WO2014196003A1 - 周波数応答測定装置 - Google Patents
周波数応答測定装置 Download PDFInfo
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- WO2014196003A1 WO2014196003A1 PCT/JP2013/065380 JP2013065380W WO2014196003A1 WO 2014196003 A1 WO2014196003 A1 WO 2014196003A1 JP 2013065380 W JP2013065380 W JP 2013065380W WO 2014196003 A1 WO2014196003 A1 WO 2014196003A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
- G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
Definitions
- the present invention relates to a frequency response measuring apparatus for measuring a frequency response in an apparatus such as a machine tool.
- a frequency response of a mechanical system to be controlled is measured. Further, when adjusting the servo system, the frequency response of a control loop such as a speed loop or a position loop is also measured.
- the frequency response is the ratio and phase difference between the amplitude of the input signal and the output signal with respect to the output signal when an input signal of a specific frequency is given.
- the frequency and amplitude ratio (gain) and the relationship between frequency and phase Expressed.
- white noise is used as an input signal
- the speed when white noise is given as a speed command is sampled as output data
- the obtained speed command and speed data are Fourier transformed. It is disclosed that a frequency response characteristic from a speed command to a speed is obtained. Since ideal white noise is a signal including all frequency components, it is possible to measure frequency responses in all frequency regions in a short measurement time. As practical white noise, a pseudo-random signal called an M-sequence signal is used.
- the response waveform (for example, speed feedback data) of the mechanical system when the mechanical system is vibrated by applying white noise is measured, but there is a disturbance factor such as friction in the mechanical system.
- a disturbance factor such as friction in the mechanical system.
- the mechanical system is not sufficiently vibrated and the frequency response cannot be obtained correctly.
- the responsiveness in the low frequency region deteriorates due to friction of the mechanical system, and the frequency response in the low frequency region cannot be obtained correctly.
- the frequency response in the low frequency region is linear with a gain diagram of ⁇ 20 dB / dec. And the phase diagram should be constant at approximately -90 °.
- the gain is smaller than the original value. As a result, the phase becomes a value close to 0 °.
- the frequency response measurement result cannot be obtained correctly in this way, for example, when estimating the inertia of the mechanical system by reading the gain value in the low frequency region, a large estimation error occurs, the peak of the gain diagram, When a change in the phase diagram is read to estimate the resonance frequency or damping ratio of the mechanical system, an incorrect value is estimated.
- the control system bandwidth cannot be determined correctly, and the control The problem arises that the system gain tuning cannot be adjusted properly.
- the present invention has been made in view of the above, and in a servo system that performs feedback control of a mechanical system that receives disturbances such as friction, it is possible to accurately and quickly measure the frequency response of the controlled object and the control system.
- An object of the present invention is to obtain a simple frequency response measuring apparatus.
- the present invention provides an excitation condition for setting a plurality of different excitation conditions in a frequency response measuring apparatus that measures the frequency response of a servo system that performs feedback control of a mechanical system.
- an excitation executing unit that executes excitation for the servo system a plurality of times with an excitation signal of the different excitation conditions, and a control system for the servo system that has been subjected to the plurality of excitations , Obtaining a set of identification input signal and identification output signal for each of the plurality of excitations, and based on the excitation condition for each of the plurality of excitations and the combination of the identification input signal and the identification output signal
- a frequency response calculation unit that calculates a frequency response.
- an accurate frequency response can be obtained even when there is a disturbance such as friction, by calculating the frequency response using the vibration data when vibration is performed with a plurality of vibration amplitudes. There is an effect that it becomes possible to measure.
- FIG. 1 is a block diagram showing a configuration of a frequency response measuring apparatus according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing the configuration of the servo system in the embodiment of the present invention.
- FIG. 3 is a diagram showing a configuration of a mechanical system in the embodiment of the present invention.
- FIG. 4 is a flowchart for explaining the operation of frequency response measurement in the embodiment of the present invention.
- FIG. 5-1 is a diagram showing a gain diagram in the first embodiment of the present invention.
- FIG. 5-2 is a diagram showing a phase diagram in the first embodiment of the present invention.
- FIG. 6A is a diagram illustrating a gain diagram according to the second embodiment of the present invention.
- FIG. 6-2 is a diagram showing a phase diagram in the second embodiment of the present invention.
- FIG. 1 is a block diagram showing a configuration of a frequency response measuring apparatus 100 according to the first exemplary embodiment of the present invention.
- the frequency response measuring apparatus 100 includes an excitation condition setting unit 1, an excitation execution unit 2, and a frequency response calculation unit 10.
- the frequency response calculation unit 10 includes a frequency response calculation unit 4 and a frequency response synthesis unit 5 for each round.
- the frequency response measuring apparatus 100 measures the frequency response of the servo system 3.
- the vibration condition setting unit 1 sets the amplitude of the vibration signal in the vibration execution unit 2, and the vibration execution unit 2 outputs a vibration signal having the set vibration amplitude.
- the vibration signal output from the vibration execution unit 2 is input to the servo system 3, and the vibration is executed in the servo system 3 having a configuration described later.
- An identification input signal and an identification output signal inside the servo system 3 at the time of vibration are sent to the frequency response calculation unit 10, and a frequency response between the identification input signal and the identification output signal is calculated. A frequency response is determined and output.
- the frequency response of each time is calculated in the frequency response calculation unit 4 each time from the identification input signal and the identification output signal input from the servo system 3 every time the vibration is performed a plurality of times. These frequency responses are input to the frequency response synthesis unit 5.
- the frequency response synthesizing unit 5 executes an operation for synthesizing the frequency response from the frequency response of each time based on the vibration amplitude of each time input from the vibration condition setting unit 1, and outputs the obtained frequency response. .
- FIG. 2 is a block diagram showing the configuration of the servo system 3 in the embodiment of the present invention.
- the servo system 3 includes a position control unit 31, a speed control unit 32, a motor 33, and a load 34.
- a load 34 is connected to the motor 33, and the motor 33 and the load 34 constitute a mechanical system 30.
- the servo system 3 includes a servo system position control loop and a speed control loop.
- the deviation between the position command and the motor position ⁇ is input to the position control unit 31, and the motor speed v is subtracted from the speed command that is the sum of the output of the position control unit 31 and the vibration signal Vin to calculate the speed deviation e.
- the speed deviation e is input to the speed control unit 32, and the torque command ⁇ is calculated in the speed control unit 32.
- the motor 33 is driven and controlled according to the torque command ⁇ .
- the torque control unit and the power conversion unit exist inside the speed control loop, but the response is very fast and the response delay is negligible, so the description is also omitted in FIG. Yes.
- proportional control is used for position control of the position control unit 31, and proportional / integral control is used for speed control of the speed control unit 32.
- FIG. 3 is a diagram showing a configuration of the mechanical system 30 in the present embodiment.
- a load inertia 54 is coupled via a shaft 53 to a servo motor 51 that receives a torque command ⁇ and generates a rotational torque.
- a rotary encoder 52 as a position detector is attached to the servo motor 51, and the position (rotation angle) of the servo motor 51 is detected and output. Also, the motor speed v can be obtained by differentiating this position.
- the excitation condition setting unit 1 sets two types of excitation amplitudes A 1 and A 2 (FIG. 4, step S1).
- Vibration execution unit 2 the amplitude and the vibration signal Vin1 of the first is A 1, amplitude to generate a vibration signal Vin2 of the second is A 2.
- the excitation amplitude is defined as a single amplitude, that is, a width from 0 to a positive or negative maximum value.
- Each excitation signal is an M-sequence signal (pseudo-random signal).
- a binary signal of ⁇ 1 and 1 having a predetermined score is generated according to an M-sequence signal generation algorithm.
- the binary signal multiplied by the excitation amplitude A 1 is used as the first excitation signal Vin1, and the product obtained by multiplying the excitation amplitude A 2 is used as the second excitation signal Vin2. Since a method for generating an M-sequence signal is known in the field of signal processing, description thereof is omitted here.
- the first vibration signal Vin1 is applied to the speed command in the servo system 3, and the vibration execution unit 2 performs the first vibration (step S2).
- the position command always takes a constant value. That is, the mechanical system 30 is vibrated by the vibration signal Vin1 applied to the speed command.
- the torque command signal ⁇ 1 at that time is acquired as the first identification input signal, and the motor speed signal v 1 at that time is acquired as the first identification output signal.
- each frequency response calculation unit 4 the frequency response from the torque command ⁇ to the motor speed v is calculated based on the first identification input signal and the first identification output signal (step S3).
- known methods such as periodogram method, ARX model identification, and subspace method can be used. Details of these methods are described in, for example, “System Identification for Control by MATLAB” (Tokyo Denki Shuppan) and the like, and thus description thereof is omitted here.
- the frequency response in the first excitation be G 1 (j ⁇ ).
- ⁇ is a frequency
- the absolute value of G 1 (j ⁇ ) is a gain
- the declination in the complex region of G 1 (j ⁇ ) is a phase.
- Excitation using the second excitation signal Vin2 is performed in the same manner as the first excitation (step S4).
- the frequency response obtained in the second excitation is defined as G 2 (j ⁇ ) (step S5).
- the ratio of the first motor speed v 1 and the second motor speed v 2 is substantially equal to the ratio of the first vibration signal Vin 1 and the second vibration signal Vin 2.
- the torque command ⁇ 1 output by the first speed control and the torque command ⁇ 2 output by the second speed control are also almost equal to the ratio of the first vibration signal Vin1 and the second vibration signal Vin2. Match. This is expressed by the following equations (3) and (4).
- Equation (5) is obtained.
- the frequency response synthesizer 5 outputs the frequency response function obtained by the calculation of Expression (5) as an open loop frequency response from the torque command to the motor speed. That is, the ratio of the first vibration amplitude A 1 and the first frequency response G 1 minus the ratio of the second vibration amplitude A 2 and the second frequency response G 2 is used as the denominator. A value using the difference between the excitation amplitude A 1 and the second excitation amplitude A 2 as a numerator is obtained for each frequency and the obtained result is output as a frequency response (step S6).
- the torque command signal ⁇ and the motor speed signal v when the servo motor was vibrated by changing the vibration amplitude by the method described above were sampled, and the frequency response was obtained by the calculation of equation (5).
- the vibration amplitude is expressed as a ratio to the amplitude when the vibration amplitude when the vibration amplitude is equal to the rated torque is 100%.
- the first excitation amplitude A 1 was 5%, and the second excitation amplitude A 2 was 8%. That is, the absolute value of the excitation amplitude A 2 is larger than the absolute value of the excitation amplitude A 1 .
- the order of excitation with these amplitude excitation signals may be reversed.
- the transfer function from the torque command ⁇ to the motor speed v is obtained by multiplying the one-time integral by the inverse of the inertia. That is, the transfer function G p (s) from the torque command ⁇ to the motor speed v is expressed by the following equation (6).
- s is a Laplace operator
- J is an inertia of the mechanical system 30.
- the mechanical system 30 used in the present embodiment is a single motor and its characteristics can be regarded as a rigid body. Therefore, if the ideal response in the mechanical system 30 is G p (j ⁇ ) and the frequency response calculated by the frequency response synthesis unit 5 is close to the ideal response, it can be said that the frequency response is correctly obtained.
- the gain diagram of the ideal response is a straight line of ⁇ 20 dB / dec, and the phase diagram is a constant value at ⁇ 90 °.
- FIG. 5A and 5B show the first frequency response G 1 (excitation amplitude A 1 : 5%) obtained based on the actual measurement and the second frequency obtained based on the actual measurement.
- FIG. 7 is a Bode diagram comparing a response G 2 (excitation amplitude A 2 : 8%), a frequency response (calculation result) obtained by the frequency response synthesis unit 5 by calculation of Equation (5), and an ideal response G p .
- FIG. 5-1 is a gain diagram
- FIG. 5-2 is a phase diagram. For each curve, the thin broken line represents the first frequency response G 1 , the thin solid line represents the second frequency response G 2 , the thick solid line represents the calculation result by the frequency response synthesizer 5, and the thick broken line represents the ideal response G p . .
- the first frequency response G 1 and the second frequency response G 2 have a gain diagram in the frequency region of 100 rad / s or less, which is smaller than the ideal response.
- the phase diagram in the frequency region of 300 rad / s or less is a value away from the ideal curve value of ⁇ 90 °.
- the first frequency response G 1 has a larger deviation. This is because when the excitation amplitude becomes small, the ratio of the torque ⁇ f caused by the disturbance to the torque command ⁇ becomes large, and the first time when the excitation amplitude is small is greatly deviated from the ideal curve.
- the calculation result by the frequency response synthesizer 5 has almost the same response as the ideal response G p in both the gain diagram and the phase diagram. This is due to the effect of performing the calculation to remove the influence of the disturbance using the first frequency response G 1 and the second frequency response G 2 .
- the frequency response is calculated using the vibration data when vibration is performed with a plurality of vibration amplitudes, so that even if there is a disturbance such as friction, it is accurate. It becomes possible to measure the frequency response.
- the frequency response can be accurately obtained by extracting the fluctuation amount of the frequency response due to disturbance such as friction and performing an operation for correcting the influence.
- the frequency response of the mechanical system can be accurately obtained, and the diagnosis of the inertia and vibration characteristics of the mechanical system can be performed correctly.
- FIG. The configuration of the frequency response measuring apparatus 100 according to the second embodiment is also shown in FIG.
- a block diagram showing the configuration of the servo system 3 according to the second embodiment is also shown in FIG.
- the frequency response measuring apparatus 100 according to the second embodiment is different from the frequency response measuring apparatus 100 according to the first embodiment in that a speed deviation signal e is used as an identification input signal instead of the torque command signal ⁇ . This corresponds to a case where the frequency response of the speed open loop including the speed control unit 32 is measured.
- the vibration execution unit 2 uses the two types of vibration amplitudes A 1 ′ and A 2 ′ set by the vibration condition setting unit 1 to generate the vibration signals Vin1 ′ and Vin2 ′. It is generated and applied to the speed command of the servo system 3.
- the frequency response calculation unit 4 of each time uses the frequency response G 1 ′ (j ⁇ ) in the first excitation.
- the frequency response calculation unit 4 of each time calculates the frequency response G 2 ′ (j ⁇ ) in the second excitation.
- the frequency response synthesizer 5 uses the frequency responses G 1 ′ and G 2 ′ obtained each time to cause disturbances such as friction. Even under certain conditions, the frequency response of the speed open loop can be obtained correctly.
- the speed deviation e and the motor speed signal v when the servo motor was vibrated by changing the vibration amplitude by the above-described method were sampled, and the frequency response was obtained by the calculation of Expression (7).
- the vibration amplitude is expressed as a ratio to the amplitude when the vibration amplitude when the vibration amplitude is equal to the rated torque is 100%.
- the first excitation amplitude A 1 ′ was 8%, and the second excitation amplitude A 2 ′ was 10%. That is, the absolute value of the excitation amplitude A 2 ′ is larger than the absolute value of the excitation amplitude A 1 ′.
- the transfer function from the speed deviation e to the motor speed v is obtained by multiplying the transfer function of the mechanical system 30 by the transfer function of the speed control unit 32.
- the transfer function of the mechanical system 30 is obtained by multiplying the integral once by the inverse of the inertia.
- the speed control unit 32 is a proportional / integral control of a proportional gain K vp and an integral gain K vi . Therefore, the transfer function G v (s) from the speed deviation e to the motor speed v is expressed by the following equation (8).
- s is a Laplace operator
- J is an inertia of the mechanical system 30.
- the mechanical system 30 used in the present embodiment is a single motor and its characteristics can be regarded as a rigid body. Therefore, if the ideal response from the speed deviation e to the motor speed v is G v (j ⁇ ) and the frequency response calculated by the frequency response synthesis unit 5 is close to the ideal response, it can be said that the frequency response is correctly obtained.
- the ideal response gain diagram has a linear shape of ⁇ 40 dB / dec in the low frequency region, and the phase diagram has a curved shape that changes from ⁇ 90 ° to ⁇ 180 ° as the frequency decreases.
- FIGS. 6A and 6B show the first frequency response G 1 ′ (excitation amplitude A 1 ′: 8%) obtained based on the actual measurement, and the second frequency response G 1 ′ obtained based on the actual measurement.
- FIG. 6A is a gain diagram
- FIG. 6B is a phase diagram.
- the thin broken line represents the first frequency response G 1 ′
- the thin solid line represents the second frequency response G 2 ′
- the thick solid line represents the calculation result by the frequency response synthesizer 5
- the thick broken line represents the ideal response G v . ing.
- the first frequency response G 1 ′ and the second frequency response G 2 ′ have a gain diagram in the frequency region of 50 rad / s or less, which is smaller than the ideal response.
- the phase diagram in the frequency region of 200 rad / s or less is a value far from the value of the ideal curve.
- the first frequency response G 1 ′ is compared with the second frequency response G 2 ′, the first frequency response G 1 ′ has a larger deviation. This is because when the excitation amplitude becomes small, the ratio of the torque ⁇ f caused by the disturbance to the torque command ⁇ becomes large, and the first time when the excitation amplitude is small is greatly deviated from the ideal curve.
- the operation result by the frequency response synthesizer 5 is substantially the same response as the ideal response G v in both gain diagram and phase diagrams. This is due to the effect of performing an operation to remove the influence of disturbance using the first frequency response G 1 ′ and the second frequency response G 2 ′.
- the frequency response is calculated using the vibration data when vibration is performed with a plurality of vibration amplitudes. It becomes possible to measure the frequency response.
- the frequency response can be accurately obtained by extracting the amount of fluctuation in the frequency response due to disturbance such as friction and correcting the influence.
- the frequency response of the speed open loop including the speed control unit can be obtained accurately even when there is a disturbance such as friction, and the servo system gain adjustment and vibration suppression filter adjustment are performed accurately. Will be able to.
- the torque caused by disturbances such as friction assumed to be substantially the same in the first and second excitations. Since ⁇ f was set as one unknown variable, it was sufficient to obtain two relational expressions by two measurements in order to remove the component. Therefore, if it is assumed that the number of unknown variables due to disturbance is further increased to n, it is theoretically possible to obtain a frequency response with the disturbance element removed if n + 1 measurements are performed under different conditions. Is considered possible.
- the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention in the implementation stage.
- the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent requirements. For example, even if some constituent requirements are deleted from all the constituent requirements shown in the embodiment, the problem described in the column of the problem to be solved by the invention can be solved, and is described in the column of the effect of the invention. When an effect is obtained, a configuration from which this configuration requirement is deleted can be extracted as an invention.
- the constituent elements over different embodiments may be appropriately combined.
- the frequency response measuring apparatus is useful for measuring the frequency response of a control loop such as a speed loop or a position loop when adjusting a servo system, and in particular, friction and the like. It is suitable for measuring an accurate frequency response even when there is a disturbance.
- 1 vibration condition setting unit 2 vibration execution unit, 3 servo system, 4 frequency response calculation unit, 5 frequency response synthesis unit, 10 frequency response calculation unit, 30 mechanical system, 31 position control unit, 32 speed control unit 33 motor, 34 load, 51 servo motor, 52 rotary encoder, 53 shaft, 54 load inertia, 100 frequency response measuring device, S1 to S6 steps.
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Abstract
Description
図1は、本発明の実施の形態1にかかる周波数応答測定装置100の構成を示すブロック図である。周波数応答測定装置100は、加振条件設定部1、加振実行部2、および周波数応答演算部10を備える。周波数応答演算部10は、各回の周波数応答演算部4および周波数応答合成部5を備える。周波数応答測定装置100は、サーボ系3の周波数応答を測定する。
実施の形態2にかかる周波数応答測定装置100の構成も図1である。また、実施の形態2にかかるサーボ系3の構成を示したブロック図も図2である。実施の形態2にかかる周波数応答測定装置100が実施の形態1にかかる周波数応答測定装置100と相違する点は、同定入力信号としてトルク指令信号τのかわりに速度偏差信号eを用いる点である。これは、速度制御部32を含んだ速度開ループの周波数応答を測定する場合に対応している。
Claims (8)
- 機械系をフィードバック制御するサーボ系の周波数応答を測定する周波数応答測定装置において、
複数の異なる加振条件を設定する加振条件設定部と、
前記異なる加振条件の加振信号で前記サーボ系に対して複数回の加振を実行する加振実行部と、
前記複数回の加振がなされた前記サーボ系の制御系から、前記複数回の加振ごとに同定入力信号と同定出力信号の組を取得し、前記複数回の加振ごとの前記加振条件および前記同定入力信号と前記同定出力信号の組にもとづいて前記周波数応答を演算する周波数応答演算部と、
を備える
ことを特徴とする周波数応答測定装置。 - 前記加振条件は、前記加振信号の振幅である加振振幅である
ことを特徴とする請求項1に記載の周波数応答測定装置。 - 前記周波数応答演算部は、
前記複数回の加振ごとの前記同定入力信号と前記同定出力信号の組にもとづいて、前記複数回の加振ごとの周波数応答を演算する各回の周波数応答演算部と、
前記複数回の加振ごとの周波数応答および前記加振条件に基づいて、前記周波数応答を演算する周波数応答合成部と、
を備える
ことを特徴とする請求項2に記載の周波数応答測定装置。 - 前記加振条件設定部は、前記加振振幅として第1加振振幅と、それとは異なる第2加振振幅とを設定し、
前記周波数応答合成部は、前記第1加振振幅とその振幅での前記加振ごとの周波数応答の比と前記第2加振振幅とその振幅での前記加振ごとの周波数応答の比との差を分母とし、前記第1加振振幅と前記第2加振振幅との差を分子とする値を前記周波数応答として演算する
ことを特徴とする請求項3に記載の周波数応答測定装置。 - 前記加振信号は前記制御系の速度指令に印加され、前記異なる加振条件において前記制御系に与えられる位置指令は一定値である
ことを特徴とする請求項1~4のいずれか1項に記載の周波数応答測定装置。 - 前記同定入力信号と前記同定出力信号の組は、前記制御系において開ループを構成している
ことを特徴とする請求項1~5のいずれか1項に記載の周波数応答測定装置。 - 前記同定入力信号は前記サーボ系のトルク指令信号であり、前記同定出力信号は前記サーボ系の速度信号である
ことを特徴とする請求項6に記載の周波数応答測定装置。 - 前記同定入力信号は前記サーボ系の速度偏差信号であり、前記同定出力信号は前記サーボ系の速度信号である
ことを特徴とする請求項6に記載の周波数応答測定装置。
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DE112013007130.4T DE112013007130B4 (de) | 2013-06-03 | 2013-06-03 | Frequenzgangmessvorrichtung |
US14/895,008 US20160123796A1 (en) | 2013-06-03 | 2013-06-03 | Frequency-response measurement device |
PCT/JP2013/065380 WO2014196003A1 (ja) | 2013-06-03 | 2013-06-03 | 周波数応答測定装置 |
JP2013553548A JP5490335B1 (ja) | 2013-06-03 | 2013-06-03 | 周波数応答測定装置 |
CN201380076906.5A CN105247432B (zh) | 2013-06-03 | 2013-06-03 | 频率响应测定装置 |
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PCT/JP2013/065380 WO2014196003A1 (ja) | 2013-06-03 | 2013-06-03 | 周波数応答測定装置 |
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JP (1) | JP5490335B1 (ja) |
CN (1) | CN105247432B (ja) |
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WO2021181787A1 (ja) * | 2020-03-12 | 2021-09-16 | オムロン株式会社 | 制御装置 |
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US10296015B2 (en) * | 2013-11-15 | 2019-05-21 | Hitachi, Ltd. | Frequency-characteristics measurement method and positioning control device |
JP6214480B2 (ja) * | 2014-06-26 | 2017-10-18 | 三菱電機株式会社 | 周波数応答測定装置 |
CN106687792B (zh) * | 2014-09-10 | 2020-10-30 | 三菱电机株式会社 | 振动模式测定装置 |
JP6212068B2 (ja) * | 2015-04-24 | 2017-10-11 | ファナック株式会社 | 機械の周波数特性をオンラインで取得する機能を有するサーボ制御装置 |
JP6416820B2 (ja) * | 2016-04-13 | 2018-10-31 | ファナック株式会社 | 制御系を自律的に安定化して自動調整を行う機能を有するサーボ制御装置 |
JP6966062B2 (ja) * | 2017-01-31 | 2021-11-10 | 国立大学法人 名古屋工業大学 | 周波数応答解析アルゴリズム |
JP6897491B2 (ja) * | 2017-10-24 | 2021-06-30 | オムロン株式会社 | サーボドライバ及び状態変化検出方法 |
JP7102708B2 (ja) * | 2017-11-13 | 2022-07-20 | オムロン株式会社 | 周波数特性測定装置及び周波数特性測定方法 |
JPWO2019111671A1 (ja) * | 2017-12-05 | 2020-11-26 | 日本電産株式会社 | 回転制御装置、移動体、および搬送ロボット |
BR112022001057A2 (pt) * | 2019-08-09 | 2022-05-24 | Miki Pulley Kk | Dispositivo de avaliação de característica e método de avaliação de característica de acoplamento de eixo |
JP7306926B2 (ja) * | 2019-09-09 | 2023-07-11 | Kyb株式会社 | 振動試験装置 |
CN112097895B (zh) * | 2020-09-18 | 2022-07-05 | 江苏东华测试技术股份有限公司 | 一种传感器频响的拓宽方法 |
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DE19845744A1 (de) | 1998-10-05 | 2000-04-20 | Gerhard Schaumburg | Frequenzganganalysator |
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US7248994B1 (en) * | 2006-01-27 | 2007-07-24 | Alliant Techsystems Inc. | Digital method and apparatus for sensing position with a linear variable differential transformer |
WO2007136828A2 (en) | 2006-05-19 | 2007-11-29 | Siemens Energy & Automation, Inc. | Automating tuning of a closed loop controller |
DE112009004583B4 (de) * | 2009-02-17 | 2018-06-14 | Mitsubishi Electric Corporation | Numerische Steuervorrichtung, Verfahren zum Steuern derselben und Systemprogramm dafür |
CN101697084B (zh) * | 2009-10-19 | 2011-12-28 | 大连海事大学 | 一种基于rls滤波器的电液伺服系统随机振动控制方法 |
CN102419262B (zh) * | 2011-08-21 | 2015-06-03 | 江苏荣昌机械制造集团有限公司 | 压路机橡胶减震块动态疲劳试验机 |
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- 2013-06-03 JP JP2013553548A patent/JP5490335B1/ja active Active
- 2013-06-03 DE DE112013007130.4T patent/DE112013007130B4/de active Active
- 2013-06-03 CN CN201380076906.5A patent/CN105247432B/zh active Active
- 2013-06-03 US US14/895,008 patent/US20160123796A1/en not_active Abandoned
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JP2000278990A (ja) * | 1999-03-23 | 2000-10-06 | Matsushita Electric Ind Co Ltd | モータの制御装置 |
JP2000275370A (ja) * | 1999-03-25 | 2000-10-06 | Canon Inc | ステージおよびアクティブ除振装置の補償パラメータ更新方法 |
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WO2021181787A1 (ja) * | 2020-03-12 | 2021-09-16 | オムロン株式会社 | 制御装置 |
JP7404947B2 (ja) | 2020-03-12 | 2023-12-26 | オムロン株式会社 | 制御装置 |
Also Published As
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CN105247432B (zh) | 2017-06-09 |
US20160123796A1 (en) | 2016-05-05 |
DE112013007130B4 (de) | 2019-05-09 |
CN105247432A (zh) | 2016-01-13 |
JP5490335B1 (ja) | 2014-05-14 |
DE112013007130T5 (de) | 2016-02-11 |
JPWO2014196003A1 (ja) | 2017-02-23 |
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