JPWO2021005721A1 - Control program improvement device, control program improvement method and control program improvement system - Google Patents

Abstract

An object of the present disclosure is to provide a control program improving device capable of improving a control program in real time by reducing the amount of data communication.
The control program improving device according to the present disclosure collects data including information on the operating state of the industrial machine, sorts the data by a data sorting unit having a sorting algorithm for sorting the data, and sends the data and the industrial machine via the network. The model estimation unit that estimates the operation model of the industrial machine based on the control program of, the operation state of the industrial machine estimated using the operation model, and the target state of the industrial machine obtained by using the initial control program. The control program improvement unit that improves the control program so that the difference between the estimated operating state and the target state becomes smaller, and the sorting algorithm that is changed based on the collected operating state is changed. Is provided with a sorting algorithm changing section for setting the data in the data sorting section.

Description

The present disclosure relates to a control program improving device for a control program for controlling the operation of an industrial machine, a control program improving method, and a control program improving system.

In the conventional cell controller that controls the industrial machine, the part that adversely affects the takt time of the entire production system having the industrial machine is analyzed based on the time-series operation information of the industrial machine received via the network. .. Then, based on the results of learning from the analysis results using machine learning about how to improve the control program of industrial machines, the operation of the entire production system was optimized by improving the control program (for example, patent). Reference 1).

JP-A-2017-199077

However, in such a conventional technique, when collecting time-series operation information of an industrial machine via a network, all the operation information is collected, so that the amount of data communication increases. When the amount of data communication increases, network congestion occurs, so that analysis cannot be performed in real time, and there is a problem that the control program cannot be improved.

The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to provide a control program improving device capable of improving a control program in real time by reducing the amount of data communication. ..

The control program improving device according to the present disclosure collects data including information on the operating state of the industrial machine, sorts the data by a data sorting unit having a sorting algorithm for sorting the data, and sends the data and the industrial machine via the network. The model estimation unit that estimates the operation model of the industrial machine based on the control program of, the operation state of the industrial machine estimated using the operation model, and the target state of the industrial machine obtained by using the initial control program. The control program improvement unit that improves the control program so that the difference between the estimated operating state and the target state becomes smaller, and the sorting algorithm that is changed based on the collected operating state is changed. Is provided with a sorting algorithm changing section for setting the data in the data sorting section.

The control program improvement method according to the present disclosure includes a step of collecting data including information on the operating state of an industrial machine and selecting the data based on a selection algorithm, and control of the selected data and the industrial machine via a network. Based on the program, the step of estimating the operation model of the industrial machine, the operation state of the industrial machine estimated using the operation model, and the target state of the industrial machine obtained by using the initial control program are compared. It includes a step of improving the control program and a step of changing and setting the selection algorithm based on the collected operating state so that the difference between the estimated operating state and the target state becomes small.

The control program improvement system according to the present disclosure is a data sorting unit having a sorting algorithm that collects data including information on the operating state of an industrial machine and sorts the data, and the data sorting unit sorts the data and sends the data via a network. A model estimation unit that estimates the operation model of the industrial machine based on the data and the control program of the industrial machine, the operating state of the industrial machine estimated using the operation model, and the industry obtained by using the initial control program. The control program improvement unit that improves the control program and the selection algorithm is changed based on the collected operating state so that the difference between the estimated operating state and the target state is small by comparing with the target state of the machine. , It is provided with a sorting algorithm changing unit that sets the changed sorting algorithm in the data sorting unit.

According to the control program improving device of the present disclosure, the control program can be improved by using the data of the industrial machines sorted by the sorting algorithm, so that the control program can be improved after reducing the amount of data communication. can.

According to the control program improvement method of the present disclosure, the control data communication amount is increased in order to improve the control program using the selected industrial machine data by providing the step of selecting the industrial machine data by the selection algorithm. The control program can be improved after reducing the amount.

According to the program improvement system of the present disclosure, the data of the industrial machine is selected by the algorithm possessed by the data selection unit, and the control program is improved by using the selected data of the industrial machine, so that the amount of data communication is reduced. The control program can be improved with.

The functional block diagram which shows the structure of the program improvement system which concerns on Embodiment 1. FIG. The hardware configuration diagram of the control program improvement apparatus which concerns on Embodiment 1. FIG. FIG. 5 is a flowchart of a data sorting unit according to the first embodiment. The flowchart of the model estimation part which concerns on Embodiment 1. FIG. The flowchart in the selection algorithm change part which concerns on Embodiment 1. FIG. The flowchart of the control program improvement part which concerns on Embodiment 1. FIG. FIG. 5 is a flowchart of a data sorting unit according to the second embodiment. FIG. 5 is a flowchart of a data sorting unit according to the third embodiment. The schematic diagram of the control program improvement system which is an example of the case where there are a plurality of industrial machines which concerns on Embodiment 4. FIG. The schematic diagram of the control program improvement system which is another example in the case where there are a plurality of industrial machines which concerns on Embodiment 4. FIG.

Embodiment 1.
FIG. 1 is an example of a functional block diagram showing the configuration of the program improvement system A of the present embodiment. The program improvement system A is composed of a control program improvement device 1a and a controller 2a. The control program improving device 1a, the controller 2a, and the industrial machine 3 are connected to each other via a network. The configuration of the program improvement system A will be described with reference to FIG. Further, the type of network is not limited to a communication cable, LAN (Local Area Network) or WAN (Wide Area Network).
Further, in FIG. 1, the controller 2a and the industrial machine 3 are described separately, but the present invention is not limited to this, and the controller 2a and the industrial machine 3 may be collectively referred to as the industrial machine 3.

The control program improvement device 1a includes a model estimation unit 11, a control program improvement unit 12, a selection algorithm change unit 13, an initial control program DB 14, an improvement request input unit 15a, an improvement setting input / output unit 16, an improvement effect display unit 17, and parameter setting. The part 18a is provided.
Further, the controller 2a includes a data selection unit 21a, a control program DB 22 and a control unit 23. In FIG. 1, the data sorting unit 21a is provided in the controller 2a, but the present invention is not limited to this, and the data sorting unit 21a may be provided separately from the controller 2a.

The control program improving device 1a executes an application program on the computer that implements the operations described later for each part.
The controller 2a repeatedly executes a series of operations of the industrial machine 3 defined in the control program DB 22 in the control unit 23. For example, a programmable logic controller (PLC) and a numerical controller (Numerical Controller). , NC).

FIG. 2 is a hardware configuration diagram of the control program improving device 1a.
For example, a storage device 102 such as a hard disk stores a program executed in each unit, an initial control program, and a control program. Each program is executed by the CPU 101.
In the improvement request input unit 15a, the improvement setting input / output unit 16 and the parameter setting unit 18a, the input contents from the user are acquired by the display 100 which is a display device. Similarly, the improved effect display unit 17 displays the content to the user on the display 100.

The configuration of the program improvement system A will be described in order.
The data selection unit 21a selects the data of the industrial machine 3 and transmits it to the model estimation unit 11. The operation of the data sorting unit 21a will be described in detail later.
The data of the industrial machine 3 is, for example, data associated with the operating state, the time stamp, and the control command value of the industrial machine 3.
The operating state of the industrial machine 3 is, for example, a speed, acceleration, torque, current, and a speed tracking error with respect to a speed command of a motor mounted on the industrial machine 3. Further, these operating states may be combined or a new operating state may be introduced. The new operating state is, for example, a position calculated from the integral value of the speed of the motor.
The control command value of the industrial machine 3 is, for example, a target state value or an input current value.

The model estimation unit 11 estimates the operation model of the industrial machine by using the operation state of the industrial machine transmitted from the data selection unit 21a.
The operation model is, for example, an equation of state with the operating state of the industrial machine 3 as a state quantity, or a transfer function showing the relationship between the operating states from the control command value of the industrial machine 3.
The operation of the model estimation unit 11 will be described in detail later.

The initial control program DB 14 holds the initial control program of the industrial machine 3 used when starting the control program improvement system A. Further, when the control program is improved after the start of the control program improvement system A, all the control programs before the improvement are retained.

The control program DB 22 holds a control program that defines a series of operations of the industrial machine 3. When the improvement setting input / output unit 16 is instructed to replace the control program before the improvement with the control program after the improvement by the control program improvement unit 12, the held control program is replaced by the control program improvement unit 12. ..
Further, in the present embodiment, the cycle in which the series of operations of the industrial machine 3 is performed is set to one cycle, and the control program improvement system A collects the data of the industrial machine 3 in milliseconds.

The control unit 23 controls the industrial machine 3 according to the control program held in the control program DB 22.

The improvement request input unit 15a is a user interface for inputting a request for improvement of the control program, and when the user requests improvement of the control program, the model estimation unit 11, the control program improvement unit 12, the selection algorithm change unit 13, and the selection algorithm change unit 13 The data sorting unit 21a is operated to improve the control program.

The improved setting input / output unit 16 is a user interface that sets an improved standard for the control program of the industrial machine 3 and instructs whether or not to replace the control program held by the control program DB 22 with a new improved control program. Is.
The improvement setting input / output unit 16 sets a "control program threshold value" as a threshold value predetermined in the improvement standard.
The improvement criteria of the control program are, for example, the target state of the industrial machine 3 defined by the initial control program held by the initial control program DB 14, and the estimated value of the operating state of the industrial machine 3 by the new control program after the improvement. The difference is less than or equal to the control program threshold. As another example, for example, the threshold of the control program is such that the target speed of the industrial machine specified by the new control program after improvement is set to the target speed of the industrial machine specified by the initial control program held by the initial control program DB14. It is equal to or greater than the sum of the values.
For example, if an improvement standard is set for the position of the operating state of the industrial machine 3, the control program can be improved so as to improve the operating accuracy of the industrial machine 3.

The improvement effect display unit 17 is a user interface that shows the effect of the new control program after the improvement by the control program improvement unit 12 and the set value by the improvement setting input / output unit 16 so that the user can understand it. The effect of the new control program after the improvement is, for example, the operation accuracy and the cycle time of the industrial machine 3 by the improved new control program, and the result of the initial control program stored in the initial control program DB14. It is displayed in a form that can be compared with.

The user can check the contents displayed on the improvement effect display unit 17, and if the improvement criteria are satisfied, the improvement setting input / output unit 16 can instruct the control program DB 22 to rewrite the control program. .. If the improvement standard is not satisfied and it is determined that the control program needs to be improved, the improvement setting input / output unit 16 sets the improvement standard again and controls the control program instead of instructing the rewriting of the control program. You can request improvements to the program.

The parameter setting unit 18a is a user interface for setting the parameters used in the selection algorithm changing unit 13. Set the type of sorting algorithm and its parameters.
The type of the sorting algorithm is, for example, a process of periodically thinning out the data of the industrial machine 3, a process of acquiring only the data of the industrial machine 3 in a specific section in the operation of one cycle, or a process of the industrial machine 3 satisfying the conditional expression. It is a process such as a process of acquiring only data.
The parameter is, for example, a thinning cycle when the type of the sorting algorithm is a process of periodically thinning the data of the industrial machine 3. The parameter is a section for acquiring the data of the industrial machine 3 when the type of the sorting algorithm is a process of acquiring only the data of the industrial machine 3 in a specific section in the operation of one cycle. Further, when the type of the sorting algorithm is a process of acquiring only the data of the industrial machine 3 satisfying the conditional expression, the parameters are estimated using, for example, the operating state of the industrial machine 3 and the operation model by the model estimation unit 11. It is a threshold value of the difference from the estimated value of the operating state of the industrial machine 3.
The parameter set by the parameter setting unit 18a is set as the “threshold value of the selection algorithm”.

In the present embodiment, the sorting algorithm is determined using, for example, a conditional expression, and is an estimated value of the operating state of the industrial machine 3 and the operating state of the industrial machine 3 estimated using the operation model by the model estimation unit 11. The difference from is equal to or greater than the threshold value of the sorting algorithm.

The control program improvement unit 12 improves the control program by using the operation model estimated by the model estimation unit 11 and the initial control program held by the initial control program DB 14 according to the improvement standard input from the improvement setting input / output unit 16. do.
The improvement of the control program is repeated, and the new control program after the improvement is stored in the initial control program DB 14. Further, when the user instructs to replace the control program DB 14, the control program held in the control program DB 22 is replaced with the improved control program and held.
The operation of the control program improvement unit 12 will be described in detail later.

The sorting algorithm changing unit 13 uses the collected operating state of the industrial machine, the parameters set by the parameter setting unit 18a, and in the present embodiment, the operation model of the industrial machine 3 estimated by the model estimating unit 11. The sorting algorithm used in the data sorting unit 21a is changed. The operation of the sorting algorithm changing unit 13 will be described in detail later.

Next, the operation of each part will be described in detail using a flowchart.
First, the operation of the data sorting unit 21a will be described.
FIG. 3 shows an example of a flowchart of the data sorting unit 21a.
In step S101, the operation of the industrial machine 3 is started, or the input of the improvement request of the control program is awaited.
In step S102, if the operation of the industrial machine 3 is stopped or the improvement of the control program is not completed, the process proceeds to step S103. If the operation of the industrial machine 3 is stopped or the improvement of the control program is completed, the process ends.
In step S103, the operating state of the industrial machine 3 is acquired.
In step S104, the time stamp obtained from the operating state of the industrial machine 3 and the control command value corresponding to the operating state are added to the information on the operating state of the industrial machine 3 to obtain the data of the industrial machine 3.

In step S105, whether or not to transmit the data of the industrial machine 3 to the model estimation unit 11 is determined based on the selection algorithm, and the data of the industrial machine 3 is selected. In the present embodiment, in the sorting algorithm, "the difference between the operating state of the industrial machine 3 and the estimated value of the operating state of the industrial machine 3 estimated by using the motion model by the model estimation unit 11 is determined by the sorting algorithm. If it is equal to or more than the threshold value, it is assumed that the process is "transmitting the data of the industrial machine 3".
In step S106, it is confirmed whether or not the determination result obtained in step S105 is true. If the determination result is true, the process proceeds to step S107. If the determination result is false, the process proceeds to step S108.
In step S107, the data of the selected industrial machine 3 is transmitted to the model estimation unit 11.
In step S108, if the operation of the industrial machine 3 is stopped or the improvement of the control program is completed, the process ends.

Next, the operation of the model estimation unit 11 will be described.
FIG. 4 shows an example of a flowchart of the model estimation unit 11.
In step S201, the input from the improvement request input unit 15a is waited for.
In step S202, the data of the industrial machine 3 sorted by the data sorting unit 21a is received.
In step S203, the operating state of the industrial machine 3 in one cycle controlled by the control program held in the control program DB 22 is estimated from the data of the selected industrial machine 3. For estimation, for example, a Kalman filter is used.
In step S204, the operation model of the industrial machine 3 is estimated using the estimated one-cycle data. For example, when estimating the equation of state, a set of a set of an operating state and a control command value is used as an input, and a parameter indicating the dynamic characteristics of the industrial machine 3 is obtained by using the least squares method.
It ends when the estimation of the operation model is completed.

Next, the operation of the selection algorithm changing unit 13 will be described.
FIG. 5 shows an example of a flowchart of the sorting algorithm changing unit 13.
In step S301, it waits for the operation model estimated by the model estimation unit 11 to be input.
In step S302, the estimated value of the operating state of the industrial machine 3 estimated by using the operation model by the model estimation unit 11 is calculated.
In step S303, the threshold value of the selection algorithm input from the parameter setting unit 18a is acquired.
In step S304, the sorting algorithm used by the data sorting unit 21a is changed. When the type of the sorting algorithm is, for example, the difference between the operating state of the industrial machine 3 and the estimated value of the operating state of the industrial machine 3 estimated in step S302 is equal to or greater than the threshold value of the sorting algorithm, the industrial machine 3 In the case of the sorting algorithm of transmitting data, the threshold value of the sorting algorithm is changed to the threshold value of the new sorting algorithm acquired in step S303, the changed sorting algorithm is set in the data sorting unit 21a, and the process ends. ..

Next, the operation of the control program improvement unit 12 will be described.
FIG. 6 shows an example of a flowchart of the control program improvement unit 12.
In step S401, it waits for the operation model estimated by the model estimation unit 11 to be input.
In step S402, the target state of the industrial machine 3 defined by the initial control program stored in the initial control program DB 14 is calculated.
In step S403, the operation model by the model estimation unit 11 is used to calculate the estimated value of the operation state of the industrial machine 3 by the control program being improved. If there is no control program under improvement, the estimated value of the operating state of the industrial machine 3 by the initial control program is calculated.
In step S404, the difference between the target state of the industrial machine 3 and the estimated operating state is calculated.
In step S405, it is determined whether or not the difference calculated in step S404 is equal to or less than the threshold value of the control program set as the improvement reference by the improvement setting input / output unit 16.
If the difference is not equal to or less than the threshold value of the control program, the control program is changed according to the difference and transmitted to the controller 2a in step S406. For example, when the target speed in the initial control program is calculated in step S402 and the estimated value of the speed is calculated in step S403, if the difference calculated in step S404 is larger than the threshold value of the control program, the control program Improve the target speed of. The range of improvement of the numerical value to be improved is proportional to the magnitude of the difference.
After that, the control program is improved by repeating steps S403 to S406, and the process ends when the difference becomes equal to or less than the threshold value of the control program in step S405.

In the present embodiment, by sorting the data of the industrial machine 3 based on the sorting algorithm, the amount of data communication via the network can be reduced, and the control program of the industrial machine 3 can be improved in real time. Further, by reducing the amount of data communication, it is possible to sufficiently collect the data necessary for improving the control program, and it is possible to improve the control program with higher accuracy.

Further, by providing the parameter setting unit 18a, the control program can be improved according to the user's intention. Therefore, for example, even when the bandwidth of the network in the factory is limited and it is not possible to send and receive all the data in one cycle, the control program can be improved by setting the selection algorithm according to the limitation.

In order to estimate the operating state of the industrial machine 3 using the operation model created by the model estimation unit 11, for example, when there is a significant change in the control program or when the user wants to instruct a new control program, the machine The control program can be efficiently improved without the trouble of collecting data again as in the case of optimizing by learning.

Embodiment 2.
The difference between the program improvement system according to the first embodiment and the program improvement system according to the second embodiment is the operation of the data selection unit.
In the first embodiment, the data of the industrial machine is sent to the data sorting unit one by one, sorted and transmitted to the model estimation unit 11.
On the other hand, in the second embodiment, the data of the industrial machine is sent to the data selection unit and transmitted to the model estimation unit 11 every time the operation of one cycle of the industrial machine defined by the control program is completed.
In the following, only the differences from the first embodiment and the second embodiment will be described, and the description of the same or corresponding parts will be omitted. Regarding the reference numerals, the same or corresponding parts as those in the first embodiment will be the same reference numerals, and the description thereof will be omitted.

The parameter setting unit 18b and the data selection unit 21b according to the second embodiment will be described.
In addition to the settings shown in the first embodiment, the parameter setting unit 18b can set the ratio of data to be transmitted to the model estimation unit 11. For example, half of the data of the industrial machine 3 in one cycle can be set to be transmitted to the model estimation unit 11.

FIG. 7 shows an example of a flowchart of the data sorting unit 21b.
In step S501, the operation of the industrial machine 3 is started, or the input of the improvement request of the control program is awaited.
If the operation of the industrial machine 3 is stopped or the improvement of the control program is not completed in step S502, the process proceeds to step S503. When the operation of the industrial machine 3 is stopped or the improvement of the control program is completed, the operation is terminated.
In step S503, the operating state of the industrial machine 3 is acquired for one cycle.
In step S504, the data of the industrial machine 3 is created by adding the time stamp obtained by acquiring the operating state of the industrial machine 3 and the control command value corresponding to the operating state.
In step S505, it is determined based on the selection algorithm whether or not to transmit the data of the industrial machine 3 to the model estimation unit 11.
In the present embodiment, for example, it is assumed that the parameter setting unit 18b is set to transmit half the amount of data in one cycle to the model estimation unit 11.
In this case, the sorting algorithm is, for example, "the data amount of the industrial machine 3 is half the data amount for one cycle, and the estimated value of the operating state of the industrial machine 3 using the operation model by the model estimation unit 11 and the industrial machine 3 The data is transmitted to the model estimation unit 11 in order from the one having the largest difference from the operating state. "
In step S506, the data of the industrial machine 3 is transmitted to the model estimation unit 11.
In step S507, if the operation of the industrial machine 3 is stopped or the improvement of the control program is completed, the process ends.

In the second embodiment, since the data is selected from the data of the industrial machine 3 in one cycle, the user can freely limit the amount of data transmitted via the network. Therefore, it is possible to control according to the usage situation, which is more convenient.

Embodiment 3.
The difference between the first embodiment and the second embodiment and the third embodiment is that in the first embodiment and the second embodiment, the program is improved according to the request of the user, but in the third embodiment, the program is improved. The point is that the improved system autonomously improves the control program.
In the following, only the differences between the first and second embodiments and the third embodiment will be described, and the same or corresponding parts will be omitted. Regarding the reference numerals, the same or corresponding parts as those in the first embodiment and the second embodiment will be the same reference numerals, and the description thereof will be omitted.

The improvement request input unit 15c and the data selection unit 21c according to the third embodiment will be described.
In addition to the settings shown in the first embodiment, the improvement request input unit 15c can set a threshold value for determining whether or not the data selection unit transmits the data of the industrial machine to the model estimation unit 11. .. The threshold value for determining whether or not to transmit the data of the industrial machine is set as the threshold value for the amount of data.
For example, half of the data of one cycle of industrial machinery can be set as the threshold value of the data amount.

FIG. 8 shows an example of a flowchart of the data sorting unit 21c.
Steps S601 to S606 and S609 are the same as steps S101 to S106 and S108 of FIG.
In step S607, it is determined whether or not to transmit the data of the industrial machine 3 to the model estimation unit 11 according to the threshold value of the amount of data set by the improvement request input unit 15c.
In the present embodiment, for example, the threshold value of the amount of data is set to half the amount of the data of the industrial machine 3.
If the amount of data transmitted to the model estimation unit 11 is equal to or greater than the threshold value of the amount of data, the process proceeds to step S608. If it is smaller than the data amount threshold value, the process proceeds to step S609.
In step S608, the data selected in step S607 is transmitted to the model estimation unit 11.
After being transmitted to the model estimation unit 11, a process for improving the control program is performed as in the first and second embodiments.

In the present embodiment, after the user inputs the improvement request to the improvement request input unit 15c, the data selection unit 21c determines whether or not to improve the control program without issuing the improvement request of the control program.
Therefore, even if the characteristics of the industrial machine 3 change due to changes in the environment, the control program is automatically improved, so that it is not necessary for the user to check the operating state of the industrial machine 3 in order to issue an improvement request. , The burden on the user can be reduced.

Embodiment 4.
The difference between the first to third embodiments and the fourth embodiment is the number of industrial machines to be controlled. In the fourth embodiment, the number of the first to third embodiments is one. , The point is that multiple units are provided. Further, the plurality of industrial machines 3 may be of the same type or may be of different types.
In the following, only the differences between the first and second embodiments and the third embodiment will be described, and the same or corresponding parts will be omitted. Regarding the reference numerals, the same or corresponding parts as those in the first embodiment and the second embodiment will be the same reference numerals, and the description thereof will be omitted.

FIG. 9 shows a schematic diagram of the control program improvement system D1 which is an example when there are a plurality of industrial machines 3. FIG. 10 shows a schematic view of the control program improvement system D2, which is another example when there are a plurality of industrial machines 3.
FIG. 9 is controlled by a controller 2d1 connected to each of the four industrial machines 3.
In FIG. 10, one controller 2d2 controls four industrial machines 3.
In this embodiment, the controller has the same number of data selection units as the industrial machine. Therefore, in FIG. 9, each controller 2d1 has one data sorting unit. In FIG. 10, the controller 2d2 has four data sorting units.

The number of control program improving devices 1d1 and 1d2 is one as shown in FIGS. 9 and 10.
The model estimation unit 11 provided in the control program improving devices 1d1 and 1d2 creates an estimation model for each of the industrial machines 3 to be controlled.
Further, the estimation model is represented by a common formula if the industrial machines 3 are of the same type, and is represented by different formulas if the industrial machines 3 are of different types.
The operation of each part of the program improvement system is the same as that of the first to third embodiments.

In the present embodiment, the case where there are a plurality of industrial machines 3 has been described. When a plurality of industrial machines 3 are of the same type, the control program can be improved by using the formula of the same estimation model and considering the variation of each industrial machine 3. When the plurality of industrial machines 3 are of different types, the control program can be improved and controlled by using the equation of the estimation model suitable for each industrial machine 3.

A, D1, D2 Control program improvement system 1a, 1d1, 1d2 Control program improvement device 11 Model estimation unit 12 Control program improvement unit 13 Sorting algorithm change unit 15a, 15c Improvement request input unit 16 Improvement setting input / output unit 17 Improvement effect display unit 18a Parameter setting unit 21a, 21b, 21c Data selection unit

The control program improving device according to the present disclosure collects data including information on the operating state of the industrial machine, sorts the data by a data sorting unit having a sorting algorithm for sorting the data, and sends the data and the industrial machine via the network. The model estimation unit that estimates the operation model of the industrial machine based on the control program of, the operation state of the industrial machine estimated using the operation model, and the target state of the industrial machine obtained by using the initial control program. The control program improvement unit that improves the control program so that the difference between the estimated operating state and the target state becomes smaller, and the sorting algorithm that is changed based on the collected operating state is changed. a sorting algorithm changing unit for setting the data selection section, set the parameters to be used for changing the sorting algorithm, and a parameter setting unit for inputting the sorting algorithm changing unit includes a sorting algorithm, collected operational state This is an algorithm that sorts data so as to transmit data when the difference from the estimated operating state is equal to or greater than the threshold value of the sorting algorithm defined as a parameter in advance .

The control program improvement method according to the present disclosure includes a step of collecting data including information on the operating state of an industrial machine and selecting the data based on a selection algorithm, and control of the selected data and the industrial machine via a network. Based on the program, the step of estimating the operation model of the industrial machine, the operation state of the industrial machine estimated using the operation model, and the target state of the industrial machine obtained by using the initial control program are compared. the difference between the estimated operation state and a target state such decrease, modify the steps to improve control program, the selection algorithm based on the collected operational state, and setting, when changing the sorting algorithm The sorting algorithm includes a step of setting and inputting the parameters used in the above, and the difference between the collected operating state and the estimated operating state is equal to or larger than the threshold value of the sorting algorithm defined as a parameter in advance. An algorithm that sorts data so that it is transmitted in some cases .

The control program improvement system according to the present disclosure is a data sorting unit having a sorting algorithm that collects data including information on the operating state of an industrial machine and sorts the data, and the data sorting unit sorts the data and sends the data via a network. A model estimation unit that estimates the operation model of the industrial machine based on the data and the control program of the industrial machine, the operating state of the industrial machine estimated using the operation model, and the industry obtained by using the initial control program. The control program improvement unit that improves the control program and the selection algorithm is changed based on the collected operating state so that the difference between the estimated operating state and the target state is small by comparing with the target state of the machine. The sorting algorithm includes a sorting algorithm changing unit that sets the changed sorting algorithm in the data sorting unit, and a parameter setting unit that sets parameters used when changing the sorting algorithm and inputs them to the sorting algorithm changing unit . This is an algorithm that sorts data so that data is transmitted when the difference between the collected operating state and the estimated operating state is equal to or greater than the threshold value of the sorting algorithm defined as a parameter in advance .

Claims (12)

Based on the data and the control program of the industrial machine, which collects data including information on the operating state of the industrial machine, is sorted by a data sorting unit having a sorting algorithm for sorting the data, and sent via a network. A model estimation unit that estimates the operation model of the industrial machine,
The operating state of the industrial machine estimated using the operation model is compared with the target state of the industrial machine obtained by using the initial control program, and the estimated operating state and the target state are compared with each other. A control program improvement unit that improves the control program so that the difference becomes small,
A sorting algorithm changing unit that changes the sorting algorithm based on the collected operating state and sets the changed sorting algorithm in the data sorting unit.
Control program improvement device equipped with. A parameter setting unit that sets parameters to be used when changing the selection algorithm and inputs them to the selection algorithm change unit, and a parameter setting unit.
The control program improving device according to claim 1. The sorting algorithm
When the difference between the collected operating state and the estimated operating state is equal to or greater than the threshold value of the sorting algorithm defined as the parameter in advance, the data is sorted so as to transmit the data. The control program improving device according to claim 2, wherein the control program is an algorithm. The model estimation unit
The data for one cycle, which is the cycle in which the industrial machine performs a series of operations, is sorted by the data sorting unit according to the sorting algorithm, and based on the data sent via the network, the industrial machine said. The control program improving device according to any one of claims 1 to 3, wherein an operation model is estimated. The model estimation unit
When the data amount of the data sorted according to the sorting algorithm becomes an amount equal to or more than a predetermined threshold value of the data amount, the data sorting unit sends the data via the network. The control program improving device according to claim 3, wherein the operation model of the industrial machine is estimated. An improved setting input / output unit for setting an improvement standard of the control program improvement unit and instructing whether or not to replace the control program with a new improved control program.
The control program improving apparatus according to any one of claims 1 to 5. The improved setting input / output unit is used as an improvement standard for the control program improvement unit to improve the control program.
Setting a criterion that the difference between the target state of the industrial machine defined by the initial control program and the estimated operating state is equal to or less than a predetermined threshold value of the control program.
The control program improving apparatus according to claim 6. The improved setting input / output unit is used as an improvement standard for the control program improvement unit to improve the control program.
The target speed of the industrial machine specified by the new improved control program is equal to or greater than the value obtained by adding the predetermined threshold value of the control program to the target speed of the industrial machine specified by the initial control program. To set the standard that
The control program improving apparatus according to claim 6. An improvement request input unit that issues a request for improvement of the control program and operates the model estimation unit,
The control program improving apparatus according to any one of claims 1 to 8. An improved effect display unit that displays the control result by the control program improvement unit, and an improved effect display unit.
The control program improving apparatus according to any one of claims 1 to 9. A step of collecting data including information on the operating state of an industrial machine and sorting the data based on a sorting algorithm.
A step of estimating an operation model of the industrial machine based on the data selected and sent via the network and the control program of the industrial machine.
The operating state of the industrial machine estimated using the operation model is compared with the target state of the industrial machine obtained by using the initial control program, and the estimated operating state and the target state are compared with each other. Steps to improve the control program so that the difference is small,
Steps to modify and set the sorting algorithm based on the collected operating conditions, and
Control program improvement method equipped with. A data sorting unit having a sorting algorithm that collects data including information on the operating state of industrial machines and sorts the data.
A model estimation unit that estimates the operation model of the industrial machine based on the data selected by the data selection unit and sent via the network and the control program of the industrial machine.
The operating state of the industrial machine estimated using the operation model is compared with the target state of the industrial machine obtained by using the initial control program, and the estimated operating state and the target state are compared with each other. A control program improvement unit that improves the control program so that the difference becomes small,
A sorting algorithm changing unit that changes the sorting algorithm based on the collected operating state and sets the changed sorting algorithm in the data sorting unit.
Control program improvement system equipped with.

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