simulator that simulates the operation of a multi-axis mechanical device having a plurality of drive shafts driven by an electric motor, an operation command device design support device, an electric motor control device design support device, and an electric motor capacity selection. Relates to the device.

  In a semiconductor manufacturing apparatus, machine tool, or industrial robot, a multi-axis mechanical apparatus that cooperatively drives a plurality of drive axes in order to control the position, posture, and force of the apparatus tip that interacts with an object to be processed with high accuracy and high quality There are many.

  The driving force required for each axis varies in a complex manner depending on the position, speed, acceleration, and external force at the tip of the device, so in order to calculate the required motor capacity, a simulation that simulates the dynamic characteristics of the mechanical device is performed. It was necessary to carry out.

  In a machine simulator that facilitates simulation that takes into account the dynamic characteristics of a conventional multi-axis machine, an element model expressed by a mathematical expression is stored as a library for each component of the multi-axis machine, and the user can use the machine model. By simply setting the connection relationship between the components and the physical parameters for each component, it is possible to build a simulation model that simulates the dynamic characteristics of the entire machine, so that users can quickly write mathematical formulas. In some cases, modeling and simulation of mechanical devices can be performed.

  In addition, the motor control device can be selected without imposing a burden on the user, the operation can be simulated, and parameters can be set in accordance with the usage application according to the conditions used when selecting the motor control device. Patent Document 1 discloses that the selection of motor control devices and parameter adjustment can be performed collectively.

  In addition, in the machine selection device and device selection processing method for multi-axis machines, peripheral devices including motors and motor control devices suitable for each driven mechanism are selected while taking into account variations in the load mass borne by each driven mechanism. This is disclosed in Patent Document 2.

JP 2010-187464 A International Publication No. 2014/055422

  Since the conventional machine simulator has fixed input / output settings, a machine model with input / output settings suitable for a certain application cannot be applied to simulations for other applications.

  Further, the invention of Patent Document 1 does not particularly take into consideration the selection of a multi-axis machine in which a plurality of drive shafts cooperate.

  In addition, the invention of Patent Document 2 does not consider the influence that a plurality of drive shafts are subjected to interference force or reaction force such as Coriolis force by mutual movement, and outputs an incorrect selection result to a multi-axis machine. There was a case.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a multi-axis machine simulator that can simulate a multi-axis machine using a model of input / output setting suitable for the application.

In order to solve the above-described problems and achieve the object, the present invention has an element library that holds an element model that expresses characteristics of machine elements constituting a machine apparatus by mathematical expressions. The present invention further includes connection information setting means for arranging element models from the element library and inputting connection information indicating a connection relationship between the element models. The present invention also includes physical parameter setting means for setting physical parameters for each element model. The present invention also has application setting means for setting a simulation application. In addition, the present invention includes a model input / output setting holding unit that outputs an input / output setting indicating an input / output relationship of an individual simulation model based on a simulation application. Further, the present invention has input and output setting, and elements model, and connection information, and a physical parameter, the simulation model construction means for constructing a discrete simulation model simulating the kinematics and dynamics characteristics of the machinery. In addition, the present invention includes control target selection means for selecting a control target. In addition, the present invention includes a model combining unit that outputs a composite simulation model in which at least one individual simulation model is connected based on input / output settings. In addition, the present invention includes a simulation execution unit that executes a simulation of a control target using a composite simulation model. The present invention also has a simulation result display means for displaying a simulation result.

  The multi-axis mechanical device simulator according to the present invention has an effect that the multi-axis mechanical device can be simulated using an input / output setting model suitable for the application.

Configuration diagram of a multi-axis machine simulator according to the first embodiment of the present invention. The figure which shows the structure of the computer applied to the multi-axis mechanical apparatus simulator concerning Embodiment 1. FIG. The figure which shows the structure of the apparatus provided with the multi-axis mechanical apparatus simulator concerning Embodiment 1. FIG. Schematic diagram of mechanism of biaxial manipulator displayed on three-dimensional shape display means of multi-axis mechanical apparatus simulator according to first embodiment A flowchart showing a flow of operations of the multi-axis machine simulator according to the first embodiment. The figure which shows the list of the machine elements hold | maintained at the machine element library of the multi-axis machine apparatus simulator concerning Embodiment 1. FIG. The figure which shows the example of a setting of the connection information by the connection information setting means of the multi-axis machine apparatus simulator concerning Embodiment 1. FIG. The figure which shows an example of the physical parameter setting means of the machine element of the multi-axis machine apparatus simulator concerning Embodiment 1. The figure which shows an example of the three-dimensional shape display means of the multi-axis mechanical apparatus simulator concerning Embodiment 1. FIG. The figure which shows the list of the applications which the simulation application selection means provides in the multi-axis machine simulator according to the first embodiment. The figure which showed the individual simulation model and connection relation which the multi-axis mechanical apparatus simulator concerning Embodiment 1 uses for detailed capacity | capacitance selection The figure which shows the structure of the multi-axis mechanical apparatus simulator concerning Embodiment 2 of this invention. Flowchart showing the flow of operation of the multi-axis machine simulator according to the second embodiment.

  Hereinafter, a multi-axis mechanical device simulator, an operation command device design support device, a motor control device design support device, and a motor capacity selection device according to an embodiment of 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 configuration diagram of a multi-axis machine simulator according to the first embodiment of the present invention. A multi-axis machine simulator 1 that simulates the operation of a multi-axis machine is a machine element library 10 that holds an element model that expresses characteristics of machine elements constituting the multi-axis machine by a mathematical expression, and a plurality of machine elements selected from the machine element library 10. Connection information setting means 11 for setting connection information between machine element models, physical parameter setting means 13 for setting element-specific physical parameters, an element model, connection information, and physical parameters. A simulation for constructing an individual simulation model simulating the kinematics and mechanical characteristics of a mechanical device from the original three-dimensional shape display means 14, input / output settings, machine element model formulas, connection information, and physical parameters Model construction means 15, control object selection means 16 for selecting a control object, time series pattern of the selected control object A control pattern input unit 17 for inputting a simulation, a simulation application specifying unit 18 for specifying a simulation application to be executed, a simulation executing unit 19 for executing a composite simulation model, a simulation result display unit 20 for displaying a simulation result according to the simulation application, A model input / output setting holding unit 21 that outputs an input / output setting corresponding to the application and a model combining unit 22 that outputs a combined simulation model based on the simulation application and the input / output setting are provided.

  Examples of physical parameters can include the dimensions, stiffness, spring constant and viscosity constant of the machine element model. As an example of the control target, any one of the position, speed, and acceleration of at least one machine element can be given.

  When a simulation suitable for the application can be performed with one individual simulation model, one individual simulation model input from the simulation model construction unit 15 to the model combination unit 22 becomes a composite simulation model as it is.

  FIG. 2 is a diagram illustrating a configuration of a computer applied to the multi-axis machine simulator according to the first embodiment. The computer 36 includes an arithmetic device 361 that executes a program, a memory 362 that the arithmetic device 361 uses as a work area, a nonvolatile memory 363 that stores firmware, a storage device 364 that stores information, and an input for information input A device 365 and a display device 366 for displaying information are provided. A CPU (Central Processing Unit) can be applied to the arithmetic device 361. A RAM (Random Access Memory) can be applied to the memory 362. As the nonvolatile memory 363, a flash memory can be applied. The storage device 364 can be a hard disk drive or a solid state drive. A keyboard and a mouse can be applied to the input device 365. A liquid crystal display device can be used as the display device 366.

  The machine element library 10 and the model input / output setting holding unit 21 illustrated in FIG. 1 are realized by the storage device 364. 1, the connection information setting unit 11, the physical parameter setting unit 13, the simulation model construction unit 15, the model combination unit 22, and the simulation execution unit 19 execute the simulation software 367 by using the memory 362 as a work area. It is realized by doing. The connection information setting unit 11, physical parameter setting unit 13, control target selection unit 16, simulation application designation unit 18, and control pattern input unit 17 shown in FIG. It is executed by accepting an operation performed through. The three-dimensional shape display means 14 and the simulation result display means 20 shown in FIG. 1 are realized by causing the display device 366 to display information on the calculation device 361 that has executed the simulation software 367.

  FIG. 3 is a diagram illustrating a configuration of an apparatus including the multi-axis mechanical apparatus simulator according to the first embodiment. The device 34 includes a motor 31 having a drive shaft, a motor control device 32 that controls the motor 31, an operation command device 33 that generates a command to the drive shaft, and a computer 36 on which the multi-axis machine simulator 1 is mounted. The device 34 is an operation command device design support device, a motor control device design support device, or a motor capacity selection device. When the device 34 includes the multi-axis machine simulator 1, the design of the operation command device of the multi-axis machine device based on the simulation result of the multi-axis machine device using the input / output setting model suitable for the application, the electric motor It is easy to design the controller and select the motor capacity.

  Next, the operation of the multi-axis machine simulator according to the first embodiment will be described by taking as an example the case where the multi-axis machine is a biaxial manipulator. FIG. 4 is a schematic diagram of the mechanism of the biaxial manipulator displayed on the three-dimensional shape display means of the multi-axis machine simulator according to the first embodiment. The first link 42 fixed to the base 41 is rotationally driven by the rotation shaft of the first electric motor 43 via the first reduction gear and the coupling. Further, the second link 44 fixed to the front end of the first link 42 is rotationally driven by the second electric motor 45 fixed to the front end of the first link 42 via the second reduction gear and the coupling. By controlling the position of the shaft angle θ1 of the first motor 43 and the shaft angle θ2 of the second motor 45, the horizontal position of the tip of the second link 44 is controlled. The first reduction gear, the second reduction gear, and the coupling are not displayed on the three-dimensional shape display means 14 because they are arranged inside the first link 42 or the second link 44.

  FIG. 5 is a flowchart of an operation flow of the multi-axis machine simulator according to the first embodiment. In the step of selecting machine elements in step S101 and inputting connection information between machine elements, machine elements are selected and arranged from the machine element library 10 using the connection information setting means 11, and each machine is connected by the connection information setting means 11. Set connection information between elements. The mechanical elements arranged here are the base 41, the first link 42, the second link 44, the rotating shaft of the first electric motor 43, and the rotating shaft of the second electric motor 45.

  FIG. 6 is a diagram illustrating a list of machine elements held in the machine element library of the multi-axis machine simulator according to the first embodiment. The rigid element group 100 models a frame, a support member, a link member, and the like of a mechanical device. In addition to a rectangular parallelepiped 101 model, a cone model 102, a cylinder model 104, and a sphere model 105 having a specific shape, a plane shape is designated. A polygon model 106 that designates a three-dimensional shape by extrusion and a CAD 107 that can import dimensions and shapes from a two-dimensional or three-dimensional CAD (Computer Aided Design) drawing are included. The joint element group 110 includes a rotary joint 111, a linear motion joint 112, and a cardan joint 113 that determine the degree of freedom of the apparatus. The electric motor element group 120 includes a rotary electric motor model 121 and a direct acting electric motor model 122 that drive the joint element group 110. The transmission element group 130 includes a coupling model 131, a reduction gear model 132, a ball screw model 133, a belt model 134, and a crank mechanism model 135 that connect and convert the driving force of the electric motor to the mechanical elements. The sensor element group 140 includes a kinematic sensor model 141 that measures any one of the position, velocity, acceleration, angle or orientation, angular velocity, and angular acceleration of a machine element, and a mechanical sensor that measures force, torque, and moment acting on the machine element. Model 142 is included. The command input group 150 includes a command input element 151 for inputting a driving pattern indicated by the position, velocity and acceleration of the rigid body element and the angle and position of the joint element. The signal processing element group 160 includes four arithmetic operations 161, a trigonometric function 162, and a PID (Proportional Integral Derivative) operation 163 so that an operation instruction for the apparatus and an operation instruction program for the motor can be constructed on the simulator.

  FIG. 7 is a diagram illustrating an example of setting connection information by the connection information setting unit of the multi-axis machine simulator according to the first embodiment. The base 41, the first link 42, and the second link 44 shown in FIG. 4 are all represented by rectangular parallelepiped models 01a, 101b, and 101c in FIG. The rotary motor model 121a is connected to the drive input connection point of the rotary joint 111a via the speed reducer model 132a and the coupling model 131a, and constitutes a drive mechanism for the first link 42 indicated by the rectangular parallelepiped model 101b. Similarly, the rotary motor model 121b is connected to the drive input connection point of the rotary joint 111b via the speed reducer model 132b and the coupling model 131b, and constitutes the drive mechanism of the second link 44 indicated by the rectangular parallelepiped model 101c. . The rotary joints 111a and 111b have a fixed-side connection point and a rotary-side connection point, and freely couple the rigid elements connected to both connection points. The rotary joints 111a and 111b are passive joints when the rotary motor model 121 is not connected to the drive input connection point described above. A dynamic sensor model 142a is connected to the rectangular parallelepiped model 101c.

  In the step of setting the physical parameters of the machine element in step S102, the physical parameters of the machine elements arranged and connected in step S101 are set through the physical parameter setting means 13. Specific examples of the physical parameters to be set are the size, mass, rigidity, and viscous friction of the machine element.

  FIG. 8 is a diagram illustrating an example of the physical parameter setting unit of the machine element of the multi-axis machine simulator according to the first embodiment. When a parameter input target is selected by the connection information setting unit 11 shown in FIG. 1, parameter input items corresponding to the element model are displayed on the physical parameter setting unit 13 shown in FIG. 8 and can be edited. FIG. 9 is a diagram illustrating an example of a three-dimensional shape display unit of the multi-axis mechanical device simulator according to the first embodiment. The element model is displayed on the three-dimensional shape display means 14 as shown in FIG. 9, and the items relating to the arrangement and shape of the input connection information and physical parameters are immediately reflected in the three-dimensional display. Physical parameters can be set while checking.

  In the step of selecting a physical quantity of at least one machine element to be controlled in step S103, the control object targeted by the machine device having the machine configuration input in steps S101 and S102 is designated through the control object selection means 16. In a multi-axis machine, the position and speed of a specific machine element may be controlled by operating each drive axis in a coordinated manner. In the first embodiment, the machine element to be controlled is selected by calling the control object selection unit 16 in a state where the machine element to be controlled is selected by the connection information setting unit 11 or the three-dimensional shape display unit 14. If the controlled object is a position or speed, detailed specifications such as an offset position from the center of the machine element and reference coordinates are set as appropriate. Note that examples of detailed specifications may include machine element center coordinates and absolute coordinates.

  In the step of designating the simulation application in step S104, the application which is the purpose to be studied in the multi-axis machine having the configuration input up to step S103 is selected through the simulation application designating means 18. FIG. 10 is a diagram illustrating a list of applications provided by the simulation application selection unit in the multi-axis machine simulator according to the first embodiment. Applications include axis command generation, axis command interference check, movable range calculation, simple capacity selection, detailed capacity selection, feedforward driving force calculation, equivalent inertia calculation and equivalent shaft load calculation.

  In the step of constructing the simulation model in step S105, the input / output of the machine configuration is changed by symbolically processing the connection information between the machine elements and the mathematical expression indicating the physical characteristics based on the simulation application set in step S104. Individual simulation models are generated, and the individual simulation models are combined to construct a composite simulation model suitable for the simulation application.

  Here, the detailed operation of step S105 will be described by taking as an example the case where the detailed capacity selection is selected for the simulation application. When detailed capacity selection is selected for the simulation application, a simulation model of the motor controller and a dynamic characteristic model of the mechanical device taking into account the control gain and dead time of the feedback control system of the position, speed and current of the motor controller It is necessary to perform combined coupled simulation.

  In addition, when the simulation target is a multi-axis machine device and the control target selected in step S103 is different from the motor shaft position such as the machine device tip position, the device tip position cannot be controlled unless a plurality of axes are coordinated. An operation command device is provided above the motor controller, and an inverse kinematic calculation for converting the tip position and posture into the shaft angle of each motor shaft is required. Further, when the equivalent inertia applied to each axis changes depending on the position and orientation of the control target, overshoot occurs due to overcompensation or undercompensation unless the inertia compensation gain of the speed feedback control system is corrected. Furthermore, when the gravity load, the reaction force between the axes, or the Coriolis force greatly changes depending on the tip position and posture, the required driving force for the shaft is obtained from the tip position and posture by inverse dynamics calculation, and the obtained driving force is fed. It is necessary to add to the driving force command of the motor control device by forward. Generally, in order to make the actual axis position follow the axis command, it is sufficient to increase the gain of the feedback control system and increase the response band of the control system, but the mechanical device has a resonance frequency and cannot increase the response band. This is because there is a limit to increase in the response band due to the limitation of the performance and the performance of the motor control device, so that the control specification may not be achieved only by the feedback control system.

  FIG. 11 is a diagram illustrating an individual simulation model used by the multi-axis mechanical device simulator according to the first embodiment for selecting a detailed capacity and a connection relationship thereof. FIG. 11 shows an inverse kinematic model 51 for calculating each axis position command from the tip position, an inverse dynamics model 52 for calculating a feedforward driving force command for each axis from the tip position, velocity and acceleration, and each axis equivalent from the tip position. An equivalent inertia model 53 that calculates inertia, an operation model 54 of an electric motor controller that calculates a driving force applied to a drive shaft of a mechanical device from an axis position command, a forward dynamics model 55 that calculates a tip position from the driving force, and these The connection relationship is shown. In the detailed capacity selection, all or a part of these individual simulation models are used to select the capacity of the motor and the motor control device and set the control parameters.

  The model input / output setting holding unit 21 shown in FIG. 1 holds one or more individual simulation model input / output settings required for each simulation application, and the model is set for each individual simulation model according to the selected simulation application. Outputs the input / output settings of. In the detailed capacity selection application of the first embodiment, the input variable of the inverse kinematic model is the tip position, and the output variable is the angle of each axis. In the forward dynamics model, the input variable is the driving force for each axis, and the output variables are the tip position, velocity, and acceleration. In the inverse dynamics model, the input variable is the tip position, velocity, and acceleration, and the output variable is the driving force for each axis. In the equivalent inertia model, the input variable is the angle of each axis, and the output variable is the equivalent inertia of each axis.

  The simulation model construction means 15 shown in FIG. 1 includes one or more model input / output settings output from the model input / output setting holding means 21, connection information between machine elements input up to step S104, physical parameter settings, The necessary simulation model is derived from the control target setting by symbolic mathematical processing.

  The symbolic mathematical expression processing used for the simulation model construction in the first embodiment will be described using the derivation of the simulation model of the inverse kinematic model. As described above, each machine element model stores, for each element, the relational expression and physical characteristics at the connection point in the form of an equation that can be mathematically processed. Here, mathematical expression processing represents a constant or variable of a mathematical expression as a symbol, and refers to processing for obtaining an exact solution of the mathematical expression by applying differentiation processing, integration processing, or trigonometric function to the symbol. In a general control simulator, the input / output of the element model is fixed, and an inverse function that reverses the input / output cannot be obtained. Also, when building the entire simulation model by connecting the input and output of the element model, an algebraic loop occurs when the output of a certain element model is connected to its own input, and the simulation model is described by differential algebraic equations Therefore, it is necessary to find the solution of the equation by convergence calculation, and the calculation time is increased.

  On the other hand, in the case of a machine simulator that holds an element model in the form of an equation capable of symbolic mathematical processing, the relational expression at the connection point and the physical characteristics unique to the element model are defined for each connection point of the element model. Formulas are generated based on the relational expressions, and all formulas representing physical characteristics unique to the element model are collected, and an equation group expressing the physical characteristics of the entire apparatus is constructed. In order to perform a simulation of a mechanical device, the machine simulator needs to be converted from an equation to a differential equation system having time dependency and input / output relation. The input variable is the shaft driving force in the simulation of a normal machine device, and the machine simulator derives the input / output relationship with the position and speed state variables of each machine element from the input variable, the dependency between equations by mathematical processing, Furthermore, the equation group is converted into a differential equation system. Normally, the differential equation system of mechanical devices derived by mathematical processing is an algebraic differential equation system, but in many cases ordinary differentials that do not require convergence operation from the algebraic differential equation system by performing mathematical processing such as differentiation It can be converted into an equation system, and rapid modeling of a multi-axis mechanical device having a complicated mechanism and simulation execution at a high speed are possible.

  However, many of the machine simulators that can derive a simulation model of a mechanical device by the mathematical processing described above set the shaft driving force as an input variable, and when considering other than forward dynamics calculation, position and speed constraints When setting special conditions by connecting special elements to joint elements, or when investigating multiple individual simulation models, change the configuration of the original model for each individual simulation model and set the input / output settings. It is necessary to create a model with different parameters and connect the inputs and outputs of these models. In a multi-axis machine with a large number of axes, the number of changed parts increases, causing erroneous settings.

  The simulation model construction means 15 of the multi-axis machine simulator according to the first embodiment changes only the input / output settings for the same machine configuration based on the model input / output settings, and outputs an individual simulation model by mathematical expression processing. In the individual simulation model output, operations unnecessary for output calculation are automatically excluded at the mathematical expression processing stage. For example, in inverse kinematics calculation, only the kinematic relationship between the tip position and the shaft angle is required, so forward dynamics calculation is not necessary. An inverse kinematics simulation model that performs necessary arithmetic processing can be output by searching for and removing an equation including a time relationship by such mathematical processing. Also, if inverse kinematics cannot be obtained analytically, a Jacobian matrix that represents a minute change in the tip position with respect to a minute change in the shaft angle is obtained by similar mathematical processing, and a convergence calculation is performed using both forward dynamics and the Jacobian matrix. Thus, a known method for deriving a shaft angle command to the target position may be applied.

  Next, the model combining means 22 shown in FIG. 1 outputs a composite simulation model in which individual simulation models are connected based on the inter-model connection setting and the model input / output setting. In the detailed capacity selection of the multi-axis machine simulator according to the first embodiment, since the selected control target is the tip position, the position command is connected to the input of the inverse kinematic model. The axis command which is the output of the inverse kinematic model is connected to the command input of each motor control model, and the driving force which is the output of each motor control model is connected to the driving force input of the forward dynamic model. Further, when selecting the capacity of the motor and the motor controller in consideration of feedforward control and load fluctuation or adjusting the control parameters, the position command is input to the inverse dynamic model and the equivalent inertia model. In the inverse kinematics model, the velocity and acceleration of the tip position are also required, so the velocity and acceleration are input by the added differential calculation block. At the time of setting a control pattern in step S106 described later, a command including speed and acceleration in addition to the position may be given. The feedforward driving force that is the output of the inverse dynamic model and the equivalent inertia of each axis that is the output of the equivalent inertia model are respectively connected to the feedforward command input and the equivalent inertia compensation gain input of each motor controller model. Note that the inverse dynamics model and equivalent inertial model may be configured to enable or disable the output by setting means (not shown) of the composite simulation model, and include the individual simulation model when setting the simulation application. You may set so that there is no. Also, when selecting an application, do not use some models such as inverse kinematics calculations, but use them with existing machinery using models implemented using machine simulator signal processing elements or machine simulator import functions. It may be set to use a model incorporating the inverse kinematics operation. When set in this way, it is possible to adjust control parameters when an existing command calculation process is applied to a mechanical device.

  In the step of inputting the control pattern in step S106, the control pattern to be controlled for the application set in step S104 is input. The control pattern may be given a parameter of a specific shape by setting time series data, or may be input by reading data created using an external tool and stored on a computer. Examples of the specific shape parameter include a trapezoidal waveform, a triangular wave, and an S-shaped waveform. Further, when the position is given by a control pattern, S-shaped acceleration / deceleration may be applied so that the speed and acceleration are smooth.

  In the step of executing the simulation of step S107, the created composite simulation model is executed, and the simulation result is displayed on the simulation result display means 20 based on the simulation application.

  In the detailed capacity selection of the multi-axis mechanical device simulator according to the first embodiment, the maximum torque, effective torque and maximum rotation speed with respect to the tip position command are displayed, and the control parameters of the motor control device such as the overshoot amount and settling time and The control index affected by the control method is displayed. Also, the shaft speed and driving force output by the inverse kinematic model and the inverse dynamic model are respectively compared with the specifications of the motor model selected in step S101 according to the internal parameters, and the control in which any item is input. When there is a shortage with respect to the pattern, a shortage item is displayed and a motor model that is a recommended model satisfying the specifications is displayed.

  In the first embodiment, when the simple capacity selection for the composite simulation is specified, an inverse dynamics model is created as a composite simulation model in which the tip command is input and the shaft driving force and shaft angle are output. The result display means 20 displays the shaft driving force and the rotational speed, which are the outputs of the inverse dynamic model, together with the motor model that satisfies the specifications. Accordingly, first, the motor may be selected without considering the control setting of the motor control device by simple capacity selection, and the control parameter of the motor control device may be set by detailed capacity selection using the selected motor model. Further, when the detailed capacity selection is performed, the detailed capacity selection simulation may be repeated until an electric motor satisfying the required specifications is found.

  As described above, according to the first embodiment, in a multi-axis machine simulator capable of mathematical expression processing, an element model is selected, connection information between element models is set, and physical parameters for each element model are set. It is possible to select a control target, set a simulation application, input a control pattern, build an input / output setting simulation model suitable for the application, and output an execution result.

  According to the first embodiment, by specifying connection information between machine elements of a multi-axis machine device, physical parameters for each machine element, position, speed and acceleration of the machine element to be controlled by the apparatus, and a simulation application. , Simulation models necessary for mechanism design of multi-axis machinery, axis command generation, selection of motors and motor control devices, control parameter adjustment and control method selection can be output without changing the settings of multiple axes Therefore, a simulation model capable of accurately simulating complicated kinematic characteristics and mechanical characteristics can be easily obtained even in a multi-axis machine apparatus having a large number of axes.

  Further, according to the first embodiment, since the multi-axis machine simulator is incorporated in the design support device or the control device of the control device, the control pattern generation of multiple axes and the Coriolis force and reaction force are selected in the capacity selection of the multi-axis machine. It is possible to easily calculate the required shaft driving force in consideration.

  According to the first embodiment, since a simulation model suitable for the application can be constructed on the computer and the simulation can be executed, the work of actually creating a test device is not necessary. Therefore, compared with the case where a test device is created and a test is performed, the energy consumption and the man-hours can be reduced, and the environmental load in the product life cycle can be reduced.

Embodiment 2.
FIG. 12 is a diagram showing a configuration of a multi-axis machine simulator according to the second embodiment of the present invention. The multi-axis mechanical device simulator 201 according to the second embodiment has a coordinate system of a host controller (not shown) that generates an operation command for the multi-axis mechanical device with respect to the multi-axis mechanical device simulator 1 according to the first embodiment. Based on this, the orientation and arrangement of the multi-axis machine device displayed by the three-dimensional shape display means 14 are changed, and the machine tip position which is an operation command or output which is an input of an individual simulation model output by the simulation model construction means 15 A coordinate system selection means 23 for outputting a coordinate conversion setting for mutual conversion between the coordinates of the host control device and the coordinates of the mechanical device, a control parameter setting means 24 for setting a control parameter of the operation command device or the motor control device, and a simulation model Execution code that outputs the execution code that operates on the operation command device or motor control device The transmission means 25, the transmission confirmation means 26 for confirming the transmission intention and transmission form of the simulation model based on the input of the user, and the simulation model is technically supported by performing the encryption processing as necessary based on the transmission intention and the transmission form. The transmission means 27 for transmitting to the server is added.

  Further, the coordinate system selection unit 23 controls the control parameter based on the selected motor output to the simulation result display unit 20 and the coordinate conversion setting when the simulation application selected by the simulation application specifying unit 18 is capacity selection. Are output to the control parameter setting means 24.

  In the coordinate system selection unit 23, the control parameter setting unit 24, the execution code output unit 25, the transmission confirmation unit 26, and the transmission unit 27 shown in FIG. 12, the arithmetic unit 361 executes the simulation software 367 using the memory 362 as a work area. Is realized.

  FIG. 13 is a flowchart of an operation flow of the multi-axis machine simulator according to the second embodiment. Compared with the operation of the multi-axis machine simulator according to the first embodiment, the operation is different in that step S103a and steps S108 to S111 are added.

  In the step of selecting the coordinate system of the host command device in step S103a, the coordinate system selection means 23 selects the coordinate system of the operation command to be given to the command target selected in step S103.

  A multi-axis machine used for positioning or machining in a three-dimensional space is a command input of operation commands generated by a host command device (not shown) that controls the host process, such as a host process, production process, or factory line. However, if the command input coordinate system is different from the coordinate system of the multi-axis machine device, the command input and the tip position as the control result are exchanged between the host command device and the multi-axis machine device. Coordinate conversion is required to match the coordinates of. In the multi-axis machine simulator 201 according to the second embodiment shown in FIG. 12, the coordinate system selection unit 23 is called from the three-dimensional shape display unit 14, and the coordinate system of the higher order command device is an orthogonal coordinate of the multi-axis machine device. It is given as the rotation angle for the system.

  In the step of setting the control parameter of the motor control device or the operation command device in step S108, the control parameter setting means 24 uses the coordinate system of the higher order command device selected in step S103a and the detailed capacity in the simulation application designation means 18 in step S104. Based on the motor model displayed in step S107 when selection is selected, control parameters of the motor control device or the operation command device are set.

When the motor control device is incorporated into the drive shaft of the machine device, the mounting position is limited by the shape and design constraints of the motor control device, and the polarity of the drive shaft of the machine device and the polarity of the motor shaft forward and backward are different. It may be reversed. Further, there is a case where the polarity will not match even by connection to the transmission mechanism shown by the coupling model 131, the ball screw model 133 or decelerator model 132 belonging to the transfer element groups 130 in addition to the polarity of the motor itself.

  On the other hand, some operation command devices for multi-axis mechanical devices have control parameters for converting the coordinate system of the operation command or inverting the polarity of the operation command positive direction. Some motor control devices have control parameters that reverse the polarity of the motor's axis command positive direction and axis feedback positive direction.

  In step S108, the control parameter setting means 24 determines the axis based on the upper coordinate system selected in step S103a and the motor and motor control device selected in step S107 when the detailed capacity selection is selected for simulation use in step S102. Determine whether polarity reversal is required, and if reversal of shaft polarity is required, control parameters of at least one of the coordinate system of the motor control device or operation command device, the axis command positive direction, the command positive direction, and the axis feedback direction. The setting means 24 is used for setting so that the drive shaft of the multi-axis machine device and the shaft of the motor are in the positive direction.

  In the second embodiment, the parameters of the operation command device or the motor control device are set using the control parameter setting means 24, but the setting contents may be stored as electronic data.

  In step S109 for outputting the execution code of the operation command device or the motor control device, the execution code output means 25 operates on the operation command device or the motor control device based on the individual simulation model or the composite simulation model generated in step S105. Output the execution code. The execution code output means 25 generates C code using an existing C code automatic generation tool or the like, and the execution code itself uses a C compiler attached to the development environment of the operation command device or the motor control device. Alternatively, a code generation tool specialized for the operation command device or the motor control device may be used. At this time, based on the coordinate system of the higher order command device selected in step S103a or the motor and motor control device selected in step S107, the execution code is set so that the polarities of the higher order command device, the operation command device, and the motor control device match. Is output.

  In step S110 for confirming transmission of the output model, the transmission confirmation means 26 determines whether to transmit the individual simulation model or the combined simulation model output in step S105 to the server managed by the manufacturer of the operation command device or the motor control device. Check.

  Specifically, in step S110, the transmission confirmation unit 26 confirms whether to send the individual simulation model or the composite simulation model output in step S105 to a server managed by the technical support of the motor control device selected in step S107. . In the second embodiment, the model to be sent is a forward dynamics model that outputs the machine tip position from the axis output of the individual model, and when the user selects sending, it is usually saved as debug information in the output model. , The transmission details setting such as whether the connection information of the mechanism element set in S102 or its physical parameter setting is removed, or further, the encryption processing for preventing the analysis of the output model is executed.

  In step S111, the transmission unit 27 transmits the model to a server managed by the technical support of the motor control device when transmission of the output model is selected in step S110. The transmission unit 27 removes unnecessary information from the output model based on the detailed transmission settings set by the transmission confirmation unit 26, performs encryption processing if necessary, and outputs it to a server managed by the technical support of the motor control device. Send the model.

  In the multi-axis machine simulator 201 according to the second embodiment, a machine that combines the constructed simulation model of the multi-axis machine and the motor control device and the motor simulation model provided by the manufacturer of the motor and the motor control device. By conducting the electrical coupled simulation, it is possible to perform prior verification considering the performance of the motor control device before actually manufacturing the device.

  On the other hand, there are a wide variety of setting parameters for the motor control device, and there are cases where the designer of the motor control device and a field engineer substitute the parameter setting for a special control function with a free or paid service. By providing the transmission unit 27, the axis machine simulator 201 can use a proxy setting service.

  The multi-axis machine simulator 201 according to the second embodiment includes an execution code for calculating the axis command generation or the feedforward axis command generation of the motor control device, the coordinate system of the host control device, the axial direction of the motor and the motor control device, and It is possible to output from the simulation model based on the command direction, and control parameters can be set so that the axis polarity of the operation command device or the motor control device matches, so the motor's axial direction and the coordinate system at the tip of the device are the upper control system Execution code that does not malfunction even if it is different from can be output.

  In addition, a manufacturer or user of a mechanical device can create a simulation model of a mechanical device that can sufficiently simulate the dynamic characteristics of the mechanical device without disclosing the detailed structure and configuration of the device to the manufacturer of the operation command device or the motor control device. Since it can be sent to the manufacturer of the control device, the manufacturer of the control device uses the simulation model of the motor, the motor control device, and the simulation model of the machine device to select the control method that optimizes the control performance and to set the control parameter value. It becomes possible.

  As described above, according to the second embodiment, the execution code for calculating the axis command generation or the feedforward axis command generation of the motor control device is the coordinate system of the host control device, the axial direction of the motor or control device, or the motor or control. Since it is possible to output from the simulation model based on the command direction of the apparatus, it is possible to output an execution code that does not malfunction even when the axial direction of the motor or the coordinate system at the tip of the apparatus is different from the host control system.

  Furthermore, according to the second embodiment, the manufacturer or user of the mechanical device can sufficiently improve the dynamic characteristics of the mechanical device without disclosing the detailed structure or configuration of the device to the manufacturer of the operation command device or the motor control device. Since the simulation model of the mechanical device that can be simulated can be sent to the manufacturer of the control device, the manufacturer of the control device uses the simulation model of the motor and the motor control device and the simulation model of the mechanical device to control the optimal control performance. Selection and parameter values can be set.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

1,201 Multi-axis machine simulator, 10 machine element library, 11 connection information setting means, 13 physical parameter setting means, 14 three-dimensional shape display means, 15 simulation model construction means, 16 control object selection means, 17 control pattern input means , 18 Simulation application designation means, 19 Simulation execution means, 20 Simulation result display means, 21 Model input / output setting holding means, 22 Model combination means, 23 Coordinate system selection means, 24 Control parameter setting means, 25 Execution code output means, 26 Transmission confirmation means, 27 Transmission means, 31 electric motor, 32 electric motor control device, 33 operation command device, 34 device, 36 computer, 41 base, 42 first link, 43 first electric motor, 44 second link, 45 second electric motor, 51 Inverse kinematic model, 5 Inverse dynamic model, 53 equivalent inertia model, 54 motor controller operation model, 55 forward dynamic model, 100 rigid element group, 101, 101a, 101b, 101c rectangular parallelepiped model, 102 cone model, 104 cylinder model, 105 sphere model 106 polygon model, 107 CAD, 110 joint element group, 111, 111a, 111b rotary joint, 112 linear motion joint, 113 cardan joint, 120 motor element group, 121, 121a, 121b rotary motor model, 122 linear motion motor model , 130 Transmission element group, 131, 131a, 131b Coupling model, 132 , 132a, 132b Reducer model, 133 Ball screw model, 134 Belt model, 135 Crank mechanism model, 140 Sensor element group , 141 kinematic sensor model, 142 dynamic sensor model, 150 command input group, 151 command input element, 160 signal processing element group, 161 four arithmetic operations, 162 trigonometric function, 163 PID operation, 361 arithmetic unit, 362 memory, 363 nonvolatile Memory, 364 storage device, 365 input device, 366 display device, 367 simulation software.

Claims (8)

An element library that holds an element model that expresses the characteristics of the machine elements constituting the machine device by mathematical expressions;
A connection information setting means for placing the element model from the element library and inputting connection information indicating a connection relationship between the element models;
Physical parameter setting means for setting physical parameters for each element model;
Application setting means for setting the simulation application;
Based on the simulation application, model input / output setting holding means for outputting an input / output setting indicating an input / output relationship of the individual simulation model;
Said input setting, before and Kiyo element model, and the connection information from said physical parameter, and simulation model construction means for constructing a discrete simulation model simulating the kinematics and dynamics characteristics of the machine,
A control object selection means for selecting a control object;
Based on the input / output setting, model combining means for outputting a composite simulation model connecting at least one individual simulation model;
Simulation execution means for executing a simulation of a controlled object by the composite simulation model;
A multi-axis mechanical apparatus simulator comprising simulation result display means for displaying a simulation result. Control pattern input means for inputting the control pattern of the control object;
The multi-axis machine simulator according to claim 1, wherein the simulation execution unit executes a simulation of the control target in accordance with a control pattern input from the control pattern input unit. Control parameter setting means for setting control parameters of the motor control device or the operation command device;
Coordinate system selection means for selecting the coordinate system of the host controller,
Execution code output means for exporting the individual simulation model to the execution code of the control device,
Based on the coordinate system of the host controller and the motor selected by the capacity selection and the motor controller, at least one of the coordinate system of the motor controller or the operation command device, the axis command positive direction, the command positive direction, and the axis feedback positive direction The multi-axis machine simulator according to claim 1, wherein the control parameter setting means sets the control parameter as the control parameter.   The multi-axis machine simulator according to claim 3, further comprising: transmission confirmation means for confirming whether or not the execution code whose output model is exported is transmitted to the server; and transmission means for transmitting the execution code to the server.   The multi-axis machine simulator according to claim 4, wherein the transmission unit encrypts the execution code and transmits the encrypted execution code to the server.   A design support device for an operation command device comprising the multi-axis machine simulator according to any one of claims 1 to 5.   A design support device for an electric motor control device comprising the multi-axis mechanical device simulator according to any one of claims 1 to 5.   A capacity selection device for an electric motor comprising the multi-axis machine simulator according to any one of claims 1 to 5.

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