JPWO2021245916A5

JPWO2021245916A5 -

Info

Publication number: JPWO2021245916A5
Application number: JP2022528376A
Authority: JP
Filing date: 2020-06-05
Publication date: 2022-11-11
Anticipated expiration: 2040-06-05

Description

上述した課題を解決し、目的を達成するために、本開示に係るサーボ制御装置は、周期的に入力されるサーボモータの動作を指示する指令値に基づいてサーボモータの動作を制御する。サーボ制御装置は、補正部と、判断部と、サーボアンプと、を備える。補正部は、指令値とサーボモータの動作の実測結果とに基づいて、指令値を補正した指令値である候補指令値と、候補指令値の信頼度を評価する指標である信頼度指標と、を決定し、サーボモータを制御するための補正後の指令値である補正後指令値を出力する。判断部は、候補指令値のサーボモータの制御への適用の許可または不許可を、信頼度指標に基づいて判断し、判断結果を補正部に出力する。サーボアンプは、補正後指令値に基づいてサーボモータを制御する。補正部は、予測部と、補正選択部と、を有する。予測部は、現在または未来のサーボモータの動作の状態量を予測する予測モデルを用いて、指令値とサーボモータの動作の実測結果とを入力として、候補指令値を決定する時点以降の時点におけるサーボモータの動作の状態量を予測した予測状態量を予測し、予測状態量の信頼度を評価する。補正選択部は、予測状態量に基づいて候補指令値を決定する。予測部は、予測状態量の信頼度を信頼度指標とする。補正部の補正選択部は、判断結果に基づいて候補指令値を補正後指令値としてサーボアンプに出力する。 In order to solve the above-described problems and achieve an object, a servo control device according to the present disclosure controls the operation of a servomotor based on a command value that is periodically input to instruct the operation of the servomotor. The servo control device includes a correction section, a determination section, and a servo amplifier. The correction unit includes a candidate command value that is a command value obtained by correcting the command value based on the command value and the actual measurement result of the operation of the servomotor, a reliability index that is an index for evaluating the reliability of the candidate command value, is determined, and a corrected command value, which is a command value after correction for controlling the servomotor, is output. The judging section judges permission or non-permission of application of the candidate command value to the control of the servomotor based on the reliability index, and outputs the judgment result to the correcting section. The servo amplifier controls the servomotor based on the corrected command value. The correction unit has a prediction unit and a correction selection unit. The prediction unit uses a prediction model that predicts the state quantity of the current or future servomotor operation, inputs the command value and the actual measurement result of the servomotor operation, and determines the candidate command value at the time after the time point A predicted state quantity obtained by predicting the state quantity of the operation of the servo motor is predicted, and the reliability of the predicted state quantity is evaluated. The correction selector determines a candidate command value based on the predicted state quantity. The prediction unit uses the reliability of the predicted state quantity as a reliability index. A correction selection section of the correction section outputs the candidate command value as a post-correction command value to the servo amplifier based on the determination result.

Claims

A servo control device that controls the operation of a servomotor based on a command value that is periodically input to instruct the operation of the servomotor,
a candidate command value that is a command value obtained by correcting the command value based on the command value and the actual measurement result of the operation of the servomotor; a reliability index that is an index for evaluating the reliability of the candidate command value; and a correction unit that outputs a corrected command value that is a corrected command value for controlling the servomotor;
a determination unit that determines permission or non-permission of application of the candidate command value to control of the servomotor based on the reliability index, and outputs a determination result to the correction unit;
a servo amplifier that controls the servo motor based on the corrected command value;
with
The correction unit is
Using a predictive model for predicting the state quantity of the current or future operation of the servomotor, inputting the command value and the actual measurement result of the operation of the servomotor, at the time after the time point of determining the candidate command value a prediction unit that predicts a predicted state quantity obtained by predicting the state quantity of the operation of the servomotor and evaluates the reliability of the predicted state quantity;
a correction selection unit that determines the candidate command value based on the predicted state quantity;
has
The prediction unit uses the reliability of the predicted state quantity as the reliability index,
The correction selection section of the correction section outputs the candidate command value to the servo amplifier as the post-correction command value based on the determination result.

an accumulation unit that associates the command value with an actual measurement result of the operation of the servomotor and stores it as accumulation information;
If the determination result is disapproval, using the accumulated information, update the prediction model or model information including model parameters or hyperparameters of the prediction model, and update the prediction model of the prediction unit. a model information updating unit that reflects model information;
2. The servo controller of claim 1 , further comprising:

The model information updating unit
a state observation unit that observes state variables relating to the servo motor or the servo control device that includes at least the accumulated information;
a learning unit that learns the model information according to a training data set created based on the state variables;
a learned model storage unit that stores the learned model information learned by the learning unit;
an output unit that reflects the learned model information in the prediction model of the prediction unit;
3. The servo control device according to claim 2 , comprising:

The prediction unit determines the reliability index based on variations in the state quantity of the servo motor predicted using the prediction model,
2. The determination unit compares the reliability index output from the prediction model with a predetermined reference value, and determines the determination result based on the comparison result. 4. The servo control device according to any one of 3 .

The correction selection unit outputs the candidate command value as the post-correction command value when the determination result is permitted, and outputs the candidate command value immediately before determining the candidate command value when the determination result is not permitted. 5. The command value after correction, the command value at the time of determining the candidate command value, or a value specified in advance is output as the command value after correction. servo controller.

The correction unit has a plurality of prediction units,
When at least one of the determination results based on the reliability index determined by the plurality of prediction units is permission, the correction selection unit is configured to select the candidate command value by the prediction unit for which the determination result is permission. Among them, the candidate command value with the best reliability index is determined as the corrected command value, and when all the judgment results based on the reliability indices determined by the plurality of prediction units are disapproved, The command value after correction immediately before determining the candidate command value, the command value at the time of determining the candidate command value, or a preset value is determined as the command value after correction. 5. The servo control device according to any one of items 1 to 4 .