JP6841171B2 - Equipment control system and remote adjustment system - Google Patents

Description

The present invention relates to a device control system and a remote adjustment system.

Conventionally, as a device control system, for example, there is a technique described in Patent Document 1. In the technique described in Patent Document 1, when it is determined that the difference between the absolute value of the difference between the simulation result of the state quantity of the controlled device and the actual value is equal to or more than a predetermined value, the controlled device is abnormal. It is designed to determine that it is in a state. Then, when it is determined that the control target device is in an abnormal state, the control target device is stopped to prevent the occurrence of a failure.

JP-A-2002-287816

However, in the technique described in Patent Document 1, for example, when the control parameters of the control target device are adjusted during remote control, the control target device oscillates depending on the adjustment method, so that the control is performed before the control target device is stopped. The target device may break down, reducing safety and reliability.
An object of the present invention is to provide a device control system and a remote adjustment system capable of further improving safety and reliability at the time of remote control, in which control parameters are adjusted, paying attention to the above points. To do.

In order to solve the above problems, one aspect of the present invention includes (a) a control device that controls the controlled device based on a target deviation, which is the difference between the target value and the actual value of the state amount of the controlled device, and the Internet. (B) The terminal device is operated by remote control when it is determined that the operation mode of the control device is the remote control mode for remote control of the device to be controlled. The command is transmitted to the control device, and (c) when the control device determines that the remote control mode is set, the control target device is controlled according to the remote control command transmitted from the terminal device in addition to the target deviation, and (d) When it is determined that the absolute value of the target deviation is equal to or higher than a predetermined abnormality determination threshold value, an abnormal state determination unit for determining that the controlled device is in an abnormal state is further provided. When it is determined that the operation mode of the control device is the remote control mode, the gist is that the device control system has a smaller abnormality judgment threshold value than when it is determined that the operation mode is not the remote control mode. And.

Further, another aspect of the present invention includes (a) a control device that controls the direct drive motor based on a target deviation and a control parameter , which is the difference between the target value and the actual value of the state amount of the direct drive motor, and (b). Shows the operating status of () a communication module that connects a control device to another device via the Internet, (c) a terminal device that is connected to the control device via the Internet and operated by an operator, and (d) a direct drive motor. It is equipped with a shooting device that shoots a moving image and transmits the shot moving image to a terminal device via the Internet. (E) The terminal device is a remote operation for remote operation of a direct drive motor in the operation mode of the control device. When it is determined that the mode is set, a remote operation command is transmitted to the control device. (F) When the control device determines that the mode is set, the remote operation is transmitted from the terminal device in addition to the target deviation and the control parameter. The direct drive motor is controlled according to the operation command, and (g) an abnormal state judgment that determines that the direct drive motor is in an abnormal state when it is determined that the absolute value of the target deviation is equal to or higher than a predetermined abnormality judgment threshold value. Further, when the operation mode of the control device is determined to be the remote operation mode, the abnormality determination unit (h) has an abnormality determination threshold value as compared with the case where the operation mode is not the remote operation mode. Further, (i) the terminal device is a remote adjustment system that displays a moving image transmitted from the photographing device and transmits control parameters to the control device via the Internet. ..

According to the present invention, at the time of remote control, the abnormal state determination threshold value becomes small, so that it is easy to determine that the abnormal state is present. Therefore, it is possible to provide a device control system and a remote adjustment system that can more reliably prevent the occurrence of failures and further improve safety and reliability during remote control.

It is a block diagram which shows the structure of the device control system of embodiment. It is a block diagram which shows the structure of the device control system of the modification. It is a block diagram which shows the structure of the device control system of the modification. It is a block diagram which shows the structure of the device control system of the modification. It is a block diagram which shows the structure of the device control system of 2nd Embodiment. It is a block diagram which shows the structure of the device control system of the modification.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
(First Embodiment)
In the present embodiment, the present invention is applied to a device control system 2 (hereinafter, also referred to as a “remote adjustment system”) that controls a DD motor 1 (in a broad sense, a “controlled device”) and the like. The DD motor 1 includes a drive unit (not shown) that applies rotational torque to the output shaft, and a rotation detector that detects the rotational state of the drive unit such as position information and speed information (in a broad sense, "sensor", not shown). And have.
It should be noted that the embodiments shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention describes the shape, structure, arrangement, etc. of components. It is not specific to the following. The technical idea of the present invention may be modified in various ways within the technical scope specified by the claims.

(First Embodiment)
(Constitution)
As shown in FIG. 1, the device control system 2 of the first embodiment includes a photographing device 3, a drive unit 4, and a terminal device 5. The photographing device 3 and the drive unit 4 are arranged at the installation site of the DD motor 1. Further, the terminal device 5 is arranged in the work room of the manufacturer of the DD motor 1 at a long distance from the installation site of the DD motor 1.

The photographing device 3 captures a moving image showing the operating state of the DD motor 1 (for example, a moving image showing the operation of the controlled object of the DD motor 1). Then, the captured moving image is transmitted to the terminal device 5. The transmission to the terminal device 5 is performed via the Internet 6 using the communication module 4c.
The drive unit 4 ("control device" in a broad sense) includes a drive unit main body 4a ("control execution unit" in a broad sense), an abnormal state determination unit 4b, and a communication module 4c. That is, in the first embodiment, the communication module 4c is built in the drive unit 4 and is integrally formed with the drive unit main body 4a and the abnormal state determination unit 4b.

The drive unit main body 4a has a normal mode for controlling the DD motor 1 based on a control parameter (for example, servo gain) stored in a memory (not shown) and a remote control mode for remotely controlling the DD motor 1. And have. Here, as the remote control, for example, an operation performed via the Internet is assumed. Switching between the normal mode and the remote control mode is performed according to the operation mode switching command transmitted from the terminal device 5.

When the drive unit main body 4a determines that it is in the normal mode, the drive unit main body 4a of the DD motor 1 is based on a control command (for example, a command for rotating at a predetermined angle and rotating at a predetermined speed) stored in the memory. Calculate the target value of the state quantity (for example, position information, velocity information). Then, the difference between the calculated target value and the sensor data output from the rotation detector of the DD motor 1, that is, the actual value of the state quantity (hereinafter, also referred to as “target deviation”) is calculated, and the target deviation and the target deviation are calculated. , The DD motor 1 is controlled based on the predetermined control parameters stored in the memory. Specifically, the target deviation is multiplied by a control parameter, the position and speed of the DD motor 1 are controlled based on the multiplication result, and rotation at a predetermined angle or rotation at a predetermined angular velocity is performed.

Further, when the drive unit main body 4a determines that the remote control mode is set, when a remote control command is transmitted from the terminal device 5, the DD motor 1 is operated according to the transmitted remote control command in addition to the target deviation. Control. Specifically, in addition to the test run command as a remote control command, control parameters and control commands are transmitted, and the transmitted control parameters and control commands are written (overwritten) in the memory. The test run command, control parameters, and control commands are acquired via the Internet 6. Then, according to the test run command, the DD motor 1 is controlled (test run) based on the overwritten control parameters and control commands.

As a result, it is determined whether or not the control parameters and control commands overwritten in the memory are appropriate. Then, when it is determined to be appropriate, the mode is switched to the normal mode, and the subsequent control of the DD motor 1 is performed based on the overwritten control parameter and control command. On the other hand, if it is determined that it is not appropriate, the remote control mode is maintained, the transmission of the control parameter and the control command, and the trial run of the DD motor 1 are executed again.

Further, the drive unit main body 4a stops the control of the DD motor 1 when the control stop command is transmitted from the abnormal state determination unit 4b in both the normal mode and the remote control mode.
Further, the drive unit main body 4a transmits the control parameters used at the time of shooting the moving image by the shooting device 3 and the state quantity (position information, etc.) of the DD motor 1 to the terminal device 5. The transmission to the terminal device 5 is performed via the Internet 6 using the communication module 4c.

The abnormality state determination unit 4b determines whether or not the absolute value of the target deviation is equal to or greater than the abnormality determination threshold value during the control of the DD motor 1 by the drive unit main body 4a. Then, when it is determined that the abnormality determination threshold value or more is determined, it is determined that the DD motor 1 is in an abnormal state, and a control stop command for stopping the control of the DD motor 1 is transmitted to the drive unit main body 4a. On the other hand, when it is determined that it is less than the abnormality determination threshold value, it is determined that the DD motor 1 is not in the abnormal state (normal).

When determining whether the DD motor 1 is in an abnormal state, the abnormal state determination unit 4b determines whether or not the current operation mode is the remote control mode. Then, when it is determined that the remote control mode is set, the magnitude of the abnormality determination threshold value is made smaller than when it is determined that the remote control mode is not set. The ratio of the abnormality determination threshold value when it is determined that the remote control mode is set to the abnormality determination threshold value when it is determined that the remote control mode is not set is, for example, 50: 100.

Although the example in which the abnormal state determination unit 4b is provided in the drive unit 4 is shown in the present embodiment, other configurations may be adopted. For example, it may be provided in the terminal device 5, or may be separately provided in the installation site of the DD motor 1 or the work place of the manufacturer.
The communication module 4c is connected to the gateway 7 that connects the network at the installation site of the DD motor 1 and the Internet 6 via the LAN cable 8. Then, the photographing device 3 and the drive unit main body 4a are connected to the terminal device 5 (in a broad sense, "another device") via the Internet 6. As a result, the photographing device 3, the terminal device 5, the drive unit main body 4a, and the terminal device 5 can communicate with each other via the Internet 6.

The terminal device 5 is connected to the gateway 9 that connects the network of the manufacturer of the DD motor 1 and the Internet 6 via the LAN cable 10. Then, it is connected to the photographing device 3 and the drive unit main body 4a via the Internet 6. For example, a personal computer in which a control program that functions as a terminal device 5 is installed can be adopted.
Further, the terminal device 5 includes an input device 5a operated by the operator and a display 5b for presenting various information to the operator. Further, the terminal device 5 is operated by a control program, and the terminal device 5 functions as a moving image display unit 5c and a parameter transmission unit 5d.

The moving image display unit 5c acquires the moving image transmitted from the photographing device 3, the control parameter transmitted from the drive unit 4, and the state quantity of the DD motor 1 via the Internet 6, and the acquired moving image, the control parameter, and the DD motor. The state quantity of 1 is displayed on the display 5b. As a result, the operator can be made to confirm the operating status of the DD motor 1, and the input device 5a can be operated to input control parameters and control commands.

The parameter transmission unit 5d determines whether or not the current operation mode is the remote control mode. Then, when it is determined that the remote control mode is set, when the control parameters, control commands, and test run commands are input from the input device 5a, these are transmitted to the drive unit main body 4a via the Internet 6. As a result, the memory of the drive unit 4 is overwritten with the control parameters and control commands, and the test run is performed with the overwritten control parameters and the like.
In the first embodiment, an example in which a personal computer is used as the terminal device 5 is shown, but other configurations can also be adopted. For example, a smartphone may be used. In this case, as shown in FIG. 2, a wireless router 11 is used instead of the gateway 9.

(Operation and others)
Next, the operation of the device control system 2 of the first embodiment will be described.
When setting the control parameter (servo gain), the operator operates the terminal device 5 and transmits an operation mode switching command to the drive unit main body 4a. Then, the drive unit main body 4a switches the operation mode to the remote control mode. Subsequently, when the terminal device 5 determines that the current operation mode is the remote control mode and the operator inputs a control parameter, a control command, or a remote control command (test run command) from the input device 5a, the terminal device 5 inputs these to the Internet 6 Is transmitted to the drive unit 4 via. Subsequently, the drive unit main body 4a determines that the remote control mode is set, and overwrites the transmitted control parameters and control commands in the memory. Then, according to the test run command, the DD motor 1 is controlled (test run) based on the overwritten control parameters and control commands in addition to the target deviation.

Further, during the control (test run) of the DD motor 1, the abnormality state determination unit 4b determines whether or not the absolute value of the target deviation is equal to or greater than the abnormality determination threshold value, and determines whether or not the DD motor 1 is in the abnormality state. judge. At that time, since it is determined that the current operation mode is the remote control mode, the magnitude of the abnormality determination threshold value is reduced (for example, 50%) as compared with the case where it is determined that the current operation mode is not the remote control mode.
Here, it is assumed that the adjusted control parameters are not appropriate and the controlled device starts oscillating during the test run. Then, since the abnormality determination threshold value is small, it is determined at an early timing that the absolute value of the target deviation is equal to or greater than the abnormality determination threshold value, and it is determined that the DD motor 1 is in the abnormality state. Then, a control stop command for stopping the control of the DD motor 1 is transmitted to the drive unit main body 4a. As a result, the DD motor 1 is stopped before the oscillation of the DD motor 1 increases. Therefore, the failure of the DD motor 1 is surely prevented, and the safety and reliability at the time of remote control are improved.

(Effect of this embodiment)
(1) As described above, when it is determined that the device control system 2 of the present embodiment is in the remote control mode, the magnitude of the abnormal state determination threshold value is smaller than that when it is determined that the device control system 2 is not in the remote control mode. I tried to do it. Therefore, at the time of remote control, the abnormal state determination threshold value becomes small, so that it is easy to determine that the abnormal state is in the abnormal state. Therefore, it is possible to provide the device control system 2 which can more reliably prevent the occurrence of a failure and can further improve the safety and reliability at the time of remote control.

(2) Further, the drive unit main body 4a controls the DD motor 1 according to the remote control command (test run command) transmitted from the terminal device 5 based on the control parameters and the target deviation transmitted from the terminal device 5. The control parameters can be adjusted more appropriately.
(3) Further, since the drive unit main body 4a stops the control of the DD motor 1 when it is determined that the drive unit main body 4a is in an abnormal state, it is possible to more reliably prevent the failure of the DD motor 1.

(4) Conventionally, an engineer has been dispatched from the manufacturer of the DD motor 1 to the installation site at the time of starting up the controlled object including the DD motor 1 or at the time of failure diagnosis. Then, the dispatched engineer was made to check the operating status of the DD motor 1 and the controlled object, and to adjust the control parameters of the drive unit 4 of the DD motor 1. However, for example, when the distance from the manufacturer to the installation site is long, it takes time for the technician to move, and the response speed may be slowed down.

On the other hand, in the device control system 2 (remote adjustment system) of the first embodiment, the terminal device 5 displays the moving image transmitted from the photographing device 3 and transfers the control parameters to the drive unit main body 4a via the Internet 6. I tried to send it. As a result, the operator of the terminal device 5 can be shown a moving image showing the operating status of the DD motor 1, the operating status of the DD motor 1 can be confirmed, and the control parameters can be set. Therefore, it is possible to eliminate the time required for the operator to move, and to provide the device control system 2 capable of improving the response speed even when the installation site of the DD motor 1 is a long distance from the operator's location.

(5) Further, the terminal device 5 transmits a control command for controlling the DD motor 1 by using the control parameter together with the control parameter to the drive unit main body 4a. As a result, the operator of the terminal device 5 can be made to input the control command in addition to the setting of the control parameter. Therefore, the operation can be confirmed by the operator's operation with the adjusted control parameters, and the suitability of the adjustment result of the control parameters can be easily grasped.

(6) Further, the drive unit main body 4a transmits the control parameters used at the time of shooting the moving image and the position information output from the rotation detector of the DD motor 1 to the terminal device via the Internet 6. did. As a result, the operator of the terminal device 5 can be shown the control parameters and the position information at the time of moving image shooting, and the operating state of the DD motor 1 can be confirmed in more detail. Therefore, more appropriate control parameters can be set.

(7) Further, the drive unit main body 4a and the communication module 4c are integrated. As a result, the installation space can be reduced as compared with the method in which these are separated.
(8) Further, since the communication module 4c of the first embodiment connects the drive unit main body 4a and the photographing device 3 to the Internet 6, it is easy to connect each of the drive unit main body 4a and the photographing device 3 to the terminal device 5 via the Internet 6. Can be connected to.

(9) Further, the terminal device 5 and the control program of the first embodiment acquire a moving image transmitted from the photographing device 3 that captures a moving image showing the operating state of the DD motor 1 via the Internet 6, and the acquired moving image. Was displayed. Then, the control parameters are transmitted to the drive unit main body 4a that controls the DD motor 1 via the Internet 6. As a result, the operator of the terminal device 5 can be shown a moving image showing the operating status of the DD motor 1, the operating status of the DD motor 1 can be confirmed, and the control parameters can be set.
(10) Further, the photographing device 3 of the first embodiment is connected to the Internet 6 via a communication module 4c for connecting the drive unit main body 4a for the DD motor 1 to the Internet 6. As a result, the photographing device 3 can be easily connected to the Internet 6.

(Modification example)
(1) Although the example in which the photographing device 3 captures a moving image is shown in the first embodiment, other configurations may be adopted. For example, in addition to the moving image, a still image showing the operating status of the DD motor 1 may be captured and transmitted to the terminal device 5. Then, the terminal device 5 may also display a still image.
(2) Further, in the first embodiment, an example in which the terminal device 5 is connected to the Internet 6 via the gateway 9 or the wireless router 11 is shown, but other configurations can also be adopted. For example, as shown in FIG. 3, the terminal device 5 may be connected to the Internet 6 via a commercially available carrier signal (mobile phone communication network). As a result, the degree of freedom of the operator's location position can be further improved, and the response speed can be further improved. As the terminal device 5, for example, a personal computer or a smartphone having a communication function by a mobile phone communication network can be adopted.

(3) Further, as shown in FIG. 4, the photographing device 3 has a moving image recording function and is connected to the Internet 6 via a commercially available carrier (mobile phone communication network) (for example, a smartphone, a personal computer). ) May be used. In this case, a mobile communication terminal having a tethering function may be used, and the communication module 4c may be connected to the Internet 6 by the tethering function of the mobile communication terminal (for example, Bluetooth (registered trademark) tethering). As a result, the number of cables (LAN cable 8) in the work environment can be reduced, and workability can be improved.

(Second Embodiment)
Next, the device control system 2 of the DD motor 1 according to the second embodiment will be described. The same reference numerals are used for the same configurations as those in the first embodiment, and the details thereof will be omitted.
The second embodiment is different from the first embodiment in that, as shown in FIG. 5, the drive unit main body 4a (drive unit 4) and the communication module 4c are provided as separate bodies. The drive unit main body 4a and the communication module 4c are connected by 485 series communication or Ethernet communication. As a result, it can be configured by retrofitting the conventional drive unit 4.

Further, as shown in FIG. 6, the photographing device 3 can also be used as a mobile communication terminal (for example, a smartphone, a personal computer) having a moving image recording function and being connected to the Internet 6 via a commercially available carrier (mobile phone communication network). Good. In this case, a mobile communication terminal having a tethering function may be used, and the communication module 4c may be connected to the Internet 6 by the tethering function of the mobile communication terminal (for example, Bluetooth (registered trademark) tethering). As a result, the number of cables (LAN cable 8) in the work environment can be reduced, and workability can be improved.

1 DD motor 2 Equipment control system 3 Imaging device 4 Drive unit 4a Drive unit body 4b Abnormal state determination unit 4c Communication module 5 Terminal device 5a Input device 5b Display 5c Video display unit 5d Parameter transmission unit 6 Internet 7 Gateway 8 LAN cable 9 Gateway 10 LAN Cable 11 wireless router

Claims (12)

A control device that controls the control target device based on a target deviation, which is the difference between the target value and the actual value of the state quantity of the control target device.
A terminal device connected to the control device via the Internet is provided.
When the terminal device determines that the operation mode of the control device is the remote control mode for remotely controlling the controlled device, the terminal device transmits a remote control command to the control device.
When the control device determines that the remote control mode is set, the control device controls the controlled device according to the remote control command transmitted from the terminal device in addition to the target deviation.
Further, an abnormal state determination unit for determining that the controlled device is in an abnormal state when it is determined that the absolute value of the target deviation is equal to or higher than a predetermined abnormality determination threshold value is provided.
When the abnormality state determination unit determines that the operation mode of the control device is the remote operation mode, the abnormality determination threshold value is larger than that when the operation mode is determined not to be the remote operation mode. A device control system characterized by reducing the threshold value. Equipped with an input device operated by the operator
The terminal apparatus, when the operation mode is determined to the a remote operation mode, if a command and control parameters of the remote control from the input device is input, the said control parameters and command of the remote control Send to the controller
A claim, wherein the control device controls the controlled device according to a remote control command transmitted from the terminal device based on the control parameter and the target deviation transmitted from the terminal device. The device control system according to 1. The device control system according to claim 1 or 2, wherein the control device stops control of the controlled device when it is determined that the controlled device is in an abnormal state. Further provided with a photographing device that captures a moving image showing the operating status of the controlled device and transmits the shot moving image to the terminal device via the Internet.
The device control system according to any one of claims 1 to 3, wherein the terminal device includes a moving image display unit that displays a moving image transmitted from the photographing device. Target value of the state quantity of the direct drive motor and a control device for controlling the direct drive motor based on the target deviation and the control parameter is the difference between the actual value,
A communication module that connects the control device to another device via the Internet,
A terminal device that is connected to the control device via the Internet and operated by an operator,
It is provided with a photographing device that captures a moving image showing an operating state of the direct drive motor and transmits the shot moving image to the terminal device via the Internet.
When the terminal device determines that the operation mode of the control device is the remote control mode for remotely controlling the direct drive motor, the terminal device transmits a remote control command to the control device.
When the control device determines that the remote control mode is set, the control device controls the direct drive motor in accordance with the remote control command transmitted from the terminal device in addition to the target deviation and the control parameters.
Further, an abnormal state determination unit for determining that the direct drive motor is in an abnormal state when it is determined that the absolute value of the target deviation is equal to or higher than a predetermined abnormality determination threshold value is provided.
When the abnormality state determination unit determines that the operation mode of the control device is the remote operation mode, the abnormality determination threshold value is larger than that when the operation mode is determined not to be the remote operation mode. Make it smaller
Furthermore, the terminal apparatus, a remote adjustment system and transmits and displays a moving image transmitted from the imaging device, the control parameter to the control device via the Internet. The terminal device, a remote adjustment system of claim 5, together with the control parameter, and transmits a control command for controlling the direct drive motor with a control parameter to the control device. 5. The control device is characterized in that the control parameters used at the time of shooting a moving image and sensor data output from a sensor included in the direct drive motor are transmitted to the terminal device via the Internet. Or the remote adjustment system according to 6. The remote adjustment system according to any one of claims 5 to 7, wherein the terminal device is connected to the Internet via a mobile phone communication network. The remote adjustment system according to any one of claims 5 to 8, wherein the photographing device is a mobile communication terminal connected to the Internet via a mobile phone communication network. The mobile communication terminal further has a tethering function and has a tethering function.
The remote adjustment system according to claim 9, wherein the communication module is connected to the Internet by the tethering function of the mobile communication terminal. The remote adjustment system according to any one of claims 5 to 10, wherein the control device and the communication module are integrated. The remote adjustment system according to any one of claims 5 to 10, wherein the control device and the communication module are separate bodies.

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