JP7222427B2 - 制御システム、制御装置及び制御方法 - Google Patents

制御システム、制御装置及び制御方法 Download PDF

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Publication number
JP7222427B2
JP7222427B2 JP2021532676A JP2021532676A JP7222427B2 JP 7222427 B2 JP7222427 B2 JP 7222427B2 JP 2021532676 A JP2021532676 A JP 2021532676A JP 2021532676 A JP2021532676 A JP 2021532676A JP 7222427 B2 JP7222427 B2 JP 7222427B2
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Prior art keywords
motor
estimated
external force
profile data
unit
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Japanese (ja)
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JPWO2021009976A1 (https=
Inventor
慶太 嶌本
剛 横矢
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Priority claimed from PCT/JP2019/028261 external-priority patent/WO2021009903A1/ja
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by monitoring or safety
    • G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37391—Null, initial load, no load torque detection or other parameter at no load
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37612—Transfer function, kinematic identification, parameter estimation, response
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37621—Inertia, mass of rotating, moving tool, workpiece, element
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37632—By measuring current, load of motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41213—Lookup table for load, motor torque as function of actual position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42168—Measuring of needed force for servo
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42295—Detect augmenting torque of drive motor

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Electric Motors In General (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
JP2021532676A 2019-07-18 2020-03-27 制御システム、制御装置及び制御方法 Active JP7222427B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JPPCT/JP2019/028261 2019-07-18
PCT/JP2019/028261 WO2021009903A1 (ja) 2019-07-18 2019-07-18 ロボットシステム、ロボットの制御方法、サーボシステム
US201962940912P 2019-11-27 2019-11-27
US62/940,912 2019-11-27
PCT/JP2020/014290 WO2021009976A1 (ja) 2019-07-18 2020-03-27 制御システム、制御装置及び制御方法

Publications (2)

Publication Number Publication Date
JPWO2021009976A1 JPWO2021009976A1 (https=) 2021-01-21
JP7222427B2 true JP7222427B2 (ja) 2023-02-15

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US (1) US11750133B2 (https=)
EP (1) EP4002053A4 (https=)
JP (1) JP7222427B2 (https=)
CN (1) CN114127659B (https=)
WO (1) WO2021009976A1 (https=)

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* Cited by examiner, † Cited by third party
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JP2021049597A (ja) * 2019-09-24 2021-04-01 ソニー株式会社 情報処理装置、情報処理システム及び情報処理方法
CN117916062A (zh) * 2021-09-14 2024-04-19 发那科株式会社 机器人系统及机器人控制装置
KR102642245B1 (ko) * 2023-11-24 2024-02-29 주식회사 나우로보틱스 작업 공간 힘/가속도 외란 관측기 및 이를 포함하는 로봇

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JP2013225284A (ja) 2012-04-20 2013-10-31 Linestream Technologies 動作システムのパラメータ推定法、そのパラメータ推定システム、動作プロファイルの生成方法およびその生成システム

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Publication number Publication date
US11750133B2 (en) 2023-09-05
WO2021009976A1 (ja) 2021-01-21
JPWO2021009976A1 (https=) 2021-01-21
CN114127659A (zh) 2022-03-01
EP4002053A1 (en) 2022-05-25
EP4002053A4 (en) 2023-12-13
CN114127659B (zh) 2024-02-27
US20230006590A1 (en) 2023-01-05

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