JP7438097B2 - Drive command generation device, synchronous control system and learning device - Google Patents

Description

The present disclosure relates to a synchronous control system that performs control to synchronize a slave shaft motor with the position or speed of a main shaft motor, a drive command generation device included in the synchronous control system, and a learning device.

Some synchronous control systems include an electronic cam function. Instead of using a mechanical cam that rotates around the main shaft, the electronic cam function controls the servo motor of the slave shaft in synchronization with the position or speed of the main shaft motor, so that the desired target object such as a workpiece or tool can be controlled. This is a function that causes an action to be performed. A synchronous control system equipped with an electronic cam function enables highly accurate machining by precisely controlling a servo motor that drives a slave axis according to a desired operation pattern.

Patent Document 1 listed below discloses a method of controlling an electronic cam type rotary cutter using different electronic cam curves when cutting a long length and when cutting a short length.

Japanese Patent Application Publication No. 2000-198094

One of the limitations when operating a synchronous control system is the effective load of the slave motor controller that controls the slave shaft motor. The effective load is an index of the average load when driving the slave shaft motor. One index representing the effective load is the effective load ratio, which represents the ratio of the average torque when driving the slave shaft motor to the rated torque of the slave shaft motor. Conventionally, the spindle motor speed, which is the speed of the spindle motor, is set in advance, and the driving command pattern is determined so that the slave axis motor speed, which is the speed of the slave axis motor, is driven in synchronization with the set spindle motor speed. Was. Then, by actually operating the main shaft motor and the slave shaft motor in conjunction with each other, it is checked and adjusted whether the effective load factor does not exceed the limit value. That is, conventionally, the speed adjustment of the spindle motor was performed by trial and error.

When the main shaft motor speed is increased to increase production per unit time, the acceleration/deceleration rate of the slave shaft motor speed increases. If the set main shaft motor speed is too high, the slave shaft motor will repeatedly accelerate and decelerate rapidly, leading to the effective load factor exceeding the limit value and the mechanical device stopping. Therefore, the conventional trial-and-error method has a problem in that it takes time to set the spindle motor speed. Therefore, it has been desired to construct a drive command generation device that can easily set the speed of the spindle motor in a short time. Note that even in the technique described in Patent Document 1, the effective load is not taken into account when setting the spindle motor speed.

The present disclosure has been made in view of the above, and an object of the present disclosure is to provide a drive command generation device that can easily set the speed of a spindle motor in a short time.

In order to solve the above-mentioned problems and achieve the objectives, the present disclosure provides a drive command generation device included in a synchronous control system that performs control to synchronize a slave shaft motor with the position or speed of a main shaft motor. A parameter setting section receives machine information, which is information about the control target of the control system, and sets machine parameters based on the machine information, and a command value for the effective load, which is an index of the average load when driving the slave shaft motor. An effective load command is input, and a spindle command generation unit generates a spindle target speed, which is information about the spindle target speed, based on the machine parameters and the effective load command. and a slave axis command generating section that generates a slave axis target speed which is information regarding the target speed of the slave axis. The main shaft command generation section generates a main shaft target speed so that the effective load when driving the slave shaft motor matches the effective load command based on the slave shaft target speed generated by the slave shaft command generation section.

According to the drive command generation device according to the present disclosure, it is possible to easily set the speed of the spindle motor in a short time.

A diagram schematically showing the configuration of a sheet pasting machine that is an example of a control target of the synchronous control system according to Embodiments 1 to 4. Block diagram showing a configuration example of a synchronous control system according to Embodiment 1 A block diagram showing a configuration example of a drive command generation device according to Embodiment 1 A first diagram for explaining the operation of the drive command generation device according to the first embodiment A second diagram for explaining the operation of the drive command generation device according to the first embodiment Third diagram for explaining the operation of the drive command generation device according to the first embodiment Fourth diagram for explaining the operation of the drive command generation device according to the first embodiment Block diagram showing a configuration example of a synchronous control system according to Embodiment 2 Block diagram showing a configuration example of a drive command generation device according to Embodiment 2 Block diagram showing a configuration example of a synchronous control system according to Embodiment 3 Block diagram showing a configuration example of a drive command generation device according to Embodiment 3 A diagram showing an example in which the slave axis target speed pattern generated by the slave axis command generation unit according to Embodiment 1 to Embodiment 3 has a negative section. Block diagram showing a configuration example of a synchronous control system according to Embodiment 4 Block diagram showing a configuration example of a drive command generation device according to Embodiment 4 A block diagram showing the configuration of a machine learning system including a learning device that learns drive conditions by the drive command generation device described in Embodiment 1. A block diagram schematically showing the configuration of the spindle drive command generation section shown in FIG. 15 Flowchart showing the operation flow of the learning method in the learning device according to Embodiment 5 Block diagram showing a configuration example when the learning device according to Embodiment 5 performs reinforcement learning A flowchart showing a general operation flow of the learning method in the learning device shown in FIG. A diagram showing an example of a neural network model applicable to the learning device shown in FIG. A flowchart showing the operation flow when the learning device shown in FIG. 18 performs reinforcement learning. A diagram showing a first example of a hardware configuration that realizes the functions of the drive command device according to Embodiment 1 to Embodiment 4 and the learning device according to Embodiments 5 and 6. A diagram showing a second example of a hardware configuration that realizes the functions of the drive command device according to Embodiment 1 to Embodiment 4 and the learning device according to Embodiments 5 and 6.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A drive command generation device, a synchronous control system, and a learning device according to embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that in the following embodiments, the case where the control target of the synchronous control system is a sheet pasting machine will be explained as an example, but this is not intended to exclude application to other mechanical devices other than the sheet pasting machine. .

Embodiment 1.
FIG. 1 is a diagram schematically showing the configuration of a sheet pasting machine 100, which is an example of a control target of the synchronous control system according to Embodiments 1 to 4. The sheet pasting machine 100 is a machine that pastes the sheet 4 onto the workpiece 5. The sheet pasting machine 100 includes a conveyor mechanism section 1 that conveys a workpiece 5, and a roller mechanism section 2 that is a means for pasting the sheet 4 onto the workpiece 5. The conveyor mechanism section 1 includes a conveyor belt 1A and motors 1B and 1C. Conveyor belt 1A is driven by motors 1B and 1C. The roller mechanism section 2 includes a motor 2A and a roller 2B. The roller 2B is rotationally driven by the motor 2A.

The conveyor mechanism section 1 rotates the motors 1B and 1C at a set speed to transport the workpiece 5 placed on the conveyor belt 1A. The sheet 4 is held by the sheet pasting section 3. The roller mechanism section 2 rotates the motor 2A and attaches the sheet 4 to the workpiece 5 being transported. The workpiece 6 to which the sheet 4 is attached is conveyed by the conveyor belt 1A.

In the sheet pasting machine 100, motors 1B and 1C mounted on the conveyor mechanism section 1 correspond to main shaft motors in a synchronous control system. The motor 2A mounted on the roller mechanism section 2 corresponds to a slave shaft motor. Furthermore, the rotation angles of the motors 1B and 1C correspond to the position of the main shaft motor. Note that the position of the workpiece 5 to be transported is determined in relation to the rotation angles of the motors 1B and 1C. Therefore, the position of the workpiece 5 may be regarded as the position of the spindle motor.

When attaching the sheet 4 to the workpiece 5, it is necessary to prevent the sheet 4 from being wrinkled or sagging. Therefore, the roller 2B rotates in synchronization with the conveyor speed, which is the speed of the conveyor mechanism section 1, for an arbitrary period of time. In this paper, this arbitrary synchronization period is regarded as an interval on the time axis and is referred to as a "synchronization interval." That is, in the synchronous section, the roller mechanism section 2 rotates in speed synchronization with the conveyor mechanism section 1.

After pasting the sheet 4, the roller mechanism section 2 completes speed synchronization with the conveyor mechanism section 1, and rotates from the synchronization end position to the next synchronization start position until the next workpiece 5 is conveyed. do. When the roller mechanism section 2 rotates to the next synchronization start position, speed synchronization with the conveyor mechanism section 1 is started again, and the sheet 4 is pasted onto the workpiece 5. In this paper, this section where speeds are not synchronized is called the "asynchronous section." In the asynchronous section, the motor 2A moves the rotational position of the roller mechanism section 2 from the end position of the synchronous section to the start position of the next synchronous section. Furthermore, in these synchronous sections and asynchronous sections, the motor 2A repeats acceleration from synchronous speed to asynchronous speed and deceleration from asynchronous speed to synchronous speed. The sheet pasting machine 100 repeats these operations and pastes the sheets 4 onto the works 5 that flow one after another.

FIG. 2 is a block diagram showing a configuration example of the synchronous control system 10 according to the first embodiment. FIG. 2 shows a configuration example of the synchronous control system 10 applicable to the sheet pasting machine 100 of FIG. 1. A slave shaft motor 50 and a main shaft motor 60 are shown around the synchronous control system 10 . The slave shaft motor 50 corresponds to the motor 2A in FIG. The main shaft motor 60 corresponds to the motors 1B and 1C in FIG.

The synchronous control system 10 according to the first embodiment includes a drive command generation device 20, a slave shaft motor control device 30, and a main shaft motor control device 40.

Machine information and an effective load factor command R _rmsref are input to the drive command generation device 20 by an input means (not shown). The effective load factor is an example of the effective load, which is an index of the average load when driving the slave shaft motor, and the rating of the slave shaft motor at the average torque, which is the average load when driving the slave shaft motor. This is the ratio to torque. The effective load factor command _Rrmsref is a command value of the effective load factor for the slave shaft motor 50. That is, the effective load factor command R _rmsref is an example of an effective load command value for the slave shaft motor 50. Note that the effective load command value may be referred to as an "effective load command." The machine information is information regarding the control target of the synchronous control system 10. The machine information includes information regarding the moving distance of the slave shaft motor 50. The drive command generation device 20 generates a slave axis target speed ω _ref and a main axis target speed v _ref based on the machine information and the effective load factor command R _rmsref . The slave axis target speed ω _ref is information regarding the target speed of the slave axis. The spindle target speed v _ref is information regarding the target speed of the spindle.

The slave shaft motor control device 30 is a motor control device that controls the slave shaft motor 50. The slave shaft target speed ω _ref output from the drive command generation device 20 and the slave shaft motor position θ _slave obtained from the detector 51 included in the slave shaft motor 50 are input to the slave shaft motor control device 30 . Ru. The slave shaft motor position θ _slave is information regarding the rotation angle of the slave shaft motor 50. The slave shaft motor control device 30 generates the slave shaft motor drive voltage V _slave based on the slave shaft target speed ω _ref and the slave shaft motor position θ _slave . The slave shaft motor 50 is driven by the slave shaft motor drive voltage V _slave generated by the slave shaft motor control device 30.

The spindle motor control device 40 is a motor control device that controls the spindle motor 60. The spindle target speed v _ref output from the drive command generation device 20 and the spindle motor position x _main obtained from the detector 61 included in the spindle motor 60 are input to the spindle motor control device 40 . The main shaft motor position x _main is information regarding the rotation angle of the main shaft motor 60. The spindle motor control device 40 generates the spindle motor drive voltage V _main based on the spindle target speed v _ref and the spindle motor position x _main . The main shaft motor 60 is driven by the main shaft motor drive voltage V _main generated by the main shaft motor control device 40 .

FIG. 3 is a block diagram showing a configuration example of the drive command generation device 20 according to the first embodiment. As described above, the drive command generation device 20 generates the main shaft target speed v _ref to be input to the main shaft motor control device 40 and the slave shaft target speed ω _ref to be input to the slave shaft motor control device 30. As a configuration for generating these main axis target speed v _ref and slave axis target speed ω _ref , the drive command generation device 20 includes a parameter setting section 21, a main axis command generation section 22, and a slave axis command generation section 23. Be prepared.

Next, the operation of the drive command generation device 20 according to the embodiment will be described with reference to the drawings of FIGS. 4 to 7 in addition to FIG. 3. 4 to 7 are first to fourth diagrams for explaining the operation of the drive command generation device 20 according to the first embodiment, respectively.

As described above, in the synchronous control system 10 of the first embodiment, there is a synchronous period in which the slave shaft motor 50 operates in synchronization with the main shaft target speed v _ref , and a synchronous period in which the slave shaft motor 50 operates in synchronization with the main shaft target speed v _ref . There are two concepts of asynchronous intervals. In order to distinguish between the slave shaft target speed ω _ref in these two sections, the slave shaft target speed ω _ref in the non-synchronized section is written as "slave shaft target speed ω _ref1 ", and the slave shaft target speed ω _ref in the synchronous section is written as " It may be written as "Slave axis target speed ω _ref2 ". Further, the slave axis target speed pattern in the asynchronous section, which is a function of time, may be written as "ω _ref1 (t)". Furthermore, the entire combination of the slave axis target speed pattern ω _ref1 (t) in the asynchronous period and the slave axis target speed ω _ref2 in the synchronous period may be referred to as the slave axis target speed pattern.

First, machine information is input to the parameter setting section 21. The input mechanical information includes motor specifications, which are specification information for the slave shaft motor 50 and the main shaft motor 60, information regarding the structure and shape of the mechanical device, and the like. The parameter setting section 21 generates machine parameters based on the machine information and outputs them to the main axis command generation section 22 and the slave axis command generation section 23. In this embodiment, the following seven machine parameters are illustrated. Note that instead of or in addition to the configuration in which machine information is input to the parameter setting unit 21, a configuration may be adopted in which a part or all of the machine parameters are stored in advance in the main axis command generation unit 22 and the slave axis command generation unit 23. You can.

(Example of machine parameters)
- Movement distance of the slave shaft motor 50 in the asynchronous section: d ₁
- Movement distance of the slave shaft motor 50 in the synchronization section: d ₂
- Movement distance of the main shaft motor 60 in the asynchronous section: l ₁
- Movement distance of the main shaft motor 60 in the synchronous section: l ₂
・Rated torque of slave shaft motor 50: T _type
・Slave shaft total inertia converted to slave shaft motor shaft: J _all
- Slave axis target speed pattern in the asynchronous section: ω _ref1 (t)

Note that the slave axis target speed pattern ω _ref1 (t) in the asynchronous section is a function of time. Further, the rated torque T _typ of the slave shaft motor 50 and the slave shaft total inertia J _all converted to the slave shaft motor shaft are motor specifications of the slave shaft motor 50 .

The upper part of FIG. 4 shows the slave shaft target speed ω _ref , and the lower part shows the slave shaft target position. FIG. 4 illustrates a case where the slave axis target speed pattern in the asynchronous section Δt ₁ has a parabolic shape. Note that the slave axis target speed in the synchronization interval _Δt2 is a constant speed. The slave shaft target speed, which is a constant speed, is also referred to as "slave shaft synchronous speed."

The spindle command generation unit 22 uses the effective load factor command R _rmsref and the machine parameters to calculate the spindle target speed v _ref from equation (1) shown below. Note that the relational expression shown in equation (1) below is stored in advance in the spindle command generation section 22.

A specific calculation procedure for equation (1) will be described later. The main spindle target speed v _ref generated using the above equation (1) is output from the main spindle command generation section 22 and input to the main spindle motor control device 40 and the slave axis command generation section 23 . Note that although FIGS. 2 and 3 illustrate a configuration in which the effective load factor command R _rmsref is input to the spindle command generation unit 22 from outside the synchronous control system 10, the present invention is not limited to this. The effective load factor command R _rmsref may be calculated from the effective load factor of the slave shaft motor control device 30 during operation. The effective load factor command _Rrmsref can be measured by the slave shaft motor control device 30. Alternatively, a reference table for obtaining the spindle target speed v _ref from the effective load factor command R _rmsref may be stored in advance, and the spindle target speed v _ref may be calculated from the reference table. The reference table can be determined based on equation (1).

The slave axis command generation unit 23 uses the main axis target speed v _ref and the machine parameters to generate the slave axis target speed ω _ref1 (t ) and the slave axis target speed ω _ref2 in the synchronization period are calculated. The slave axis target speed ω _ref calculated by the slave axis command generation unit 23 is input to the slave axis motor control device 30 .

As described above, by using the above equation (1) and equations (2-1) and (2-2), the main shaft target speed v _ref and the slave shaft target speed ω _ref are calculated. Furthermore, the equation (1) includes an effective load factor command R _rmsref for the slave shaft motor control device 30. Therefore, the drive command generation device 20 determines the main shaft target speed v _ref at which the effective load ratio R _rms of the slave shaft motor control device 30 becomes the effective load ratio command R _rmsref , and the slave shaft motor 50 in the synchronous period and the asynchronous period. The target speed ω _ref can be automatically generated.

Next, the calculation procedure of equation (1) will be explained in detail. First, in order to perform the sheet pasting operation continuously, the slave axis target speed pattern ω _ref1 (t) in the asynchronous section needs to satisfy the following two conditions.

(i) During the non-synchronized period, the slave shaft motor 50 moves a distance _d1 .
(ii) At the start of synchronization (t = Δt ₁ ) and at the end of synchronization (t = Δt ₁ +Δt ₂ ), the slave axis target speed ω _ref1 in the non-synchronized section is the slave axis target speed in the synchronous interval (slave axis synchronous speed) It becomes equal to ω _ref2 . Note that if these two conditions are satisfied, not only a parabolic shape but also a polynomial such as a trigonometric function or a cubic function can be applied as the slave axis target speed pattern ω _ref1 (t) in the asynchronous section.

Equations (2-1) and (2-2) above represent the case where the slave axis target speed pattern ω _ref1 (t) in the non-synchronized section has a parabolic shape, and these two equations satisfy the above two conditions. Fulfill. Further, the slave shaft target speed ω _ref2 in the synchronization period has a proportional relationship with the main shaft target speed v _ref , and becomes the slave shaft target speed ω _ref2 of equation (2-2). The slave shaft target speed ω _ref1 in the non-synchronized period and the slave shaft target speed ω _ref2 in the synchronous period satisfy the above two conditions, and thus become functions using the main shaft target speed v _ref as a parameter. A slave axis target speed pattern that is a combination of the slave axis target speed in the non-synchronized section and the slave axis target speed in the synchronous section can be expressed as the following equation (3).

Furthermore, when the effective load factor of the slave shaft motor control device 30 is expressed as " _Rrms ", the effective load factor _Rrms can be expressed by the following equation (4).

In the above equation (4), "T _typ " is the rated torque, and "T _rms " is the average torque when driving the slave shaft motor 50. That is, the effective load rate R _rms is defined as the ratio (percentage) of the average torque T _rms of the slave shaft motor 50 based on the rated torque T _typ of the slave shaft motor 50 .

The average torque T _rms is the average of acceleration/deceleration torques mainly required for acceleration/deceleration. The average of the acceleration/deceleration torques is obtained by calculating the root mean square of the acceleration/deceleration torques over one period section in which a synchronous section and an asynchronous section are repeated. A specific calculation formula is as shown in formula (5) below.

"a(t,v _ref )" shown on the right side of the above equation (5) is a value obtained by differentiating the slave axis target speed ω _ref , and the relationship of the following equation (6) holds true.

Substituting the slave axis target speed pattern ω _ref1 (t) shown in the above equation (2-1) and the slave axis target speed ω _ref2 shown in the above equation (2-2) into the above equation (6), a (t,v _ref ) is calculated. The calculated a(t,v _ref ) is substituted into the above equation (5) to calculate the average torque T _rms . Then, by substituting the calculated average torque T _rms into the above equation (4) and rearranging the spindle target speed v _ref , the above equation (1) is obtained.

Note that even if the slave axis target speed pattern ω _ref1 (t) in the non-synchronized section does not have a parabolic shape, by using the relationships in equations (4) to (6) above, the main axis target speed v _{ref can be determined} from the effective load factor command R _rmsref . A relational expression for calculating is obtained. If this relational expression is stored in the drive command generation device 20 and the main axis target speed v _ref and the slave axis target speed ω _ref are calculated, the effective load rate R _rms in the slave axis motor control device 30 can be set as the effective load rate command R _rmsref. It is possible to configure the synchronous control system 10 to match the above.

Next, the effect when a parabolic shape is applied as the slave axis target speed pattern ω _ref1 (t) in the asynchronous section will be explained.

Generally, the following is known in a mechanical device in which a slave shaft motor repeatedly operates synchronously and asynchronously with respect to a main shaft motor.

(Public knowledge 1)
If the main axis target speed v _ref is increased and only the time of the asynchronous period is reduced without changing the function shape and movement distance of the slave axis target speed pattern ω _ref1 (t) in the non-synchronized period, the acceleration/deceleration torque of the slave shaft motor will be reduced. becomes larger. At this time, the effective load rate R _rms of the slave shaft motor control device 30 increases.

Furthermore, regarding the slave shaft target speed pattern ω _ref1 (t) for controlling the slave shaft motor 50, the following is known.

(Public knowledge 2)
When the shape of the slave axis target speed pattern ω _ref1 (t) for operating the slave axis motor 50 over a prescribed travel distance in a prescribed travel time is a parabolic shape, the effective load rate R _rms of the slave axis motor control device 30 is minimum. becomes.

Here, a case will be considered in which the slave axis target speed pattern ω _ref1 (t) in the asynchronous section has a parabolic shape and a triangular shape. Note that in the description of FIGS. 5 to 7, the notation of "ω _ref1 (t)" is omitted to avoid complexity.

FIG. 5 shows two speed patterns of slave axis target speeds generated based on the same synchronous speed and the same maximum speed, specifically, a parabolic speed pattern and a triangular speed pattern. In FIG. 5, the solid line is a parabolic speed pattern, and the broken line is a triangular speed pattern. This relationship is the same in FIGS. 6 and 7 as well. As shown in FIG. 5, the parabolic velocity pattern always has a higher velocity than the triangular velocity pattern.

FIG. 6 shows the travel distance and travel time according to a parabolic speed pattern, and the travel distance and travel time according to a triangular speed pattern. As shown in FIG. 6, the distance traveled by the parabolic speed pattern is always greater than the distance traveled by the triangular speed pattern. Therefore, when compared at the same travel time, the travel distance with the parabolic speed pattern is longer by Δd than the travel distance with the triangular speed pattern. Furthermore, when compared at the same travel distance, the travel time with the parabolic speed pattern is shorter by ΔT1 than the travel time with the triangular speed pattern.

FIG. 7 is a diagram created based on FIGS. 5 and 6. FIG. 7 shows the relationship between effective load factor and travel time under the condition of the same travel distance. As shown in FIG. 7, when compared at the same effective load factor, the travel time with the parabolic speed pattern is shorter by ΔT2 than the travel time with the triangular speed pattern. Therefore, when the speed pattern is parabolic, the spindle motor 60 moves the same distance in a shorter time. Therefore, the spindle target speed v _ref due to the parabolic speed pattern is faster than the spindle target speed v _ref due to the triangular speed pattern.

Moreover, the travel time for a parabolic speed pattern is shorter than for any function-shaped speed pattern other than a triangular shape, as described above (known matter 2). Therefore, when the spindle target speed v _ref is generated based on the same travel distance and the same effective load rate R _rms , the spindle target speed v _ref synchronized with the slave axis motor 50 when the slave axis target speed pattern has a parabolic shape is It is the fastest and can maximize production per unit time. Therefore, if the slave axis target speed pattern in the asynchronous section is a parabolic shape, the drive command generation device 20 generates the fastest main shaft target speed at which the effective load rate R _rms of the slave axis motor control device 30 becomes the effective load rate command R _rmsref . v _ref can be calculated.

As explained above, according to the first embodiment, the main spindle command generating unit 22 uses the machine parameters and the effective load factor command R _rmsref to determine whether the effective load factor R _rms of the slave axis motor control device 30 is the effective load. A spindle target speed v _ref that becomes the rate command R _rmsref is generated. Further, the slave axis command generation unit 23 generates a slave axis target speed ω _ref that corresponds to the main axis target speed v _ref and has a synchronous section and an asynchronous section, based on the machine parameters and the main axis target speed v _ref . Thereby, it is possible to generate the main shaft target speed v _ref and the slave shaft target speed ω _ref such that the effective load ratio R _rms of the slave shaft motor control device 30 becomes the effective load ratio command R _rmsref . As a result, it becomes possible to easily construct a synchronous control system in a short time without adjusting the spindle target speed v _ref by trial and error.

Note that although the above equation (1) takes into account the acceleration/deceleration torque necessary to drive the slave shaft motor 50, it does not take into account the resistance load torque due to the effects of friction, etc. that occur in the rotation support part of the slave shaft motor 50. It has not been. In an actual mechanical device, a resistance load torque due to the influence of friction or the like is added to the acceleration/deceleration torque, so an error may occur between the effective load rate command R _rmsref and the effective load rate R _rms . When considering the influence of this kind of resistance load torque, the following equation (7) may be used instead of the above equation (1).

In the above equation (7), the right side of the above equation (1) is multiplied by the load torque coefficient κ _fr , which takes a value of 0 or more and 1 or less. The load torque coefficient κ _fr reflects information on the resistance load torque due to the influence of friction and the like. An example of the value of the load torque coefficient κ _fr is “0.8”. Note that the value of "0.8" shown here is an example, and the value is not limited to this value.

In the case of realizing the synchronous control system 10 according to the first embodiment, various variations can be considered regarding position or speed control and how to transfer the speed or position after the target speed is generated. Examples of variations will be supplemented below.

After the machine parameters and effective load factor commands are set, the main spindle command generation section 22 generates the main spindle target speed once as one value for the time being like a parameter, and generates it once to the main spindle motor control device 40 and the slave axis command generation section 23. It may be handed over to Alternatively, the main shaft target speed may be generated as a value every moment and continuously passed to the main shaft motor control device 40 and the slave shaft command generation unit 23. Alternatively, after generating the spindle target speed, momentary values of the spindle target position that change to the spindle target speed may be generated and the spindle target position may be continuously passed to the spindle motor control device 40.

The spindle motor control device 40 may control the speed of the spindle motor 60 by receiving the spindle target speed once as a single value such as a parameter value, and turning on a separately input signal instructing to start control. Alternatively, the speed of the spindle motor may be controlled by receiving the spindle target speed as an instantaneous value. Alternatively, the position of the spindle motor may be controlled by receiving the spindle target position that changes to the spindle target speed as an instantaneous value.

The momentary value of the spindle target speed or spindle target position may be transferred as an analog value that is continuous over time using a voltage signal or the like. Alternatively, the digital value may be periodically generated at fixed time intervals and transferred via communication or the like.

The speed control performed by the spindle motor control device 40 may be feedback control in which the spindle motor speed detected by a detector included in the spindle motor 60 is acquired and the spindle motor speed is controlled to reach the spindle target speed. . Alternatively, control without feedback may be performed in which a voltage is applied to a spindle motor such as an induction motor without a detector to rotate the spindle at a target spindle speed.

When the speed is detected by the main shaft, the speed may be detected directly by the detector, or the speed may be obtained by performing an operation equivalent to differentiation on the position detected by the detector. The detector may be included in the spindle motor, or may be included in a mechanical device driven by the spindle motor.

The slave axis command generating unit 23 may generate the slave axis target speed pattern once after the main axis target speed is generated, and may deliver the generated slave axis target speed pattern to the slave axis motor control device 30. Alternatively, after the main axis target speed is generated, a slave axis target speed pattern is generated, a slave axis target position pattern that becomes the slave axis target speed pattern is generated, and the slave axis target position pattern is transferred to the slave axis motor control device at one time. You can. Alternatively, the slave shaft target speed may be generated as a value every moment and continuously delivered to the slave shaft motor control device 30. Alternatively, after generating the slave axis target speed, the slave axis target position may be continuously passed to the slave axis motor control device 30 by generating momentary values of the slave axis target position that change to the slave axis target speed. good.

The slave shaft motor control device 30 may control the slave shaft motor by receiving the slave shaft target speed pattern or slave shaft target position pattern at one time and turning on a separately input signal instructing to start control. Alternatively, the speed of the slave shaft motor may be controlled by receiving the slave shaft target speed as an instantaneous value. Alternatively, the position of the slave shaft motor 50 may be controlled by receiving the slave shaft target position, which changes to the slave shaft target speed, as a value every moment.

The moment-to-moment values of the slave axis target speed or slave axis target position may be exchanged as analog values that are continuous over time using voltage signals, or as digital values that are periodically generated at regular intervals. The information may also be delivered by communication, etc.

When the speed is detected by the slave axis, the speed may be detected directly by the detector, or the speed may be obtained by performing an operation equivalent to differentiation on the position detected by the detector. The detector may be provided in the slave shaft motor, or may be provided in the mechanical device driven by the slave shaft motor 50.

The synchronous control system 10 also performs speed synchronization in which the slave shaft target speed based on the master shaft target speed is transferred to the slave shaft motor control device 30 to synchronize the speed of the slave shaft motor 50 with the speed of the master shaft motor 60 in the synchronization period. You may go. Alternatively, a slave axis target position that realizes a speed pattern of the slave axis target speed based on the master axis target speed which is equivalent to the differential of the master axis target position is generated and delivered to the slave axis motor control device 30, and the slave axis target position is changed to the slave axis target position. Position synchronization may be performed in which the slave shaft motor 50 is synchronized with the position of the main shaft motor 60 by controlling the position of the motor 50. By synchronizing the position of the slave shaft motor 50 with the position of the main shaft motor 60, the speed, which is the differential of the position, is also synchronized, so even if the position is synchronized in the synchronization period, the speed is synchronized in the synchronization period.Embodiments 1 to 4 The same effect can be obtained.

Furthermore, the synchronous control system 10 may be configured with a combination of a main shaft and a slave shaft, such as the main shaft motor control device 40 performing speed control and the slave shaft motor control device 30 performing position control.

Furthermore, in this embodiment, the effective load is the effective load ratio, which is the ratio of the average torque, which is the average load when driving the slave shaft motor 50, to the rated torque of the slave shaft motor 50, and the drive command is generated. Although an example has been described in which the effective load factor command _Rrmsref , which is a command value of the effective load factor, is input to the device 20, the present invention is not limited to this example. As the effective load, effective load torque, which is the value of the average torque that is the average load when driving the slave shaft motor, is used, and the effective load torque command T _rmsref , which is the command value of the effective load torque, is sent to the drive command generation device 20. may be input. When the effective load torque command T _rmsref is input, the sum of the effective load factor command R _rmsref and the rated torque T _typ of the slave shaft motor 50 on the right side of equation (1) is calculated as the effective load torque command. The spindle target speed v _ref may be calculated by replacing it with T _rmsref .

Furthermore, in this embodiment, an example has been described in which the effective load ratio, which is the ratio of the average torque to the rated torque, is used as the effective load, but the ratio of the square of the average torque to the square of the rated torque may also be used. . Alternatively, the current flowing through the motor to output torque can be used instead of the torque output by the motor, and the effective load is the average current rating of the slave shaft motor, which is the average load when driving the slave shaft motor. A ratio to current may also be used. Alternatively, the ratio of the average square of the current flowing through the motor to the square of the rated current may be used. Alternatively, the value of the average current, which is the average load when driving the slave shaft motor, may be used. There is a correspondence between the current flowing through the motor and the torque output, and it is possible to convert the current value into a torque value corresponding to the current value. In particular, when a motor is used in a range where current and torque are proportional, the rated torque is output when the rated current flows. It is possible to convert the based effective load into a torque based effective load. When a current-based effective load command value is input to the drive command generation device 20, the current-based effective load command value is changed to a torque-based effective load command value based on the correspondence between current and torque. The spindle target speed v _ref can be calculated by converting the command value into the command value and substituting it into the above equation (1).

Embodiment 2.
In the first embodiment, as shown in equation (7) above, the influence of the resistance load torque of the slave shaft motor 50 on the main shaft target speed v _ref is adjusted using the load torque coefficient κ _fr . In the second embodiment, a method for calculating the spindle target speed v _ref when the magnitude of the resistance load torque is known in advance will be described.

FIG. 8 is a block diagram showing a configuration example of a synchronous control system 10A according to the second embodiment. In a synchronous control system 10A according to the second embodiment, the drive command generation device 20 in the configuration of the synchronous control system 10 according to the first embodiment shown in FIG. 2 is replaced with a drive command generation device 20A. The other configurations are the same or equivalent to those in FIG. 2, and the same or equivalent components are shown with the same reference numerals, and redundant explanations will be omitted.

In FIG. 8, machine information and an effective load factor command R _rmsref are input to the drive command generation device 20A as in the first embodiment. In the drive command generation device 20A according to the second embodiment, a resistance load torque T _L is further input. As the resistance load torque T _L input to the drive command generation device 20A, a resistance load torque measured by operating an actual mechanical device can be used. Alternatively, the estimated resistive load torque estimated from the slave shaft total inertia J _all converted to the slave shaft motor shaft and the slave shaft motor position θ _slave detected by the detector 51 may be fed back and used as the resistive load torque. .

FIG. 9 is a block diagram showing a configuration example of a drive command generation device 20A according to the second embodiment. In a drive command generation device 20A according to the second embodiment, the spindle command generation section 22 in the configuration of the drive command generation device 20 according to the first embodiment shown in FIG. 3 is replaced with a spindle command generation section 22A. The other configurations are the same or equivalent to those in FIG. 3, and the same or equivalent components are given the same reference numerals.

In FIG. 9, the effective load factor command R _rmsref is input to the spindle command generation unit 22A, as in the first embodiment. In the spindle command generation unit 22A according to the second embodiment, a resistance load torque T _L is further input. The spindle command generation unit 22A generates the spindle target speed v _ref based on the machine parameters, the effective load factor command R _rmsref , and the resistance load torque T _L.

Next, a method of generating the main axis target speed v _ref and the slave axis target speed ω _ref in the drive command generation device 20A will be described. In addition, in the following description, similarly to Embodiment 1, a case will be taken as an example in which the slave axis target speed pattern ω _ref1 (t) in the asynchronous section has a parabolic shape.

First, the parameter setting section 21 generates the seven machine parameters described below and shown below.

- Movement distance of the slave shaft motor 50 in the asynchronous section: d ₁
- Movement distance of the slave shaft motor 50 in the synchronization section: d ₂
- Movement distance of the main shaft motor 60 in the asynchronous section: l ₁
- Movement distance of the main shaft motor 60 in the synchronous section: l ₂
・Rated torque of slave shaft motor 50: T _type
・Slave shaft total inertia converted to slave shaft motor shaft: J _all
- Slave axis target speed pattern in the asynchronous section: ω _ref1 (t)

The spindle command generation unit 22A uses the effective load factor command R _rmsref , the machine parameters, and the resistance load torque T _L to calculate the spindle target speed v _ref from equation (8) shown below. Note that the relational expression shown in equation (8) below is stored in advance in the spindle command generation section 22A.

The calculation procedure for the above equation (8) can be derived in the same manner as the above equation (1). Specifically, the slave shaft target speed pattern ω _ref1 (t) shown in the above equation (2-1) and the slave shaft target speed ω _ref2 shown in the above equation (2-2) are calculated using the above equation (6). , and calculate a(t,v _ref ). The average torque T _rms is calculated by substituting the calculated a(t,v _ref ) into equation (9) shown below. Then, by substituting the calculated average torque T _rms into the above equation (4) and rearranging the spindle target speed v _ref , the above equation (8) is obtained.

The main spindle target speed v _ref calculated using the above equation (8) is input to the main spindle motor control device 40 and the slave axis command generation section 23 .

The processing in the slave axis command generation unit 23 is the same as in the first embodiment, and the slave axis target speed ω ref1 in the asynchronous interval and the slave axis target speed ω _ref1 in the synchronous interval are determined using the above equations (2-1) and (2-2). The slave axis target speed ω _ref is generated from the slave axis target speed ω _ref2 . The slave axis target speed ω _ref generated by the slave axis command generation unit 23 is input to the slave axis motor control device 30 .

As described above, by using the above equation (8) and equations (2-1) and (2-2), the main shaft target speed v _ref and the slave shaft target speed ω _ref are calculated. Furthermore, the equation (8) includes the effective load rate R _rms in the slave shaft motor control device 30. Therefore, the drive command generation device 20A determines the main shaft target speed v _ref at which the effective load ratio R _rms of the slave shaft motor control device 30 becomes the effective load ratio command R _rmsref , and the slave shaft in the synchronous period and the asynchronous period of the slave shaft motor 50. The target speed ω _ref can be automatically generated.

As described above, according to the second embodiment, the main shaft command generation unit 22A uses the machine parameters, the effective load factor command R _rmsref , and the resistance load torque T _L to control the slave shaft motor control device 30. A spindle target speed v _ref is generated in which the effective load rate R _rms becomes the effective load rate command R _rmsref . Further, the slave axis command generation unit 23 generates a slave axis target speed ω _ref that corresponds to the main axis target speed v _ref and has a synchronous section and an asynchronous section, based on the machine parameters and the main axis target speed v _ref . Thereby, it is possible to generate the main shaft target speed v _ref and the slave shaft target speed ω _ref such that the effective load ratio R _rms of the slave shaft motor control device 30 becomes the effective load ratio command R _rmsref . As a result, it becomes possible to easily construct a synchronous control system in a short time without adjusting the spindle target speed v _ref by trial and error.

Embodiment 3.
In the third embodiment, a method will be described in which machine parameters are generated based on workpiece information regarding the workpiece 5, and the main axis target speed v _ref and slave axis target speed ω _ref are calculated based on the generated machine parameters.

FIG. 10 is a block diagram showing a configuration example of a synchronous control system 10B according to the third embodiment. In the synchronous control system 10B according to the second embodiment, the drive command generation device 20 in the configuration of the synchronous control system 10 according to the first embodiment shown in FIG. 2 is replaced with a drive command generation device 20B. The other configurations are the same or equivalent to those in FIG. 2, and the same or equivalent components are shown with the same reference numerals, and redundant explanations will be omitted.

In FIG. 10, the effective load factor command R _rmsref is input to the drive command generation device 20B as in the first embodiment. In the drive command generation device 20B according to the third embodiment, workpiece information is further inputted from a workpiece information detector 62 provided in the spindle motor 60. The workpiece information detector 62 outputs the "length of the workpiece" and "distance between the workpieces" conveyed by the spindle motor 60 as workpiece information to the drive command generation device 20B.

FIG. 11 is a block diagram showing a configuration example of a drive command generation device 20B according to the third embodiment. In the drive command generation device 20B according to the third embodiment, the parameter setting unit 21 in the configuration of the drive command generation device 20 according to the first embodiment shown in FIG. 3 is replaced with a parameter setting unit 21A. The other configurations are the same or equivalent to those in FIG. 3, and the same or equivalent components are given the same reference numerals.

In FIG. 11, machine information is input to the parameter setting section 21A as in the first embodiment. In the parameter setting section 21A according to the third embodiment, work information is further input. The parameter setting unit 21A generates machine parameters based on machine information and workpiece information.

With the above configuration, the shape of the workpiece 5 to be transported is recognized, and the main shaft target speed v _ref and slave shaft are adjusted so that the effective load rate R _rms becomes the effective load rate command R _rmsref according to the workpiece 5 to be transported. The target speed ω _ref can be automatically generated.

Next, a procedure for recognizing the shape of the workpiece 5 and reflecting it in the machine parameters will be explained.

The workpiece information detector 62 determines the length of the workpiece based on the relationship between the length of time the workpiece 5 exists on a sensor (not shown), the length of time the workpiece 5 does not exist on the sensor, and the conveyance speed of the workpiece 5. ” and “distance between works”. The spindle speed, which is the rotational speed of the spindle motor 60, may be used instead of the conveyance speed of the workpiece 5. The calculated "length of workpiece" and "distance between works" are output to the parameter setting unit 21A as workpiece information.

The parameter setting unit 21A calculates a moving distance _l1 of the spindle motor 60 in the asynchronous section and a moving distance _l2 of the spindle motor 60 in the synchronous section from the workpiece information. The relational expressions for calculating these moving distances l ₁ and l ₂ from the workpiece information are stored in advance inside the parameter setting unit 21A.

Instead of the above configuration, the workpiece information detector 62 may be configured to store a relational expression for calculating the moving distances l ₁ and l ₂ from the workpiece information. In this configuration, the workpiece information detector 62 determines the moving distance l1 of the spindle motor 60 in the asynchronous section and the moving distance _l1 of the spindle motor 60 in the synchronous section based on the "length of the workpiece" and the "distance between the works". Calculate ₂ . The work information detector 62 outputs the calculated moving distances l ₁ and l ₂ to the parameter setting unit 21A as work information.

Alternatively, the workpiece information may be calculated by observing the image of the workpiece 5. Further, the workpiece information does not directly determine physical information regarding the workpiece 5 such as "length of the workpiece" and "distance between the workpieces", but may be information that identifies the type of the workpiece 5 being transported. For example, the type of workpiece may be identified by reading a barcode or the like pasted on the workpiece 5 with a barcode reader. In this example, the workpiece information can be output by using the relationship between the type of workpiece 5 and the shape of the workpiece, which is stored in advance in the workpiece information detector 62.

With the above configuration and procedure, the work information detector 62 can automatically calculate work information and output the calculated work information to the drive command generation device 20B. Further, when the shape of the workpiece 5 changes, it is also possible to change the generated drive command based on the workpiece information detected by the workpiece information detector.

As described above, the parameter setting unit 21A generates machine parameters based on the workpiece information detected by the workpiece information detector 62, so that the workpiece information regarding the workpiece 5 conveyed by the spindle motor 60 is automatically converted into machine parameters. can be reflected. Thereby, the main shaft target speed v _ref at which the effective load ratio R _rms of the slave shaft motor control device 30 becomes the effective load ratio command R _rmsref can be calculated in accordance with the workpiece information.

As described above, according to the third embodiment, the parameter setting unit 21A generates machine parameters based on the workpiece information generated by the workpiece information detector 62. In addition, the spindle command generation unit 22 uses the machine parameters and the effective load factor command R _rmsref to generate a spindle target speed v _ref at which the effective load factor R _rms of the slave shaft motor control device 30 becomes the effective load factor command R _rmsref . generate. Further, the slave axis command generation unit 23 generates a slave axis target speed ω _ref that corresponds to the main axis target speed v _ref and has a synchronous section and an asynchronous section, based on the machine parameters and the main axis target speed v _ref . As a result, in addition to the effects of the first and second embodiments, it is possible to detect in advance malfunctions such as a positional shift of the workpiece 5 being transported or the wrong workpiece 5 being transported.

Embodiment 4.
In the configurations according to Embodiments 1 to 3, when the slave axis command generation unit 23 generates the slave axis target speed, there may be a period in which the slave axis target speed pattern in the asynchronous period is negative. In Embodiment 4, a specific method for dealing with this problem will be described.

FIG. 12 is a diagram showing an example in which the slave axis target speed pattern generated by the slave axis command generation unit 23 according to Embodiments 1 to 3 has a negative section. The upper part of FIG. 12 shows the slave axis target speed, and the lower part shows the slave axis target position. In FIG. 12, the value of the slave axis target speed changes from positive to negative in the section ΔT3 that is part of the asynchronous section. A change in the value of the slave shaft target speed from positive to negative means that the rotation direction of the slave shaft motor 50 is reversed, which is an unfavorable speed pattern.

FIG. 13 is a block diagram showing a configuration example of a synchronous control system 10C according to the fourth embodiment. In a synchronous control system 10C according to the fourth embodiment, the drive command generation device 20 in the configuration of the synchronous control system 10 according to the first embodiment shown in FIG. 2 is replaced with a drive command generation device 20C. The other configurations are the same or equivalent to those in FIG. 2, and the same or equivalent components are indicated with the same reference numerals f, and redundant explanations will be omitted.

FIG. 14 is a block diagram showing a configuration example of a drive command generation device 20C according to the fourth embodiment. In the drive command generation device 20C according to the fourth embodiment, in the configuration of the drive command generation device 20 according to the first embodiment shown in FIG. The command generating section 23 is replaced with a slave axis command generating section 23A. Further, the drive command generation device 20C according to the fourth embodiment is provided with a speed reversal determination section 24. The other configurations are the same or equivalent to those in FIG. 3, and the same or equivalent components are given the same reference numerals.

The speed reversal determining section 24 uses the machine parameters output from the parameter setting section 21 to generate a speed pattern change signal. The speed pattern change signal output by the speed reversal determining section 24 is output to the main axis command generating section 22B and the slave axis command generating section 23A. The spindle command generation unit 22B generates the spindle target speed v _ref using the machine parameters, the effective load factor command R _rmsref , and the speed pattern change signal. The slave axis command generation unit 23A generates the slave axis target speed ω _ref using the machine parameter, the main axis target speed v _ref , and the speed pattern change signal. The processing in the parameter setting unit 21 is the same as that in the first embodiment, and the explanation here will be omitted.

Next, a method of generating the main axis target speed v _ref and the slave axis target speed ω _ref in the drive command generation device 20C will be explained. In addition, in the following description, similarly to Embodiment 1, a case will be taken as an example in which the slave axis target speed pattern ω _ref1 (t) in the asynchronous section has a parabolic shape.

First, the parameter setting section 21 generates the seven machine parameters described below and shown below.

- Movement distance of the slave shaft motor 50 in the asynchronous section: d ₁
- Movement distance of the slave shaft motor 50 in the synchronization section: d ₂
- Movement distance of the main shaft motor 60 in the asynchronous section: l ₁
- Movement distance of the main shaft motor 60 in the synchronous section: l ₂
・Rated torque of slave shaft motor 50: T _type
・Slave shaft total inertia converted to slave shaft motor shaft: J _all
- Slave axis target speed pattern in the asynchronous section: ω _ref1 (t)

The speed reversal determining unit 24 uses the machine parameters output from the parameter setting unit 21 to determine whether or not there is a section in which the slave axis target speed ω _ref is negative, using the following equation (10).

When the machine parameter satisfies the discrimination condition of equation (10), the slave axis target speed ω _ref has a negative section. The speed reversal determining unit 24 outputs a speed pattern change signal of "logic 1" when the slave axis target speed ω _ref has a negative section. On the other hand, when the slave axis target speed ω _ref does not have a negative section, the speed reversal determining unit 24 outputs a speed pattern change signal of "logic 0". Note that the logic of the speed pattern change signal shown here is just an example, and "logic 1" and "logic 0" may be reversed.

When the slave axis target speed does not have a negative section, the spindle command generating section 22B and the slave axis command generating section 23A use the above equations (1) and (2) as in the first embodiment to determine the spindle target speed. A speed v _ref and a slave axis target speed ω _ref are generated. When the slave axis target speed ω _ref has a negative section, the main axis command generation section 22B and the slave axis command generation section 23A change the shape of the speed pattern from a parabolic shape to have a section where the slave axis target speed ω _ref is negative. Not change the speed pattern shape. An example of a speed pattern shape that does not have a section where the slave axis target speed ω _ref is negative is a trapezoidal shape. By using a trapezoidal target speed pattern shape, the speed pattern shape can be changed to a speed pattern shape that does not have a section where the slave axis target speed ω _ref is negative. The main axis command generation unit 22B and the slave axis command generation unit 23A generate the main axis target speed v _ref and the slave axis target speed ω _ref using a speed pattern shape that does not have a section where the slave axis target speed ω _ref is negative. .

As described above, the drive command generation device 20C according to the fourth embodiment includes the speed reversal determining unit 24 that determines whether or not the slave axis target speed ω _ref has a negative section. As a result, when there is a section where the slave axis target speed ω _ref is negative, it is possible to automatically change the shape of the speed pattern to a shape that does not have a section where the slave axis target speed ω _ref is negative. .

Note that, in the above, a trapezoidal shape is exemplified as a speed pattern shape that does not have a section where the slave axis target speed ω _ref is negative, but the shape is not limited to this. Instead of the trapezoidal shape, other shaped functions such as trigonometric functions may be used. Further, depending on the mechanical device, it may be possible to change machine parameters such as the moving distance d ₁ of the slave shaft motor 50 in the asynchronous section and the moving distance l ₁ of the main shaft motor 60 in the asynchronous section. In such a case, instead of changing the speed pattern shape, the machine parameters may be changed so that the condition of equation (10) above is not satisfied.

As described above, according to the fourth embodiment, the speed reversal determining unit 24 uses the machine parameters generated by the parameter setting unit 21 to determine whether or not there is a section in which the slave axis target speed ω _ref is negative. A speed pattern change signal is generated based on the determined speed pattern. The slave axis command generation unit 23A changes the speed pattern shape based on the speed pattern change signal. As a result, it is possible to generate a slave axis target speed ω _ref that does not have a negative section, and it is possible to suppress a decrease in positioning performance. As a result, it is possible to maintain the effects shown in Embodiments 1 to 3 while suppressing deterioration in positioning performance.

Embodiment 5.
In Embodiment 5, an embodiment will be described in which a learning device learns the driving conditions by the drive command generation device 20 described in Embodiment 1. FIG. 15 is a block diagram showing the configuration of a machine learning system 150 including a learning device 200 that learns drive conditions by the drive command generation device 20 described in the first embodiment. As shown in FIG. 15, the machine learning system 150 according to the fifth embodiment includes a learning device 200, a drive command generation device 20, a main shaft drive command generation section 500, a slave shaft drive command generation section 510, and a main shaft drive command generation section 510. It includes a motor power supply section 300, a slave shaft motor power supply section 310, a main shaft motor 400, and a slave shaft motor 410. The main shaft motor 400 is provided with a speed detector 401 that detects the main shaft motor speed. The slave shaft motor 410 is provided with a speed detector 411 that detects the slave shaft motor speed. The drive command generation device 20 may be replaced with any one of the drive command generation devices 20A, 20B, and 20C described in the second to fourth embodiments.

The drive command generation device 20 includes a main shaft drive command generation section 500 and a slave shaft drive command generation section 510. The drive command generation device 20 performs control to synchronize the slave shaft motor 410 with the main shaft motor position based on the main shaft drive command and the slave shaft drive command. The main shaft drive command is a drive command for driving the main shaft motor 400. The slave shaft drive command is a drive command for driving the slave shaft motor 410. The spindle drive command generation section 500 generates a spindle drive command and outputs it to the spindle motor power supply section 300 . The slave shaft drive command generation section 510 generates a slave shaft drive command and outputs it to the slave shaft motor power supply section 310.

FIG. 16 is a block diagram schematically showing the configuration of the spindle drive command generation section 500 shown in FIG. 15. In FIG. 16, a main shaft motor 400 is used as a drive source for the main shaft. The spindle drive command generation section 500 includes a spindle motor power supply section 300, a current detector 301, a current control section 511, a current command generation section 512, and a speed command generation section 513. The main shaft motor power supply section 300 includes an inverter (not shown) that supplies driving power for driving the main shaft motor 400. FIG. 16 shows a position control loop, a speed control loop, and a current control loop as a configuration for generating a drive command to control the inverter of the spindle motor power supply section 300.

In the position control loop, a speed command is generated by the speed command generation unit 513 based on the difference information between the position feedback value and the position command. The position feedback value is information regarding the actual roller position of the spindle motor 400 detected by the position detector 402 attached to the spindle motor 400. The position command is information regarding the spindle motor position generated by a position command generation section (not shown).

In the speed control loop, the current command generation section 512 generates a current command based on the difference information between the speed feedback value and the speed command generated by the speed command generation section 513. The speed feedback value is information regarding the spindle speed of the spindle motor 400 detected by the speed detector 401 attached to the spindle motor 400.

In the current control loop, a drive command is generated by the current control unit 511 based on difference information between the current feedback value and the current command generated by the current command generation unit 512. The current feedback value is information regarding the current flowing from the inverter in the spindle motor power supply 300 to the spindle motor 400 . The current feedback value is detected by the current detector 301 and fed back to the current controller 511. An example of the drive command is a PWM (Pulse Width Modulation) control signal for controlling the power conversion operation of the inverter.

The inverter in the main shaft motor power supply unit 300 is an inverter for supplying motor power that converts DC power into AC power by, for example, a switching operation of a switching element provided therein. The spindle motor power supply unit 300 controls a conversion operation of converting DC power into AC power for driving the spindle motor 400 by controlling a switching operation of a switching element in an inverter based on the received drive command.

The main shaft motor 400 operates using AC power output from an inverter in the main shaft motor power supply section 300 as driving power. By controlling the voltage or frequency of the AC power output from the inverter, the speed, torque, or position of the main shaft motor 400 can be controlled. By driving the main shaft motor 400, the main shaft movable portion of the mechanical device is driven.

Note that the slave shaft drive command generation section 510 is also configured in the same manner as the main shaft drive command generation section 500, and operates in the same manner. Since the content is redundant, we omit the explanation here.

Returning to the explanation of FIG. 15. In order to avoid complexity, FIG. 15 illustrates a case where the feedback values from the main shaft motor 400 and the slave shaft motor 410 are motor speeds, that is, speed feedback values. Note that in addition to or instead of the speed feedback value, at least one of the position feedback value and the current feedback value may be input as the feedback value.

The learning device 200 includes a state observation section 211 and a learning section 212. The state observation unit 211 receives main axis control information from the main axis drive command generation unit 500 and receives slave axis control information from the slave axis drive command generation unit 510. The spindle control information is control information for driving and controlling the spindle motor 400. The slave shaft control information is control information for driving and controlling the slave shaft motor 410. The state observation unit 211 observes the main axis control information and slave axis control information as state variables. The main axis control information and the slave axis control information represent the speed pattern calculated from the operation commands for each axis in the main axis drive command generation unit 500 and the slave axis drive command generation unit 510, and the effective load of the slave axis drive command generation unit 510. This includes the effective load factor, which is one of the indicators. The operation command for each axis is a position command, a speed command, or a current command.

The main axis control information and the slave axis control information are used as internal data in each operation program of the main axis drive command generation section 500 and the slave axis drive command generation section 510. Therefore, the state observation unit 211 can observe the main axis control information and the slave axis control information by observing the internal data of each operation program of the main axis drive command generation unit 500 and the slave axis drive command generation unit 510 as state variables. becomes.

FIG. 15 shows some state variables observed by the state observation unit 211. The state observation unit 211 also observes data regarding processing conditions for the controlled object and mechanical specification data of the mechanical device as state variables. When the mechanical device is a sheet pasting machine shown in FIG. 1, the object to be controlled is a workpiece, and the past conditions are workpiece processing conditions. Data regarding workpiece processing conditions and machine specification data can be acquired from the mechanical device.

Information on each operation program of the main spindle drive command generation section 500 and the slave axis drive command generation section 510, as well as data regarding the workpiece machining conditions, are not shown in the figure and are used to control the operations of the main spindle drive command generation section 500 and the slave axis drive command generation section 510. It may also be obtained from the general control unit. Further, data regarding workpiece processing conditions may be acquired by an operator via an input device.

The learning unit 212 learns driving conditions according to learning data created based on state variables. The driving conditions referred to here are conditions associated with the driving commands in the main shaft drive command generating section 500 and the driving commands in the slave shaft driving command generating section 510.

FIG. 17 is a flowchart showing the operation flow of the learning method in the learning device 200 according to the fifth embodiment. The flowchart shown in FIG. 17 includes a state observation step S101 and a learning step S102.

The state observation step S101 is executed by the state observation unit 211. The state observation unit 211 receives the main axis control information output from the main axis drive command generation unit 500, the slave axis control information output from the slave axis drive command generation unit 510, and the main axis drive command generation unit 500 and the slave axis drive command generation unit. A state variable composed of at least one of data regarding workpiece machining conditions set in the section 510 and mechanical specification data of the mechanical device is observed. Regarding the main axis control information and the slave axis control information, internal data of the operation programs of the main axis drive command generation section 500 and the slave axis drive command generation section 510 may be observed as state variables.

Learning step S102 is executed by the learning unit 212. The learning unit 212 learns the conditions associated with the driving command in the main shaft drive command generating unit 500 and the driving command in the slave shaft driving command generating unit 510, according to learning data configured by state variables.

Any learning algorithm may be used by the learning unit 212. The learning device 200 has a function of extracting useful rules, knowledge expressions, judgment criteria, etc. from a collection of input data through analysis, outputting the judgment results, and learning knowledge. . There are various methods, but they can be broadly divided into ``supervised learning,'' ``unsupervised learning,'' and ``reinforcement learning.'' Furthermore, in realizing these methods, there is a method called "deep learning" that learns to extract the feature amount itself. Note that the learning device 200 that performs these learnings is realized by applying, for example, GPGPU (General-Purpose Computing on Graphics Processing Units), a large-scale PC cluster, or the like.

Hereinafter, as an example, a case where reinforcement learning is used will be described with reference to FIGS. 18 and 19. FIG. 18 is a block diagram illustrating a configuration example when learning device 200 according to Embodiment 5 performs reinforcement learning. The learning section 212 includes a reward calculation section 221 and a function updating section 222. Further, FIG. 19 is a flowchart showing a general operation flow of the learning method in the learning device 200 shown in FIG. 18. The flowchart shown in FIG. 19 includes a state observation step S101, a reward calculation step S102-1, and a function update step S102-2.

Reinforcement learning is ``an agent (actor) in a certain environment that observes the current state (parameters of the environment) and decides what action to take.'' The environment changes dynamically depending on the actions of the agent, and the agent is rewarded according to changes in the environment. The agent repeats this process and learns the course of action that yields the most rewards through a series of actions. Q-learning and TD-learning are known as typical methods of reinforcement learning. For example, in the case of Q-learning, a general update formula (action value table) for the action value function Q(s, a) is expressed by the following equation (11).

In the above equation (11), s _t represents the state of the environment at time t, and a _t represents the behavior at time t. The action a _t changes the state to s _t+1 . r _t+1 represents the reward obtained by changing the state, γ represents the discount rate, and α represents the learning coefficient. Note that γ is in the range of 0<γ≦1, and α is in the range of 0<α≦1. When Q learning is applied, the condition associated with the driving command in the main shaft drive command generating section 500 and the driving command in the slave shaft driving command generating section 510 becomes the action _at .

The update formula expressed by equation (11) is that if the action value Q of action a with the highest Q value at time t+1 is greater than the action value Q of action a executed at time t, then the action value Q is increased. However, in the opposite case, the action value Q is decreased. In other words, the action value function Q(s, a) is updated so that the action value Q of action a at time t approaches the best action value at time t+1. As a result, the best action value in a certain environment will be successively propagated to the action value in the previous environment.

Next, the operation according to the flowchart shown in FIG. 19 will be explained.

First, the operation of the state observation step S101 shown in FIG. 19 is equivalent to the operation of the state observation step S101 shown in FIG. Although it overlaps with the explanation of FIG. 17, the operation contents will be reproduced.

The state observation step S101 is executed by the state observation unit 211. The state observation unit 211 receives the main axis control information output from the main axis drive command generation unit 500, the slave axis control information output from the slave axis drive command generation unit 510, and the main axis drive command generation unit 500 and the slave axis drive command generation unit. A state variable composed of at least one of data regarding workpiece machining conditions set in the section 510 and mechanical specification data of the mechanical device is observed. Regarding the main axis control information and the slave axis control information, internal data of the operation programs of the main axis drive command generation section 500 and the slave axis drive command generation section 510 may be observed as state variables.

The remuneration calculation step S102-1 is executed by the remuneration calculation unit 221. The remuneration calculation unit 221 generates a speed pattern calculated from each operation command of the main axis drive command generation unit 500 and the slave axis drive command generation unit 510, and a slave axis drive command generation unit 510 based on the operation command of the slave axis drive command generation unit 510. The remuneration is calculated based on the condition of whether or not the effective load factor falls within the range of an arbitrarily set load factor limit value. The load factor limit value is an example of a load limit value when the effective load factor is used as the effective load. Note that the load factor limit value may be appropriately set by an operator or administrator in consideration of various factors such as the manufacturing cost of each motor and mechanical device, and the usage environment.

The function update step S102-2 is executed by the function update unit 222. The function update unit 222 updates the action value function Q(s, a) based on the state variable observed by the state observation unit 211 and the reward calculated by the reward calculation unit 221. The action value function Q(s, a) here is such that the effective load rate of the slave axis drive command generation unit 510 based on the operation command of the slave axis drive command generation unit 510 is within the load rate limit set arbitrarily, and , is a function for calculating an operation command such that the cycle of the speed pattern calculated from each operation command of the main shaft drive command generation unit 500 and the slave axis drive command generation unit 510 becomes shorter. The period of the speed pattern can be rephrased as the cycle time until the next workpiece calculated from the speed pattern.

Note that the learning unit 212 may calculate the state variables observed by the state observation unit 211 in a multilayer structure and update the action value function Q(s, a) in real time. A neural network model is a model that expresses state variables in a multilayer structure. FIG. 20 is a diagram showing an example of a neural network model applicable to the learning device 200 shown in FIG. 18.

A neural network is composed of an input layer consisting of a plurality of neurons, an intermediate layer (hidden layer) consisting of a plurality of neurons, and an output layer consisting of a plurality of neurons. The intermediate layer may be one layer or two or more layers.

For example, in a three-layer neural network as shown in Figure 20, when multiple inputs are input to the input layer (X1-X3), the values are multiplied by weights W1 (w11-w16) and the intermediate layer (Y1-Y2) is input. Then, the result is further multiplied by weight W2 (w21-w26) and output from the output layer (Z1-Z3). This output result changes depending on the values of weights W1 and W2.

In the present application, the neural network learns by adjusting the weights W1 and W2 so that the state variables observed by the state observation unit 211 approach optimal conditions. The optimum conditions mentioned here are that the effective load factor of the slave axis drive command generation section 510 is within the arbitrarily set load factor limit, and that each operation of the main axis drive command generation section 500 and the slave axis drive command generation section 510 is This is a condition for generating a driving command such that the cycle of the speed pattern calculated from the command is the shortest.

FIG. 21 is a flowchart showing an operation flow when the learning device 200 shown in FIG. 18 performs reinforcement learning. In the following description, the main shaft drive command generation section 500 and the slave shaft drive command generation section 510 are collectively referred to as "each drive command generation section."

Generally, in reinforcement learning, the initial value of a behavior is randomly selected. In the learning device 200 according to the fifth embodiment, a driving command, which is an action, is randomly selected in step S201. The driving command referred to here is any one of a position command, a speed command, and a current command.

In step S202, the spindle drive command generation unit 500 drives the spindle motor 400 based on the selected operation command. Further, the slave shaft drive command generation unit 510 drives the slave shaft motor 410 based on the selected driving command.

The spindle drive command generation unit 500 generates a drive command for controlling the speed, torque, or position of the spindle motor 400. As a result, the spindle motor power supply unit 300 performs a power operation (also referred to as a "forward conversion operation") that converts AC power into DC power and a regeneration operation (also referred to as a "reverse conversion operation") that converts DC power into AC power. I do. The main shaft motor 400 is driven by the supplied AC drive power. Speed detector 401 detects the spindle motor speed. Position detector 402 detects the spindle motor position. Current detector 301 detects the current flowing from main shaft motor power supply section 300 to main shaft motor 400 .

The slave shaft drive command generation unit 510 generates a drive command for controlling the speed, torque, or slave shaft motor position of the slave shaft motor 410. Thereby, the slave shaft motor power supply section 310 performs a powering operation to convert AC power to DC power and a regeneration operation to convert DC power to AC power. The slave shaft motor 410 is driven by the supplied AC drive power. Speed detector 411 detects the slave shaft motor speed. A position detector (not shown) detects the position of the slave shaft motor. A current detector (not shown) detects the current flowing from the slave shaft motor power supply section 310 to the slave shaft motor 410.

In step S203, the state observation unit 211 observes the operation program of each drive command generation unit, main axis control information, slave axis control information, data regarding set workpiece machining conditions, and mechanical specification data of the mechanical device as state variables. do.

In step S204, the drive conditions associated with the drive commands in each drive command generation unit are learned, and the learned drive conditions are used as determination conditions. Specifically, the reward calculation unit 221 calculates that the period of the speed pattern calculated from the current driving command of each drive command generation unit is longer than the period of the speed pattern calculated from the previous driving command of each drive command generation unit. It is short and determines whether the effective load factor of the slave axis drive command generation unit 510 based on the current operation command falls within the range of the arbitrarily set load factor limit value. If this determination condition is satisfied (step S204, Yes), the process proceeds to step S205, the reward is increased, and the process proceeds to step S207. On the other hand, if the determination condition is not satisfied (step S204, No), the process proceeds to step S206, the reward is reduced, and the process proceeds to step S207.

In step S207, the function updating unit 222 issues a driving command for driving the main shaft motor 400 and driving the slave shaft motor 410 based on the state variables observed by the state observing unit 211 and the remuneration calculated by the remuneration calculation unit 221. Update the function for determining the driving command for the event.

In subsequent step S208, the learning unit 212 determines the driving command that provides the most reward based on the function updated in step S207. The determined driving command is selected and the process returns to step S202. From this point on, the processes of steps S202 to S208 are repeatedly executed. Thereby, the learning device 200 ensures that the effective load factor of the slave axis drive command generation section 510 is within the arbitrarily set load factor limit, and that the period of the speed pattern calculated from the operation command of each drive command generation section is It will learn shorter driving commands.

According to the learning device 200 according to the fifth embodiment, it is possible to obtain the effect that the speed setting of the spindle motor can be easily and efficiently performed in a short time.

In the fifth embodiment, a case has been described in which reinforcement learning is applied to the learning algorithm used by the learning unit 212, but the present invention is not limited to this. As for the learning algorithm, in addition to reinforcement learning, other learning algorithms such as supervised learning, unsupervised learning, or semi-supervised learning can also be applied.

In addition, as the above-mentioned learning algorithm, deep learning, which learns the extraction of the feature values themselves, can be used, and other known methods such as neural networks, genetic programming, functional logic programming, support vector machines, etc. Learning may be performed.

Embodiment 6.
In the fifth embodiment, the remuneration calculation unit 221 calculates the remuneration based on the determination condition based on the effective load factor of the slave axis drive command generation unit 510 and the period of the speed pattern calculated from the driving command. In the sixth embodiment, a case will be further described in which power supplied to the main shaft motor 400 and the slave shaft motor 410 is used as a determination condition.

The remuneration calculation unit 221 generates a speed pattern calculated from each operation command of the main axis drive command generation unit 500 and the slave axis drive command generation unit 510, and a slave axis drive command generation unit 510 based on the operation command of the slave axis drive command generation unit 510. The remuneration is calculated based on the condition of whether or not the effective load factor of is within the range of an arbitrarily set load factor limit value, and the power supplied to the main shaft motor 400 and the slave shaft motor 410.

The function update unit 222 updates the action value function Q(s, a) based on the state variable observed by the state observation unit 211 and the reward calculated by the reward calculation unit 221. The action value function Q(s, a) here is such that the effective load rate of the slave axis drive command generation unit 510 based on the operation command of the slave axis drive command generation unit 510 is within the load rate limit set arbitrarily, and , the period of the speed pattern calculated from each operation command of the main shaft drive command generation unit 500 and the slave shaft drive command generation unit 510 becomes shorter, and the power supplied to the main shaft motor 400 and the slave shaft motor 410 becomes smaller. This is a function for calculating such driving commands.

According to the learning device 200 according to the sixth embodiment, in addition to the effects of the fifth embodiment, it is possible to further reduce the power supplied to the main shaft motor 400 and the slave shaft motor 410.

Next, the hardware configuration of the computer that operates the drive command generation device 20 and the learning device 200 will be described. FIG. 22 is a diagram showing a first example of a hardware configuration that realizes the functions of the drive command generation device 20 according to the first to fourth embodiments and the learning device 200 according to the fifth and sixth embodiments. . FIG. 23 is a diagram showing a second example of a hardware configuration that realizes the functions of the drive command generation device 20 according to the first to fourth embodiments and the learning device 200 according to the fifth and sixth embodiments. .

A computer that operates the drive command generation device 20 and the learning device 200 can be realized by the processor 701, memory 702, and interface 704 shown in FIG. The processor 701 is a system L SI( Large Scale Integration). The memory 702 is a RAM (Random Access Memory), a ROM (Read Only Memory), or the like.

The memory 702 stores programs that execute the functions of the drive command generation device 20 and the learning device 200. The processor 701 executes the processing by the drive command generation device 20 and the learning device 200 by reading and executing the program stored in the memory 702. It can be said that the program stored in the memory 702 causes the computer to execute a plurality of instructions corresponding to the procedures or methods of the drive command generation device 20 and the learning device 200. The memory 702 is also used as temporary memory when the processor 701 executes various processes.

The program executed by processor 701 may be a computer program product having a computer-readable non-transitory storage medium that is executable by a computer and includes a plurality of instructions for performing data processing. . That is, the drive command generation device 20 and the learning device 200 may be realized by a computer-readable medium on which a program is recorded.

Note that the processor 701 and memory 702 shown in FIG. 22 may be replaced with the processing circuit 703 shown in FIG. 23. The processing circuit 703 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. Applicable. Note that some of the functions of the drive command generation device 20 and the learning device 200 may be realized by dedicated hardware, and some may be realized by software or firmware.

The configurations shown in the embodiments above are merely examples, and can be combined with other known techniques, or can be combined with other embodiments, within the scope of the gist. It is also possible to omit or change part of the configuration.

1 Conveyor mechanism section, 1A Conveyor belt, 1B, 1C, 2A Motor, 2 Roller mechanism section, 2B Roller, 4 Sheet, 5, 6 Workpiece, 10, 10A, 10B, 10C Synchronous control system, 20, 20A, 20B, 20C Drive command generation device, 21, 21A Parameter setting unit, 22, 22A, 22B Main axis command generation unit, 23, 23A Slave axis command generation unit, 24 Speed reversal determination unit, 30 Slave axis motor control device, 40 Main axis motor control device, 50,410 slave axis motor, 51,61 detector, 60,400 main axis motor, 62 work information detector, 100 sheet pasting machine, 150 machine learning system, 200 learning device, 211 state observation unit, 212 learning unit, 221 Reward calculation section, 222 Function update section, 300 Main shaft motor power supply section, 301 Current detector, 310 Slave shaft motor power supply section, 401, 411 Speed detector, 402 Position detector, 500 Main shaft drive command generation section, 510 Slave shaft Axis drive command generation unit, 511 current control unit, 512 current command generation unit, 513 speed command generation unit, 701 processor, 702 memory, 703 processing circuit, 704 interface.

Claims (14)

A drive command generation device included in a synchronous control system that performs control to synchronize a slave shaft motor with the position or speed of a main shaft motor,
a parameter setting unit that receives machine information that is information about a control target of the synchronous control system and sets machine parameters based on the machine information;
An effective load command, which is a command value for an effective load, which is an index of the average load when driving the slave shaft motor, is input, and information regarding the target speed of the main shaft is generated based on the machine parameters and the effective load command. a spindle command generation unit that generates a spindle target speed that is;
a slave axis command generation unit that generates a slave axis target speed, which is information regarding the target speed of the slave axis, based on the machine parameter and the main axis target speed ;
Equipped with
The main axis command generating section generates the main axis target so that the effective load when driving the slave axis motor matches the effective load command based on the slave axis target speed generated by the slave axis command generating section. generate velocity
A drive command generation device characterized by : The slave axis command generation unit is configured to determine the slave axis target speed in a synchronization period in which the slave axis motor operates in synchronization with the position or speed of the main axis motor, and the slave axis motor operates without synchronization with the main axis motor. The drive command generation device according to claim 1, wherein the drive command generation device generates the slave axis target speed in the asynchronous section. The slave axis target speed in the asynchronous section is a function of time,
The drive command generation device according to claim 2, wherein the speed pattern of the slave axis target speed, which is a function of time, has a parabolic shape. a speed reversal determining unit that generates a speed pattern change signal that determines whether or not the slave axis target speed has a negative section using the machine parameter generated by the parameter setting unit;
3. The slave axis command generation unit changes the shape of the speed pattern to a speed pattern shape that does not have a section where the slave axis target speed is negative, based on the speed pattern change signal. The drive command generation device described in . The machine parameters include a moving distance of the slave shaft motor in the asynchronous section, a moving distance of the slave shaft motor in the synchronous section, a moving distance of the main shaft motor in the asynchronous section, and a moving distance of the main shaft motor in the synchronous section. , and information regarding motor specifications of the slave shaft motor. The drive command generation device according to any one of claims 2 to 4. The spindle command generation unit generates the spindle target speed at which the effective load becomes the effective load command, using information regarding resistance load torque in addition to the machine parameters and the effective load command. The drive command generation device according to any one of claims 1 to 5. Work information regarding the work to be transported is input to the parameter setting section,
The drive command generation device according to any one of claims 1 to 6, wherein the spindle command generation unit generates the spindle target speed using the machine parameter based on the workpiece information. A drive command generation device according to any one of claims 1 to 7;
a spindle motor control device that controls the spindle motor based on the spindle target speed generated by the drive command generation device;
a slave shaft motor control device that controls the slave shaft motor based on the slave shaft target speed generated by the drive command generation device;
A synchronous control system characterized by comprising: A learning device that is applied to the drive command generation device according to any one of claims 1 to 7 and learns drive conditions of the drive command generation device,
a state observation unit that observes control information output from the drive command generation device as a state variable;
a learning unit that learns the driving conditions according to learning data created based on the state variables;
A learning device characterized by comprising: The learning department is
a remuneration calculation unit that calculates remuneration based on the control information, mechanical specification data of the mechanical device, and processing condition data for the controlled object;
a function updating unit that updates a function for determining a driving command for driving the main shaft motor and a driving command for driving the slave shaft motor, based on the remuneration calculated by the remuneration calculation unit;
The learning device according to claim 9, further comprising: The learning device according to claim 10, wherein the reward calculation unit uses the learned drive condition as a determination condition. The remuneration calculation unit, as the determination condition,
The period of the speed pattern calculated from the current operation command in the main axis command generation unit and the slave axis command generation unit is shorter than the period of the speed pattern calculated from the previous operation command, and Determining whether the effective load of the slave axis command generation unit according to the operation command falls within a range of an arbitrarily set load limit value,
The learning device according to claim 11, wherein the reward is increased when the determination condition is satisfied, and the reward is decreased when the determination condition is not satisfied. The remuneration calculation unit, as the determination condition,
The period of the speed pattern calculated from the current operation command in the main axis command generation unit and the slave axis command generation unit is shorter than the period of the speed pattern calculated from the previous operation command, and Whether or not the power supplied to the main axis motor and the slave axis motor becomes smaller, and the effective load of the slave axis command generation unit due to the current operation command falls within the range of the arbitrarily set load limit value. Determine,
The learning device according to claim 11, wherein the reward is increased when the determination condition is satisfied, and the reward is decreased when the determination condition is not satisfied. The learning department is
The learning device according to claim 12 or 13, wherein a driving command that provides the most reward is determined based on the function updated by the function updating unit.

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